version: 66.03
glider: 5
mission: 3
dive: 211
start: 7 22 108 17 36 55
data:
$ID,5
$MISSION,3
$DIVE,211
$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,-80561.664
$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,35
$R_STBD_OVSHOOT,21
$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
$GPS1,172632,6200.726,-1012.167,48,1.5,48,-10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-49.7
$GPS2,173605,6200.654,-1012.065,15,2.1,34,-10.1
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRS1K
$TGT_LATLONG,6210.000,-1055.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.210,-0.072
$KALMAN_X,-16557.8,-484.3,-271.4,-41621.0,5426.6
$KALMAN_Y,778.3,-172.2,-859.3,-12191.8,1671.0
$MHEAD_RNG_PITCHd_Wd,261.2,40962,-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,25,-1.30,-117.3,0.0,0.0,0,137,0.00,0.00,-110.38,0.000,6,0.000,0.000,420,2111,3100
$GC,141,-1.30,-117.3,2.0,-1.5,5,157,10.43,2.47,0.00,0.000,4,0.143,0.054,2409,747,3099
$GC,208,-0.98,-117.3,14.4,-15.1,7,214,0.38,2.53,0.00,0.000,6,0.104,0.048,2484,2158,3097
$GC,532,-0.88,-117.3,47.4,-9.9,23,537,0.12,2.50,0.00,0.000,4,0.097,0.057,2510,3557,3097
$GC,560,-0.83,-117.3,50.1,-8.4,24,565,0.00,2.47,0.00,0.000,6,0.000,0.047,2510,2167,3097
$GC,877,-0.83,-117.3,74.0,-7.2,39,881,0.00,2.53,0.00,0.000,4,0.000,0.058,2510,749,3097
$GC,917,-0.83,-117.3,77.0,-7.6,41,921,0.00,2.53,0.00,0.000,6,0.000,0.048,2510,2166,3097
$GC,1245,-0.83,-117.3,101.9,-7.6,57,1249,0.00,2.60,0.00,0.000,4,0.000,0.059,2510,740,3098
$GC,1278,-0.83,-117.3,104.4,-7.5,58,1285,0.00,2.53,0.00,0.000,6,0.000,0.049,2510,2162,3098
$GC,1594,-0.83,-117.3,126.5,-7.5,74,1599,0.00,2.58,0.00,0.000,4,0.000,0.059,2510,746,3098
$GC,1667,-0.83,-117.3,132.6,-8.1,77,1672,0.00,2.53,0.00,0.000,6,0.000,0.050,2510,2159,3098
$GC,1983,-0.83,-117.3,158.5,-8.4,92,1987,0.00,2.50,0.00,0.000,4,0.000,0.060,2510,3556,3097
$GC,2039,-0.83,-117.3,163.4,-8.8,94,2045,0.00,2.50,0.00,0.000,6,0.000,0.048,2510,2149,3097
$GC,2355,-0.83,-117.3,188.7,-7.6,110,2359,0.00,2.50,0.00,0.000,4,0.000,0.061,2511,751,3097
$GC,2372,-0.83,-117.3,190.1,-7.6,111,2377,0.00,2.50,0.00,0.000,6,0.000,0.051,2510,2154,3097
$GC,2700,-0.83,-117.3,214.9,-7.5,127,2705,0.00,2.58,0.00,0.000,4,0.000,0.060,2510,741,3097
$GC,2728,-0.83,-117.3,217.3,-8.5,128,2732,0.00,2.53,0.00,0.000,6,0.000,0.051,2510,2151,3097
$GC,3044,-0.83,-117.3,241.7,-7.8,143,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2152,3096
$GC,3354,-0.83,-117.3,264.9,-7.7,158,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2152,3096
$GC,3662,-0.83,-117.3,286.9,-7.1,173,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2152,3096
$GC,3972,-0.83,-117.3,309.2,-7.4,188,3976,0.00,2.58,0.00,0.000,4,0.000,0.061,2510,740,3096
$GC,4005,-0.83,-117.3,311.8,-8.0,189,4011,0.00,2.53,0.00,0.000,6,0.000,0.052,2510,2147,3096
$GC,4321,-0.83,-117.3,334.8,-7.4,205,4325,0.00,2.55,0.00,0.000,4,0.000,0.062,2510,750,3095
$GC,4371,-0.83,-117.3,338.6,-7.6,207,4375,0.00,2.50,0.00,0.000,6,0.000,0.052,2510,2140,3095
$GC,4687,-0.83,-117.3,360.7,-6.9,222,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2141,3095
$GC,4996,-0.83,-117.3,381.6,-6.7,237,5000,0.00,2.55,0.00,0.000,4,0.000,0.062,2510,742,3095
$GC,5052,-0.83,-117.3,385.7,-7.5,239,5057,0.00,2.50,0.00,0.000,6,0.000,0.053,2510,2135,3095
$GC,5368,-0.83,-117.3,407.3,-6.9,255,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2135,3094
$GC,5677,-0.83,-117.3,431.1,-8.0,270,5681,0.00,2.53,0.00,0.000,4,0.000,0.063,2510,744,3094
$GC,5717,-0.83,-117.3,434.3,-7.9,272,5721,0.00,2.47,0.00,0.000,6,0.000,0.053,2510,2126,3094
