version: 66.03
glider: 5
mission: 3
dive: 264
start: 8 3 108 14 12 4
data:
$ID,5
$MISSION,3
$DIVE,264
$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,-81586.477
$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,25
$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
$GPS1,140538,6245.133,-1018.568,30,1.6,30,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-49.2
$GPS2,141114,6245.093,-1018.638,16,1.6,33,-10.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.222,-0.004
$KALMAN_X,-122395.2,1214.0,496.3,150853.4,-9351.1
$KALMAN_Y,-20234.0,336.1,-1625.6,87907.4,9841.5
$MHEAD_RNG_PITCHd_Wd,101.4,33912,-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,-117.3,0.0,0.0,0,142,0.00,0.00,-112.20,0.000,6,0.000,0.000,422,2187,3098
$GC,146,-1.30,-117.3,1.9,-1.4,5,162,10.48,2.62,0.00,0.000,4,0.139,0.052,2435,736,3098
$GC,254,-1.05,-117.3,18.1,-12.8,9,260,0.30,2.53,0.00,0.000,6,0.093,0.047,2498,2157,3097
$GC,584,-0.99,-117.3,51.6,-9.9,25,588,0.00,2.50,0.00,0.000,4,0.000,0.057,2497,3556,3097
$GC,766,-0.92,-117.3,71.3,-11.5,33,771,0.15,2.45,0.00,0.000,6,0.093,0.041,2529,2149,3097
$GC,1088,-0.92,-117.3,99.8,-8.9,49,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2132,3098
$GC,1398,-0.96,-117.3,126.0,-8.4,64,1402,0.00,2.50,0.00,0.000,4,0.000,0.058,2529,749,3098
$GC,1415,-0.96,-117.3,127.5,-8.1,65,1420,0.00,2.50,0.00,0.000,6,0.000,0.049,2529,2151,3098
$GC,1744,-1.01,-117.3,151.5,-6.8,81,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2151,3098
$GC,2054,-1.06,-117.3,170.5,-5.8,96,2058,0.15,2.55,0.00,0.000,4,0.051,0.059,2481,753,3098
$GC,2094,-0.94,-117.3,173.4,-7.6,98,2099,0.20,2.47,0.00,0.000,6,0.089,0.051,2522,2136,3097
$GC,2423,-0.94,-117.3,192.5,-5.8,114,2428,0.00,2.50,0.00,0.000,4,0.000,0.059,2522,753,3098
$GC,2458,-0.94,-117.3,194.9,-6.3,115,2464,0.00,2.47,0.00,0.000,6,0.000,0.051,2522,2132,3097
$GC,2774,-0.94,-117.3,213.4,-5.6,131,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2131,3097
$GC,3083,-0.94,-117.3,229.9,-5.2,146,3088,0.00,2.53,0.00,0.000,4,0.000,0.060,2522,747,3097
$GC,3140,-0.94,-117.3,233.2,-6.0,148,3146,0.00,2.47,0.00,0.000,6,0.000,0.051,2522,2123,3096
$GC,3459,-0.94,-117.3,250.9,-5.6,164,3463,0.00,2.53,0.00,0.000,4,0.000,0.061,2522,744,3096
$GC,3522,-0.94,-117.3,254.9,-6.7,167,3526,0.00,2.45,0.00,0.000,6,0.000,0.053,2522,2108,3097
$GC,3850,-0.94,-117.3,274.5,-6.2,183,3855,0.00,2.47,0.00,0.000,4,0.000,0.061,2522,746,3096
$GC,3922,-0.94,-117.3,279.6,-7.0,186,3927,0.00,2.42,0.00,0.000,6,0.000,0.052,2522,2092,3096
$GC,4245,-0.94,-117.3,301.9,-7.1,202,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2093,3095
$GC,4554,-0.99,-117.3,324.9,-7.3,217,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2093,3095
$GC,4863,-1.04,-117.3,347.2,-7.2,232,4867,0.00,2.45,0.00,0.000,4,0.000,0.063,2522,750,3095
$GC,4908,-1.04,-117.3,350.7,-7.9,234,4912,0.00,2.40,0.00,0.000,6,0.000,0.053,2522,2083,3095
$GC,5229,-1.09,-117.3,374.5,-7.5,250,5235,0.15,2.45,0.00,0.000,4,0.051,0.062,2479,750,3095
$GC,5292,-1.00,-117.3,380.1,-9.1,252,5299,0.15,2.38,0.00,0.000,6,0.094,0.053,2510,2064,3094
$GC,5608,-1.00,-117.3,405.3,-8.0,268,5612,0.00,2.40,0.00,0.000,4,0.000,0.064,2510,753,3095
$GC,5674,-1.00,-117.3,410.7,-8.2,271,5678,0.00,2.35,0.00,0.000,6,0.000,0.054,2510,2054,3094
$GC,5997,-1.00,-117.3,432.5,-6.4,287,6001,0.00,2.72,0.00,0.000,4,0.000,0.067,2511,3555,3094
$GC,6024,-1.00,-117.3,434.4,-6.6,288,6028,0.00,2.72,0.00,0.000,6,0.000,0.055,2510,2042,3094
$GC,6341,-1.00,-117.3,456.0,-7.1,303,6345,0.00,2.78,0.00,0.000,4,0.000,0.067,2510,3553,3093
$GC,6448,-1.00,-117.3,464.7,-7.7,308,6452,0.00,2.67,0.00,0.000,6,0.000,0.054,2510,2060,3093
