version: 66.03
glider: 5
mission: 3
dive: 247
start: 7 31 108 16 35 25
data:
$ID,5
$MISSION,3
$DIVE,247
$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,-81231.969
$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,29
$R_STBD_OVSHOOT,29
$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
$GPS1,162834,6231.083,-1026.137,67,1.4,67,-10.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-50.4
$GPS2,163433,6231.107,-1026.336,10,1.9,10,-10.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.195,0.106
$KALMAN_X,-67527.4,548.8,-88.9,90640.5,-11599.4
$KALMAN_Y,-34607.3,831.9,367.5,73864.1,-8530.5
$MHEAD_RNG_PITCHd_Wd,71.9,52530,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.30,-117.3,0.0,0.0,0,138,0.00,0.00,-110.28,0.000,6,0.000,0.000,419,2127,3099
$GC,142,-1.30,-117.3,2.1,-1.6,5,158,10.40,2.55,0.00,0.000,4,0.141,0.054,2408,3552,3098
$GC,265,-0.93,-117.3,23.3,-15.3,9,272,0.43,2.50,0.00,0.000,6,0.096,0.047,2495,2146,3097
$GC,584,-0.86,-117.3,57.5,-10.2,25,588,0.00,2.50,0.00,0.000,4,0.000,0.056,2495,742,3097
$GC,715,-0.78,-117.3,71.0,-10.1,31,720,0.17,2.45,0.00,0.000,6,0.091,0.047,2532,2120,3097
$GC,1043,-0.82,-117.3,96.3,-7.4,47,1047,0.00,2.55,0.00,0.000,4,0.000,0.057,2532,3554,3097
$GC,1174,-0.82,-117.3,106.0,-7.4,53,1178,0.00,2.53,0.00,0.000,6,0.000,0.046,2532,2125,3097
$GC,1503,-0.87,-117.3,126.5,-6.2,69,1507,0.00,2.45,0.00,0.000,4,0.000,0.058,2532,752,3098
$GC,1599,-0.87,-117.3,133.6,-7.8,73,1603,0.00,2.47,0.00,0.000,6,0.000,0.048,2532,2136,3098
$GC,1916,-0.92,-117.3,156.8,-7.0,88,1918,0.15,0.00,0.00,0.000,6,0.048,0.000,2487,2135,3098
$GC,2225,-0.85,-117.3,182.5,-8.3,103,2226,0.12,0.00,0.00,0.000,6,0.094,0.000,2514,2134,3097
$GC,2534,-0.85,-117.3,204.0,-6.8,118,2539,0.00,2.53,0.00,0.000,4,0.000,0.059,2514,749,3098
$GC,2579,-0.85,-117.3,207.5,-7.1,120,2584,0.00,2.47,0.00,0.000,6,0.000,0.051,2514,2125,3098
$GC,2902,-0.85,-117.3,229.6,-6.7,136,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2125,3097
$GC,3211,-0.85,-117.3,248.5,-5.8,151,3215,0.00,2.58,0.00,0.000,4,0.000,0.062,2513,3556,3097
$GC,3267,-0.85,-117.3,252.2,-6.6,153,3273,0.00,2.58,0.00,0.000,6,0.000,0.050,2513,2115,3097
$GC,3583,-0.85,-117.3,272.4,-6.9,169,3588,0.00,2.62,0.00,0.000,4,0.000,0.061,2513,3556,3096
$GC,3628,-0.85,-117.3,275.8,-7.7,171,3633,0.00,2.58,0.00,0.000,6,0.000,0.051,2514,2115,3096
$GC,3950,-0.85,-117.3,298.3,-7.2,187,3954,0.00,2.45,0.00,0.000,4,0.000,0.062,2514,746,3096
$GC,4017,-0.85,-117.3,303.8,-8.3,190,4022,0.00,2.50,0.00,0.000,6,0.000,0.052,2514,2137,3096
$GC,4339,-0.85,-117.3,329.0,-7.6,206,4343,0.00,2.55,0.00,0.000,4,0.000,0.063,2514,3558,3095
$GC,4401,-0.85,-117.3,334.1,-7.9,209,4405,0.00,2.55,0.00,0.000,6,0.000,0.052,2514,2128,3095
$GC,4728,-0.85,-117.3,358.1,-7.3,225,4733,0.00,2.60,0.00,0.000,4,0.000,0.063,2514,3557,3095
