version: 66.03
glider: 5
mission: 3
dive: 210
start: 7 22 108 11 28 56
data:
$ID,5
$MISSION,3
$DIVE,210
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,600
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,547.01898
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80525.914
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2620
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-24.477776
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043890956
$SEABIRD_T_H,0.00065287336
$SEABIRD_T_I,2.754709e-05
$SEABIRD_T_J,3.0424237e-06
$SEABIRD_C_G,-10.354986
$SEABIRD_C_H,1.1996267
$SEABIRD_C_I,-0.0023424325
$SEABIRD_C_J,0.0002635108
$GPS1,112201,6159.903,-1011.157,60,1.8,66,-10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-51.3
$GPS2,112802,6159.948,-1010.974,12,1.8,12,-10.0
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRS1K
$TGT_LATLONG,6210.000,-1055.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.160,0.154
$KALMAN_X,-21044.8,167.5,505.6,-37632.2,1893.0
$KALMAN_Y,1373.6,-25.9,882.3,-15988.0,-2796.9
$MHEAD_RNG_PITCHd_Wd,323.9,42378,-16.7,-8.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.30,-117.3,0.0,0.0,0,136,0.00,0.00,-109.38,0.000,6,0.000,0.000,421,2164,3099
$GC,140,-1.30,-117.3,2.5,-1.9,5,156,10.50,2.55,0.00,0.000,4,0.146,0.050,2407,742,3098
$GC,409,-0.98,-117.3,44.2,-12.8,16,414,0.38,2.50,0.00,0.000,6,0.096,0.048,2484,2140,3096
$GC,733,-0.90,-117.3,74.2,-8.4,32,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2140,3097
$GC,1040,-0.79,-117.3,98.7,-8.1,47,1042,0.20,0.00,0.00,0.000,6,0.089,0.000,2526,2140,3097
$GC,1349,-0.79,-117.3,119.7,-6.8,62,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2139,3097
$GC,1660,-0.83,-117.3,140.4,-6.5,77,1664,0.00,2.55,0.00,0.000,4,0.000,0.058,2526,737,3097
$GC,1767,-0.83,-117.3,147.8,-6.8,82,1772,0.00,2.50,0.00,0.000,6,0.000,0.049,2526,2143,3097
$GC,2095,-0.83,-117.3,168.6,-6.0,98,2100,0.00,2.53,0.00,0.000,4,0.000,0.061,2525,3554,3096
$GC,2181,-0.83,-117.3,174.5,-7.1,102,2185,0.00,2.53,0.00,0.000,6,0.000,0.047,2525,2133,3097
$GC,2514,-0.88,-117.3,197.7,-7.1,118,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2115,3096
$GC,2823,-0.93,-117.3,222.3,-7.9,133,2828,0.12,2.47,0.00,0.000,4,0.051,0.058,2488,744,3096
$GC,2896,-0.85,-117.3,229.2,-9.4,136,2901,0.12,2.53,0.00,0.000,6,0.098,0.051,2513,2150,3096
$GC,3213,-0.85,-117.3,254.5,-8.1,151,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2150,3095
$GC,3521,-0.85,-117.3,278.7,-7.7,166,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2150,3096
$GC,3831,-0.85,-117.3,303.4,-7.9,181,3835,0.00,2.58,0.00,0.000,4,0.000,0.063,2513,743,3095
$GC,3926,-0.85,-117.3,311.3,-8.7,185,3930,0.00,2.53,0.00,0.000,6,0.000,0.053,2513,2146,3095
$GC,4242,-0.85,-117.3,333.6,-6.7,200,4246,0.00,2.53,0.00,0.000,4,0.000,0.063,2513,3556,3095
$GC,4360,-0.85,-117.3,341.8,-7.0,205,4364,0.00,2.53,0.00,0.000,6,0.000,0.049,2514,2137,3095