$GC,6775,-1.00,-117.3,491.1,-7.7,324,6779,0.00,2.78,0.00,0.000,4,0.000,0.070,2510,3552,3092
$GC,6793,-1.00,-117.3,492.2,-7.6,325,6797,0.00,2.67,0.00,0.000,6,0.000,0.058,2510,2072,3092
$STATE,6889,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6890,begin apogee
$GC,6897,-0.33,0.0,498.5,6.4,330,6997,0.70,0.00,97.38,1.164,6,0.087,0.000,2654,2106,2620
$STATE,6998,end apogee,CONTROL_FINISHED_OK
$STATE,6998,begin climb
$GC,7001,1.30,117.3,499.4,0.0,335,7103,1.67,0.00,97.03,1.131,6,0.068,0.000,3012,2106,2141
$GC,7403,1.21,117.3,465.7,9.9,355,7407,0.00,2.58,0.00,0.000,4,0.000,0.069,3012,3501,2140
$GC,7475,1.12,117.3,457.5,11.3,358,7481,0.20,2.50,0.00,0.000,6,0.091,0.058,2975,2129,2140
$GC,7792,1.12,117.3,427.1,9.7,373,7796,0.00,2.58,0.00,0.000,4,0.000,0.070,2975,3501,2139
$GC,7864,1.12,117.3,419.6,10.4,376,7868,0.00,2.50,0.00,0.000,6,0.000,0.058,2976,2139,2139
$GC,8181,1.15,139.9,394.4,7.0,391,8205,0.00,2.60,19.35,1.069,4,0.000,0.067,2976,3501,2049
$GC,8247,1.15,139.9,389.6,8.1,394,8251,0.00,2.50,0.00,0.000,6,0.000,0.056,2975,2139,2049
$GC,8574,1.20,139.9,364.8,8.1,410,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2139,2048
$GC,8884,1.34,196.0,344.2,5.4,425,8938,0.17,2.60,46.33,1.082,4,0.050,0.064,3024,3502,1819
$GC,8978,1.26,196.0,336.3,9.3,429,8982,0.00,2.45,0.00,0.000,6,0.000,0.053,3025,2166,1818
$GC,9295,1.21,196.0,301.9,12.2,444,9297,0.17,0.00,0.00,0.000,6,0.092,0.000,2991,2149,1818
$GC,9603,1.25,196.0,267.2,10.9,459,9607,0.00,2.45,0.00,0.000,4,0.000,0.063,2991,3502,1818
$GC,9645,1.30,196.0,262.8,10.9,461,9650,0.00,2.38,0.00,0.000,6,0.000,0.050,2992,2176,1818
$GC,9973,1.35,196.0,232.5,8.4,477,9975,0.15,0.00,0.00,0.000,6,0.051,0.000,3031,2177,1818
$GC,10282,1.28,196.0,202.5,9.6,492,10287,0.12,2.42,0.00,0.000,4,0.095,0.061,3007,3504,1818
$GC,10309,1.28,196.0,199.7,9.7,493,10313,0.00,2.38,0.00,0.000,6,0.000,0.049,3007,2184,1818
$GC,10626,1.28,196.0,172.7,8.7,508,10627,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2184,1818
$GC,10934,1.28,196.0,144.6,9.2,523,10939,0.00,2.40,0.00,0.000,4,0.000,0.060,3007,3503,1819
$GC,10975,1.28,196.0,140.6,10.1,525,10979,0.00,2.33,0.00,0.000,6,0.000,0.047,3007,2196,1819
$GC,11302,1.28,196.0,107.3,10.5,541,11304,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2195,1819
$GC,11611,1.28,196.0,73.1,11.4,556,11612,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2193,1819
$GC,11920,1.28,196.0,39.9,10.3,571,11921,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2192,1819
$GC,12230,1.28,196.0,12.0,8.5,586,12234,0.00,2.40,0.00,0.000,4,0.000,0.058,3007,3508,1820
$GC,12264,1.28,196.0,7.4,12.2,587,12270,0.00,2.33,0.00,0.000,6,0.000,0.046,3007,2194,1820
$STATE,12329,end climb,SURFACE_DEPTH_REACHED
$STATE,12329,begin surface coast
$FINISH,-0.1,1.026893
$STATE,12353,end surface coast,CONTROL_FINISHED_OK
$STATE,12353,begin surface
$SM_CCo,12376,207.07,0.785,0,0,390,547.02
$SM_GC,0.37,0.00,0.00,207.07,0.000,0.000,0.785,418,2117,390,-10.64,-0.93,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1689
$TCM_TEMP,16.50
$XPDR_PINGS,351
$ALTIM_TOP_PING,19.1,999.0
$ALTIM_BOTTOM_PING,450.1,58.1
$24V_AH,23.8,50.199
$10V_AH,10.1,24.322
$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,25.925,110.275,260.075,207.075,0.000,37.763,28.228,129.492,91.500,0.000,0.000,33.294,1133.020,9368.699,620.992,1347.915,451.081,33.356,1299.887,0.000,1302.367,0.000,26.580
$DEVICE_MAMPS,138.827,102.778,1164.306,785.408,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.566,438.726,413.311,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31659,592
$CAP_FILE_SIZE,99701,0
$CFSIZE,254472192,234622976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,030808,174325,6243.617,-1019.368,40,1.3,57,-10.4