version: 66.03
glider: 5
mission: 3
dive: 252
start: 8 1 108 14 26 1
data:
$ID,5
$MISSION,3
$DIVE,252
$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,-81346.5
$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,36
$R_STBD_OVSHOOT,21
$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
$GPS1,141901,6236.364,-1027.548,41,1.4,41,-10.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-48.8
$GPS2,142511,6236.321,-1027.805,13,2.2,32,-10.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.205,0.085
$KALMAN_X,-89983.0,1899.0,220.9,110104.7,-15735.2
$KALMAN_Y,-30132.2,-120.2,-835.4,81213.3,1635.7
$MHEAD_RNG_PITCHd_Wd,77.9,47706,-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,-110.40,0.000,6,0.000,0.000,421,2122,3099
$GC,144,-1.30,-117.3,2.1,-1.6,5,160,10.25,2.58,0.00,0.000,4,0.134,0.056,2409,3564,3097
$GC,222,-0.93,-117.3,14.2,-10.9,7,230,0.43,2.50,0.00,0.000,6,0.094,0.047,2497,2158,3097
$GC,541,-0.86,-117.3,44.5,-9.0,23,545,0.00,2.53,0.00,0.000,4,0.000,0.058,2497,741,3096
$GC,631,-0.78,-117.3,52.9,-9.3,27,636,0.15,2.47,0.00,0.000,6,0.094,0.047,2528,2134,3096
$GC,953,-0.78,-117.3,78.4,-8.0,43,957,0.00,2.53,0.00,0.000,4,0.000,0.057,2528,3556,3097
$GC,1070,-0.78,-117.3,87.7,-7.5,48,1074,0.00,2.53,0.00,0.000,6,0.000,0.046,2528,2133,3097
$GC,1387,-0.78,-117.3,111.1,-7.5,63,1391,0.00,2.47,0.00,0.000,4,0.000,0.058,2528,744,3097
$GC,1473,-0.78,-117.3,117.7,-7.5,67,1477,0.00,2.47,0.00,0.000,6,0.000,0.050,2528,2131,3098
$GC,1803,-0.83,-117.3,138.5,-6.2,83,1807,0.00,2.55,0.00,0.000,4,0.000,0.058,2528,3558,3097
$GC,1867,-0.83,-117.3,142.7,-6.2,86,1871,0.00,2.53,0.00,0.000,6,0.000,0.048,2528,2134,3097
$GC,2194,-0.88,-117.3,163.1,-6.6,102,2198,0.00,2.47,0.00,0.000,4,0.000,0.061,2529,750,3098
$GC,2309,-0.88,-117.3,171.2,-7.2,107,2313,0.00,2.42,0.00,0.000,6,0.000,0.051,2528,2108,3098
$GC,2630,-0.93,-117.3,192.8,-6.7,123,2635,0.15,2.58,0.00,0.000,4,0.051,0.060,2480,3555,3097
$GC,2709,-0.82,-117.3,199.6,-8.5,126,2720,0.20,2.58,0.00,0.000,6,0.089,0.050,2521,2109,3097
$GC,3025,-0.82,-117.3,221.6,-6.9,142,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2109,3096
$GC,3335,-0.82,-117.3,243.8,-7.2,157,3339,0.00,2.65,0.00,0.000,4,0.000,0.061,2521,3562,3096
$GC,3379,-0.82,-117.3,247.4,-7.9,159,3384,0.00,2.60,0.00,0.000,6,0.000,0.051,2521,2112,3096
$GC,3701,-0.82,-117.3,271.7,-7.7,175,3705,0.00,2.45,0.00,0.000,4,0.000,0.064,2522,743,3096
$GC,3746,-0.82,-117.3,275.4,-8.5,177,3751,0.00,2.45,0.00,0.000,6,0.000,0.051,2521,2117,3096
$GC,4069,-0.87,-117.3,300.8,-7.8,193,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2116,3095
$GC,4378,-0.91,-117.3,321.6,-6.2,208,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2116,3095