$GC,4676,-0.85,-117.3,360.8,-5.2,220,4680,0.00,2.47,0.00,0.000,4,0.000,0.062,2514,750,3095
$GC,4755,-0.85,-117.3,365.5,-5.6,223,4761,0.00,2.50,0.00,0.000,6,0.000,0.051,2514,2148,3095
$GC,5072,-0.85,-117.3,384.1,-6.1,239,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2146,3094
$GC,5381,-0.85,-117.3,401.5,-5.7,254,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2146,3094
$GC,5690,-0.85,-117.3,420.0,-6.2,269,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2146,3093
$GC,5999,-0.85,-117.3,439.4,-6.4,284,6003,0.00,2.58,0.00,0.000,4,0.000,0.064,2513,741,3094
$GC,6078,-0.85,-117.3,444.9,-6.8,287,6084,0.00,2.50,0.00,0.000,6,0.000,0.054,2514,2134,3093
$GC,6395,-0.85,-117.3,466.1,-6.6,303,6399,0.00,2.58,0.00,0.000,4,0.000,0.064,2514,3564,3093
$GC,6490,-0.85,-117.3,472.9,-6.9,307,6494,0.00,2.55,0.00,0.000,6,0.000,0.051,2513,2134,3093
$GC,6806,-0.85,-117.3,491.5,-5.8,322,6810,0.00,2.47,0.00,0.000,4,0.000,0.061,2514,744,3093
$GC,6901,-0.85,-117.3,497.2,-5.7,326,6905,0.00,2.50,0.00,0.000,6,0.000,0.053,2514,2134,3093
$GC,7218,-0.85,-117.3,513.2,-4.9,341,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2133,3093
$GC,7527,-0.85,-117.3,530.2,-5.9,356,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2133,3092
$GC,7836,-0.85,-117.3,554.4,-8.7,371,7840,0.00,2.53,0.00,0.000,4,0.000,0.063,2514,745,3092
$GC,7954,-0.85,-117.3,565.5,-9.3,376,7958,0.00,2.50,0.00,0.000,6,0.000,0.053,2513,2135,3092
$GC,8271,-0.85,-117.3,588.8,-6.6,391,8275,0.00,2.53,0.00,0.000,4,0.000,0.062,2514,743,3091
$GC,8411,-0.85,-117.3,598.7,-6.6,397,8415,0.00,2.47,0.00,0.000,6,0.000,0.054,2514,2119,3092
$GC,8727,-0.85,-117.3,620.6,-7.2,412,8732,0.00,2.58,0.00,0.000,4,0.000,0.066,2514,3555,3092
$GC,8887,-0.85,-117.3,632.2,-8.0,419,8891,0.00,2.55,0.00,0.000,6,0.000,0.051,2514,2125,3091
$GC,9209,-0.85,-117.3,650.5,-5.0,435,9213,0.00,2.62,0.00,0.000,4,0.000,0.065,2514,3560,3091
$GC,9332,-0.85,-117.3,657.9,-6.1,440,9338,0.00,2.55,0.00,0.000,6,0.000,0.051,2514,2129,3091
$GC,9649,-0.85,-117.3,677.5,-7.5,456,9653,0.00,2.50,0.00,0.000,4,0.000,0.065,2514,741,3091
$GC,9738,-0.85,-117.3,684.0,-7.3,460,9743,0.00,2.53,0.00,0.000,6,0.000,0.056,2513,2139,3091
$GC,10060,-0.85,-117.3,704.5,-6.7,476,10065,0.00,2.55,0.00,0.000,4,0.000,0.067,2513,3554,3091
$GC,10179,-0.85,-117.3,712.9,-6.6,481,10183,0.00,2.55,0.00,0.000,6,0.000,0.053,2514,2134,3091
$GC,10495,-0.85,-117.3,729.5,-4.2,496,10500,0.00,2.50,0.00,0.000,4,0.000,0.066,2514,745,3091
$GC,10666,-0.85,-117.3,741.1,-9.6,503,10672,0.00,2.50,0.00,0.000,6,0.000,0.058,2514,2124,3091
$GC,10983,-0.89,-117.3,763.2,-5.7,519,10987,0.00,2.62,0.00,0.000,4,0.000,0.071,2514,3563,3090
$GC,11090,-0.89,-117.3,769.6,-5.6,524,11095,0.00,2.62,0.00,0.000,6,0.000,0.058,2514,2106,3090
$GC,11420,-0.94,-117.3,783.6,-4.8,540,11424,0.00,2.47,0.00,0.000,4,0.000,0.074,2514,746,3089
