version: 66.03
glider: 5
mission: 3
dive: 255
start: 8 2 108 2 19 3
data:
$ID,5
$MISSION,3
$DIVE,255
$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,-81411.047
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2730
$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,23
$R_STBD_OVSHOOT,24
$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
$GPS1,021125,6239.398,-1028.503,45,1.8,63,-10.5
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-44.2
$GPS2,021811,6239.345,-1028.842,13,3.4,32,-10.5
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.211,0.068
$KALMAN_X,-101890.0,2221.9,445.8,120560.9,-17821.9
$KALMAN_Y,-30711.9,475.3,-837.5,86803.1,435.2
$MHEAD_RNG_PITCHd_Wd,82.7,45772,-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,-110.97,0.000,6,0.000,0.000,417,2162,3099
$GC,142,-1.30,-117.3,2.0,-1.6,5,158,10.43,2.58,0.00,0.000,4,0.134,0.055,2439,741,3098
$GC,205,-0.99,-117.3,13.1,-15.1,7,211,0.35,2.53,0.00,0.000,6,0.089,0.048,2513,2154,3097
$GC,534,-0.99,-117.3,44.6,-9.1,23,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2153,3097
$GC,843,-0.99,-117.3,70.0,-7.4,38,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2153,3098
$GC,1151,-0.99,-117.3,89.6,-6.9,53,1156,0.00,2.58,0.00,0.000,4,0.000,0.058,2513,734,3098
$GC,1207,-0.99,-117.3,93.6,-6.9,55,1214,0.00,2.50,0.00,0.000,6,0.000,0.048,2513,2138,3098
$GC,1524,-0.99,-117.3,114.9,-7.2,71,1529,0.00,2.55,0.00,0.000,4,0.000,0.058,2513,736,3099
$GC,1575,-0.99,-117.3,118.9,-7.4,73,1579,0.00,2.50,0.00,0.000,6,0.000,0.050,2513,2137,3098
$GC,1891,-0.99,-117.3,142.2,-7.2,88,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2135,3098
$GC,2201,-0.99,-117.3,163.7,-7.0,103,2205,0.00,2.55,0.00,0.000,4,0.000,0.061,2513,736,3099
$GC,2268,-0.99,-117.3,168.9,-7.7,106,2272,0.00,2.53,0.00,0.000,6,0.000,0.051,2513,2146,3098
$GC,2589,-0.99,-117.3,194.2,-8.5,122,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2145,3098
$GC,2899,-0.99,-117.3,222.0,-8.4,137,2903,0.00,2.58,0.00,0.000,4,0.000,0.062,2513,737,3098
$GC,2938,-0.99,-117.3,225.6,-9.0,139,2943,0.00,2.50,0.00,0.000,6,0.000,0.052,2513,2136,3097
$GC,3266,-0.99,-117.3,252.4,-7.2,155,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2136,3097
$GC,3575,-0.99,-117.3,273.1,-6.3,170,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2136,3097
$GC,3884,-0.99,-117.3,290.8,-5.6,185,3888,0.00,2.55,0.00,0.000,4,0.000,0.064,2513,743,3097
$GC,3941,-0.99,-117.3,294.3,-6.4,187,3947,0.00,2.50,0.00,0.000,6,0.000,0.054,2513,2134,3096
$GC,4258,-0.99,-117.3,310.6,-4.9,203,4262,0.00,2.53,0.00,0.000,4,0.000,0.061,2513,741,3096
$GC,4291,-0.99,-117.3,312.6,-5.9,204,4297,0.00,2.47,0.00,0.000,6,0.000,0.054,2513,2116,3096
$GC,4607,-0.99,-117.3,331.2,-5.8,220,4612,0.00,2.53,0.00,0.000,4,0.000,0.064,2513,737,3096
$GC,4652,-0.99,-117.3,333.9,-6.1,222,4657,0.00,2.45,0.00,0.000,6,0.000,0.054,2513,2098,3096
