version: 66.03
glider: 5
mission: 3
dive: 251
start: 8 1 108 10 19 42
data:
$ID,5
$MISSION,3
$DIVE,251
$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,-81312.625
$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,39
$R_STBD_OVSHOOT,19
$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
$GPS1,101308,6236.283,-1027.058,25,1.4,25,-10.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-53.3
$GPS2,101851,6236.308,-1027.036,14,1.4,14,-10.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.204,0.087
$KALMAN_X,-86934.6,1401.6,1920.8,106505.2,-19059.8
$KALMAN_Y,-29204.7,-295.1,710.3,78852.8,-295.1
$MHEAD_RNG_PITCHd_Wd,77.2,47168,-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,-109.75,0.000,6,0.000,0.000,418,2124,3099
$GC,143,-1.30,-117.3,2.3,-1.8,5,156,10.30,0.00,0.00,0.000,6,0.136,0.000,2407,2113,3098
$GC,475,-0.98,-117.3,51.8,-14.0,21,480,0.35,2.47,0.00,0.000,4,0.094,0.057,2483,758,3097
$GC,561,-0.86,-117.3,61.9,-11.7,25,566,0.12,2.50,0.00,0.000,6,0.099,0.048,2509,2162,3098
$GC,889,-0.86,-117.3,90.0,-7.1,41,893,0.00,2.55,0.00,0.000,4,0.000,0.059,2509,759,3098
$GC,979,-0.86,-117.3,97.0,-7.4,45,983,0.00,2.47,0.00,0.000,6,0.000,0.049,2509,2149,3098
$GC,1301,-0.86,-117.3,121.1,-7.7,61,1305,0.00,2.53,0.00,0.000,4,0.000,0.059,2509,3563,3098
$GC,1558,-0.86,-117.3,143.1,-8.2,72,1564,0.00,2.42,0.00,0.000,6,0.000,0.048,2509,2188,3098
$GC,1874,-0.86,-117.3,166.5,-7.3,88,1878,0.00,2.58,0.00,0.000,4,0.000,0.061,2509,756,3098
$GC,2132,-0.86,-117.3,184.6,-6.1,99,2137,0.00,2.60,0.00,0.000,6,0.000,0.051,2509,2207,3098
$GC,2449,-0.86,-117.3,200.7,-5.1,115,2453,0.00,2.65,0.00,0.000,4,0.000,0.061,2509,753,3098
$GC,2684,-0.86,-117.3,214.7,-6.5,125,2690,0.00,2.60,0.00,0.000,6,0.000,0.051,2509,2207,3098
$GC,3001,-0.86,-117.3,235.0,-6.9,141,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2206,3097
$GC,3309,-0.86,-117.3,258.6,-8.0,156,3314,0.00,2.65,0.00,0.000,4,0.000,0.061,2509,746,3097
$GC,3421,-0.86,-117.3,268.2,-8.7,161,3426,0.00,2.60,0.00,0.000,6,0.000,0.051,2509,2201,3097
$GC,3743,-0.86,-117.3,294.0,-7.9,177,3747,0.00,2.65,0.00,0.000,4,0.000,0.061,2509,749,3097
$GC,3822,-0.86,-117.3,300.3,-7.8,180,3828,0.00,2.58,0.00,0.000,6,0.000,0.051,2509,2187,3097
$GC,4139,-0.86,-117.3,324.0,-7.6,196,4143,0.00,2.62,0.00,0.000,4,0.000,0.061,2509,749,3096
$GC,4241,-0.86,-117.3,332.3,-8.4,200,4247,0.00,2.55,0.00,0.000,6,0.000,0.052,2509,2172,3096
$GC,4557,-0.86,-117.3,356.9,-7.7,216,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2169,3096
$GC,4867,-0.86,-117.3,380.8,-7.9,231,4871,0.00,2.58,0.00,0.000,4,0.000,0.064,2509,757,3095
$GC,4917,-0.86,-117.3,385.2,-8.5,233,4921,0.00,2.53,0.00,0.000,6,0.000,0.053,2509,2165,3095
$GC,5233,-0.86,-117.3,407.1,-6.7,248,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2165,3095
