version: 66.03
glider: 5
mission: 3
dive: 244
start: 7 31 108 3 28 6
data:
$ID,5
$MISSION,3
$DIVE,244
$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,-81189.328
$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,49
$R_STBD_OVSHOOT,18
$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
$GPS1,032137,6228.960,-1023.890,41,1.3,46,-10.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-57.1
$GPS2,032715,6228.945,-1024.024,12,1.3,12,-10.3
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.010,0.222
$KALMAN_X,-54401.9,-90.7,-1407.8,81522.5,-1286.2
$KALMAN_Y,-29480.2,384.7,158.1,65386.5,-7063.8
$MHEAD_RNG_PITCHd_Wd,7.6,53910,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.30,-117.3,0.0,0.0,0,140,0.00,0.00,-110.07,0.000,6,0.000,0.000,419,2117,3099
$GC,144,-1.30,-117.3,2.2,-1.7,5,160,10.32,2.60,0.00,0.000,4,0.137,0.055,2409,3564,3098
$GC,386,-0.95,-117.3,38.0,-12.9,15,391,0.40,2.47,0.00,0.000,6,0.093,0.046,2491,2172,3097
$GC,714,-0.88,-117.3,71.2,-9.4,31,719,0.00,2.53,0.00,0.000,4,0.000,0.057,2491,744,3098
$GC,950,-0.79,-117.3,90.1,-7.1,41,957,0.15,2.50,0.00,0.000,6,0.093,0.049,2524,2143,3098
$GC,1269,-0.79,-117.3,108.3,-6.3,57,1273,0.00,2.53,0.00,0.000,4,0.000,0.059,2523,3558,3098
$GC,1450,-0.79,-117.3,122.7,-8.8,65,1454,0.00,2.53,0.00,0.000,6,0.000,0.048,2523,2133,3098
$GC,1772,-0.79,-117.3,154.0,-10.1,81,1776,0.00,2.47,0.00,0.000,4,0.000,0.060,2523,749,3098
$GC,1964,-0.79,-117.3,173.0,-9.3,89,1969,0.00,2.50,0.00,0.000,6,0.000,0.051,2524,2140,3098
$GC,2281,-0.83,-117.3,198.8,-7.5,104,2285,0.00,2.55,0.00,0.000,4,0.000,0.061,2524,3564,3098
$GC,2393,-0.83,-117.3,206.9,-6.8,109,2397,0.00,2.55,0.00,0.000,6,0.000,0.049,2524,2136,3097
$GC,2715,-0.88,-117.3,226.6,-6.3,125,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2136,3098
$GC,3025,-0.93,-117.3,246.5,-6.7,140,3029,0.12,2.50,0.00,0.000,4,0.052,0.061,2486,741,3097
$GC,3109,-0.85,-117.3,253.3,-8.5,144,3115,0.12,2.53,0.00,0.000,6,0.095,0.051,2512,2153,3097
$GC,3438,-0.85,-117.3,275.6,-6.8,160,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2153,3097
$GC,3746,-0.85,-117.3,297.2,-7.2,175,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2152,3096
$GC,4055,-0.85,-117.3,319.0,-7.2,190,4059,0.00,2.58,0.00,0.000,4,0.000,0.063,2512,746,3096
$GC,4163,-0.85,-117.3,327.2,-7.5,195,4167,0.00,2.50,0.00,0.000,6,0.000,0.051,2512,2141,3096
$GC,4490,-0.85,-117.3,352.5,-8.0,211,4495,0.00,2.55,0.00,0.000,4,0.000,0.064,2512,3556,3096
$GC,4653,-0.85,-117.3,366.8,-9.2,218,4658,0.00,2.53,0.00,0.000,6,0.000,0.051,2512,2144,3095
$GC,4969,-0.85,-117.3,393.8,-8.3,233,4973,0.00,2.47,0.00,0.000,4,0.000,0.061,2512,746,3095
$GC,5081,-0.85,-117.3,402.6,-7.8,238,5086,0.00,2.53,0.00,0.000,6,0.000,0.052,2512,2150,3095
$GC,5403,-0.85,-117.3,421.9,-5.3,254,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2150,3094
