version: 66.03
glider: 5
mission: 3
dive: 249
start: 8 1 108 1 39 7
data:
$ID,5
$MISSION,3
$DIVE,249
$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,-81283.562
$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,41
$R_STBD_OVSHOOT,27
$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
$GPS1,013227,6232.984,-1024.777,28,3.4,47,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-50.5
$GPS2,013817,6232.963,-1024.953,14,3.9,33,-10.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.186,0.121
$KALMAN_X,-75630.5,1164.8,85.3,99112.5,-11341.0
$KALMAN_Y,-30673.1,1031.5,-291.2,73804.5,-1047.4
$MHEAD_RNG_PITCHd_Wd,67.4,49401,-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,-117.3,0.0,0.0,0,139,0.00,0.00,-110.18,0.000,6,0.000,0.000,421,2126,3099
$GC,143,-1.30,-117.3,2.1,-1.7,5,159,10.35,2.55,0.00,0.000,4,0.139,0.054,2409,3554,3099
$GC,274,-0.98,-117.3,22.3,-14.0,10,279,0.38,2.47,0.00,0.000,6,0.095,0.047,2486,2165,3097
$GC,601,-0.88,-117.3,50.4,-8.1,26,606,0.10,2.53,0.00,0.000,4,0.099,0.057,2507,749,3098
$GC,697,-0.83,-117.3,58.6,-8.7,30,702,0.00,2.50,0.00,0.000,6,0.000,0.048,2507,2144,3098
$GC,1013,-0.83,-117.3,86.3,-8.7,45,1018,0.00,2.53,0.00,0.000,4,0.000,0.058,2507,3558,3098
$GC,1114,-0.78,-117.3,95.6,-9.0,49,1121,0.10,2.47,0.00,0.000,6,0.100,0.047,2527,2156,3099
$GC,1433,-0.78,-117.3,117.9,-6.9,65,1437,0.00,2.53,0.00,0.000,4,0.000,0.060,2527,741,3099
$GC,1550,-0.78,-117.3,127.2,-7.5,70,1555,0.00,2.53,0.00,0.000,6,0.000,0.050,2527,2152,3099
$GC,1867,-0.82,-117.3,152.8,-8.0,85,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2151,3099
$GC,2176,-0.87,-117.3,177.6,-8.1,100,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2152,3098
$GC,2485,-0.92,-117.3,202.4,-8.0,115,2490,0.12,2.58,0.00,0.000,4,0.053,0.062,2489,747,3098
$GC,2575,-0.84,-117.3,211.0,-9.8,119,2580,0.12,2.50,0.00,0.000,6,0.096,0.051,2515,2139,3098
$GC,2897,-0.84,-117.3,236.6,-7.6,135,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2138,3097
$GC,3206,-0.84,-117.3,257.7,-6.3,150,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2138,3098
$GC,3515,-0.84,-117.3,276.7,-6.3,165,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2138,3097
$GC,3824,-0.84,-117.3,296.7,-6.5,180,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2137,3097
$GC,4134,-0.84,-117.3,318.1,-7.3,195,4139,0.00,2.53,0.00,0.000,4,0.000,0.064,2515,747,3097
$GC,4201,-0.84,-117.3,323.7,-9.0,198,4206,0.00,2.50,0.00,0.000,6,0.000,0.053,2515,2137,3097
$GC,4523,-0.84,-117.3,347.9,-7.9,214,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2137,3096
$GC,4831,-0.84,-117.3,370.9,-7.0,229,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2137,3096
$GC,5141,-0.84,-117.3,392.4,-6.5,244,5145,0.00,2.53,0.00,0.000,4,0.000,0.064,2515,742,3096
$GC,5300,-0.84,-117.3,403.1,-6.6,251,5304,0.00,2.50,0.00,0.000,6,0.000,0.054,2515,2129,3095
