version: 66.03
glider: 5
mission: 3
dive: 259
start: 8 2 108 18 37 48
data:
$ID,5
$MISSION,3
$DIVE,259
$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,-81470.883
$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,36
$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
$GPS1,183138,6242.313,-1032.361,33,1.1,33,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-49.5
$GPS2,183657,6242.341,-1032.515,14,1.4,14,-10.5
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.197,-0.102
$KALMAN_X,-120045.2,2352.6,825.7,135056.5,-22431.2
$KALMAN_Y,-31740.4,187.1,406.1,92428.4,-2949.9
$MHEAD_RNG_PITCHd_Wd,127.8,46616,-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,-111.28,0.000,6,0.000,0.000,418,2132,3099
$GC,145,-1.30,-117.3,2.2,-1.7,5,161,10.55,2.45,0.00,0.000,4,0.140,0.050,2440,754,3098
$GC,342,-1.05,-117.3,33.5,-11.6,13,347,0.30,2.50,0.00,0.000,6,0.095,0.046,2502,2156,3097
$GC,670,-0.99,-117.3,57.4,-5.8,29,674,0.00,2.53,0.00,0.000,4,0.000,0.053,2502,745,3098
$GC,783,-0.93,-117.3,65.5,-7.6,34,788,0.12,2.47,0.00,0.000,6,0.095,0.047,2526,2134,3098
$GC,1106,-0.93,-117.3,84.8,-5.4,50,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2135,3099
$GC,1414,-0.93,-117.3,101.4,-5.7,65,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2135,3098
$GC,1723,-0.93,-117.3,120.9,-6.9,80,1727,0.00,2.55,0.00,0.000,4,0.000,0.058,2527,3563,3099
$GC,1751,-0.93,-117.3,122.9,-7.2,81,1756,0.00,2.53,0.00,0.000,6,0.000,0.045,2527,2142,3099
$GC,2069,-0.97,-117.3,145.1,-6.9,96,2073,0.00,2.58,0.00,0.000,4,0.000,0.059,2527,3556,3099
$GC,2079,-0.97,-117.3,146.2,-7.1,96,2086,0.00,2.50,0.00,0.000,6,0.000,0.045,2527,2144,3099
$GC,2396,-1.02,-117.3,170.1,-7.8,112,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2142,3099
$GC,2706,-1.06,-117.3,194.8,-7.7,127,2711,0.15,2.55,0.00,0.000,4,0.051,0.059,2479,3556,3098
$GC,2723,-1.06,-117.3,196.4,-8.2,128,2727,0.00,2.53,0.00,0.000,6,0.000,0.048,2479,2133,3098
$GC,3051,-0.97,-117.3,225.2,-8.4,144,3056,0.15,2.60,0.00,0.000,4,0.093,0.060,2514,3562,3098
$GC,3069,-0.91,-117.3,226.7,-8.2,145,3073,0.00,2.53,0.00,0.000,6,0.000,0.048,2515,2140,3098
$GC,3396,-0.91,-117.3,249.0,-6.4,161,3400,0.00,2.55,0.00,0.000,4,0.000,0.061,2514,3556,3098
$GC,3414,-0.91,-117.3,250.2,-6.9,162,3419,0.00,2.50,0.00,0.000,6,0.000,0.048,2514,2147,3098
$GC,3742,-0.91,-117.3,272.6,-7.2,178,3746,0.00,2.58,0.00,0.000,4,0.000,0.063,2514,3556,3097
$GC,3764,-0.91,-117.3,274.4,-7.4,179,3768,0.00,2.53,0.00,0.000,6,0.000,0.050,2514,2144,3097
$GC,4085,-0.91,-117.3,299.3,-8.1,195,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2144,3097
$GC,4394,-0.91,-117.3,324.9,-8.4,210,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2144,3097