$GC,5712,-0.85,-117.3,435.9,-4.4,269,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2150,3094
$GC,6022,-0.85,-117.3,454.2,-6.9,284,6026,0.00,2.58,0.00,0.000,4,0.000,0.064,2512,747,3094
$GC,6094,-0.85,-117.3,459.6,-7.5,287,6099,0.00,2.55,0.00,0.000,6,0.000,0.054,2512,2159,3094
$GC,6411,-0.85,-117.3,479.7,-6.5,302,6415,0.00,2.55,0.00,0.000,4,0.000,0.067,2512,3564,3094
$GC,6541,-0.85,-117.3,489.8,-7.5,308,6546,0.00,2.50,0.00,0.000,6,0.000,0.054,2512,2162,3094
$GC,6869,-0.85,-117.3,512.4,-6.7,324,6873,0.00,2.55,0.00,0.000,4,0.000,0.064,2512,744,3093
$GC,6992,-0.85,-117.3,521.3,-7.6,329,6998,0.00,2.58,0.00,0.000,6,0.000,0.058,2512,2162,3093
$GC,7309,-0.89,-117.3,542.9,-6.7,345,7313,0.00,2.62,0.00,0.000,4,0.000,0.067,2512,738,3092
$GC,7475,-0.89,-117.3,553.8,-6.3,352,7479,0.00,2.58,0.00,0.000,6,0.000,0.061,2512,2147,3092
$GC,7791,-0.89,-117.3,572.4,-5.5,367,7796,0.00,2.60,0.00,0.000,4,0.000,0.074,2512,3557,3091
$GC,8021,-0.89,-117.3,587.8,-6.6,377,8025,0.00,2.58,0.00,0.000,6,0.000,0.061,2512,2145,3090
$STATE,8314,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8314,begin apogee
$GC,8320,-0.33,0.0,607.8,6.5,391,8423,0.55,0.00,99.18,1.264,6,0.085,0.000,2626,2128,2621
$STATE,8423,end apogee,CONTROL_FINISHED_OK
$STATE,8423,begin climb
$GC,8427,1.30,117.3,609.9,0.0,396,8534,1.62,2.62,98.82,1.230,4,0.071,0.074,2976,3504,2141
$GC,8579,1.30,117.3,599.8,9.6,403,8583,0.00,2.62,0.00,0.000,6,0.000,0.064,2977,2102,2140
$GC,8895,1.30,117.3,571.6,9.0,418,8899,0.00,2.67,0.00,0.000,4,0.000,0.074,2977,3511,2139
$GC,8940,1.30,117.3,567.2,9.9,420,8945,0.00,2.62,0.00,0.000,6,0.000,0.064,2976,2099,2139
$GC,9262,1.30,117.3,540.0,8.4,436,9266,0.00,2.65,0.00,0.000,4,0.000,0.075,2976,3505,2138
$GC,9318,1.30,117.3,535.0,8.7,438,9324,0.00,2.58,0.00,0.000,6,0.000,0.062,2976,2111,2138
$GC,9633,1.30,117.3,506.6,9.9,454,9638,0.00,2.65,0.00,0.000,4,0.000,0.074,2977,3510,2138
$GC,9644,1.30,117.3,505.3,9.8,454,9650,0.00,2.62,0.00,0.000,6,0.000,0.064,2977,2097,2137
$GC,9961,1.30,117.3,477.5,8.1,470,9965,0.00,2.65,0.00,0.000,4,0.000,0.073,2977,3505,2136
$GC,10091,1.32,126.9,467.2,7.6,476,10105,0.00,2.53,8.77,1.054,6,0.000,0.061,2977,2130,2102
$GC,10422,1.35,147.5,443.2,7.1,492,10446,0.00,2.67,18.55,1.135,4,0.000,0.071,2977,3504,2017
$GC,10481,1.36,150.6,438.9,7.9,494,10491,0.00,2.53,4.57,0.822,6,0.000,0.060,2977,2141,2005
$GC,10814,1.38,167.5,416.0,7.2,511,10836,0.12,2.60,15.10,1.090,4,0.056,0.068,3011,3505,1936
$GC,10861,1.31,167.5,411.4,11.0,513,10866,0.12,2.50,0.00,0.000,6,0.097,0.058,2987,2148,1936
$GC,11187,1.31,167.5,378.5,10.7,529,11192,0.00,2.55,0.00,0.000,4,0.000,0.066,2986,3513,1935
$GC,11205,1.31,167.5,376.6,10.8,530,11209,0.00,2.50,0.00,0.000,6,0.000,0.055,2987,2142,1935