$GC,5621,-0.84,-117.3,422.8,-6.5,267,5625,0.00,2.55,0.00,0.000,4,0.000,0.065,2515,741,3095
$GC,5807,-0.84,-117.3,435.5,-7.2,275,5811,0.00,2.45,0.00,0.000,6,0.000,0.054,2515,2102,3095
$GC,6123,-0.84,-117.3,455.8,-6.8,290,6127,0.00,2.65,0.00,0.000,4,0.000,0.067,2516,3564,3095
$GC,6190,-0.84,-117.3,460.7,-6.9,293,6194,0.00,2.65,0.00,0.000,6,0.000,0.056,2515,2093,3094
$GC,6511,-0.84,-117.3,483.0,-7.4,309,6515,0.00,2.40,0.00,0.000,4,0.000,0.064,2515,747,3094
$GC,6595,-0.84,-117.3,489.4,-7.7,312,6601,0.00,2.45,0.00,0.000,6,0.000,0.056,2516,2097,3094
$GC,6913,-0.88,-117.3,507.0,-4.7,328,6917,0.00,2.50,0.00,0.000,4,0.000,0.070,2515,743,3093
$GC,6980,-0.88,-117.3,510.3,-5.3,331,6984,0.00,2.42,0.00,0.000,6,0.000,0.058,2515,2074,3093
$GC,7305,-0.88,-117.3,525.3,-4.8,347,7309,0.00,2.70,0.00,0.000,4,0.000,0.071,2515,3554,3092
$GC,7412,-0.88,-117.3,531.5,-5.9,352,7416,0.00,2.62,0.00,0.000,6,0.000,0.060,2515,2089,3092
$GC,7739,-0.93,-117.3,552.1,-6.7,368,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2074,3091
$GC,8049,-0.97,-117.3,572.3,-6.1,383,8054,0.12,2.75,0.00,0.000,4,0.058,0.072,2479,3562,3091
$GC,8167,-0.88,-117.3,581.7,-10.9,388,8172,0.12,2.67,0.00,0.000,6,0.101,0.062,2504,2096,3090
$STATE,8191,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8191,begin apogee
$GC,8198,-0.33,0.0,584.4,10.5,389,8300,0.57,0.00,98.78,1.244,6,0.089,0.000,2622,2075,2620
$STATE,8301,end apogee,CONTROL_FINISHED_OK
$STATE,8301,begin climb
$GC,8304,1.30,117.3,587.4,0.0,394,8410,1.67,2.62,98.18,1.210,4,0.076,0.071,2978,691,2141
$GC,8426,1.27,129.4,580.4,7.5,400,8447,0.00,2.60,11.68,1.068,6,0.000,0.061,2978,2097,2092
$GC,8757,1.27,129.4,550.5,8.6,416,8761,0.00,2.60,0.00,0.000,4,0.000,0.074,2978,3507,2091
$GC,8841,1.27,129.4,543.0,9.0,420,8846,0.00,2.55,0.00,0.000,6,0.000,0.062,2978,2123,2090
$GC,9170,1.27,129.4,516.0,8.1,436,9174,0.00,2.60,0.00,0.000,4,0.000,0.074,2978,3506,2089
$GC,9225,1.27,129.4,511.4,8.1,438,9231,0.00,2.55,0.00,0.000,6,0.000,0.062,2978,2128,2089
$GC,9540,1.27,129.4,486.5,8.1,454,9545,0.00,2.58,0.00,0.000,4,0.000,0.074,2978,3506,2089
$GC,9591,1.27,129.4,482.0,8.1,456,9595,0.00,2.53,0.00,0.000,6,0.000,0.062,2978,2136,2088
$GC,9907,1.27,129.4,455.0,9.2,471,9911,0.00,2.55,0.00,0.000,4,0.000,0.072,2978,3507,2087
$GC,9957,1.27,129.4,449.7,10.4,473,9961,0.00,2.50,0.00,0.000,6,0.000,0.061,2978,2144,2087
$GC,10273,1.27,129.4,418.7,9.9,488,10278,0.00,2.55,0.00,0.000,4,0.000,0.071,2978,3507,2086
$GC,10318,1.27,129.4,413.8,10.8,490,10322,0.00,2.47,0.00,0.000,6,0.000,0.058,2978,2150,2086
$GC,10639,1.27,129.4,387.2,8.0,506,10640,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2150,2086
$GC,10949,1.29,142.6,364.0,7.4,521,10966,0.00,0.00,11.48,1.028,6,0.000,0.000,2978,2138,2038
$GC,11277,1.29,144.0,337.8,7.9,537,11281,0.00,2.50,0.00,0.000,4,0.000,0.065,2978,3508,2038
