version: 66.03
glider: 5
mission: 3
dive: 253
start: 8 1 108 18 24 18
data:
$ID,5
$MISSION,3
$DIVE,253
$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,-81362.734
$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,33
$R_STBD_OVSHOOT,18
$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
$GPS1,181807,6236.981,-1031.142,36,1.7,36,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-48.4
$GPS2,182327,6237.071,-1031.338,15,1.8,15,-10.5
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.206,0.083
$KALMAN_X,-97870.9,1797.0,946.3,114341.4,-22590.5
$KALMAN_Y,-32464.5,-23.4,434.5,83571.0,-3119.7
$MHEAD_RNG_PITCHd_Wd,78.5,49576,-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,-111.00,0.000,6,0.000,0.000,423,2127,3099
$GC,144,-1.30,-117.3,2.9,-2.7,6,159,10.27,2.47,0.00,0.000,4,0.136,0.054,2408,753,3098
$GC,216,-0.94,-117.3,14.9,-15.0,8,221,0.40,2.50,0.00,0.000,6,0.094,0.047,2489,2157,3096
$GC,533,-0.85,-117.3,42.7,-8.1,23,538,0.10,2.50,0.00,0.000,4,0.110,0.057,2510,3556,3096
$GC,703,-0.85,-117.3,58.1,-9.5,30,710,0.00,2.50,0.00,0.000,6,0.000,0.045,2510,2144,3097
$GC,1019,-0.85,-117.3,86.3,-8.9,46,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2125,3097
$GC,1329,-0.85,-117.3,110.0,-7.4,61,1333,0.00,2.50,0.00,0.000,4,0.000,0.058,2510,742,3098
$GC,1369,-0.85,-117.3,113.1,-8.5,63,1374,0.00,2.53,0.00,0.000,6,0.000,0.049,2510,2162,3098
$GC,1697,-0.85,-117.3,137.3,-7.2,79,1702,0.00,2.58,0.00,0.000,4,0.000,0.059,2510,748,3098
$GC,1770,-0.85,-117.3,142.8,-7.7,82,1775,0.00,2.53,0.00,0.000,6,0.000,0.051,2510,2155,3098
$GC,2087,-0.85,-117.3,165.8,-7.8,97,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2155,3098
$GC,2395,-0.85,-117.3,192.1,-8.9,112,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2156,3098
$GC,2704,-0.85,-117.3,221.0,-9.8,127,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2156,3097
$GC,3014,-0.85,-117.3,252.2,-9.7,142,3019,0.00,2.58,0.00,0.000,4,0.000,0.063,2510,749,3098
$GC,3065,-0.85,-117.3,257.2,-9.4,144,3069,0.00,2.50,0.00,0.000,6,0.000,0.052,2510,2137,3098
$GC,3380,-0.85,-117.3,285.6,-8.5,159,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2136,3097
$GC,3691,-0.85,-117.3,309.9,-7.9,174,3695,0.00,2.53,0.00,0.000,4,0.000,0.064,2510,742,3097
$GC,3763,-0.85,-117.3,315.9,-7.6,177,3767,0.00,2.50,0.00,0.000,6,0.000,0.054,2510,2129,3097
$GC,4080,-0.85,-117.3,340.0,-7.3,192,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2129,3096
$GC,4388,-0.85,-117.3,360.0,-5.5,207,4392,0.00,2.58,0.00,0.000,4,0.000,0.064,2510,3558,3096
$GC,4411,-0.85,-117.3,361.3,-5.9,208,4415,0.00,2.58,0.00,0.000,6,0.000,0.054,2510,2126,3096
$GC,4733,-0.85,-117.3,375.6,-4.2,224,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2107,3096
$GC,5041,-0.85,-117.3,391.6,-5.9,239,5042,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2107,3096
$GC,5350,-0.85,-117.3,410.6,-6.0,254,5355,0.00,2.65,0.00,0.000,4,0.000,0.066,2510,3562,3096
$GC,5385,-0.85,-117.3,412.8,-6.5,255,5391,0.00,2.53,0.00,0.000,6,0.000,0.055,2510,2147,3096
$GC,5701,-0.85,-117.3,429.1,-4.4,271,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2130,3095
$GC,6010,-0.85,-117.3,440.9,-4.0,286,6015,0.00,2.50,0.00,0.000,4,0.000,0.066,2510,744,3095
$GC,6090,-0.85,-117.3,444.5,-4.7,289,6096,0.00,2.58,0.00,0.000,6,0.000,0.057,2510,2166,3095
$GC,6406,-0.85,-117.3,464.0,-7.2,305,6410,0.00,2.62,0.00,0.000,4,0.000,0.068,2510,743,3095
$GC,6478,-0.85,-117.3,470.2,-9.0,308,6482,0.00,2.50,0.00,0.000,6,0.000,0.058,2510,2131,3094
$GC,6794,-0.85,-117.3,497.9,-9.7,323,6799,0.00,2.60,0.00,0.000,4,0.000,0.070,2510,3557,3094
$GC,6924,-0.85,-117.3,510.7,-9.5,329,6929,0.00,2.58,0.00,0.000,6,0.000,0.058,2510,2128,3093
$GC,7252,-0.85,-117.3,535.2,-7.0,345,7257,0.00,2.67,0.00,0.000,4,0.000,0.071,2510,3563,3092
$GC,7472,-0.85,-117.3,551.3,-7.1,355,7476,0.00,2.53,0.00,0.000,6,0.000,0.061,2510,2174,3092
