version: 66.03
glider: 5
mission: 3
dive: 266
start: 8 3 108 21 34 0
data:
$ID,5
$MISSION,3
$DIVE,266
$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,-81623.359
$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,39
$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
$GPS1,212701,6243.958,-1019.173,42,1.3,42,-10.4
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-49.6
$GPS2,213308,6243.983,-1019.098,11,1.3,16,-10.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.220,0.028
$KALMAN_X,-130231.2,1027.3,1663.5,157331.3,-16911.3
$KALMAN_Y,-19817.8,-1232.5,1221.3,84117.9,4772.8
$MHEAD_RNG_PITCHd_Wd,93.2,34888,-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,-111.35,0.000,6,0.000,0.000,418,2107,3100
$GC,143,-1.30,-117.3,2.1,-1.6,5,159,10.57,2.42,0.00,0.000,4,0.143,0.050,2436,753,3099
$GC,289,-1.03,-117.3,26.3,-11.1,10,296,0.32,2.50,0.00,0.000,6,0.094,0.046,2504,2156,3098
$GC,605,-0.99,-117.3,51.8,-8.2,26,610,0.00,2.53,0.00,0.000,4,0.000,0.053,2504,757,3098
$GC,863,-0.93,-117.3,74.7,-9.7,37,870,0.10,2.45,0.00,0.000,6,0.105,0.046,2524,2137,3098
$GC,1180,-0.93,-117.3,102.5,-8.4,53,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2136,3099
$GC,1490,-0.93,-117.3,128.7,-7.7,68,1495,0.00,2.55,0.00,0.000,4,0.000,0.058,2524,3564,3099
$GC,1535,-0.93,-117.3,132.3,-7.7,70,1539,0.00,2.50,0.00,0.000,6,0.000,0.044,2524,2148,3099
$GC,1857,-0.93,-117.3,153.6,-5.9,86,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2128,3099
$GC,2166,-0.93,-117.3,169.1,-4.8,101,2170,0.00,2.58,0.00,0.000,4,0.000,0.061,2523,3553,3098
$GC,2210,-0.93,-117.3,171.5,-5.2,103,2214,0.00,2.50,0.00,0.000,6,0.000,0.046,2524,2143,3098
$GC,2532,-0.93,-117.3,189.1,-5.5,119,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2143,3098
$GC,2841,-0.97,-117.3,206.3,-5.4,134,2845,0.00,2.58,0.00,0.000,4,0.000,0.061,2524,3560,3098
$GC,2868,-0.97,-117.3,208.0,-5.9,135,2872,0.00,2.50,0.00,0.000,6,0.000,0.047,2524,2149,3098
$GC,3185,-1.01,-117.3,224.6,-5.2,150,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2148,3098
$GC,3494,-1.05,-117.3,241.9,-6.0,165,3496,0.12,0.00,0.00,0.000,6,0.051,0.000,2487,2148,3098
$GC,3804,-0.99,-117.3,264.6,-7.8,180,3809,0.12,2.58,0.00,0.000,4,0.099,0.062,2512,3559,3097
$GC,3882,-0.99,-117.3,271.0,-7.6,183,3888,0.00,2.53,0.00,0.000,6,0.000,0.048,2513,2143,3097
$GC,4198,-0.99,-117.3,296.5,-8.7,199,4202,0.00,2.50,0.00,0.000,4,0.000,0.062,2513,740,3097
$GC,4254,-0.99,-117.3,301.9,-9.6,201,4260,0.00,2.50,0.00,0.000,6,0.000,0.052,2513,2131,3097
$GC,4569,-0.99,-117.3,329.9,-9.2,217,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2131,3096
$GC,4879,-0.99,-117.3,357.7,-8.6,232,4883,0.00,2.53,0.00,0.000,4,0.000,0.061,2512,737,3096
$GC,5019,-0.99,-117.3,370.7,-9.4,238,5023,0.00,2.47,0.00,0.000,6,0.000,0.054,2513,2118,3096
$GC,5335,-0.99,-117.3,397.3,-8.1,253,5339,0.00,2.60,0.00,0.000,4,0.000,0.065,2513,3558,3095
$GC,5436,-0.99,-117.3,405.5,-7.6,257,5442,0.00,2.58,0.00,0.000,6,0.000,0.051,2513,2119,3095
$GC,5754,-0.99,-117.3,426.3,-6.5,273,5759,0.00,2.47,0.00,0.000,4,0.000,0.062,2513,741,3096
$GC,5795,-0.99,-117.3,429.3,-7.4,275,5799,0.00,2.47,0.00,0.000,6,0.000,0.055,2513,2118,3095
$GC,6123,-0.99,-117.3,451.9,-6.4,291,6127,0.00,2.62,0.00,0.000,4,0.000,0.067,2513,3563,3095
$GC,6133,-0.99,-117.3,452.6,-6.0,291,6139,0.00,2.58,0.00,0.000,6,0.000,0.056,2512,2134,3095
$GC,6449,-0.99,-117.3,472.5,-6.3,307,6454,0.00,2.65,0.00,0.000,4,0.000,0.068,2513,3561,3095
$GC,6551,-0.99,-117.3,479.2,-6.4,311,6557,0.00,2.53,0.00,0.000,6,0.000,0.056,2513,2164,3094
$STATE,6844,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6844,begin apogee
$GC,6851,-0.33,0.0,496.5,6.3,326,6952,0.68,0.00,97.90,1.161,6,0.084,0.000,2653,2066,2620