$GC,11327,1.29,144.0,333.6,8.3,539,11331,0.00,2.42,0.00,0.000,6,0.000,0.053,2978,2167,2037
$GC,11644,1.31,157.6,309.9,7.4,554,11665,0.00,2.53,14.10,0.997,4,0.000,0.066,2978,3510,1977
$GC,11711,1.31,157.6,304.7,8.1,557,11715,0.00,2.40,0.00,0.000,6,0.000,0.051,2978,2174,1976
$GC,12038,1.31,157.6,276.6,9.3,573,12039,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2174,1977
$GC,12346,1.31,157.6,244.0,11.1,588,12351,0.00,2.45,0.00,0.000,4,0.000,0.062,2978,3512,1977
$GC,12380,1.35,157.6,240.2,11.4,589,12386,0.00,2.40,0.00,0.000,6,0.000,0.051,2978,2183,1977
$GC,12697,1.39,157.6,206.1,10.5,605,12702,0.10,2.42,0.00,0.000,4,0.057,0.060,3010,3514,1977
$GC,12719,1.39,157.6,203.2,12.5,606,12723,0.00,2.38,0.00,0.000,6,0.000,0.051,3010,2189,1977
$GC,13040,1.35,157.6,165.6,11.4,622,13045,0.00,2.40,0.00,0.000,4,0.000,0.060,3010,3510,1978
$GC,13063,1.29,157.6,162.8,12.1,623,13068,0.15,2.35,0.00,0.000,6,0.090,0.050,2981,2196,1978
$GC,13385,1.34,157.6,134.9,8.7,639,13389,0.00,2.40,0.00,0.000,4,0.000,0.061,2981,3514,1978
$GC,13396,1.38,157.6,133.8,8.6,639,13402,0.00,2.35,0.00,0.000,6,0.000,0.050,2981,2198,1979
$GC,13713,1.42,157.6,106.5,8.9,655,13715,0.12,0.00,0.00,0.000,6,0.051,0.000,3018,2198,1979
$GC,14022,1.36,157.6,72.7,10.7,670,14026,0.00,2.40,0.00,0.000,4,0.000,0.059,3018,3511,1979
$GC,14050,1.30,157.6,69.6,11.4,671,14055,0.17,2.35,0.00,0.000,6,0.091,0.049,2982,2198,1979
$GC,14369,1.41,202.3,48.3,6.0,686,14411,0.12,2.78,36.70,0.832,4,0.052,0.060,3019,682,1794
$GC,14425,1.37,202.3,43.2,9.8,689,14430,0.12,2.72,0.00,0.000,6,0.091,0.050,2997,2194,1795
$GC,14755,1.42,202.3,13.5,9.1,705,14760,0.00,2.75,0.00,0.000,4,0.000,0.059,2997,683,1794
$GC,14766,1.47,202.3,12.2,9.0,705,14773,0.10,2.67,0.00,0.000,6,0.054,0.049,3028,2189,1794
$STATE,14873,end climb,SURFACE_DEPTH_REACHED
$STATE,14873,begin surface coast
$FINISH,-0.0,1.026814
$STATE,14895,end surface coast,CONTROL_FINISHED_OK
$STATE,14895,begin surface
$SM_CCo,14918,207.82,0.773,0,0,390,547.02
$SM_GC,0.48,0.00,0.00,207.82,0.000,0.000,0.773,418,2130,390,-10.49,-0.96,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1688
$TCM_TEMP,17.50
$XPDR_PINGS,369
$ALTIM_TOP_PING,19.1,999.0
$ALTIM_BOTTOM_PING,525.3,67.8
$24V_AH,23.8,47.841
$10V_AH,10.1,23.281
$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,25.850,141.525,270.900,207.825,0.000,37.763,34.352,134.129,96.750,0.000,0.000,34.718,1365.747,11275.120,660.706,1675.121,499.124,33.349,1492.712,0.000,1618.118,0.000,31.765
$DEVICE_MAMPS,138.827,74.399,1244.074,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,488.507,525.935,473.708,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37986,712
$CAP_FILE_SIZE,120672,0
$CFSIZE,254472192,235417600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,010808,055232,6233.715,-1028.995,38,1.8,38,-10.4