$GC,4974,-0.99,-117.3,354.9,-6.9,238,4978,0.00,2.50,0.00,0.000,4,0.000,0.066,2513,738,3096
$GC,5070,-0.99,-117.3,362.3,-7.9,242,5074,0.00,2.42,0.00,0.000,6,0.000,0.055,2513,2081,3095
$GC,5386,-0.99,-117.3,383.7,-6.2,257,5390,0.00,2.65,0.00,0.000,4,0.000,0.066,2513,3556,3095
$GC,5498,-0.99,-117.3,391.1,-6.6,262,5502,0.00,2.62,0.00,0.000,6,0.000,0.053,2513,2083,3095
$GC,5819,-0.99,-117.3,409.4,-5.8,278,5823,0.00,2.70,0.00,0.000,4,0.000,0.065,2513,3562,3094
$GC,5846,-0.99,-117.3,411.1,-6.0,279,5851,0.00,2.65,0.00,0.000,6,0.000,0.054,2513,2084,3094
$GC,6163,-0.99,-117.3,430.7,-6.7,294,6168,0.00,2.70,0.00,0.000,4,0.000,0.064,2513,3556,3094
$GC,6253,-0.99,-117.3,438.0,-8.1,298,6257,0.00,2.60,0.00,0.000,6,0.000,0.052,2513,2101,3094
$GC,6573,-0.99,-117.3,464.9,-8.6,314,6578,0.00,2.65,0.00,0.000,4,0.000,0.067,2513,3554,3093
$GC,6615,-0.99,-117.3,468.4,-9.9,316,6619,0.00,2.60,0.00,0.000,6,0.000,0.055,2513,2106,3093
$GC,6941,-0.99,-117.3,490.9,-5.8,332,6946,0.00,2.67,0.00,0.000,4,0.000,0.068,2513,3557,3093
$GC,7008,-0.99,-117.3,494.8,-5.8,335,7013,0.00,2.60,0.00,0.000,6,0.000,0.056,2513,2117,3093
$GC,7331,-0.99,-117.3,510.4,-4.8,351,7335,0.00,2.47,0.00,0.000,4,0.000,0.067,2513,744,3092
$GC,7381,-0.99,-117.3,513.1,-5.1,353,7385,0.00,2.53,0.00,0.000,6,0.000,0.058,2513,2133,3092
$GC,7698,-0.99,-117.3,527.0,-4.0,368,7702,0.00,2.58,0.00,0.000,4,0.000,0.067,2513,740,3092
$GC,7838,-0.99,-117.3,533.9,-5.2,374,7842,0.00,2.55,0.00,0.000,6,0.000,0.061,2513,2135,3092
$GC,8154,-0.99,-117.3,550.7,-6.3,389,8159,0.00,2.62,0.00,0.000,4,0.000,0.074,2513,3563,3091
$GC,8255,-0.99,-117.3,559.4,-8.7,393,8261,0.00,2.60,0.00,0.000,6,0.000,0.061,2513,2116,3090
$STATE,8279,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8279,begin apogee
$GC,8286,-0.33,0.0,561.9,9.5,395,8387,0.68,0.00,98.35,1.215,6,0.083,0.000,2655,2115,2620
$STATE,8388,end apogee,CONTROL_FINISHED_OK
$STATE,8388,begin climb
$GC,8392,1.30,117.3,564.5,0.0,400,8498,1.62,2.67,97.95,1.185,4,0.067,0.072,3009,711,2141
$GC,8506,1.21,117.3,555.1,9.5,405,8513,0.00,2.60,0.00,0.000,6,0.000,0.061,3008,2108,2140
$GC,8824,1.11,117.3,519.9,9.8,421,8826,0.20,0.00,0.00,0.000,6,0.096,0.000,2972,2112,2139
$GC,9132,1.11,117.3,487.9,10.5,436,9136,0.00,2.60,0.00,0.000,4,0.000,0.074,2972,3509,2138
$GC,9149,1.11,117.3,486.0,10.4,437,9154,0.00,2.58,0.00,0.000,6,0.000,0.063,2972,2114,2138
$GC,9476,1.12,127.8,458.1,7.5,453,9487,0.00,0.00,9.77,1.034,6,0.000,0.000,2972,2114,2099
$GC,9785,1.18,162.8,437.8,6.4,468,9821,0.00,2.65,30.17,1.134,4,0.000,0.068,2972,3506,1955
$GC,9868,1.24,166.2,432.0,7.8,471,9878,0.12,2.60,4.35,0.782,6,0.058,0.061,3004,2089,1942
$GC,10198,1.20,166.2,403.9,9.0,487,10202,0.00,2.55,0.00,0.000,4,0.000,0.070,3004,691,1941
$GC,10220,1.14,166.2,401.5,9.2,488,10225,0.12,2.53,0.00,0.000,6,0.097,0.059,2980,2075,1941