$STATE,7672,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7672,begin apogee
$GC,7679,-0.33,0.0,564.2,6.1,365,7781,0.55,0.00,98.50,1.217,6,0.087,0.000,2625,2080,2620
$STATE,7781,end apogee,CONTROL_FINISHED_OK
$STATE,7782,begin climb
$GC,7785,1.30,117.3,567.6,0.0,370,7891,1.67,2.72,97.95,1.186,4,0.071,0.070,2980,3511,2140
$GC,7911,1.26,117.3,559.6,9.7,375,7917,0.00,2.60,0.00,0.000,6,0.000,0.062,2980,2119,2140
$GC,8227,1.26,117.3,529.2,9.9,391,8231,0.00,2.60,0.00,0.000,4,0.000,0.071,2980,3505,2138
$GC,8293,1.26,117.3,521.6,11.3,394,8297,0.00,2.58,0.00,0.000,6,0.000,0.062,2980,2116,2138
$GC,8615,1.26,117.3,486.0,10.4,410,8619,0.00,2.62,0.00,0.000,4,0.000,0.072,2980,3506,2138
$GC,8692,1.26,117.3,477.8,10.7,413,8698,0.00,2.55,0.00,0.000,6,0.000,0.061,2981,2122,2137
$GC,9008,1.26,117.3,447.7,9.7,429,9013,0.00,2.60,0.00,0.000,4,0.000,0.073,2980,3511,2136
$GC,9041,1.26,117.3,444.1,10.0,430,9048,0.00,2.55,0.00,0.000,6,0.000,0.061,2980,2128,2136
$GC,9357,1.26,117.3,412.9,9.6,446,9362,0.00,2.60,0.00,0.000,4,0.000,0.071,2980,3511,2135
$GC,9402,1.26,117.3,408.2,10.0,448,9406,0.00,2.50,0.00,0.000,6,0.000,0.059,2981,2148,2135
$GC,9724,1.26,119.0,381.6,7.9,464,9728,0.00,2.55,0.00,0.000,4,0.000,0.070,2980,3511,2134
$GC,9768,1.26,119.0,377.6,9.0,466,9772,0.00,2.47,0.00,0.000,6,0.000,0.057,2980,2151,2134
$GC,10089,1.26,119.0,349.4,8.7,482,10094,0.00,2.53,0.00,0.000,4,0.000,0.066,2981,3508,2134
$GC,10134,1.26,119.0,345.1,9.7,484,10138,0.00,2.45,0.00,0.000,6,0.000,0.055,2980,2163,2134
$GC,10455,1.28,126.3,319.3,7.7,500,10469,0.00,2.53,7.65,0.919,4,0.000,0.064,2980,3501,2105
$GC,10510,1.29,137.4,315.0,7.5,502,10526,0.00,2.42,10.90,0.969,6,0.000,0.054,2981,2170,2059
$GC,10848,1.37,187.7,292.8,5.7,519,10898,0.00,2.58,42.25,1.027,4,0.000,0.062,2980,3507,1853
$GC,10921,1.44,192.9,288.0,7.8,522,10934,0.15,2.42,5.80,0.802,6,0.050,0.054,3021,2188,1833
$GC,11243,1.39,192.9,259.3,9.4,538,11244,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2188,1832
$GC,11552,1.34,192.9,229.0,10.0,553,11554,0.17,0.00,0.00,0.000,6,0.088,0.000,2988,2188,1833
$GC,11862,1.38,192.9,201.5,9.2,568,11866,0.00,2.42,0.00,0.000,4,0.000,0.061,2988,3515,1833
$GC,11890,1.43,192.9,198.6,10.2,569,11895,0.10,2.40,0.00,0.000,6,0.059,0.053,3017,2189,1833
$GC,12211,1.43,192.9,164.2,10.6,585,12215,0.00,2.40,0.00,0.000,4,0.000,0.060,3017,3508,1833
$GC,12229,1.43,192.9,162.3,10.5,586,12233,0.00,2.35,0.00,0.000,6,0.000,0.052,3017,2198,1834
$GC,12562,1.43,192.9,129.9,9.2,602,12563,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2197,1834
$GC,12872,1.43,192.9,100.5,10.1,617,12873,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2197,1835
$GC,13181,1.43,192.9,65.3,12.2,632,13182,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2196,1835
$GC,13490,1.43,192.9,27.4,11.7,647,13491,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2196,1835
$STATE,13734,end climb,SURFACE_DEPTH_REACHED
$STATE,13734,begin surface coast
$FINISH,0.1,1.026493
$STATE,13756,end surface coast,CONTROL_FINISHED_OK
$STATE,13756,begin surface
$SM_CCo,13780,209.18,0.775,0,0,390,547.02
$SM_GC,0.44,0.00,0.00,209.18,0.000,0.000,0.775,417,2133,390,-10.50,-0.48,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1689
$TCM_TEMP,16.40
$XPDR_PINGS,370
$ALTIM_TOP_PING,18.7,999.0
$ALTIM_BOTTOM_PING,550.0,22.9
$24V_AH,23.8,48.466
$10V_AH,10.1,23.566
$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,24.625,116.725,263.050,209.175,0.000,37.760,28.137,132.326,97.500,0.000,0.000,15.598,1241.208,10497.090,622.734,1485.326,466.040,33.354,1374.900,0.000,1449.505,0.000,35.866
$DEVICE_MAMPS,135.759,101.244,1217.229,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.386,488.488,440.884,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34805,660
$CAP_FILE_SIZE,104402,0
$CFSIZE,254472192,235212800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,010808,221837,6239.648,-1029.088,30,1.6,30,-10.5