version: 66.03
glider: 5
mission: 3
dive: 250
start: 8 1 108 6 1 42
data:
$ID,5
$MISSION,3
$DIVE,250
$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,-81297.781
$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,20
$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
$GPS1,055232,6233.715,-1028.995,38,1.8,38,-10.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-53.7
$GPS2,060051,6233.783,-1029.238,13,1.1,13,-10.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.194,0.108
$KALMAN_X,-84485.3,1600.8,538.0,103396.5,-18579.5
$KALMAN_Y,-32263.1,470.8,376.6,76834.0,-4124.1
$MHEAD_RNG_PITCHd_Wd,71.2,51338,-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,-110.40,0.000,6,0.000,0.000,418,2116,3099
$GC,142,-1.30,-117.3,2.2,-1.6,5,157,10.45,2.42,0.00,0.000,4,0.142,0.054,2413,760,3098
$GC,210,-0.98,-117.3,14.1,-13.8,9,215,0.35,2.50,0.00,0.000,6,0.094,0.047,2484,2160,3097
$GC,538,-0.88,-117.3,45.2,-9.3,25,540,0.12,0.00,0.00,0.000,6,0.100,0.000,2510,2160,3097
$GC,847,-0.88,-117.3,71.3,-7.6,40,851,0.00,2.55,0.00,0.000,4,0.000,0.055,2510,750,3098
$GC,987,-0.88,-117.3,81.0,-6.3,46,991,0.00,2.45,0.00,0.000,6,0.000,0.047,2510,2128,3098
$GC,1304,-0.88,-117.3,101.3,-7.0,61,1308,0.00,2.55,0.00,0.000,4,0.000,0.058,2510,3557,3099
$GC,1469,-0.83,-117.3,112.7,-7.0,68,1473,0.00,2.45,0.00,0.000,6,0.000,0.045,2510,2158,3099
$GC,1786,-0.83,-117.3,131.7,-6.1,83,1790,0.00,2.53,0.00,0.000,4,0.000,0.058,2510,739,3098
$GC,1853,-0.83,-117.3,136.0,-6.1,86,1857,0.00,2.50,0.00,0.000,6,0.000,0.050,2510,2138,3098
$GC,2175,-0.83,-117.3,155.4,-5.9,102,2179,0.00,2.53,0.00,0.000,4,0.000,0.058,2510,748,3098
$GC,2224,-0.83,-117.3,158.9,-6.6,104,2229,0.00,2.47,0.00,0.000,6,0.000,0.050,2510,2129,3098
$GC,2541,-0.83,-117.3,181.1,-7.6,119,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2130,3098
$GC,2850,-0.83,-117.3,204.5,-7.5,134,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2130,3097
$GC,3159,-0.83,-117.3,226.9,-7.1,149,3163,0.00,2.53,0.00,0.000,4,0.000,0.061,2510,746,3097
$GC,3209,-0.83,-117.3,230.8,-7.4,151,3213,0.00,2.45,0.00,0.000,6,0.000,0.051,2510,2121,3097
$GC,3526,-0.83,-117.3,253.7,-6.7,166,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2120,3097
$GC,3835,-0.83,-117.3,275.4,-7.5,181,3840,0.00,2.53,0.00,0.000,4,0.000,0.062,2510,739,3097
$GC,3875,-0.83,-117.3,278.8,-8.3,183,3880,0.00,2.45,0.00,0.000,6,0.000,0.051,2510,2110,3097
$GC,4203,-0.83,-117.3,305.2,-8.6,199,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2109,3096
$GC,4511,-0.83,-117.3,333.8,-9.0,214,4516,0.00,2.60,0.00,0.000,4,0.000,0.064,2510,3556,3096
$GC,4601,-0.83,-117.3,342.5,-10.1,218,4605,0.00,2.60,0.00,0.000,6,0.000,0.049,2510,2097,3096
$GC,4922,-0.83,-117.3,370.6,-8.6,234,4927,0.00,2.65,0.00,0.000,4,0.000,0.063,2510,3556,3096