$GC,6044,-0.83,-117.3,458.2,-7.8,288,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2126,3094
$GC,6353,-0.83,-117.3,481.8,-7.7,303,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2126,3094
$GC,6663,-0.83,-117.3,505.0,-7.2,318,6667,0.00,2.53,0.00,0.000,4,0.000,0.064,2510,749,3094
$GC,6707,-0.83,-117.3,508.4,-7.5,320,6712,0.00,2.47,0.00,0.000,6,0.000,0.053,2510,2132,3093
$GC,7029,-0.83,-117.3,531.4,-7.1,336,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2132,3093
$GC,7339,-0.83,-117.3,554.0,-7.2,351,7343,0.00,2.53,0.00,0.000,4,0.000,0.063,2510,749,3093
$GC,7401,-0.83,-117.3,558.5,-7.5,354,7406,0.00,2.50,0.00,0.000,6,0.000,0.054,2510,2134,3093
$GC,7729,-0.83,-117.3,579.0,-4.9,370,7730,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2134,3092
$GC,8038,-0.83,-117.3,598.9,-7.3,385,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2134,3092
$GC,8347,-0.83,-117.3,622.8,-7.7,400,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2133,3092
$GC,8657,-0.83,-117.3,646.4,-7.2,415,8661,0.00,2.53,0.00,0.000,4,0.000,0.064,2510,746,3092
$GC,8735,-0.83,-117.3,652.4,-7.9,418,8741,0.00,2.47,0.00,0.000,6,0.000,0.054,2510,2122,3091
$GC,9051,-0.83,-117.3,674.7,-6.9,434,9052,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2122,3092
$GC,9361,-0.83,-117.3,695.8,-6.3,449,9362,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2122,3092
$GC,9669,-0.83,-117.3,714.0,-6.0,464,9671,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2122,3092
$GC,9979,-0.83,-117.3,731.1,-5.3,479,9983,0.00,2.55,0.00,0.000,4,0.000,0.067,2510,740,3091
$GC,10013,-0.83,-117.3,732.8,-5.3,480,10019,0.00,2.50,0.00,0.000,6,0.000,0.058,2510,2121,3091
$GC,10329,-0.83,-117.3,748.8,-5.1,496,10330,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2120,3091
$GC,10638,-0.83,-117.3,764.6,-5.0,511,10643,0.00,2.62,0.00,0.000,4,0.000,0.070,2510,3564,3091
$GC,10712,-0.83,-117.3,769.1,-6.6,514,10716,0.00,2.60,0.00,0.000,6,0.000,0.057,2510,2116,3091
$GC,11030,-0.87,-117.3,782.3,-4.1,529,11035,0.00,2.67,0.00,0.000,4,0.000,0.069,2510,3561,3090
$GC,11065,-0.87,-117.3,784.6,-6.5,530,11071,0.00,2.62,0.00,0.000,6,0.000,0.058,2510,2103,3090
$GC,11381,-0.87,-117.3,801.4,-5.8,546,11386,0.00,2.67,0.00,0.000,4,0.000,0.071,2510,3561,3090
$STATE,11636,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11636,begin apogee
$GC,11645,-0.33,0.0,825.4,7.5,557,11752,0.52,0.00,100.90,1.388,6,0.087,0.000,2623,2096,2620
$STATE,11752,end apogee,CONTROL_FINISHED_OK
$STATE,11753,begin climb
$GC,11756,1.30,117.3,830.0,0.0,563,11866,1.70,2.72,100.38,1.365,4,0.074,0.074,2981,690,2141
$GC,11886,1.35,179.5,825.3,5.2,569,11946,0.00,2.62,53.97,1.332,6,0.000,0.062,2981,2117,1888
$GC,12269,1.36,183.6,785.1,7.8,588,12279,0.00,2.60,5.20,0.953,4,0.000,0.072,2981,3496,1871
$GC,12353,1.36,183.6,778.0,8.6,592,12358,0.00,2.55,0.00,0.000,6,0.000,0.062,2981,2121,1870
$GC,12680,1.36,183.6,748.8,9.1,608,12685,0.00,2.58,0.00,0.000,4,0.000,0.072,2981,3489,1869
$GC,12766,1.36,183.6,740.4,10.0,612,12770,0.00,2.47,0.00,0.000,6,0.000,0.059,2981,2141,1869
$GC,13092,1.36,183.6,709.8,9.1,628,13093,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2137,1867
$GC,13401,1.36,183.6,684.2,8.6,643,13406,0.00,2.50,0.00,0.000,4,0.000,0.067,2981,3493,1867
$GC,13442,1.36,183.6,680.2,9.5,645,13446,0.00,2.45,0.00,0.000,6,0.000,0.055,2981,2143,1867
$GC,13769,1.36,183.6,650.9,8.7,661,13773,0.00,2.50,0.00,0.000,4,0.000,0.067,2981,3490,1866
$GC,13801,1.36,183.6,647.4,10.1,662,13807,0.00,2.42,0.00,0.000,6,0.000,0.054,2981,2157,1866
$GC,14118,1.36,183.6,617.7,9.9,678,14121,0.00,2.47,0.00,0.000,4,0.000,0.064,2982,3493,1866
