version: 66.03
glider: 5
mission: 3
dive: 260
start: 8 2 108 22 38 48
data:
$ID,5
$MISSION,3
$DIVE,260
$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,-81487.398
$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,26
$R_STBD_OVSHOOT,22
$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
$GPS1,222608,6244.005,-1028.646,34,1.2,34,-10.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-51.2
$GPS2,223757,6244.083,-1028.514,13,1.7,13,-10.5
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.220,0.024
$KALMAN_X,-119745.6,1690.4,2277.0,137377.8,-20001.7
$KALMAN_Y,-25024.3,-214.0,839.5,88854.2,4115.9
$MHEAD_RNG_PITCHd_Wd,94.2,42461,-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,-117.3,0.0,0.0,0,139,0.00,0.00,-111.53,0.000,6,0.000,0.000,418,2137,3099
$GC,143,-1.30,-117.3,2.2,-1.7,5,159,10.52,2.50,0.00,0.000,4,0.140,0.053,2436,744,3098
$GC,229,-1.05,-117.3,15.7,-11.4,8,234,0.30,2.53,0.00,0.000,6,0.097,0.048,2497,2154,3097
$GC,557,-0.98,-117.3,43.0,-7.6,24,561,0.00,2.50,0.00,0.000,4,0.000,0.056,2498,3557,3097
$GC,658,-0.91,-117.3,51.1,-7.8,28,665,0.15,2.42,0.00,0.000,6,0.094,0.041,2530,2178,3097
$GC,976,-0.91,-117.3,72.0,-6.4,44,981,0.00,2.55,0.00,0.000,4,0.000,0.056,2530,743,3097
$GC,1027,-0.91,-117.3,75.8,-6.9,46,1032,0.00,2.55,0.00,0.000,6,0.000,0.048,2529,2168,3097
$GC,1345,-0.91,-117.3,96.0,-6.0,61,1350,0.00,2.58,0.00,0.000,4,0.000,0.057,2530,749,3098
$GC,1379,-0.91,-117.3,98.5,-7.1,62,1385,0.00,2.53,0.00,0.000,6,0.000,0.048,2530,2165,3098
$GC,1697,-0.95,-117.3,118.7,-6.4,78,1701,0.00,2.50,0.00,0.000,4,0.000,0.059,2529,3565,3097
$GC,1715,-0.95,-117.3,120.1,-6.7,79,1719,0.00,2.50,0.00,0.000,6,0.000,0.046,2530,2160,3098
$GC,2042,-1.00,-117.3,145.2,-8.0,95,2047,0.00,2.53,0.00,0.000,4,0.000,0.058,2530,740,3098
$GC,2087,-1.00,-117.3,149.2,-9.0,97,2092,0.00,2.55,0.00,0.000,6,0.000,0.050,2530,2164,3098
$GC,2412,-1.05,-117.3,175.1,-7.7,113,2414,0.15,0.00,0.00,0.000,6,0.051,0.000,2486,2164,3097
$GC,2720,-0.98,-117.3,200.9,-8.0,128,2725,0.15,2.58,0.00,0.000,4,0.091,0.058,2521,750,3097
$GC,2810,-0.98,-117.3,207.5,-6.9,132,2814,0.00,2.53,0.00,0.000,6,0.000,0.051,2521,2156,3097
$GC,3131,-0.98,-117.3,228.0,-6.3,148,3135,0.00,2.58,0.00,0.000,4,0.000,0.060,2521,740,3096
$GC,3171,-0.98,-117.3,230.7,-7.5,150,3176,0.00,2.53,0.00,0.000,6,0.000,0.051,2521,2151,3096
$GC,3499,-0.98,-117.3,251.9,-6.7,166,3503,0.00,2.53,0.00,0.000,4,0.000,0.063,2521,3556,3096
$GC,3527,-0.98,-117.3,254.0,-7.3,167,3531,0.00,2.50,0.00,0.000,6,0.000,0.049,2521,2154,3096
$GC,3844,-0.98,-117.3,274.5,-6.1,182,3848,0.00,2.53,0.00,0.000,4,0.000,0.062,2521,745,3095