$GC,4978,-0.83,-117.3,375.9,-9.2,236,4984,0.00,2.58,0.00,0.000,6,0.000,0.049,2510,2106,3095
$GC,5295,-0.83,-117.3,399.5,-6.9,252,5299,0.00,2.45,0.00,0.000,4,0.000,0.063,2510,740,3095
$GC,5396,-0.83,-117.3,406.2,-6.5,256,5402,0.00,2.40,0.00,0.000,6,0.000,0.053,2510,2079,3095
$GC,5712,-0.83,-117.3,424.4,-5.5,272,5716,0.00,2.42,0.00,0.000,4,0.000,0.064,2510,749,3094
$GC,5762,-0.83,-117.3,427.5,-6.5,274,5766,0.00,2.35,0.00,0.000,6,0.000,0.054,2510,2049,3094
$GC,6078,-0.83,-117.3,447.6,-7.0,289,6083,0.00,2.72,0.00,0.000,4,0.000,0.067,2510,3555,3094
$GC,6163,-0.83,-117.3,453.6,-7.7,293,6168,0.00,2.65,0.00,0.000,6,0.000,0.053,2510,2071,3094
$GC,6490,-0.83,-117.3,480.2,-9.5,309,6494,0.00,2.38,0.00,0.000,4,0.000,0.063,2510,746,3093
$GC,6546,-0.83,-117.3,485.5,-10.0,311,6552,0.00,2.45,0.00,0.000,6,0.000,0.056,2510,2099,3093
$GC,6862,-0.83,-117.3,512.3,-8.5,327,6866,0.00,2.65,0.00,0.000,4,0.000,0.071,2510,3553,3093
$GC,6951,-0.83,-117.3,520.1,-9.0,331,6956,0.00,2.62,0.00,0.000,6,0.000,0.057,2510,2102,3093
$GC,7272,-0.83,-117.3,542.1,-6.0,347,7277,0.00,2.70,0.00,0.000,4,0.000,0.071,2510,3553,3092
$GC,7530,-0.83,-117.3,558.9,-5.9,358,7536,0.00,2.55,0.00,0.000,6,0.000,0.059,2510,2146,3091
$GC,7847,-1.11,-117.3,574.3,-1.5,374,7852,0.20,2.65,0.00,0.000,4,0.052,0.074,2452,3556,3091
$GC,8106,-1.53,-117.3,574.3,0.3,385,8113,0.38,2.55,0.00,0.000,6,0.047,0.061,2361,2137,3090
$GC,8423,-1.89,-117.3,574.3,0.0,401,8429,0.30,2.62,0.00,0.000,4,0.048,0.074,2279,3553,3089
$STATE,8454,end dive,NO_VERTICAL_VELOCITY
$STATE,8454,begin apogee
$GC,8464,-0.33,0.0,574.2,0.0,402,8570,1.58,0.00,98.53,1.245,6,0.073,0.000,2622,2100,2619
$STATE,8571,end apogee,CONTROL_FINISHED_OK
$STATE,8571,begin climb
$GC,8574,1.30,117.3,574.1,0.0,408,8680,1.65,2.67,97.97,1.211,4,0.065,0.072,2982,691,2141
$GC,8705,1.30,117.3,565.4,9.8,414,8710,0.00,2.62,0.00,0.000,6,0.000,0.063,2982,2102,2141
$GC,9026,1.30,117.3,538.0,8.2,430,9030,0.00,2.60,0.00,0.000,4,0.000,0.076,2981,3508,2139
$GC,9093,1.26,117.3,532.1,9.7,433,9098,0.00,2.58,0.00,0.000,6,0.000,0.062,2981,2117,2139
$GC,9415,1.29,136.9,505.6,7.1,449,9439,0.00,2.72,17.17,1.132,4,0.000,0.071,2981,3511,2062
$GC,9508,1.29,136.9,497.6,9.0,453,9512,0.00,2.58,0.00,0.000,6,0.000,0.063,2982,2126,2061
$GC,9828,1.29,136.9,466.8,10.7,469,9833,0.00,2.62,0.00,0.000,4,0.000,0.073,2981,3514,2060
$GC,9856,1.29,136.9,463.5,11.9,470,9860,0.00,2.55,0.00,0.000,6,0.000,0.062,2981,2135,2059
$GC,10172,1.29,136.9,427.4,11.2,485,10177,0.00,2.60,0.00,0.000,4,0.000,0.071,2981,3515,2059
$GC,10212,1.29,136.9,422.3,12.4,487,10217,0.00,2.50,0.00,0.000,6,0.000,0.059,2982,2147,2059
$GC,10539,1.29,136.9,380.5,12.4,503,10543,0.00,2.53,0.00,0.000,4,0.000,0.068,2982,3509,2058
$GC,10568,1.29,136.9,376.9,13.0,504,10572,0.00,2.45,0.00,0.000,6,0.000,0.058,2982,2168,2058
