version: 66.03
glider: 5
mission: 3
dive: 212
start: 7 22 108 23 25 51
data:
$ID,5
$MISSION,3
$DIVE,212
$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,-80579.172
$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,33
$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
$GPS1,231856,6159.313,-1012.650,42,2.0,42,-10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-52.1
$GPS2,232457,6159.377,-1012.525,16,2.0,16,-10.0
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRS1K
$TGT_LATLONG,6210.000,-1055.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.189,0.116
$KALMAN_X,-12386.5,221.1,-366.6,-46789.8,4935.9
$KALMAN_Y,-1137.1,151.6,76.6,-13887.9,-3018.2
$MHEAD_RNG_PITCHd_Wd,311.6,41665,-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,-117.3,0.0,0.0,0,137,0.00,0.00,-110.57,0.000,6,0.000,0.000,421,2116,3099
$GC,141,-1.30,-117.3,2.0,-1.5,5,157,10.30,2.47,0.00,0.000,4,0.137,0.055,2407,754,3098
$GC,383,-0.97,-117.3,33.9,-12.7,15,389,0.38,2.47,0.00,0.000,6,0.094,0.047,2484,2140,3097
$GC,712,-0.88,-117.3,67.1,-10.3,31,717,0.10,2.53,0.00,0.000,4,0.098,0.056,2505,753,3097
$GC,819,-0.88,-117.3,77.7,-9.6,36,823,0.00,2.47,0.00,0.000,6,0.000,0.047,2505,2147,3097
$GC,1146,-0.88,-117.3,109.1,-8.8,52,1150,0.00,2.53,0.00,0.000,4,0.000,0.058,2505,3566,3097
$GC,1247,-0.82,-117.3,117.9,-8.4,56,1253,0.00,2.53,0.00,0.000,6,0.000,0.046,2505,2142,3097
$GC,1564,-0.82,-117.3,141.0,-6.6,72,1568,0.00,2.47,0.00,0.000,4,0.000,0.059,2506,750,3097
$GC,1688,-0.82,-117.3,150.4,-7.1,77,1694,0.00,2.45,0.00,0.000,6,0.000,0.049,2506,2123,3097
$GC,2004,-0.82,-117.3,173.4,-7.2,93,2008,0.00,2.58,0.00,0.000,4,0.000,0.060,2505,3565,3097
$GC,2088,-0.82,-117.3,180.3,-8.4,97,2093,0.00,2.55,0.00,0.000,6,0.000,0.048,2505,2122,3097
$GC,2416,-0.82,-117.3,206.0,-8.1,113,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2103,3097
$GC,2724,-0.82,-117.3,232.0,-8.4,128,2729,0.00,2.45,0.00,0.000,4,0.000,0.063,2505,750,3096
$GC,2826,-0.82,-117.3,241.1,-8.9,132,2832,0.00,2.45,0.00,0.000,6,0.000,0.051,2505,2123,3096
$GC,3141,-0.82,-117.3,267.8,-8.2,148,3146,0.00,2.58,0.00,0.000,4,0.000,0.062,2505,3560,3096
$GC,3276,-0.82,-117.3,279.3,-8.1,154,3280,0.00,2.53,0.00,0.000,6,0.000,0.049,2505,2133,3096
$GC,3597,-0.82,-117.3,303.3,-7.3,170,3602,0.00,2.47,0.00,0.000,4,0.000,0.063,2506,748,3096
$GC,3660,-0.82,-117.3,308.1,-7.8,173,3664,0.00,2.47,0.00,0.000,6,0.000,0.051,2505,2137,3096
$GC,3988,-0.82,-117.3,331.8,-7.2,189,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2137,3095
$GC,4297,-0.82,-117.3,353.9,-7.2,204,4301,0.00,2.55,0.00,0.000,4,0.000,0.062,2505,738,3095
$GC,4432,-0.82,-117.3,364.0,-7.8,210,4437,0.00,2.50,0.00,0.000,6,0.000,0.053,2505,2135,3095
$GC,4755,-0.82,-117.3,386.4,-6.9,226,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2135,3094