$GC,3883,-0.98,-117.3,277.1,-6.5,184,3888,0.00,2.53,0.00,0.000,6,0.000,0.052,2521,2152,3095
$GC,4211,-0.98,-117.3,294.7,-5.1,200,4216,0.00,2.58,0.00,0.000,4,0.000,0.061,2521,743,3095
$GC,4297,-0.98,-117.3,299.8,-5.7,204,4301,0.00,2.53,0.00,0.000,6,0.000,0.053,2521,2148,3095
$GC,4629,-1.02,-117.3,320.8,-6.8,220,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2148,3094
$GC,4939,-1.06,-117.3,345.2,-8.3,235,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2148,3095
$GC,5248,-1.10,-117.3,373.4,-9.0,250,5249,0.15,0.00,0.00,0.000,6,0.052,0.000,2478,2148,3094
$GC,5558,-1.02,-117.3,402.7,-9.3,265,5559,0.15,0.00,0.00,0.000,6,0.094,0.000,2509,2148,3094
$GC,5866,-1.02,-117.3,424.8,-6.5,280,5871,0.00,2.55,0.00,0.000,4,0.000,0.066,2510,744,3094
$GC,5927,-1.02,-117.3,428.9,-6.6,282,5933,0.00,2.50,0.00,0.000,6,0.000,0.055,2509,2127,3094
$GC,6244,-1.02,-117.3,448.3,-6.2,298,6249,0.00,2.60,0.00,0.000,4,0.000,0.069,2509,3555,3094
$GC,6352,-1.02,-117.3,454.9,-5.8,303,6357,0.00,2.55,0.00,0.000,6,0.000,0.054,2510,2135,3093
$GC,6685,-1.02,-117.3,476.0,-7.3,319,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2116,3093
$GC,6989,-1.02,-117.3,496.8,-6.6,334,6993,0.00,2.50,0.00,0.000,4,0.000,0.067,2510,744,3092
$GC,7044,-1.02,-117.3,500.5,-6.7,336,7050,0.00,2.58,0.00,0.000,6,0.000,0.061,2509,2152,3092
$STATE,7213,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7213,begin apogee
$GC,7221,-0.33,0.0,510.8,5.7,345,7322,0.70,0.00,97.60,1.180,6,0.083,0.000,2656,2081,2620
$STATE,7322,end apogee,CONTROL_FINISHED_OK
$STATE,7322,begin climb
$GC,7325,1.30,117.3,511.9,0.0,350,7431,1.67,2.72,97.07,1.149,4,0.068,0.071,3014,3509,2141
$GC,7471,1.17,117.3,500.9,10.8,356,7478,0.15,2.58,0.00,0.000,6,0.097,0.061,2987,2122,2140
$GC,7787,1.17,117.3,473.4,8.8,372,7791,0.00,2.62,0.00,0.000,4,0.000,0.071,2987,3509,2139
$GC,7810,1.12,117.3,471.3,9.0,373,7814,0.00,2.60,0.00,0.000,6,0.000,0.061,2987,2104,2139
$GC,8131,1.12,117.3,440.4,9.5,389,8136,0.00,2.62,0.00,0.000,4,0.000,0.072,2987,3507,2138
$GC,8204,1.12,117.3,433.1,10.6,392,8208,0.00,2.55,0.00,0.000,6,0.000,0.060,2987,2124,2138
$GC,8520,1.12,117.3,403.4,10.3,407,8524,0.00,2.60,0.00,0.000,4,0.000,0.071,2987,3512,2137
$GC,8560,1.12,117.3,399.2,11.6,409,8564,0.00,2.53,0.00,0.000,6,0.000,0.059,2987,2134,2137
$GC,8886,1.12,117.3,366.3,9.6,425,8890,0.00,2.58,0.00,0.000,4,0.000,0.068,2987,3511,2135
$GC,8965,1.12,117.3,358.7,9.4,428,8971,0.00,2.47,0.00,0.000,6,0.000,0.055,2987,2151,2135
$GC,9282,1.14,131.5,333.7,7.4,444,9300,0.00,0.00,12.35,1.004,6,0.000,0.000,2987,2149,2083
$GC,9610,1.15,134.5,308.8,7.9,460,9619,0.00,2.53,4.07,0.713,4,0.000,0.065,2987,3508,2071
