version: 66.03
glider: 5
mission: 3
dive: 269
start: 8 4 108 8 51 49
data:
$ID,5
$MISSION,3
$DIVE,269
$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,-81686.398
$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,24
$R_STBD_OVSHOOT,26
$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
$GPS1,084227,6242.676,-1014.066,36,3.2,55,-10.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-51.8
$GPS2,085059,6242.670,-1014.103,12,3.7,31,-10.3
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.209,-0.074
$KALMAN_X,-137701.7,696.7,906.7,170240.7,-17617.8
$KALMAN_Y,-26477.2,-1241.3,736.9,88872.1,-3875.9
$MHEAD_RNG_PITCHd_Wd,119.9,31872,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.30,-117.3,0.0,0.0,0,146,0.00,0.00,-112.40,0.000,6,0.000,0.000,420,2165,3099
$GC,150,-1.30,-117.3,3.6,-3.5,6,166,10.55,2.58,0.00,0.000,4,0.141,0.052,2436,734,3098
$GC,290,-1.04,-117.3,24.5,-11.5,11,295,0.32,2.50,0.00,0.000,6,0.096,0.047,2503,2149,3098
$GC,607,-0.98,-117.3,52.6,-8.4,26,611,0.00,2.55,0.00,0.000,4,0.000,0.055,2503,741,3097
$GC,865,-0.92,-117.3,72.4,-7.0,37,872,0.12,2.45,0.00,0.000,6,0.097,0.048,2528,2123,3097
$GC,1184,-0.92,-117.3,90.1,-5.3,53,1188,0.00,2.58,0.00,0.000,4,0.000,0.058,2528,3563,3098
$GC,1194,-0.92,-117.3,90.9,-5.4,53,1201,0.00,2.58,0.00,0.000,6,0.000,0.045,2528,2104,3098
$GC,1512,-0.92,-117.3,107.6,-5.2,69,1517,0.00,2.65,0.00,0.000,4,0.000,0.058,2528,3562,3098
$GC,1578,-0.92,-117.3,111.4,-5.7,72,1582,0.00,2.55,0.00,0.000,6,0.000,0.045,2528,2124,3098
$GC,1907,-0.97,-117.3,131.6,-7.0,88,1911,0.00,2.62,0.00,0.000,4,0.000,0.059,2529,3564,3098
$GC,1962,-0.97,-117.3,136.3,-8.0,90,1968,0.00,2.53,0.00,0.000,6,0.000,0.045,2528,2138,3099
$GC,2279,-1.01,-117.3,162.2,-8.5,106,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2135,3098
$GC,2589,-1.06,-117.3,187.7,-7.7,121,2591,0.15,0.00,0.00,0.000,6,0.051,0.000,2485,2136,3098
$GC,2898,-0.98,-117.3,213.7,-7.9,136,2900,0.15,0.00,0.00,0.000,6,0.091,0.000,2517,2136,3098
$GC,3206,-0.98,-117.3,231.9,-5.2,151,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2135,3098
$GC,3515,-0.98,-117.3,248.9,-5.8,166,3520,0.00,2.47,0.00,0.000,4,0.000,0.059,2517,739,3097
$GC,3527,-0.98,-117.3,249.7,-5.8,166,3534,0.00,2.50,0.00,0.000,6,0.000,0.051,2517,2131,3097
$GC,3845,-0.98,-117.3,276.4,-10.0,182,3849,0.00,2.53,0.00,0.000,4,0.000,0.059,2517,742,3097
$GC,3855,-0.98,-117.3,277.8,-10.4,182,3862,0.00,2.47,0.00,0.000,6,0.000,0.053,2516,2127,3097
$GC,4172,-0.98,-117.3,310.1,-9.3,198,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2127,3097
$GC,4481,-0.98,-117.3,335.5,-7.6,213,4485,0.00,2.58,0.00,0.000,4,0.000,0.064,2517,3557,3097
$GC,4491,-0.98,-117.3,336.3,-6.8,213,4497,0.00,2.55,0.00,0.000,6,0.000,0.051,2517,2133,3097
$GC,4808,-0.98,-117.3,355.1,-5.8,229,4812,0.00,2.62,0.00,0.000,4,0.000,0.064,2517,3557,3096
$GC,4870,-0.98,-117.3,359.0,-6.2,232,4875,0.00,2.50,0.00,0.000,6,0.000,0.050,2517,2151,3096
$GC,5197,-0.98,-117.3,373.8,-3.5,248,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2134,3096
$GC,5506,-0.98,-117.3,382.5,-3.1,263,5510,0.00,2.58,0.00,0.000,4,0.000,0.066,2517,3555,3096
$GC,5573,-0.98,-117.3,385.4,-4.9,266,5577,0.00,2.50,0.00,0.000,6,0.000,0.051,2517,2144,3095
$GC,5894,-0.98,-117.3,412.0,-10.3,282,5899,0.00,2.60,0.00,0.000,4,0.000,0.066,2517,3557,3095
$GC,5905,-0.98,-117.3,413.3,-10.6,282,5911,0.00,2.55,0.00,0.000,6,0.000,0.054,2517,2137,3095
$GC,6221,-0.98,-117.3,446.6,-9.3,298,6225,0.00,2.47,0.00,0.000,4,0.000,0.063,2517,747,3095
$GC,6266,-0.98,-117.3,450.7,-9.4,300,6270,0.00,2.47,0.00,0.000,6,0.000,0.056,2517,2119,3095
$GC,6588,-0.98,-117.3,473.4,-6.0,316,6592,0.00,2.62,0.00,0.000,4,0.000,0.069,2517,3563,3094
$GC,6660,-0.98,-117.3,477.9,-6.3,319,6664,0.00,2.55,0.00,0.000,6,0.000,0.056,2517,2147,3094