$GC,5064,-0.82,-117.3,406.6,-6.5,241,5068,0.00,2.53,0.00,0.000,4,0.000,0.062,2505,744,3094
$GC,5120,-0.82,-117.3,410.6,-7.0,243,5126,0.00,2.47,0.00,0.000,6,0.000,0.052,2506,2124,3094
$GC,5436,-0.82,-117.3,431.2,-6.5,259,5437,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2124,3094
$GC,5745,-0.82,-117.3,451.7,-6.6,274,5749,0.00,2.58,0.00,0.000,4,0.000,0.065,2505,3554,3094
$GC,5826,-0.82,-117.3,457.5,-7.3,277,5832,0.00,2.55,0.00,0.000,6,0.000,0.051,2505,2123,3093
$GC,6142,-0.82,-117.3,478.6,-6.8,293,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2104,3093
$GC,6454,-0.82,-117.3,501.5,-7.5,308,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2104,3093
$GC,6761,-0.82,-117.3,526.3,-8.3,323,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2091,3093
$GC,7069,-0.82,-117.3,553.1,-8.7,338,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2091,3093
$GC,7379,-0.82,-117.3,578.2,-7.8,353,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2091,3092
$GC,7688,-0.82,-117.3,599.1,-5.9,368,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2091,3092
$GC,7997,-0.82,-117.3,614.8,-5.2,383,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2092,3093
$GC,8307,-0.82,-117.3,632.5,-6.3,398,8312,0.00,2.65,0.00,0.000,4,0.000,0.065,2506,3561,3092
$GC,8425,-0.82,-117.3,640.9,-7.2,403,8429,0.00,2.58,0.00,0.000,6,0.000,0.052,2505,2122,3092
$GC,8741,-0.82,-117.3,660.8,-5.9,418,8745,0.00,2.45,0.00,0.000,4,0.000,0.067,2505,744,3092
$GC,8826,-0.82,-117.3,666.1,-6.2,422,8831,0.00,2.50,0.00,0.000,6,0.000,0.056,2505,2133,3091
$GC,9154,-0.82,-117.3,684.6,-5.9,438,9158,0.00,2.53,0.00,0.000,4,0.000,0.066,2506,747,3091
$GC,9221,-0.82,-117.3,689.0,-7.2,441,9225,0.00,2.47,0.00,0.000,6,0.000,0.057,2505,2114,3091
$GC,9542,-0.82,-117.3,711.6,-7.1,457,9543,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2114,3091
$GC,9851,-0.82,-117.3,732.2,-6.4,472,9852,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2114,3091
$GC,10161,-0.82,-117.3,753.0,-6.9,487,10165,0.00,2.53,0.00,0.000,4,0.000,0.068,2505,747,3091
$GC,10268,-0.82,-117.3,760.4,-6.8,492,10272,0.00,2.45,0.00,0.000,6,0.000,0.058,2505,2111,3090
$GC,10596,-0.82,-117.3,780.0,-5.7,508,10600,0.00,2.62,0.00,0.000,4,0.000,0.070,2505,3555,3090
$GC,10786,-0.82,-117.3,792.6,-6.5,516,10792,0.00,2.58,0.00,0.000,6,0.000,0.057,2505,2125,3089
$GC,11103,-0.82,-117.3,813.9,-6.2,532,11104,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2106,3089
$GC,11412,-0.82,-117.3,832.0,-5.5,547,11416,0.00,2.65,0.00,0.000,4,0.000,0.071,2505,3553,3089
$STATE,11426,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11426,begin apogee
$GC,11436,-0.33,0.0,832.6,4.3,548,11540,0.57,0.00,100.93,1.395,6,0.086,0.000,2626,2098,2620
