version: 66.03
glider: 5
mission: 3
dive: 268
start: 8 4 108 4 59 36
data:
$ID,5
$MISSION,3
$DIVE,268
$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,-81653.164
$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,23
$R_STBD_OVSHOOT,24
$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
$GPS1,045331,6242.863,-1012.268,42,1.0,42,-10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-49.2
$GPS2,045845,6242.812,-1012.420,16,1.0,16,-10.3
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.213,0.062
$KALMAN_X,-131038.2,1471.0,-331.0,165493.9,-10727.7
$KALMAN_Y,-23307.8,-346.6,-989.9,86843.6,1873.7
$MHEAD_RNG_PITCHd_Wd,84.0,30476,-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,-112.65,0.000,6,0.000,0.000,420,2152,3099
$GC,146,-1.30,-117.3,2.0,-1.5,5,162,10.55,2.53,0.00,0.000,4,0.141,0.051,2436,738,3098
$GC,169,0.27,-117.3,7.6,-14.6,5,177,1.65,2.53,0.00,0.000,6,0.085,0.048,2783,2150,3097
$GC,496,-0.63,-117.3,22.0,-5.8,21,502,0.85,2.55,0.00,0.000,4,0.052,0.052,2589,739,3098
$GC,583,-0.82,-117.3,27.7,-6.1,25,588,0.17,2.53,0.00,0.000,6,0.045,0.048,2539,2159,3098
$GC,911,-0.89,-117.3,57.3,-9.2,41,915,0.00,2.50,0.00,0.000,4,0.000,0.058,2540,3555,3098
$GC,1104,-0.94,-117.3,73.7,-8.0,49,1110,0.00,2.47,0.00,0.000,6,0.000,0.043,2539,2145,3099
$GC,1423,-1.02,-117.3,95.2,-6.4,65,1425,0.12,0.00,0.00,0.000,6,0.053,0.000,2501,2125,3099
$GC,1729,-1.02,-117.3,117.1,-7.0,80,1733,0.00,2.50,0.00,0.000,4,0.000,0.058,2499,740,3099
$GC,1781,-0.96,-117.3,121.0,-7.3,82,1785,0.00,2.53,0.00,0.000,6,0.000,0.050,2500,2147,3099
$GC,2097,-0.96,-117.3,145.6,-8.2,97,2101,0.00,2.53,0.00,0.000,4,0.000,0.061,2499,3555,3098
$GC,2141,-0.90,-117.3,149.3,-8.8,99,2146,0.15,2.50,0.00,0.000,6,0.092,0.047,2531,2149,3098
$GC,2466,-0.96,-117.3,173.4,-7.7,115,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2149,3098
$GC,2772,-1.01,-117.3,196.5,-7.4,130,2776,0.00,2.50,0.00,0.000,4,0.000,0.061,2531,752,3098
$GC,2820,-1.05,-117.3,200.1,-7.4,132,2826,0.15,2.53,0.00,0.000,6,0.052,0.051,2487,2160,3098
$GC,3142,-0.99,-117.3,227.7,-8.5,148,3147,0.12,2.53,0.00,0.000,4,0.095,0.061,2513,3564,3098
$GC,3175,-0.99,-117.3,230.5,-8.7,149,3181,0.00,2.50,0.00,0.000,6,0.000,0.048,2513,2160,3098
$GC,3492,-0.99,-117.3,253.0,-7.0,165,3496,0.00,2.53,0.00,0.000,4,0.000,0.060,2513,744,3097
$GC,3554,-0.99,-117.3,257.6,-6.9,168,3558,0.00,2.53,0.00,0.000,6,0.000,0.051,2513,2154,3098
$GC,3882,-0.99,-117.3,279.1,-6.2,184,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2153,3097
$GC,4190,-0.99,-117.3,296.3,-5.2,199,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2153,3097
$GC,4499,-0.99,-117.3,311.5,-4.9,214,4503,0.00,2.58,0.00,0.000,4,0.000,0.061,2513,740,3097
$GC,4617,-0.99,-117.3,318.1,-5.9,219,4622,0.00,2.53,0.00,0.000,6,0.000,0.053,2513,2143,3097
$GC,4933,-0.99,-117.3,334.9,-5.5,234,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2143,3096
$GC,5244,-0.99,-117.3,352.3,-5.4,249,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2143,3096
$GC,5552,-0.99,-117.3,370.0,-5.7,264,5557,0.00,2.58,0.00,0.000,4,0.000,0.063,2513,739,3096
$GC,5626,-0.99,-117.3,374.7,-6.2,267,5630,0.00,2.53,0.00,0.000,6,0.000,0.054,2513,2139,3096
$GC,5947,-0.99,-117.3,392.5,-5.7,283,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2140,3096
$GC,6256,-0.99,-117.3,412.7,-6.6,298,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2140,3095
$GC,6565,-0.99,-117.3,434.8,-7.2,313,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2140,3095
$GC,6875,-0.99,-117.3,456.0,-6.4,328,6879,0.00,2.55,0.00,0.000,4,0.000,0.066,2513,746,3094
$GC,6920,-0.99,-117.3,459.0,-6.4,330,6924,0.00,2.50,0.00,0.000,6,0.000,0.056,2513,2127,3094
$GC,7242,-0.99,-117.3,472.7,-3.5,346,7246,0.00,2.55,0.00,0.000,4,0.000,0.068,2513,744,3094
$GC,7313,-0.99,-117.3,475.2,-4.8,349,7318,0.00,2.47,0.00,0.000,6,0.000,0.058,2513,2104,3094