$GC,5542,-0.86,-117.3,427.8,-6.5,263,5546,0.00,2.58,0.00,0.000,4,0.000,0.064,2509,757,3095
$GC,5672,-0.86,-117.3,436.7,-6.9,269,5676,0.00,2.50,0.00,0.000,6,0.000,0.054,2509,2159,3095
$GC,5999,-0.86,-117.3,457.6,-6.1,285,6003,0.00,2.53,0.00,0.000,4,0.000,0.067,2509,3555,3094
$GC,6039,-0.86,-117.3,460.1,-6.4,287,6043,0.00,2.47,0.00,0.000,6,0.000,0.053,2509,2170,3094
$GC,6366,-0.86,-117.3,478.9,-5.6,303,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2151,3093
$GC,6675,-0.86,-117.3,496.7,-5.9,318,6679,0.00,2.55,0.00,0.000,4,0.000,0.067,2509,747,3093
$GC,6737,-0.86,-117.3,500.4,-6.0,321,6742,0.00,2.55,0.00,0.000,6,0.000,0.058,2509,2152,3093
$GC,7065,-0.86,-117.3,518.8,-5.4,337,7070,0.00,2.60,0.00,0.000,4,0.000,0.071,2509,742,3092
$GC,7236,-0.86,-117.3,528.8,-6.1,344,7242,0.00,2.53,0.00,0.000,6,0.000,0.061,2509,2122,3092
$GC,7553,-0.86,-117.3,547.9,-5.9,360,7557,0.00,2.65,0.00,0.000,4,0.000,0.076,2509,3556,3091
$GC,7590,-0.86,-117.3,550.3,-8.0,361,7596,0.00,2.62,0.00,0.000,6,0.000,0.064,2509,2119,3091
$STATE,7655,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7656,begin apogee
$GC,7662,-0.33,0.0,554.3,5.5,365,7764,0.55,0.00,98.53,1.217,6,0.087,0.000,2623,2104,2620
$STATE,7764,end apogee,CONTROL_FINISHED_OK
$STATE,7765,begin climb
$GC,7768,1.30,117.3,557.4,0.0,370,7874,1.65,2.67,97.82,1.182,4,0.071,0.073,2977,3511,2141
$GC,7964,1.30,117.3,543.1,9.6,379,7968,0.00,2.62,0.00,0.000,6,0.000,0.062,2977,2099,2140
$GC,8285,1.30,117.3,515.6,8.6,395,8289,0.00,2.65,0.00,0.000,4,0.000,0.074,2977,3505,2139
$GC,8307,1.30,117.3,513.6,8.5,396,8311,0.00,2.60,0.00,0.000,6,0.000,0.063,2978,2099,2139
$GC,8627,1.30,117.3,486.6,8.1,412,8632,0.00,2.65,0.00,0.000,4,0.000,0.074,2977,3512,2138
$GC,8672,1.30,117.3,482.5,9.1,414,8676,0.00,2.60,0.00,0.000,6,0.000,0.061,2977,2103,2138
$GC,8994,1.33,131.9,457.6,7.3,430,9016,0.00,2.70,12.98,1.084,4,0.000,0.071,2977,3501,2082
$GC,9055,1.33,131.9,452.6,8.4,432,9061,0.00,2.55,0.00,0.000,6,0.000,0.062,2977,2119,2081
$GC,9372,1.37,159.1,431.0,6.8,448,9402,0.00,2.65,23.95,1.124,4,0.000,0.068,2977,3506,1971
$GC,9415,1.38,164.7,427.7,7.7,450,9431,0.10,2.58,6.30,0.914,6,0.061,0.058,3005,2113,1948
$GC,9741,1.33,164.7,399.8,8.7,466,9745,0.00,2.60,0.00,0.000,4,0.000,0.067,3005,3511,1947
$GC,9797,1.29,164.7,394.7,9.1,468,9804,0.12,2.55,0.00,0.000,6,0.101,0.057,2981,2117,1947
$GC,10113,1.30,171.2,371.1,7.7,484,10127,0.00,2.65,6.55,0.917,4,0.000,0.065,2981,3507,1922
$GC,10144,1.30,171.2,368.4,9.1,485,10148,0.00,2.53,0.00,0.000,6,0.000,0.057,2981,2132,1922
$GC,10461,1.34,171.2,341.9,8.8,500,10465,0.00,2.55,0.00,0.000,4,0.000,0.065,2981,3508,1922
$GC,10482,1.34,171.2,339.8,9.1,501,10486,0.00,2.50,0.00,0.000,6,0.000,0.056,2981,2133,1921