$STATE,11540,end apogee,CONTROL_FINISHED_OK
$STATE,11541,begin climb
$GC,11544,1.30,117.3,834.1,0.0,553,11655,1.62,2.72,100.75,1.367,4,0.067,0.075,2978,692,2141
$GC,11684,1.24,117.3,824.0,9.4,559,11690,0.00,2.60,0.00,0.000,6,0.000,0.061,2978,2097,2141
$GC,12000,1.27,140.1,798.3,7.0,575,12026,0.00,2.67,20.92,1.282,4,0.000,0.072,2977,3509,2047
$GC,12173,1.27,140.1,783.6,8.8,583,12177,0.00,2.55,0.00,0.000,6,0.000,0.061,2977,2127,2046
$GC,12500,1.27,140.1,756.2,8.4,599,12504,0.00,2.60,0.00,0.000,4,0.000,0.072,2978,3508,2045
$GC,12517,1.27,140.1,754.7,8.2,600,12521,0.00,2.53,0.00,0.000,6,0.000,0.061,2978,2134,2045
$GC,12844,1.27,140.1,724.9,9.1,616,12848,0.00,2.55,0.00,0.000,4,0.000,0.070,2978,3508,2045
$GC,12888,1.27,140.1,720.6,9.3,618,12893,0.00,2.50,0.00,0.000,6,0.000,0.058,2978,2143,2044
$GC,13210,1.27,140.1,691.3,9.6,634,13211,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2142,2043
$GC,13519,1.27,140.1,661.9,9.3,649,13523,0.00,2.53,0.00,0.000,4,0.000,0.068,2978,3513,2043
$GC,13563,1.27,140.1,657.5,9.6,651,13568,0.00,2.50,0.00,0.000,6,0.000,0.056,2978,2140,2043
$GC,13885,1.27,140.1,627.5,9.3,667,13889,0.00,2.55,0.00,0.000,4,0.000,0.066,2978,3515,2043
$GC,13929,1.27,140.1,623.1,9.5,669,13933,0.00,2.47,0.00,0.000,6,0.000,0.055,2978,2150,2043
$GC,14250,1.27,140.1,590.9,10.1,685,14255,0.00,2.50,0.00,0.000,4,0.000,0.066,2978,3509,2043
$GC,14273,1.27,140.1,588.4,10.4,686,14277,0.00,2.45,0.00,0.000,6,0.000,0.054,2978,2155,2043
$GC,14594,1.27,140.1,556.5,9.8,702,14595,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2142,2043
$GC,14903,1.27,140.1,527.5,9.2,717,14904,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2142,2043
$GC,15212,1.27,140.1,499.3,8.8,732,15216,0.00,2.50,0.00,0.000,4,0.000,0.064,2977,3511,2043
$GC,15245,1.27,140.1,496.0,9.4,733,15251,0.00,2.45,0.00,0.000,6,0.000,0.053,2978,2148,2043
$GC,15561,1.27,140.1,467.8,8.9,749,15565,0.00,2.50,0.00,0.000,4,0.000,0.063,2978,3510,2043
$GC,15582,1.27,140.1,465.7,9.7,750,15586,0.00,2.45,0.00,0.000,6,0.000,0.051,2978,2144,2043
$GC,15903,1.27,140.1,437.2,8.9,766,15907,0.00,2.50,0.00,0.000,4,0.000,0.062,2978,3510,2043
$GC,15931,1.27,140.1,434.5,9.0,767,15936,0.00,2.42,0.00,0.000,6,0.000,0.050,2978,2160,2043
$GC,16247,1.27,140.1,406.4,9.0,782,16251,0.00,2.47,0.00,0.000,4,0.000,0.061,2978,3511,2044
$GC,16265,1.27,140.1,404.8,9.3,783,16269,0.00,2.40,0.00,0.000,6,0.000,0.050,2978,2160,2044
$GC,16592,1.27,140.1,373.5,9.6,799,16593,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2160,2045
$GC,16901,1.27,140.1,344.2,9.6,814,16904,0.00,2.42,0.00,0.000,4,0.000,0.061,2978,3509,2045
$GC,16928,1.27,140.1,341.4,9.9,815,16932,0.00,2.42,0.00,0.000,6,0.000,0.051,2978,2156,2045
$GC,17250,1.27,140.1,310.7,9.6,831,17255,0.00,2.45,0.00,0.000,4,0.000,0.060,2978,3509,2046