$GC,10542,1.18,191.4,378.6,6.9,504,10571,0.00,2.72,22.05,1.088,4,0.000,0.066,2980,3507,1839
$GC,10617,1.28,215.6,373.3,6.9,507,10644,0.12,2.60,20.98,1.065,6,0.056,0.058,3013,2083,1741
$GC,10957,1.28,215.6,341.7,9.7,523,10961,0.00,2.62,0.00,0.000,4,0.000,0.064,3013,3508,1740
$GC,11001,1.28,215.6,336.6,10.8,525,11006,0.00,2.58,0.00,0.000,6,0.000,0.056,3013,2098,1740
$GC,11323,1.28,215.6,302.4,10.8,541,11327,0.00,2.58,0.00,0.000,4,0.000,0.063,3013,3509,1740
$GC,11340,1.28,215.6,300.6,10.9,542,11345,0.00,2.55,0.00,0.000,6,0.000,0.055,3013,2103,1740
$GC,11667,1.28,215.6,265.9,10.6,558,11671,0.00,2.60,0.00,0.000,4,0.000,0.063,3013,3514,1740
$GC,11700,1.28,215.6,261.9,11.5,559,11706,0.00,2.53,0.00,0.000,6,0.000,0.055,3013,2120,1740
$GC,12016,1.28,215.6,226.4,11.6,575,12020,0.00,2.55,0.00,0.000,4,0.000,0.061,3013,3510,1740
$GC,12034,1.28,215.6,224.5,11.5,576,12038,0.00,2.50,0.00,0.000,6,0.000,0.054,3013,2124,1741
$GC,12363,1.28,215.6,185.3,12.3,592,12367,0.00,2.55,0.00,0.000,4,0.000,0.061,3014,3514,1741
$GC,12395,1.28,215.6,180.7,12.4,593,12401,0.00,2.50,0.00,0.000,6,0.000,0.053,3013,2133,1741
$GC,12712,1.28,215.6,142.8,12.0,609,12716,0.00,2.53,0.00,0.000,4,0.000,0.061,3014,3510,1742
$GC,12729,1.28,215.6,140.4,12.4,610,12734,0.00,2.45,0.00,0.000,6,0.000,0.053,3013,2145,1742
$GC,13057,1.28,215.6,99.1,12.1,626,13061,0.00,2.50,0.00,0.000,4,0.000,0.060,3014,3511,1742
$GC,13085,1.28,215.6,95.6,12.5,627,13089,0.00,2.45,0.00,0.000,6,0.000,0.052,3013,2154,1742
$GC,13401,1.28,215.6,58.6,11.1,642,13405,0.00,2.47,0.00,0.000,4,0.000,0.059,3013,3510,1742
$GC,13428,1.28,215.6,55.3,12.3,643,13432,0.00,2.45,0.00,0.000,6,0.000,0.053,3013,2154,1742
$GC,13745,1.28,215.6,24.5,8.3,658,13749,0.00,2.47,0.00,0.000,4,0.000,0.059,3013,3510,1743
$GC,13790,1.28,215.6,20.0,9.7,660,13794,0.00,2.38,0.00,0.000,6,0.000,0.050,3014,2188,1742
$STATE,13986,end climb,SURFACE_DEPTH_REACHED
$STATE,13986,begin surface coast
$FINISH,0.2,1.025856
$STATE,14007,end surface coast,CONTROL_FINISHED_OK
$STATE,14007,begin surface
$SM_CCo,14029,196.80,0.785,0,0,390,547.02
$SM_GC,0.45,0.00,0.00,196.80,0.000,0.000,0.785,420,2162,390,-10.62,0.31,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1700
$TCM_TEMP,17.50
$XPDR_PINGS,384
$ALTIM_TOP_PING,20.0,999.0
$ALTIM_BOTTOM_PING,525.3,44.9
$24V_AH,23.8,48.782
$10V_AH,10.1,23.703
$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,24.900,158.475,283.625,196.800,0.000,37.763,57.337,169.724,100.500,0.000,0.000,33.339,1292.468,10581.435,658.641,1547.469,557.200,33.358,1451.431,0.000,1494.328,0.000,31.366
$DEVICE_MAMPS,134.225,74.399,1214.928,784.641,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.998,494.791,449.633,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34810,671
$CAP_FILE_SIZE,116183,0
$CFSIZE,254472192,235094016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,020808,061731,6239.378,-1032.918,41,2.0,41,-10.5