version: 66.03
glider: 5
mission: 3
dive: 256
start: 8 2 108 6 24 6
data:
$ID,5
$MISSION,3
$DIVE,256
$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,-81426.969
$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,24
$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
$GPS1,061731,6239.378,-1032.918,41,2.0,41,-10.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-46.5
$GPS2,062315,6239.450,-1033.172,15,1.9,15,-10.5
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.210,0.070
$KALMAN_X,-110087.5,2214.5,792.6,124704.4,-23567.4
$KALMAN_Y,-32950.9,-261.5,420.1,88713.3,-3553.8
$MHEAD_RNG_PITCHd_Wd,82.2,49023,-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,-117.3,0.0,0.0,0,141,0.00,0.00,-110.97,0.000,6,0.000,0.000,421,2167,3099
$GC,145,-1.30,-117.3,2.2,-1.7,5,160,10.48,2.60,0.00,0.000,4,0.137,0.058,2442,736,3097
$GC,281,-1.06,-117.3,19.7,-11.1,12,286,0.28,2.53,0.00,0.000,6,0.096,0.048,2498,2160,3097
$GC,610,-0.99,-117.3,47.0,-7.9,28,614,0.00,2.50,0.00,0.000,4,0.000,0.058,2498,3556,3097
$GC,684,-0.91,-117.3,53.6,-8.7,31,689,0.15,2.55,0.00,0.000,6,0.096,0.047,2530,2122,3097
$GC,1000,-0.91,-117.3,73.8,-6.0,46,1004,0.00,2.45,0.00,0.000,4,0.000,0.059,2530,750,3097
$GC,1086,-0.91,-117.3,79.1,-6.0,50,1091,0.00,2.45,0.00,0.000,6,0.000,0.049,2530,2124,3098
$GC,1416,-0.91,-117.3,100.6,-7.3,66,1420,0.00,2.58,0.00,0.000,4,0.000,0.061,2530,3563,3098
$GC,1456,-0.91,-117.3,104.4,-9.1,68,1460,0.00,2.58,0.00,0.000,6,0.000,0.048,2530,2117,3098
$GC,1784,-0.96,-117.3,137.5,-10.4,84,1788,0.00,2.60,0.00,0.000,4,0.000,0.059,2530,3556,3098
$GC,1869,-0.96,-117.3,147.3,-11.3,88,1873,0.00,2.53,0.00,0.000,6,0.000,0.048,2530,2124,3098
$GC,2196,-1.00,-117.3,183.0,-10.7,104,2200,0.00,2.62,0.00,0.000,4,0.000,0.061,2530,3557,3098
$GC,2263,-1.00,-117.3,189.9,-9.6,107,2267,0.00,2.53,0.00,0.000,6,0.000,0.050,2530,2142,3098
$GC,2585,-1.05,-117.3,216.7,-8.0,123,2590,0.15,2.50,0.00,0.000,4,0.051,0.061,2482,747,3098
$GC,2630,-0.94,-117.3,221.0,-10.0,125,2635,0.20,2.53,0.00,0.000,6,0.090,0.051,2522,2153,3097
$GC,2952,-0.94,-117.3,243.3,-6.3,141,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2153,3098
$GC,3261,-0.94,-117.3,260.5,-5.2,156,3265,0.00,2.58,0.00,0.000,4,0.000,0.063,2523,745,3097
$GC,3312,-0.94,-117.3,263.2,-5.0,158,3316,0.00,2.50,0.00,0.000,6,0.000,0.053,2522,2135,3097
$GC,3628,-0.94,-117.3,277.6,-4.6,173,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2135,3097
$GC,3937,-0.94,-117.3,291.4,-4.6,188,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2135,3097
$GC,4247,-0.94,-117.3,307.1,-5.2,203,4251,0.00,2.55,0.00,0.000,4,0.000,0.064,2523,745,3096
$GC,4291,-0.94,-117.3,309.7,-6.3,205,4295,0.00,2.50,0.00,0.000,6,0.000,0.054,2522,2132,3096
$GC,4614,-0.98,-117.3,327.7,-5.7,221,4618,0.00,2.55,0.00,0.000,4,0.000,0.064,2522,744,3096