$GC,4703,-0.91,-117.3,349.9,-7.7,225,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2145,3096
$GC,5013,-0.91,-117.3,371.5,-6.4,240,5018,0.00,2.50,0.00,0.000,4,0.000,0.061,2514,744,3096
$GC,5070,-0.91,-117.3,375.1,-6.4,242,5076,0.00,2.53,0.00,0.000,6,0.000,0.053,2514,2152,3096
$GC,5386,-0.91,-117.3,391.5,-4.8,258,5391,0.00,2.55,0.00,0.000,4,0.000,0.063,2515,747,3096
$GC,5405,-0.91,-117.3,392.6,-5.3,259,5409,0.00,2.53,0.00,0.000,6,0.000,0.054,2514,2152,3096
$GC,5731,-0.91,-117.3,412.5,-7.1,275,5736,0.00,2.55,0.00,0.000,4,0.000,0.066,2514,3564,3095
$GC,5743,-0.91,-117.3,413.4,-7.1,275,5749,0.00,2.55,0.00,0.000,6,0.000,0.054,2514,2146,3095
$GC,6060,-0.91,-117.3,436.1,-7.1,291,6064,0.00,2.62,0.00,0.000,4,0.000,0.067,2515,3563,3095
$GC,6093,-0.91,-117.3,438.8,-7.6,292,6099,0.00,2.55,0.00,0.000,6,0.000,0.054,2515,2146,3095
$GC,6409,-0.91,-117.3,456.3,-4.2,308,6413,0.00,2.53,0.00,0.000,4,0.000,0.066,2515,739,3095
$GC,6442,-0.91,-117.3,457.5,-4.1,309,6448,0.00,2.53,0.00,0.000,6,0.000,0.057,2514,2133,3094
$GC,6759,-0.91,-117.3,468.6,-3.7,325,6763,0.00,2.55,0.00,0.000,4,0.000,0.065,2515,737,3094
$GC,6777,-0.91,-117.3,469.4,-4.3,326,6781,0.00,2.55,0.00,0.000,6,0.000,0.058,2514,2147,3094
$GC,7104,-0.91,-117.3,488.9,-5.3,342,7109,0.00,2.58,0.00,0.000,4,0.000,0.071,2515,3557,3093
$GC,7167,-0.91,-117.3,492.8,-6.8,345,7171,0.00,2.53,0.00,0.000,6,0.000,0.058,2514,2157,3093
$GC,7495,-0.91,-117.3,514.6,-7.9,361,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2140,3093
$GC,7804,-0.91,-117.3,534.5,-6.4,376,7808,0.00,2.60,0.00,0.000,4,0.000,0.073,2515,3553,3091
$STATE,7845,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7846,begin apogee
$GC,7855,-0.33,0.0,538.1,7.8,378,7957,0.65,0.00,98.28,1.206,6,0.086,0.000,2651,2083,2620
$STATE,7957,end apogee,CONTROL_FINISHED_OK
$STATE,7957,begin climb
$GC,7961,1.30,117.3,540.8,0.0,383,8064,1.65,0.00,97.75,1.176,6,0.067,0.000,3011,2083,2141
$GC,8375,1.22,117.3,502.2,10.3,403,8379,0.00,2.65,0.00,0.000,4,0.000,0.072,3010,3507,2139
$GC,8476,1.10,117.3,491.8,10.5,407,8483,0.20,2.60,0.00,0.000,6,0.094,0.061,2974,2101,2138
$GC,8792,1.14,142.4,466.8,6.9,423,8819,0.00,2.72,21.90,1.120,4,0.000,0.072,2974,3508,2038
$GC,8928,1.21,186.2,457.8,6.0,429,8973,0.00,2.55,37.35,1.138,6,0.000,0.060,2974,2127,1860
$GC,9298,1.45,286.4,442.2,3.4,447,9389,0.32,2.70,82.60,1.145,4,0.047,0.071,3049,3505,1451
$GC,9412,1.35,286.4,433.2,9.2,452,9419,0.15,2.55,0.00,0.000,6,0.097,0.061,3022,2142,1452
$GC,9728,1.35,286.4,400.6,11.5,468,9730,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2130,1453
$GC,10037,1.35,286.4,361.6,13.2,483,10041,0.00,2.55,0.00,0.000,4,0.000,0.067,3022,3510,1452
$GC,10087,1.35,286.4,354.7,14.4,485,10092,0.00,2.47,0.00,0.000,6,0.000,0.055,3022,2154,1453