$GC,4687,-0.91,-117.3,339.2,-5.4,223,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2116,3095
$GC,4996,-0.96,-117.3,355.0,-4.9,238,5001,0.15,2.53,0.00,0.000,4,0.052,0.064,2478,743,3095
$GC,5060,-0.86,-117.3,358.9,-6.8,241,5065,0.15,2.47,0.00,0.000,6,0.094,0.054,2511,2120,3095
$GC,5387,-0.86,-117.3,379.4,-6.6,257,5392,0.00,2.60,0.00,0.000,4,0.000,0.065,2511,3557,3094
$GC,5432,-0.86,-117.3,382.7,-7.4,259,5437,0.00,2.62,0.00,0.000,6,0.000,0.055,2511,2100,3094
$GC,5755,-0.86,-117.3,406.7,-8.0,275,5759,0.00,2.45,0.00,0.000,4,0.000,0.067,2511,746,3094
$GC,5878,-0.86,-117.3,418.2,-8.9,280,5884,0.00,2.45,0.00,0.000,6,0.000,0.054,2511,2109,3093
$GC,6194,-0.86,-117.3,446.9,-9.6,296,6199,0.00,2.50,0.00,0.000,4,0.000,0.063,2511,741,3093
$GC,6324,-0.86,-117.3,460.1,-9.7,302,6329,0.00,2.42,0.00,0.000,6,0.000,0.055,2510,2086,3093
$GC,6652,-0.86,-117.3,484.5,-6.3,318,6657,0.00,2.67,0.00,0.000,4,0.000,0.067,2511,3561,3093
$GC,6708,-0.86,-117.3,488.1,-6.2,320,6715,0.00,2.65,0.00,0.000,6,0.000,0.055,2511,2087,3093
$GC,7025,-0.86,-117.3,504.5,-5.0,336,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2070,3092
$GC,7335,-0.86,-117.3,522.5,-6.3,351,7339,0.00,2.72,0.00,0.000,4,0.000,0.069,2511,3556,3092
$GC,7368,-0.86,-117.3,524.9,-7.2,352,7375,0.00,2.67,0.00,0.000,6,0.000,0.059,2511,2082,3092
$GC,7684,-0.86,-117.3,546.1,-7.6,368,7688,0.00,2.75,0.00,0.000,4,0.000,0.071,2511,3557,3091
$GC,7763,-0.86,-117.3,551.0,-5.1,371,7769,0.00,2.60,0.00,0.000,6,0.000,0.060,2511,2114,3091
$STATE,7870,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7870,begin apogee
$GC,7877,-0.33,0.0,559.6,8.2,377,7978,0.55,0.00,98.35,1.209,6,0.084,0.000,2625,2106,2620
$STATE,7979,end apogee,CONTROL_FINISHED_OK
$STATE,7979,begin climb
$GC,7982,1.30,117.3,562.6,0.0,382,8087,1.67,2.67,97.75,1.179,4,0.071,0.072,2981,693,2141
$GC,8114,1.37,156.7,554.1,6.2,388,8156,0.00,2.60,33.92,1.133,6,0.000,0.061,2981,2098,1981
$GC,8465,1.37,156.7,522.7,8.9,405,8469,0.00,2.60,0.00,0.000,4,0.000,0.073,2981,3507,1980
$GC,8510,1.37,156.7,518.5,10.1,407,8514,0.00,2.58,0.00,0.000,6,0.000,0.062,2981,2117,1980
$GC,8830,1.37,156.7,486.5,10.4,423,8835,0.00,2.60,0.00,0.000,4,0.000,0.072,2981,3505,1978
$GC,8870,1.37,156.7,481.9,11.9,425,8875,0.00,2.58,0.00,0.000,6,0.000,0.062,2980,2107,1978
$GC,9198,1.37,156.7,440.6,13.4,441,9203,0.00,2.62,0.00,0.000,4,0.000,0.070,2981,3513,1977
$GC,9248,1.37,156.7,433.7,14.0,443,9252,0.00,2.55,0.00,0.000,6,0.000,0.061,2981,2125,1976
$GC,9564,1.37,156.7,397.9,9.6,458,9568,0.00,2.60,0.00,0.000,4,0.000,0.071,2981,690,1976
$GC,9574,1.37,156.7,396.9,9.0,458,9580,0.00,2.62,0.00,0.000,6,0.000,0.060,2981,2126,1976
$GC,9890,1.41,181.4,372.8,6.9,474,9917,0.10,2.60,20.58,1.068,4,0.059,0.067,3009,3515,1880