$GC,4669,-0.98,-117.3,331.4,-6.2,223,4675,0.00,2.50,0.00,0.000,6,0.000,0.055,2522,2127,3096
$GC,4986,-1.03,-117.3,351.2,-6.4,239,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2127,3095
$GC,5296,-1.08,-117.3,372.6,-7.2,254,5301,0.12,2.60,0.00,0.000,4,0.054,0.067,2486,3561,3095
$GC,5346,-1.00,-117.3,377.7,-10.2,256,5351,0.12,2.60,0.00,0.000,6,0.098,0.055,2511,2118,3094
$GC,5663,-1.00,-117.3,404.7,-8.5,271,5667,0.00,2.65,0.00,0.000,4,0.000,0.065,2511,3566,3095
$GC,5735,-1.00,-117.3,411.7,-9.4,274,5740,0.00,2.55,0.00,0.000,6,0.000,0.054,2511,2143,3094
$GC,6051,-1.00,-117.3,435.1,-6.9,289,6055,0.00,2.50,0.00,0.000,4,0.000,0.065,2511,745,3094
$GC,6114,-1.00,-117.3,439.5,-7.1,292,6118,0.00,2.55,0.00,0.000,6,0.000,0.056,2511,2161,3094
$GC,6441,-1.00,-117.3,455.1,-4.1,308,6445,0.00,2.60,0.00,0.000,4,0.000,0.067,2511,738,3094
$GC,6525,-1.00,-117.3,458.6,-4.5,312,6530,0.00,2.55,0.00,0.000,6,0.000,0.058,2511,2148,3093
$GC,6853,-1.00,-117.3,472.2,-4.9,328,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2147,3093
$GC,7162,-1.00,-117.3,491.6,-7.0,343,7166,0.00,2.60,0.00,0.000,4,0.000,0.070,2511,744,3092
$GC,7235,-1.00,-117.3,497.0,-7.5,346,7239,0.00,2.55,0.00,0.000,6,0.000,0.060,2511,2141,3092
$GC,7552,-1.00,-117.3,517.4,-6.1,361,7556,0.00,2.58,0.00,0.000,4,0.000,0.073,2511,3560,3092
$GC,7670,-1.00,-117.3,525.4,-6.8,366,7674,0.00,2.55,0.00,0.000,6,0.000,0.061,2511,2157,3092
$GC,7987,-1.00,-117.3,544.4,-5.8,381,7991,0.00,2.60,0.00,0.000,4,0.000,0.073,2511,3557,3091
$GC,8116,-1.00,-117.3,553.3,-8.1,387,8121,0.00,2.50,0.00,0.000,6,0.000,0.062,2511,2186,3091
$GC,8445,-1.59,-117.3,561.9,0.0,403,8450,0.55,2.58,0.00,0.000,4,0.049,0.074,2376,3558,3091
$GC,8704,-2.02,-117.3,561.9,-0.3,414,8711,0.38,2.50,0.00,0.000,6,0.048,0.063,2281,2169,3089
$STATE,8935,end dive,NO_VERTICAL_VELOCITY
$STATE,8935,begin apogee
$GC,8942,-0.33,0.0,561.9,0.0,426,9044,1.70,0.00,97.88,1.244,6,0.065,0.000,2655,2092,2620
$STATE,9045,end apogee,CONTROL_FINISHED_OK
$STATE,9045,begin climb
$GC,9048,1.30,117.3,561.6,0.0,431,9154,1.62,2.65,97.78,1.206,4,0.064,0.074,3011,705,2141
$GC,9204,1.18,117.3,549.3,9.9,438,9209,0.12,2.60,0.00,0.000,6,0.101,0.063,2989,2103,2141
$GC,9520,1.14,117.3,518.7,10.2,453,9525,0.00,2.60,0.00,0.000,4,0.000,0.073,2988,3507,2139
$GC,9611,1.09,117.3,508.0,11.9,457,9615,0.00,2.55,0.00,0.000,6,0.000,0.061,2988,2124,2139
$GC,9932,1.03,117.3,475.2,9.9,473,9937,0.17,2.62,0.00,0.000,4,0.094,0.074,2951,3515,2138
$GC,10030,1.09,117.3,467.2,8.5,477,10034,0.00,2.55,0.00,0.000,6,0.000,0.063,2951,2138,2138
$GC,10346,1.26,170.2,446.8,5.6,492,10398,0.25,2.65,43.92,1.165,4,0.050,0.070,3012,3511,1925
$GC,10421,1.18,170.2,440.8,9.4,495,10428,0.12,2.53,0.00,0.000,6,0.100,0.062,2988,2156,1925
$GC,10738,1.26,219.2,420.0,5.8,511,10786,0.00,2.60,41.40,1.137,4,0.000,0.067,2988,3509,1726