$GC,10403,1.35,286.4,315.9,10.5,500,10407,0.00,2.67,0.00,0.000,4,0.000,0.066,3022,679,1453
$GC,10436,1.35,286.4,312.2,10.8,501,10442,0.00,2.70,0.00,0.000,6,0.000,0.057,3022,2165,1453
$GC,10752,1.35,286.4,281.0,9.4,517,10756,0.00,2.45,0.00,0.000,4,0.000,0.065,3023,3512,1454
$GC,10808,1.35,286.4,275.3,9.7,519,10813,0.00,2.45,0.00,0.000,6,0.000,0.052,3022,2159,1454
$GC,11124,1.35,286.4,245.5,10.0,534,11128,0.00,2.65,0.00,0.000,4,0.000,0.064,3022,686,1453
$GC,11151,1.35,286.4,242.3,10.9,535,11156,0.00,2.67,0.00,0.000,6,0.000,0.054,3022,2170,1454
$GC,11467,1.35,286.4,209.2,10.7,550,11471,0.00,2.42,0.00,0.000,4,0.000,0.062,3022,3515,1454
$GC,11512,1.35,286.4,203.9,11.5,552,11516,0.00,2.42,0.00,0.000,6,0.000,0.050,3022,2168,1454
$GC,11832,1.35,286.4,169.0,10.5,568,11837,0.00,2.65,0.00,0.000,4,0.000,0.062,3022,690,1455
$GC,11866,1.35,286.4,165.1,10.9,569,11872,0.00,2.67,0.00,0.000,6,0.000,0.053,3022,2178,1455
$GC,12183,1.35,286.4,134.7,9.6,585,12187,0.00,2.40,0.00,0.000,4,0.000,0.061,3022,3514,1455
$GC,12210,1.35,286.4,131.9,9.9,586,12214,0.00,2.42,0.00,0.000,6,0.000,0.049,3022,2164,1455
$GC,12529,1.35,286.4,102.7,9.8,601,12533,0.00,2.65,0.00,0.000,4,0.000,0.061,3022,679,1456
$GC,12578,1.35,286.4,97.1,10.7,603,12582,0.00,2.65,0.00,0.000,6,0.000,0.051,3022,2163,1455
$GC,12896,1.35,286.4,64.1,10.4,618,12900,0.00,2.42,0.00,0.000,4,0.000,0.059,3022,3515,1456
$GC,12946,1.35,286.4,58.5,10.8,620,12951,0.00,2.45,0.00,0.000,6,0.000,0.048,3022,2147,1456
$GC,13264,1.40,286.4,22.7,10.3,635,13269,0.00,2.60,0.00,0.000,4,0.000,0.061,3023,692,1456
$GC,13298,1.40,286.4,17.9,13.4,636,13304,0.00,2.62,0.00,0.000,6,0.000,0.050,3022,2169,1456
$STATE,13427,end climb,SURFACE_DEPTH_REACHED
$STATE,13427,begin surface coast
$FINISH,0.1,1.018076
$STATE,13447,end surface coast,CONTROL_FINISHED_OK
$STATE,13447,begin surface
$SM_CCo,13471,154.77,0.792,0,0,390,547.02
$SM_GC,0.49,0.00,0.00,154.77,0.000,0.000,0.792,418,2127,390,-10.64,-0.65,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1698
$TCM_TEMP,17.50
$XPDR_PINGS,333
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,450.7,97.1
$24V_AH,23.8,49.425
$10V_AH,10.1,23.982
$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,25.525,148.200,337.875,154.775,0.000,38.996,27.482,131.351,87.000,0.000,0.000,14.762,1232.158,10135.215,664.640,1438.070,477.643,33.363,1416.829,0.000,1407.179,0.000,26.661
$DEVICE_MAMPS,140.361,104.312,1205.724,792.311,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.672,477.472,451.297,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31726,644
$CAP_FILE_SIZE,109657,0
$CFSIZE,254472192,234881024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,020808,222608,6244.005,-1028.646,34,1.2,34,-10.5