$GC,6976,-0.98,-117.3,495.3,-6.0,334,6981,0.00,2.62,0.00,0.000,4,0.000,0.071,2517,3564,3093
$STATE,6984,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6984,begin apogee
$GC,6994,-0.33,0.0,496.0,6.2,334,7094,0.62,0.00,97.62,1.164,6,0.084,0.000,2650,2096,2620
$STATE,7095,end apogee,CONTROL_FINISHED_OK
$STATE,7095,begin climb
$GC,7098,1.30,117.3,498.7,0.0,339,7204,1.65,2.65,96.55,1.136,4,0.066,0.069,3010,692,2141
$GC,7255,1.20,117.3,486.7,10.1,346,7260,0.00,2.60,0.00,0.000,6,0.000,0.059,3010,2106,2141
$GC,7572,1.12,117.3,458.2,8.8,361,7577,0.15,2.60,0.00,0.000,4,0.096,0.070,2978,3513,2139
$GC,7746,1.12,117.3,442.8,8.8,369,7751,0.00,2.55,0.00,0.000,6,0.000,0.058,2978,2118,2139
$GC,8073,1.13,123.3,417.6,7.7,385,8081,0.00,0.00,6.10,0.890,6,0.000,0.000,2978,2116,2117
$GC,8383,1.18,154.3,396.6,6.6,400,8417,0.00,2.65,27.00,1.096,4,0.000,0.067,2978,3511,1990
$GC,8471,1.21,173.0,390.4,7.1,404,8492,0.00,2.50,16.38,1.055,6,0.000,0.057,2978,2135,1913
$GC,8802,1.27,173.0,365.0,9.4,420,8804,0.12,0.00,0.00,0.000,6,0.055,0.000,3011,2117,1912
$GC,9110,1.27,173.0,328.2,11.9,435,9115,0.00,2.55,0.00,0.000,4,0.000,0.066,3011,3513,1912
$GC,9196,1.22,173.0,317.7,11.9,439,9200,0.00,2.47,0.00,0.000,6,0.000,0.053,3011,2136,1911
$GC,9523,1.22,173.0,279.7,11.4,455,9527,0.00,2.55,0.00,0.000,4,0.000,0.064,3012,3512,1911
$GC,9563,1.18,173.0,275.0,12.4,457,9568,0.12,2.45,0.00,0.000,6,0.097,0.051,2987,2151,1911
$GC,9891,1.22,173.0,239.3,10.9,473,9892,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2151,1911
$GC,10199,1.27,173.0,207.9,9.7,488,10203,0.00,2.47,0.00,0.000,4,0.000,0.062,2987,3509,1911
$GC,10254,1.27,173.0,202.3,9.9,490,10260,0.00,2.42,0.00,0.000,6,0.000,0.050,2987,2158,1911
$GC,10571,1.31,173.0,172.7,9.9,506,10576,0.12,2.62,0.00,0.000,4,0.052,0.061,3022,692,1911
$GC,10612,1.24,173.0,167.7,13.0,508,10617,0.12,2.62,0.00,0.000,6,0.094,0.054,3000,2167,1911
$GC,10939,1.24,173.0,130.0,11.6,524,10943,0.00,2.42,0.00,0.000,4,0.000,0.061,3000,3517,1912
$GC,11003,1.24,173.0,122.7,11.3,527,11007,0.00,2.42,0.00,0.000,6,0.000,0.049,3000,2160,1912
$GC,11330,1.25,177.5,93.2,7.8,543,11340,0.00,2.65,5.30,0.696,4,0.000,0.061,3000,688,1895
$GC,11370,1.25,177.5,89.7,9.8,545,11374,0.00,2.65,0.00,0.000,6,0.000,0.051,3000,2175,1895
$GC,11698,1.27,194.6,61.0,7.2,561,11720,0.00,2.42,15.32,0.825,4,0.000,0.059,3000,3509,1825
$GC,11748,1.37,223.9,57.7,6.7,563,11778,0.15,2.42,23.98,0.838,6,0.050,0.048,3039,2167,1706
$GC,12099,1.32,223.9,18.2,12.7,580,12104,0.00,2.65,0.00,0.000,4,0.000,0.061,3039,685,1706
$GC,12140,1.26,223.9,12.5,13.9,582,12145,0.17,2.67,0.00,0.000,6,0.087,0.049,3006,2189,1706
$STATE,12239,end climb,SURFACE_DEPTH_REACHED
$STATE,12239,begin surface coast
$FINISH,0.1,1.027014
$STATE,12260,end surface coast,CONTROL_FINISHED_OK
$STATE,12260,begin surface
$SM_CCo,12284,192.70,0.785,0,0,390,547.02
$SM_GC,0.51,0.00,0.00,192.70,0.000,0.000,0.785,420,2131,390,-10.62,-0.59,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1713
$TCM_TEMP,17.60
$XPDR_PINGS,366
$ALTIM_TOP_PING,18.2,999.0
$ALTIM_BOTTOM_PING,475.1,30.7
$24V_AH,23.8,50.959
$10V_AH,10.1,24.652
$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,25.775,127.600,288.250,192.700,0.000,75.524,58.027,174.467,95.500,0.000,0.000,32.603,1142.885,9230.575,642.044,1403.859,571.586,33.359,1362.448,0.000,1353.790,0.000,28.108
$DEVICE_MAMPS,141.128,72.098,1164.306,785.408,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.197,437.143,440.991,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28513,588
$CAP_FILE_SIZE,105211,0
$CFSIZE,254472192,234364928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,040808,122107,6243.434,-1010.063,37,1.4,42,-10.3