$GC,10810,1.28,230.8,414.7,7.5,514,10826,0.00,2.50,11.20,1.029,6,0.000,0.061,2988,2169,1678
$GC,11152,1.32,230.8,386.8,8.7,531,11157,0.12,2.72,0.00,0.000,4,0.058,0.069,3022,679,1678
$GC,11174,1.32,230.8,384.1,10.1,532,11178,0.00,2.70,0.00,0.000,6,0.000,0.058,3022,2157,1678
$GC,11495,1.28,230.8,348.3,11.0,548,11499,0.00,2.47,0.00,0.000,4,0.000,0.067,3022,3512,1678
$GC,11518,1.23,230.8,345.5,11.8,549,11523,0.12,2.50,0.00,0.000,6,0.099,0.058,3000,2148,1678
$GC,11839,1.23,230.8,313.7,9.8,565,11843,0.00,2.53,0.00,0.000,4,0.000,0.065,3000,3516,1678
$GC,11867,1.23,230.8,310.7,10.5,566,11871,0.00,2.45,0.00,0.000,6,0.000,0.055,3000,2170,1678
$GC,12183,1.23,230.8,277.8,10.8,581,12187,0.00,2.45,0.00,0.000,4,0.000,0.064,3000,3513,1678
$GC,12210,1.23,230.8,274.4,11.8,582,12214,0.00,2.42,0.00,0.000,6,0.000,0.054,3000,2180,1678
$GC,12526,1.23,230.8,237.2,12.3,597,12527,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2180,1678
$GC,12835,1.23,230.8,200.6,11.4,612,12836,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2180,1678
$GC,13144,1.23,230.8,166.6,10.9,627,13145,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2180,1679
$GC,13454,1.23,230.8,133.7,10.7,642,13455,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2180,1680
$GC,13764,1.23,230.8,99.1,11.2,657,13769,0.00,2.67,0.00,0.000,4,0.000,0.064,3000,691,1680
$GC,13782,1.23,230.8,96.9,11.5,658,13786,0.00,2.65,0.00,0.000,6,0.000,0.052,3000,2186,1680
$GC,14110,1.28,230.8,61.1,10.9,674,14114,0.00,2.75,0.00,0.000,4,0.000,0.063,3000,681,1681
$GC,14142,1.28,230.8,56.7,12.4,675,14149,0.00,2.65,0.00,0.000,6,0.000,0.051,3000,2167,1681
$GC,14461,1.35,237.3,29.7,7.7,691,14475,0.10,2.45,7.47,0.722,4,0.058,0.058,3032,3509,1652
$GC,14516,1.29,237.3,24.2,9.8,693,14520,0.00,2.42,0.00,0.000,6,0.000,0.050,3032,2166,1652
$STATE,14685,end climb,SURFACE_DEPTH_REACHED
$STATE,14685,begin surface coast
$FINISH,0.1,1.026863
$STATE,14707,end surface coast,CONTROL_FINISHED_OK
$STATE,14707,begin surface
$SM_CCo,14730,184.40,0.785,0,0,390,547.02
$SM_GC,0.37,0.00,0.00,184.40,0.000,0.000,0.785,423,2138,390,-10.62,-0.34,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1706
$TCM_TEMP,17.60
$XPDR_PINGS,375
$ALTIM_TOP_PING,19.0,999.0
$24V_AH,23.8,48.947
$10V_AH,10.1,23.777
$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,28.025,153.575,299.650,184.400,0.000,37.764,34.472,150.322,98.250,0.000,0.000,15.299,1367.555,11057.382,649.518,1673.471,513.208,33.358,1505.418,0.000,1632.590,0.000,30.049
$DEVICE_MAMPS,136.526,79.768,1244.074,785.408,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,481.545,522.221,458.246,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34759,702
$CAP_FILE_SIZE,123154,0
$CFSIZE,254472192,235032576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,020808,103402,6242.095,-1031.066,42,1.2,42,-10.5