$GC,4818,-0.85,-117.3,365.0,-7.7,229,4823,0.00,2.53,0.00,0.000,6,0.000,0.051,2514,2139,3095
$GC,5140,-0.85,-117.3,385.3,-5.8,245,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2138,3095
$GC,5448,-0.85,-117.3,403.0,-5.7,260,5453,0.00,2.50,0.00,0.000,4,0.000,0.063,2514,744,3095
$GC,5516,-0.85,-117.3,407.3,-6.0,263,5520,0.00,2.55,0.00,0.000,6,0.000,0.053,2514,2165,3095
$GC,5838,-0.85,-117.3,429.3,-7.6,279,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2165,3094
$GC,6146,-0.85,-117.3,453.8,-8.1,294,6150,0.00,2.60,0.00,0.000,4,0.000,0.064,2514,738,3094
$GC,6275,-0.85,-117.3,465.5,-8.7,300,6280,0.00,2.53,0.00,0.000,6,0.000,0.055,2514,2148,3094
$GC,6603,-0.85,-117.3,490.8,-7.1,316,6607,0.00,2.58,0.00,0.000,4,0.000,0.066,2514,741,3093
$GC,6675,-0.85,-117.3,496.2,-7.5,319,6679,0.00,2.55,0.00,0.000,6,0.000,0.057,2514,2148,3093
$GC,6992,-0.85,-117.3,516.8,-6.5,334,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2149,3093
$GC,7301,-0.90,-117.3,531.9,-3.7,349,7305,0.00,2.58,0.00,0.000,4,0.000,0.070,2514,746,3092
$GC,7379,-0.90,-117.3,535.4,-5.9,352,7385,0.00,2.53,0.00,0.000,6,0.000,0.058,2514,2137,3092
$GC,7695,-0.90,-117.3,550.7,-5.8,368,7700,0.00,2.60,0.00,0.000,4,0.000,0.072,2514,3557,3091
$GC,7956,-0.90,-117.3,568.7,-7.9,379,7962,0.00,2.58,0.00,0.000,6,0.000,0.061,2514,2142,3091
$GC,8272,-0.94,-117.3,585.3,-6.1,395,8277,0.00,2.55,0.00,0.000,4,0.000,0.074,2513,743,3090
$GC,8339,-0.94,-117.3,590.2,-8.8,398,8344,0.00,2.58,0.00,0.000,6,0.000,0.065,2514,2142,3090
$STATE,8348,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8349,begin apogee
$GC,8356,-0.33,0.0,590.9,8.3,399,8458,0.52,0.00,98.53,1.250,6,0.088,0.000,2622,2072,2620
$STATE,8459,end apogee,CONTROL_FINISHED_OK
$STATE,8459,begin climb
$GC,8462,1.30,117.3,594.1,0.0,404,8564,1.67,0.00,97.78,1.218,6,0.073,0.000,2979,2072,2141
$GC,8874,1.30,117.3,563.3,8.3,424,8878,0.00,2.67,0.00,0.000,4,0.000,0.073,2979,3511,2139
$GC,8906,1.30,117.3,560.0,9.6,425,8913,0.00,2.58,0.00,0.000,6,0.000,0.064,2979,2124,2139
$GC,9223,1.31,119.6,535.0,7.9,441,9227,0.00,2.62,0.00,0.000,4,0.000,0.074,2979,3512,2138
$GC,9291,1.26,127.9,529.3,7.6,444,9307,0.00,2.58,10.10,1.074,6,0.000,0.064,2979,2123,2098
$GC,9617,1.26,127.9,502.5,8.5,460,9621,0.00,2.60,0.00,0.000,4,0.000,0.074,2979,3508,2096
$GC,9649,1.26,127.9,499.4,9.4,461,9655,0.00,2.55,0.00,0.000,6,0.000,0.063,2980,2129,2096
$GC,9966,1.26,127.9,473.3,8.1,477,9970,0.00,2.58,0.00,0.000,4,0.000,0.072,2980,3508,2095
$GC,10015,1.26,127.9,468.6,9.4,479,10019,0.00,2.53,0.00,0.000,6,0.000,0.061,2980,2135,2095
$GC,10331,1.26,127.9,441.8,8.8,494,10335,0.00,2.55,0.00,0.000,4,0.000,0.070,2980,3510,2094
$GC,10387,1.26,127.9,436.5,9.1,496,10393,0.00,2.47,0.00,0.000,6,0.000,0.059,2979,2160,2094
$GC,10702,1.26,127.9,407.3,9.5,512,10704,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2147,2094