$GC,9952,1.36,181.4,367.7,9.1,477,9957,0.00,2.53,0.00,0.000,6,0.000,0.057,3010,2139,1880
$GC,10279,1.36,181.4,341.2,8.6,493,10284,0.00,2.55,0.00,0.000,4,0.000,0.066,3010,3511,1879
$GC,10313,1.31,181.4,337.9,9.5,494,10320,0.15,2.47,0.00,0.000,6,0.094,0.056,2981,2152,1879
$GC,10631,1.41,213.4,315.6,6.5,510,10660,0.12,0.00,27.40,1.032,6,0.054,0.000,3016,2151,1750
$GC,10959,1.41,213.4,285.2,9.7,526,10963,0.00,2.50,0.00,0.000,4,0.000,0.062,3016,3513,1750
$GC,10991,1.41,213.4,281.8,10.1,527,10997,0.00,2.45,0.00,0.000,6,0.000,0.054,3016,2163,1749
$GC,11308,1.41,213.4,251.7,9.9,543,11309,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2163,1749
$GC,11616,1.41,213.4,218.7,10.9,558,11621,0.00,2.45,0.00,0.000,4,0.000,0.061,3016,3512,1750
$GC,11638,1.41,213.4,216.1,11.8,559,11642,0.00,2.42,0.00,0.000,6,0.000,0.052,3016,2167,1750
$GC,11960,1.41,213.4,181.0,11.3,575,11961,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2167,1750
$GC,12269,1.41,213.4,146.2,11.3,590,12274,0.00,2.45,0.00,0.000,4,0.000,0.060,3016,3512,1750
$GC,12297,1.41,213.4,142.8,12.3,591,12301,0.00,2.42,0.00,0.000,6,0.000,0.051,3016,2168,1750
$GC,12615,1.41,213.4,109.2,10.3,606,12616,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2167,1751
$GC,12923,1.41,213.4,77.0,10.7,621,12927,0.00,2.45,0.00,0.000,4,0.000,0.059,3016,3515,1751
$GC,12950,1.41,213.4,73.6,12.1,622,12954,0.00,2.40,0.00,0.000,6,0.000,0.051,3016,2179,1751
$GC,13266,1.41,213.4,39.0,10.8,637,13267,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2180,1752
$GC,13577,1.41,213.4,7.1,10.4,652,13582,0.00,2.42,0.00,0.000,4,0.000,0.057,3016,3512,1752
$STATE,13619,end climb,SURFACE_DEPTH_REACHED
$STATE,13619,begin surface coast
$FINISH,0.7,1.026826
$STATE,13626,end surface coast,CONTROL_FINISHED_OK
$STATE,13626,begin surface
$SM_CCo,13651,198.18,0.776,0,0,389,547.02
$SM_GC,0.48,0.00,0.00,198.18,0.000,0.000,0.776,423,2125,389,-10.47,-0.71,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1699
$TCM_TEMP,19.20
$XPDR_PINGS,371
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,550.1,18.6
$24V_AH,23.8,48.313
$10V_AH,10.1,23.498
$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,25.300,142.100,278.000,198.175,0.000,37.761,26.940,145.429,97.500,0.000,0.000,33.244,1257.675,10284.169,656.017,1519.153,503.901,33.351,1427.034,0.000,1466.085,0.000,32.931
$DEVICE_MAMPS,134.225,72.865,1208.792,776.204,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.931,486.093,441.008,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34819,654
$CAP_FILE_SIZE,111460,0
$CFSIZE,254472192,235257856
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,010808,181807,6236.981,-1031.142,36,1.7,36,-10.5