$GC,17268,1.27,140.1,309.0,9.4,832,17272,0.00,2.42,0.00,0.000,6,0.000,0.051,2978,2149,2046
$GC,17594,1.27,140.1,280.4,8.2,848,17595,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2149,2046
$GC,17903,1.27,140.1,255.0,8.3,863,17908,0.00,2.47,0.00,0.000,4,0.000,0.060,2978,3509,2046
$GC,17944,1.27,140.1,251.2,9.0,865,17948,0.00,2.40,0.00,0.000,6,0.000,0.050,2978,2163,2046
$GC,18271,1.28,145.1,224.2,7.8,881,18278,0.00,0.00,5.70,0.758,6,0.000,0.000,2978,2161,2028
$GC,18581,1.35,157.1,200.9,7.5,896,18602,0.00,2.53,11.52,0.867,4,0.000,0.058,2978,3508,1979
$GC,18619,1.39,157.1,197.7,8.6,897,18626,0.10,2.42,0.00,0.000,6,0.054,0.050,3011,2163,1979
$GC,18935,1.39,157.1,168.5,9.3,913,18939,0.00,2.45,0.00,0.000,4,0.000,0.059,3011,3514,1978
$GC,18946,1.35,157.1,167.4,8.8,913,18952,0.00,2.40,0.00,0.000,6,0.000,0.049,3011,2175,1978
$GC,19263,1.35,157.1,139.1,9.0,929,19264,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2173,1979
$GC,19572,1.35,157.1,110.2,9.7,944,19576,0.00,2.42,0.00,0.000,4,0.000,0.059,3011,3512,1979
$GC,19600,1.35,157.1,107.2,10.4,945,19604,0.00,2.40,0.00,0.000,6,0.000,0.050,3012,2171,1979
$GC,19917,1.35,157.1,74.8,10.6,960,19921,0.00,2.45,0.00,0.000,4,0.000,0.058,3011,3515,1979
$GC,19927,1.35,157.1,73.3,10.9,960,19933,0.00,2.40,0.00,0.000,6,0.000,0.049,3012,2172,1979
$GC,20244,1.35,157.1,41.2,10.0,976,20248,0.00,2.42,0.00,0.000,4,0.000,0.058,3012,3511,1979
$GC,20288,1.35,157.1,36.3,9.6,978,20292,0.00,2.38,0.00,0.000,6,0.000,0.048,3011,2183,1979
$GC,20611,1.35,157.1,6.6,9.5,994,20615,0.00,2.42,0.00,0.000,4,0.000,0.058,3012,3513,1979
$GC,20628,1.35,157.1,4.7,9.8,995,20632,0.00,2.38,0.00,0.000,6,0.000,0.051,3012,2185,1979
$STATE,20671,end climb,SURFACE_DEPTH_REACHED
$STATE,20671,begin surface coast
$FINISH,0.0,1.013977
$STATE,20691,end surface coast,CONTROL_FINISHED_OK
$STATE,20691,begin surface
$SM_CCo,20714,231.00,0.777,0,0,390,547.02
$SM_GC,0.61,0.00,0.00,231.00,0.000,0.000,0.777,416,2174,390,-10.51,0.65,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1678
$TCM_TEMP,17.70
$XPDR_PINGS,602
$ALTIM_TOP_PING,18.1,17.5
$ALTIM_BOTTOM_PING,775.4,67.1
$24V_AH,23.8,41.284
$10V_AH,10.1,19.791
$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,24.275,184.950,239.825,231.000,0.000,37.762,28.588,158.303,157.750,0.000,0.000,16.885,1865.990,15935.095,686.746,2227.201,591.377,33.372,1789.151,0.000,2171.356,0.000,52.567
$DEVICE_MAMPS,137.293,75.166,1395.173,776.971,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,684.449,741.022,552.018,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50568,998
$CAP_FILE_SIZE,155052,0
$CFSIZE,254472192,238006272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
$GPS,230708,051608,6159.360,-1014.338,32,0.9,32,-10.1