$GC,14151,1.36,183.6,614.1,11.1,679,14155,0.00,2.40,0.00,0.000,6,0.000,0.053,2981,2167,1866
$GC,14466,1.36,183.6,580.5,11.0,694,14468,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2154,1866
$GC,14776,1.36,183.6,549.9,9.1,709,14780,0.00,2.45,0.00,0.000,4,0.000,0.064,2981,3493,1866
$GC,14823,1.40,183.6,545.4,10.2,711,14828,0.10,2.38,0.00,0.000,6,0.057,0.051,3012,2170,1866
$GC,15150,1.35,183.6,509.3,11.2,727,15151,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2152,1866
$GC,15460,1.30,183.6,473.2,11.9,742,15462,0.15,0.00,0.00,0.000,6,0.091,0.000,2981,2152,1866
$GC,15768,1.34,183.6,440.3,10.4,757,15772,0.00,2.42,0.00,0.000,4,0.000,0.062,2982,3498,1867
$GC,15836,1.34,183.6,433.0,10.5,760,15841,0.00,2.35,0.00,0.000,6,0.000,0.049,2982,2182,1867
$GC,16165,1.38,183.6,400.6,10.0,776,16166,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2163,1867
$GC,16473,1.43,183.6,368.8,10.1,791,16475,0.12,0.00,0.00,0.000,6,0.052,0.000,3019,2163,1867
$GC,16783,1.37,183.6,332.5,11.8,806,16787,0.00,2.40,0.00,0.000,4,0.000,0.060,3019,3493,1868
$GC,16811,1.31,183.6,328.9,12.2,807,16816,0.17,2.35,0.00,0.000,6,0.090,0.050,2984,2184,1868
$GC,17133,1.36,183.6,298.8,9.4,823,17134,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2174,1868
$GC,17442,1.41,183.6,271.7,8.5,838,17447,0.10,2.40,0.00,0.000,4,0.054,0.059,3015,3497,1868
$GC,17487,1.36,183.6,266.9,10.0,840,17491,0.00,2.33,0.00,0.000,6,0.000,0.049,3015,2192,1869
$GC,17808,1.36,183.6,231.8,11.0,856,17810,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2190,1869
$GC,18119,1.32,183.6,197.9,11.1,871,18121,0.15,0.00,0.00,0.000,6,0.089,0.000,2984,2174,1869
$GC,18427,1.37,183.6,170.7,8.7,886,18431,0.00,2.38,0.00,0.000,4,0.000,0.060,2984,3494,1870
$GC,18468,1.43,183.6,166.9,9.5,888,18473,0.12,2.33,0.00,0.000,6,0.051,0.051,3021,2191,1869
$GC,18796,1.37,183.6,131.9,10.8,904,18798,0.12,0.00,0.00,0.000,6,0.090,0.000,2998,2187,1870
$GC,19104,1.37,183.6,100.8,9.9,919,19105,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2185,1870
$GC,19414,1.37,183.6,73.5,8.8,934,19415,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2185,1871
$GC,19723,1.37,183.6,42.7,9.6,949,19727,0.00,2.70,0.00,0.000,4,0.000,0.063,2998,679,1871
$GC,19750,1.37,183.6,40.0,9.6,950,19754,0.00,2.67,0.00,0.000,6,0.000,0.050,2998,2191,1870
$GC,20067,1.37,183.6,13.4,9.0,965,20071,0.00,2.75,0.00,0.000,4,0.000,0.061,2998,679,1871
$GC,20094,1.37,183.6,10.3,11.4,966,20098,0.00,2.67,0.00,0.000,6,0.000,0.049,2998,2190,1871
$STATE,20180,end climb,SURFACE_DEPTH_REACHED
$STATE,20180,begin surface coast
$FINISH,0.1,1.004357
$STATE,20202,end surface coast,CONTROL_FINISHED_OK
$STATE,20202,begin surface
$SM_CCo,20225,213.25,0.774,0,0,390,547.02
$SM_GC,0.64,0.00,0.00,213.25,0.000,0.000,0.774,421,2130,390,-10.48,-0.57,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1666
$TCM_TEMP,17.70
$XPDR_PINGS,587
$ALTIM_TOP_PING,19.0,17.8
$ALTIM_BOTTOM_PING,775.3,59.9
$24V_AH,23.8,41.111
$10V_AH,10.1,19.697
$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,25.250,161.475,260.450,213.250,0.000,75.527,126.715,153.893,154.000,0.000,0.000,35.122,1779.323,15806.661,665.550,2043.042,710.409,33.361,1674.916,0.000,1977.723,0.000,50.431
$DEVICE_MAMPS,142.662,74.399,1387.503,773.903,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,665.878,724.266,559.028,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50606,971
$CAP_FILE_SIZE,149091,0
$CFSIZE,254472192,238080000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,220708,231856,6159.313,-1012.650,42,2.0,42,-10.0