$GC,11510,-0.94,-117.3,789.0,-6.4,544,11514,0.00,2.50,0.00,0.000,6,0.000,0.062,2514,2110,3089
$GC,11834,-1.00,-117.3,803.9,-3.8,560,11838,0.15,2.58,0.00,0.000,4,0.055,0.076,2467,740,3089
$STATE,11920,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11920,begin apogee
$GC,11930,-0.33,0.0,809.6,6.4,564,12034,0.73,0.00,100.72,1.389,6,0.089,0.000,2622,2102,2620
$STATE,12035,end apogee,CONTROL_FINISHED_OK
$STATE,12036,begin climb
$GC,12038,1.30,117.3,811.9,0.0,569,12148,1.70,2.70,100.38,1.364,4,0.072,0.077,2981,3511,2140
$GC,12155,1.23,117.3,803.1,9.6,575,12159,0.00,2.65,0.00,0.000,6,0.000,0.066,2981,2105,2140
$GC,12476,1.23,117.3,775.4,9.2,591,12480,0.00,2.67,0.00,0.000,4,0.000,0.079,2981,3504,2139
$GC,12487,1.19,117.3,774.3,9.8,591,12493,0.12,2.62,0.00,0.000,6,0.105,0.067,2960,2102,2138
$GC,12804,1.21,132.5,749.8,7.3,607,12825,0.00,2.72,13.77,1.251,4,0.000,0.078,2960,3504,2080
$GC,12921,1.21,132.5,739.6,8.4,612,12925,0.00,2.60,0.00,0.000,6,0.000,0.066,2960,2114,2079
$GC,13243,1.28,145.0,712.9,7.4,628,13264,0.00,2.72,11.93,1.235,4,0.000,0.075,2960,3504,2028
$GC,13288,1.28,145.0,709.0,9.6,630,13292,0.00,2.58,0.00,0.000,6,0.000,0.062,2960,2122,2028
$GC,13615,1.34,145.0,678.0,9.3,646,13620,0.15,2.62,0.00,0.000,4,0.054,0.073,2999,3511,2026
$GC,13701,1.27,145.0,668.8,10.8,650,13706,0.12,2.53,0.00,0.000,6,0.100,0.059,2976,2132,2026
$GC,14028,1.27,145.0,639.0,8.7,666,14032,0.00,2.58,0.00,0.000,4,0.000,0.068,2976,3511,2026
$GC,14045,1.27,145.0,637.3,8.9,667,14049,0.00,2.50,0.00,0.000,6,0.000,0.056,2976,2136,2026
$GC,14372,1.27,145.0,607.3,8.7,683,14376,0.00,2.55,0.00,0.000,4,0.000,0.067,2976,3508,2026
$GC,14393,1.27,145.0,605.2,8.4,684,14398,0.00,2.47,0.00,0.000,6,0.000,0.055,2976,2146,2026
$GC,14715,1.28,151.2,578.8,7.7,700,14729,0.00,2.60,6.72,1.023,4,0.000,0.065,2976,3512,2003
$GC,14747,1.28,151.2,576.0,8.6,701,14752,0.00,2.47,0.00,0.000,6,0.000,0.054,2976,2155,2003
$GC,15064,1.28,151.2,550.1,8.4,716,15068,0.00,2.50,0.00,0.000,4,0.000,0.064,2976,3514,2003
$GC,15126,1.28,151.2,544.4,9.1,719,15130,0.00,2.42,0.00,0.000,6,0.000,0.051,2976,2166,2003
$GC,15453,1.28,151.2,517.3,8.2,735,15457,0.00,2.47,0.00,0.000,4,0.000,0.063,2976,3509,2003
$GC,15492,1.28,151.2,513.7,8.8,737,15496,0.00,2.38,0.00,0.000,6,0.000,0.050,2976,2182,2003
$GC,15820,1.29,154.5,486.7,7.9,753,15830,0.00,2.47,5.00,0.854,4,0.000,0.061,2976,3516,1990
$GC,15852,1.29,154.5,483.6,9.1,754,15858,0.00,2.40,0.00,0.000,6,0.000,0.050,2976,2187,1989
$GC,16168,1.29,157.9,458.3,7.8,770,16178,0.00,2.42,4.82,0.826,4,0.000,0.061,2977,3509,1976
$GC,16192,1.29,157.9,456.3,8.9,771,16196,0.00,2.38,0.00,0.000,6,0.000,0.051,2976,2190,1976
$GC,16519,1.34,157.9,430.1,8.0,787,16522,0.00,2.42,0.00,0.000,4,0.000,0.062,2977,3515,1976
$GC,16530,1.39,164.8,429.1,7.7,787,16545,0.12,2.38,7.70,0.947,6,0.051,0.051,3012,2192,1946
$GC,16875,1.33,164.8,394.9,10.2,804,16880,0.12,2.42,0.00,0.000,4,0.093,0.061,2988,3509,1946