$GC,9655,1.15,134.5,304.9,8.9,462,9659,0.00,2.42,0.00,0.000,6,0.000,0.052,2987,2170,2071
$GC,9982,1.15,134.5,276.8,8.6,478,9986,0.00,2.47,0.00,0.000,4,0.000,0.064,2987,3515,2071
$GC,10004,1.15,134.5,274.6,9.6,479,10008,0.00,2.40,0.00,0.000,6,0.000,0.052,2987,2177,2071
$GC,10325,1.15,134.5,246.1,9.1,495,10329,0.00,2.45,0.00,0.000,4,0.000,0.063,2987,3513,2071
$GC,10347,1.15,134.5,244.0,9.9,496,10351,0.00,2.40,0.00,0.000,6,0.000,0.051,2987,2178,2071
$GC,10667,1.15,134.5,212.6,9.9,512,10669,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2178,2071
$GC,10977,1.15,134.5,181.7,9.9,527,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2179,2071
$GC,11287,1.15,134.5,151.5,9.8,542,11291,0.00,2.42,0.00,0.000,4,0.000,0.061,2987,3510,2072
$GC,11343,1.15,134.5,146.0,9.2,544,11347,0.00,2.38,0.00,0.000,6,0.000,0.048,2987,2183,2072
$GC,11659,1.15,134.5,118.1,8.9,559,11663,0.00,2.42,0.00,0.000,4,0.000,0.060,2987,3514,2072
$GC,11681,1.15,134.5,115.9,9.0,560,11685,0.00,2.38,0.00,0.000,6,0.000,0.048,2987,2185,2072
$GC,12003,1.15,134.5,88.0,8.2,576,12004,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2185,2073
$GC,12312,1.24,189.0,68.1,5.5,591,12358,0.00,0.00,44.55,0.853,6,0.000,0.000,2987,2184,1849
$GC,12664,1.32,195.1,47.0,7.7,608,12678,0.12,2.78,6.47,0.696,4,0.051,0.059,3025,679,1824
$GC,12701,1.27,195.1,43.2,10.0,609,12708,0.00,2.72,0.00,0.000,6,0.000,0.049,3025,2201,1824
$GC,13019,1.27,195.4,16.4,8.0,625,13023,0.00,2.35,0.00,0.000,4,0.000,0.059,3025,3513,1823
$GC,13086,1.19,195.4,10.4,11.8,628,13091,0.17,2.33,0.00,0.000,6,0.087,0.045,2991,2209,1823
$STATE,13177,end climb,SURFACE_DEPTH_REACHED
$STATE,13177,begin surface coast
$FINISH,0.3,1.026868
$STATE,13199,end surface coast,CONTROL_FINISHED_OK
$STATE,13199,begin surface
$SM_CCo,13222,208.05,0.777,0,0,390,547.02
$SM_GC,0.44,0.00,0.00,208.05,0.000,0.000,0.777,422,2126,390,-10.62,-0.68,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1690
$TCM_TEMP,17.60
$XPDR_PINGS,345
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,476.0,44.3
$24V_AH,23.8,49.584
$10V_AH,10.1,24.053
$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,25.575,131.425,262.125,208.050,0.000,114.704,91.823,246.871,90.250,0.000,0.000,15.890,1218.735,10120.370,648.733,1420.383,734.587,33.359,1370.675,0.000,1391.389,0.000,28.160
$DEVICE_MAMPS,140.361,72.098,1179.646,776.971,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.354,469.819,480.561,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31665,634
$CAP_FILE_SIZE,112080,0
$CFSIZE,254472192,234823680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,030808,022401,6243.960,-1024.307,42,1.5,42,-10.4