$GC,11532,1.31,167.5,342.1,10.2,546,11537,0.00,2.55,0.00,0.000,4,0.000,0.064,2987,3513,1935
$GC,11550,1.31,167.5,340.3,10.1,547,11554,0.00,2.47,0.00,0.000,6,0.000,0.055,2986,2149,1935
$GC,11876,1.31,167.5,311.8,8.2,563,11881,0.00,2.50,0.00,0.000,4,0.000,0.064,2987,3508,1935
$GC,11899,1.31,167.5,309.8,8.9,564,11903,0.00,2.42,0.00,0.000,6,0.000,0.053,2987,2167,1935
$GC,12220,1.31,167.5,283.4,8.1,580,12224,0.00,2.45,0.00,0.000,4,0.000,0.061,2986,3508,1936
$GC,12252,1.31,167.5,280.5,9.2,581,12258,0.00,2.40,0.00,0.000,6,0.000,0.051,2987,2173,1936
$GC,12568,1.31,167.5,253.0,8.9,597,12572,0.00,2.42,0.00,0.000,4,0.000,0.062,2987,3507,1937
$GC,12606,1.31,167.5,249.1,9.4,598,12612,0.00,2.40,0.00,0.000,6,0.000,0.051,2987,2176,1937
$GC,12922,1.31,167.5,220.9,9.0,614,12926,0.00,2.42,0.00,0.000,4,0.000,0.061,2987,3511,1937
$GC,12933,1.31,167.5,219.9,9.0,614,12937,0.00,2.40,0.00,0.000,6,0.000,0.050,2986,2179,1937
$GC,13249,1.31,167.5,190.8,9.5,629,13250,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2179,1938
$GC,13558,1.35,167.5,161.1,9.8,644,13562,0.00,2.42,0.00,0.000,4,0.000,0.060,2987,3508,1938
$GC,13575,1.35,167.5,159.2,10.3,645,13579,0.00,2.38,0.00,0.000,6,0.000,0.051,2987,2184,1938
$GC,13902,1.35,167.5,122.8,11.9,661,13907,0.00,2.40,0.00,0.000,4,0.000,0.059,2987,3508,1939
$GC,13913,1.35,167.5,121.1,12.2,661,13919,0.00,2.35,0.00,0.000,6,0.000,0.051,2987,2196,1939
$GC,14229,1.35,167.5,86.0,10.2,677,14230,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2196,1939
$GC,14540,1.40,167.5,54.3,10.4,692,14544,0.00,2.70,0.00,0.000,4,0.000,0.063,2987,689,1940
$GC,14550,1.40,167.5,53.1,9.7,692,14556,0.00,2.67,0.00,0.000,6,0.000,0.050,2987,2189,1940
$GC,14867,1.47,170.4,25.8,7.9,708,14874,0.15,0.00,4.82,0.619,6,0.048,0.000,3030,2188,1925
$STATE,15111,end climb,SURFACE_DEPTH_REACHED
$STATE,15111,begin surface coast
$FINISH,-0.0,1.026420
$STATE,15133,end surface coast,CONTROL_FINISHED_OK
$STATE,15133,begin surface
$SM_CCo,15156,226.48,0.781,0,0,390,547.02
$SM_GC,0.56,0.00,0.00,226.48,0.000,0.000,0.781,420,2134,390,-10.48,-0.48,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1683
$TCM_TEMP,17.60
$XPDR_PINGS,394
$ALTIM_TOP_PING,18.3,999.0
$ALTIM_BOTTOM_PING,526.3,91.5
$24V_AH,23.8,47.055
$10V_AH,10.1,22.903
$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,25.000,152.125,249.825,226.475,0.000,37.762,32.248,146.186,103.000,0.000,0.000,12.662,1411.326,11322.197,656.424,1819.394,513.105,33.353,1562.008,0.000,1780.868,0.000,31.493
$DEVICE_MAMPS,136.526,75.166,1264.016,780.806,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,494.792,533.357,456.445,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37969,721
$CAP_FILE_SIZE,123022,0
$CFSIZE,254472192,235704320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,310708,074538,6231.660,-1026.700,29,1.1,29,-10.4