$GC,11011,1.26,127.9,377.0,10.0,527,11016,0.00,2.47,0.00,0.000,4,0.000,0.065,2979,3509,2094
$GC,11097,1.26,127.9,367.8,11.1,531,11102,0.00,2.42,0.00,0.000,6,0.000,0.054,2980,2165,2093
$GC,11424,1.26,127.9,335.8,9.6,547,11429,0.00,2.50,0.00,0.000,4,0.000,0.064,2980,3517,2094
$GC,11464,1.26,127.9,331.8,10.5,549,11469,0.00,2.42,0.00,0.000,6,0.000,0.054,2980,2173,2094
$GC,11792,1.26,127.9,300.9,9.4,565,11796,0.00,2.45,0.00,0.000,4,0.000,0.064,2980,3511,2094
$GC,11819,1.26,127.9,298.1,10.0,566,11823,0.00,2.38,0.00,0.000,6,0.000,0.053,2980,2190,2094
$GC,12135,1.26,127.9,269.8,8.8,581,12136,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2190,2094
$GC,12445,1.26,127.9,240.5,9.5,596,12449,0.00,2.40,0.00,0.000,4,0.000,0.061,2980,3511,2094
$GC,12466,1.26,127.9,238.1,10.0,597,12470,0.00,2.35,0.00,0.000,6,0.000,0.050,2980,2198,2095
$GC,12788,1.26,127.9,206.8,9.7,613,12789,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2199,2095
$GC,13097,1.26,127.9,178.1,9.0,628,13101,0.00,2.40,0.00,0.000,4,0.000,0.061,2980,3517,2095
$GC,13131,1.26,127.9,174.8,9.2,629,13135,0.00,2.35,0.00,0.000,6,0.000,0.050,2980,2202,2096
$GC,13447,1.26,127.9,147.7,8.7,644,13448,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2202,2096
$GC,13757,1.26,127.9,121.2,8.7,659,13758,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2201,2096
$GC,14065,1.26,127.9,95.6,8.1,674,14069,0.00,2.40,0.00,0.000,4,0.000,0.059,2980,3515,2097
$GC,14128,1.27,131.9,90.4,7.8,677,14137,0.00,2.33,4.80,0.655,6,0.000,0.051,2980,2210,2082
$GC,14455,1.37,173.2,67.8,6.1,693,14498,0.00,2.83,33.72,0.846,4,0.000,0.061,2980,691,1912
$GC,14522,1.50,216.7,63.6,6.0,696,14565,0.20,2.75,35.38,0.833,6,0.042,0.051,3036,2216,1736
$GC,14879,1.44,216.7,29.3,9.8,713,14881,0.12,0.00,0.00,0.000,6,0.094,0.000,3014,2215,1735
$STATE,15160,end climb,SURFACE_DEPTH_REACHED
$STATE,15160,begin surface coast
$FINISH,0.1,1.026830
$STATE,15182,end surface coast,CONTROL_FINISHED_OK
$STATE,15182,begin surface
$SM_CCo,15205,199.02,0.775,0,0,390,547.02
$SM_GC,0.50,0.00,0.00,199.02,0.000,0.000,0.775,418,2122,390,-10.49,-0.79,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1683
$TCM_TEMP,17.60
$XPDR_PINGS,374
$ALTIM_TOP_PING,18.5,999.0
$ALTIM_BOTTOM_PING,500.8,100.1
$24V_AH,23.8,47.531
$10V_AH,10.1,23.129
$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,25.075,141.675,280.300,199.025,0.000,37.761,35.021,166.354,97.750,0.000,0.000,10.224,1387.864,11494.537,645.887,1704.870,531.951,33.350,1507.366,0.000,1671.676,0.000,29.898
$DEVICE_MAMPS,141.128,74.399,1250.210,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,499.375,543.004,484.025,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38021,728
$CAP_FILE_SIZE,120086,0
$CFSIZE,254472192,235536384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,310708,205331,6233.496,-1025.034,37,1.2,42,-10.4