$GC,10804,1.38,171.6,313.4,8.0,517,10808,0.00,2.53,0.00,0.000,4,0.000,0.063,2981,3511,1921
$GC,10838,1.42,171.6,310.4,8.8,518,10844,0.12,2.47,0.00,0.000,6,0.054,0.055,3016,2145,1922
$GC,11154,1.36,171.6,279.2,10.2,534,11158,0.00,2.50,0.00,0.000,4,0.000,0.062,3016,3509,1922
$GC,11188,1.30,171.6,275.5,11.1,535,11195,0.17,2.45,0.00,0.000,6,0.091,0.054,2982,2155,1922
$GC,11505,1.34,171.7,249.1,8.0,551,11509,0.00,2.47,0.00,0.000,4,0.000,0.062,2982,3508,1922
$GC,11532,1.39,171.7,246.6,8.8,552,11536,0.00,2.45,0.00,0.000,6,0.000,0.054,2982,2158,1922
$GC,11849,1.44,171.7,221.9,8.2,567,11854,0.12,2.47,0.00,0.000,4,0.051,0.061,3019,3514,1923
$GC,11877,1.39,171.7,218.8,11.3,568,11881,0.00,2.42,0.00,0.000,6,0.000,0.054,3018,2172,1923
$GC,12193,1.33,171.7,185.4,11.1,583,12198,0.15,2.45,0.00,0.000,4,0.090,0.061,2985,3514,1923
$GC,12221,1.33,171.7,182.4,10.5,584,12225,0.00,2.42,0.00,0.000,6,0.000,0.052,2985,2170,1924
$GC,12537,1.37,171.7,153.3,9.5,599,12541,0.00,2.45,0.00,0.000,4,0.000,0.060,2985,3517,1924
$GC,12564,1.41,171.7,150.4,10.5,600,12569,0.10,2.40,0.00,0.000,6,0.058,0.051,3014,2184,1924
$GC,12882,1.37,171.7,115.8,11.4,615,12883,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2184,1924
$GC,13191,1.37,171.7,82.3,10.2,630,13192,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2184,1924
$GC,13499,1.37,171.7,50.7,10.0,645,13504,0.00,2.40,0.00,0.000,4,0.000,0.058,3015,3510,1925
$GC,13555,1.37,171.7,44.8,10.1,647,13561,0.00,2.35,0.00,0.000,6,0.000,0.050,3014,2191,1925
$GC,13871,1.37,171.7,15.2,9.6,663,13876,0.00,2.70,0.00,0.000,4,0.000,0.061,3014,679,1925
$GC,13889,1.37,171.7,13.3,9.5,664,13894,0.00,2.75,0.00,0.000,6,0.000,0.050,3014,2229,1925
$STATE,14008,end climb,SURFACE_DEPTH_REACHED
$STATE,14008,begin surface coast
$FINISH,-0.1,1.026332
$STATE,14030,end surface coast,CONTROL_FINISHED_OK
$STATE,14030,begin surface
$SM_CCo,14054,224.07,0.772,0,0,390,547.02
$SM_GC,0.56,0.00,0.00,224.07,0.000,0.000,0.772,421,2136,390,-10.48,-0.40,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1686
$TCM_TEMP,16.50
$XPDR_PINGS,385
$ALTIM_TOP_PING,19.3,999.0
$ALTIM_BOTTOM_PING,550.3,12.9
$24V_AH,23.8,48.155
$10V_AH,10.1,23.428
$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,25.050,153.200,246.125,224.075,0.000,37.759,37.162,144.719,101.000,0.000,0.000,14.214,1314.223,10477.620,664.578,1657.101,508.619,33.350,1505.652,0.000,1619.001,0.000,32.899
$DEVICE_MAMPS,135.759,75.933,1217.229,772.369,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.703,495.570,435.829,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34834,671
$CAP_FILE_SIZE,118586,0
$CFSIZE,254472192,235311104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,010808,141901,6236.364,-1027.548,41,1.4,41,-10.4