$GC,7635,-0.99,-117.3,492.3,-5.3,365,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2104,3093
$STATE,7879,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7879,begin apogee
$GC,7887,-0.33,0.0,506.9,5.8,377,7987,0.68,0.00,97.60,1.177,6,0.083,0.000,2654,2104,2620
$STATE,7988,end apogee,CONTROL_FINISHED_OK
$STATE,7988,begin climb
$GC,7991,1.30,117.3,508.5,0.0,382,8097,1.65,2.72,96.60,1.146,4,0.065,0.071,3013,692,2141
$GC,8118,1.17,117.3,498.3,12.4,388,8123,0.15,2.60,0.00,0.000,6,0.097,0.059,2986,2103,2141
$GC,8445,1.17,117.3,467.5,8.2,404,8450,0.00,2.60,0.00,0.000,4,0.000,0.071,2986,3508,2139
$GC,8518,1.12,117.3,460.6,9.1,407,8523,0.00,2.55,0.00,0.000,6,0.000,0.058,2985,2117,2139
$GC,8835,1.16,141.5,438.5,6.9,422,8862,0.00,2.67,21.02,1.089,4,0.000,0.069,2986,3501,2042
$GC,8885,1.17,150.2,434.7,7.6,424,8900,0.00,2.53,9.07,0.984,6,0.000,0.058,2986,2134,2006
$GC,9230,1.21,172.8,411.3,7.0,441,9254,0.00,2.62,19.30,1.078,4,0.000,0.068,2986,3507,1915
$GC,9300,1.21,172.8,405.5,8.2,444,9305,0.00,2.50,0.00,0.000,6,0.000,0.057,2985,2149,1914
$GC,9616,1.25,197.6,381.4,6.9,459,9645,0.00,2.62,21.60,1.075,4,0.000,0.068,2986,3512,1814
$GC,9670,1.31,210.2,377.5,7.4,461,9689,0.12,2.47,12.30,1.005,6,0.056,0.057,3020,2169,1762
$GC,10011,1.31,210.2,342.3,11.3,478,10016,0.00,2.50,0.00,0.000,4,0.000,0.067,3020,3509,1760
$GC,10029,1.27,210.2,340.3,11.3,479,10034,0.00,2.42,0.00,0.000,6,0.000,0.055,3019,2179,1760
$GC,10357,1.27,210.2,301.0,11.7,495,10358,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2179,1760
$GC,10666,1.27,210.2,263.8,11.9,510,10670,0.00,2.45,0.00,0.000,4,0.000,0.064,3019,3508,1760
$GC,10676,1.27,210.2,262.2,11.7,510,10683,0.00,2.40,0.00,0.000,6,0.000,0.052,3019,2183,1760
$GC,10993,1.27,210.2,226.4,10.9,526,10997,0.00,2.42,0.00,0.000,4,0.000,0.062,3019,3508,1760
$GC,11015,1.27,210.2,223.9,10.7,527,11019,0.00,2.38,0.00,0.000,6,0.000,0.050,3020,2190,1760
$GC,11336,1.27,210.2,188.0,11.0,543,11340,0.00,2.70,0.00,0.000,4,0.000,0.061,3019,682,1760
$GC,11358,1.23,210.2,185.5,11.6,544,11363,0.12,2.70,0.00,0.000,6,0.097,0.053,2997,2189,1760
$GC,11680,1.27,210.2,153.4,10.0,560,11681,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2189,1760
$GC,11989,1.32,210.2,121.2,10.5,575,11990,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2189,1761
$GC,12300,1.37,210.2,88.5,10.8,590,12305,0.15,2.38,0.00,0.000,4,0.050,0.061,3041,3510,1761
$GC,12328,1.32,210.2,84.4,13.5,591,12333,0.12,2.35,0.00,0.000,6,0.094,0.048,3017,2194,1761
$GC,12645,1.32,210.2,47.5,11.4,606,12649,0.00,2.70,0.00,0.000,4,0.000,0.061,3017,679,1761
$GC,12685,1.32,210.2,42.9,11.6,608,12690,0.00,2.67,0.00,0.000,6,0.000,0.051,3018,2183,1761
$GC,13012,1.32,210.2,5.7,11.5,624,13016,0.00,2.72,0.00,0.000,4,0.000,0.060,3017,682,1761
$STATE,13042,end climb,SURFACE_DEPTH_REACHED
$STATE,13042,begin surface coast
$FINISH,1.1,1.026925
$STATE,13050,end surface coast,CONTROL_FINISHED_OK
$STATE,13050,begin surface
$SM_CCo,13076,199.00,0.791,0,0,390,547.02
$SM_GC,0.50,0.00,0.00,199.00,0.000,0.000,0.791,419,2175,390,-10.63,0.23,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1698
$TCM_TEMP,17.40
$XPDR_PINGS,367
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,475.2,40.6
$24V_AH,23.8,50.801
$10V_AH,10.1,24.585
$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,28.100,121.875,277.500,199.000,0.000,37.762,27.858,127.037,95.750,0.000,0.000,16.315,1193.101,9918.847,634.657,1389.904,456.814,33.356,1347.330,0.000,1357.989,0.000,28.135
$DEVICE_MAMPS,141.128,71.331,1176.578,790.777,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.013,460.917,442.581,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31746,626
$CAP_FILE_SIZE,104597,0
$CFSIZE,254472192,234409984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,040808,084227,6242.676,-1014.066,36,3.2,55,-10.3