$GC,16902,1.33,164.8,391.9,8.8,805,16906,0.00,2.35,0.00,0.000,6,0.000,0.049,2988,2202,1946
$GC,17218,1.33,164.8,364.0,8.9,820,17219,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2184,1946
$GC,17528,1.33,164.8,334.1,9.6,835,17529,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2184,1946
$GC,17836,1.33,164.8,304.3,9.8,850,17840,0.00,2.38,0.00,0.000,4,0.000,0.061,2988,3508,1947
$GC,17864,1.33,164.8,301.3,11.8,851,17868,0.00,2.35,0.00,0.000,6,0.000,0.050,2988,2197,1947
$GC,18185,1.33,164.8,269.1,10.1,867,18189,0.00,2.40,0.00,0.000,4,0.000,0.061,2988,3509,1947
$GC,18203,1.33,164.8,267.4,10.2,868,18207,0.00,2.35,0.00,0.000,6,0.000,0.051,2988,2192,1947
$GC,18530,1.33,164.8,236.9,9.1,884,18534,0.00,2.40,0.00,0.000,4,0.000,0.060,2988,3511,1948
$GC,18565,1.33,164.8,233.6,11.1,885,18571,0.00,2.33,0.00,0.000,6,0.000,0.049,2988,2207,1948
$GC,18881,1.33,164.8,205.2,8.9,901,18885,0.00,2.38,0.00,0.000,4,0.000,0.059,2988,3509,1948
$GC,18891,1.33,164.8,204.2,8.9,901,18897,0.00,2.33,0.00,0.000,6,0.000,0.049,2988,2204,1949
$GC,19208,1.33,164.8,174.9,9.7,917,19209,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2186,1949
$GC,19517,1.33,164.8,145.0,10.0,932,19518,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2186,1949
$GC,19827,1.33,164.8,116.0,9.3,947,19831,0.00,2.38,0.00,0.000,4,0.000,0.058,2988,3508,1949
$GC,19872,1.33,164.8,111.4,9.6,949,19876,0.00,2.33,0.00,0.000,6,0.000,0.049,2988,2204,1949
$GC,20195,1.38,170.8,85.1,7.7,965,20203,0.00,0.00,6.70,0.723,6,0.000,0.000,2988,2186,1923
$GC,20505,1.43,174.4,60.7,7.8,980,20515,0.10,2.40,4.78,0.633,4,0.055,0.058,3020,3515,1908
$GC,20584,1.37,174.4,53.2,10.6,983,20590,0.00,2.33,0.00,0.000,6,0.000,0.049,3020,2210,1909
$GC,20900,1.37,174.4,23.2,10.0,999,20901,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2193,1908
$STATE,21104,end climb,SURFACE_DEPTH_REACHED
$STATE,21104,begin surface coast
$FINISH,-0.0,1.026937
$STATE,21125,end surface coast,CONTROL_FINISHED_OK
$STATE,21125,begin surface
$SM_CCo,21148,219.07,0.775,0,0,389,547.02
$SM_GC,0.53,0.00,0.00,219.07,0.000,0.000,0.775,420,2111,389,-10.49,-0.68,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1663
$TCM_TEMP,17.70
$XPDR_PINGS,656
$ALTIM_TOP_PING,18.9,999.0
$ALTIM_BOTTOM_PING,800.7,18.7
$24V_AH,23.8,40.928
$10V_AH,10.1,19.604
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,25.900,200.300,262.525,219.075,0.000,37.761,28.751,158.572,171.500,0.000,0.000,12.927,1932.169,16129.165,706.486,2353.514,604.505,33.375,1869.973,0.000,2301.232,0.000,52.282
$DEVICE_MAMPS,146.497,79.001,1389.037,774.670,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,692.859,750.229,572.888,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50559,1010
$CAP_FILE_SIZE,166652,0
$CFSIZE,254472192,238137344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,220708,172632,6200.726,-1012.167,48,1.5,48,-10.1