$GC,10884,1.29,136.9,341.6,10.4,519,10888,0.00,2.50,0.00,0.000,4,0.000,0.067,2982,3509,2058
$GC,10911,1.29,136.9,338.6,10.9,520,10915,0.00,2.40,0.00,0.000,6,0.000,0.054,2982,2187,2058
$GC,11227,1.29,136.9,311.2,8.2,535,11232,0.00,2.42,0.00,0.000,4,0.000,0.064,2982,3510,2058
$GC,11277,1.29,136.9,306.5,8.9,537,11281,0.00,2.38,0.00,0.000,6,0.000,0.054,2982,2193,2058
$GC,11599,1.30,141.9,281.2,7.8,553,11606,0.00,0.00,5.32,0.808,6,0.000,0.000,2982,2193,2041
$GC,11909,1.30,141.9,256.5,8.0,568,11913,0.00,2.42,0.00,0.000,4,0.000,0.063,2982,3516,2041
$GC,11925,1.30,141.9,254.9,8.1,568,11931,0.00,2.38,0.00,0.000,6,0.000,0.052,2982,2201,2041
$GC,12241,1.30,141.9,229.8,8.1,584,12245,0.00,2.72,0.00,0.000,4,0.000,0.064,2982,681,2041
$GC,12258,1.30,144.7,228.5,7.9,585,12267,0.00,2.75,4.40,0.702,6,0.000,0.054,2982,2216,2029
$GC,12585,1.30,144.7,199.6,9.4,601,12586,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2217,2029
$GC,12893,1.30,144.7,169.2,10.2,616,12898,0.00,2.80,0.00,0.000,4,0.000,0.063,2982,683,2029
$GC,12906,1.30,144.7,168.0,10.1,616,12912,0.00,2.75,0.00,0.000,6,0.000,0.053,2982,2217,2029
$GC,13222,1.30,144.7,136.8,9.3,632,13224,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2217,2030
$GC,13531,1.30,144.7,107.0,9.7,647,13532,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2217,2030
$GC,13840,1.30,144.7,76.8,9.7,662,13841,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2217,2031
$GC,14150,1.30,144.7,47.7,8.8,677,14155,0.00,2.80,0.00,0.000,4,0.000,0.062,2982,681,2031
$GC,14212,1.30,144.7,42.5,8.0,680,14217,0.00,2.75,0.00,0.000,6,0.000,0.051,2982,2227,2031
$GC,14541,1.38,158.4,18.3,7.4,696,14562,0.00,2.35,13.05,0.769,4,0.000,0.058,2982,3504,1974
$GC,14574,1.44,158.4,15.4,8.2,697,14579,0.15,2.30,0.00,0.000,6,0.047,0.047,3024,2228,1973
$STATE,14743,end climb,SURFACE_DEPTH_REACHED
$STATE,14743,begin surface coast
$FINISH,0.0,1.013193
$STATE,14765,end surface coast,CONTROL_FINISHED_OK
$STATE,14765,begin surface
$SM_CCo,14788,233.02,0.775,0,0,389,547.02
$SM_GC,0.56,0.00,0.00,233.02,0.000,0.000,0.775,417,2131,389,-10.50,-0.57,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1704
$TCM_TEMP,17.50
$XPDR_PINGS,393
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,23.8,48.000
$10V_AH,10.1,23.357
$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,26.475,153.025,236.450,233.025,0.000,75.525,54.628,182.467,103.000,0.000,0.000,13.583,1360.622,11201.399,659.649,1691.922,608.943,33.348,1505.444,0.000,1654.795,0.000,33.001
$DEVICE_MAMPS,141.895,75.933,1244.841,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,484.505,519.448,489.312,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34774,706
$CAP_FILE_SIZE,120454,0
$CFSIZE,254472192,235364352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,010808,101308,6236.283,-1027.058,25,1.4,25,-10.4