$STATE,6953,end apogee,CONTROL_FINISHED_OK
$STATE,6953,begin climb
$GC,6957,1.30,117.3,498.8,0.0,331,7063,1.65,2.75,96.53,1.132,4,0.067,0.068,3010,3504,2141
$GC,7093,1.20,117.3,488.5,9.7,337,7098,0.00,2.58,0.00,0.000,6,0.000,0.058,3010,2115,2140
$GC,7410,1.11,117.3,458.6,9.1,352,7415,0.17,2.62,0.00,0.000,4,0.093,0.069,2975,3506,2139
$GC,7488,1.12,121.3,452.1,7.8,355,7498,0.00,2.55,4.78,0.792,6,0.000,0.058,2975,2118,2125
$GC,7827,1.16,149.2,429.3,6.7,372,7856,0.00,2.65,24.23,1.088,4,0.000,0.069,2975,3504,2011
$GC,7909,1.23,156.5,423.4,7.7,375,7923,0.00,2.53,7.60,0.945,6,0.000,0.058,2975,2134,1982
$GC,8246,1.28,156.5,398.9,8.1,392,8251,0.15,2.65,0.00,0.000,4,0.054,0.068,3013,682,1981
$GC,8276,1.22,156.5,395.8,11.7,393,8281,0.00,2.65,0.00,0.000,6,0.000,0.060,3012,2132,1981
$GC,8593,1.15,156.5,360.7,10.9,408,8597,0.17,2.53,0.00,0.000,4,0.092,0.067,2976,3511,1980
$GC,8671,1.15,156.5,352.5,10.1,411,8677,0.00,2.47,0.00,0.000,6,0.000,0.054,2977,2148,1980
$GC,8987,1.20,156.5,323.7,9.4,427,8988,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2143,1980
$GC,9296,1.25,156.5,294.8,9.2,442,9301,0.12,2.50,0.00,0.000,4,0.054,0.064,3010,3509,1979
$GC,9330,1.19,156.5,290.9,12.0,443,9336,0.00,2.42,0.00,0.000,6,0.000,0.052,3010,2165,1979
$GC,9646,1.19,156.5,256.8,11.0,459,9650,0.00,2.45,0.00,0.000,4,0.000,0.063,3010,3511,1979
$GC,9696,1.14,156.5,251.1,11.2,461,9701,0.17,2.40,0.00,0.000,6,0.089,0.050,2976,2176,1979
$GC,10014,1.20,156.5,222.6,8.5,476,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2176,1979
$GC,10322,1.27,156.5,197.5,8.1,491,10327,0.12,2.45,0.00,0.000,4,0.053,0.061,3011,3516,1980
$GC,10355,1.21,156.5,193.9,10.0,492,10361,0.00,2.40,0.00,0.000,6,0.000,0.049,3011,2174,1979
$GC,10671,1.21,156.5,163.0,9.6,508,10672,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2173,1980
$GC,10982,1.21,156.5,134.2,9.1,523,10983,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2173,1980
$GC,11290,1.21,156.5,107.8,8.3,538,11294,0.00,2.42,0.00,0.000,4,0.000,0.060,3011,3510,1980
$GC,11331,1.17,156.5,104.4,8.6,540,11336,0.15,2.35,0.00,0.000,6,0.090,0.048,2981,2191,1980
$GC,11658,1.23,156.5,80.5,8.1,556,11662,0.00,2.67,0.00,0.000,4,0.000,0.060,2981,690,1981
$GC,11703,1.27,156.5,76.3,9.1,558,11708,0.10,2.67,0.00,0.000,6,0.056,0.051,3013,2189,1981
$GC,12025,1.27,156.5,44.1,10.1,574,12029,0.00,2.38,0.00,0.000,4,0.000,0.061,3012,3512,1981
$GC,12087,1.27,156.5,37.7,10.8,577,12092,0.00,2.35,0.00,0.000,6,0.000,0.047,3012,2192,1981
$GC,12416,1.27,156.5,5.0,10.4,593,12417,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2174,1981
$STATE,12453,end climb,SURFACE_DEPTH_REACHED
$STATE,12453,begin surface coast
$FINISH,0.1,1.026920
$STATE,12475,end surface coast,CONTROL_FINISHED_OK
$STATE,12475,begin surface
$SM_CCo,12497,231.30,0.782,0,0,390,547.02
$SM_GC,0.53,0.00,0.00,231.30,0.000,0.000,0.782,421,2178,390,-10.62,0.76,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1683
$TCM_TEMP,17.50
$XPDR_PINGS,355
$ALTIM_TOP_PING,18.1,999.0
$ALTIM_BOTTOM_PING,426.3,78.8
$24V_AH,23.8,50.497
$10V_AH,10.1,24.453
$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,26.000,116.275,231.025,231.300,0.000,37.761,27.500,178.261,92.250,0.000,0.000,18.977,1146.441,9428.802,631.496,1396.151,498.689,33.356,1335.311,0.000,1366.195,0.000,24.997
$DEVICE_MAMPS,142.662,72.865,1161.238,781.573,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.649,441.664,432.339,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31733,596
$CAP_FILE_SIZE,102557,0
$CFSIZE,254472192,234516480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,040808,010731,6245.171,-1012.718,42,1.3,42,-10.3