version: 66.03
glider: 5
mission: 3
dive: 270
start: 8 4 108 12 27 30
data:
$ID,5
$MISSION,3
$DIVE,270
$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,-81703.234
$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,36
$R_STBD_OVSHOOT,20
$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
$GPS1,122107,6243.434,-1010.063,37,1.4,42,-10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-47.1
$GPS2,122639,6243.425,-1010.042,16,1.3,16,-10.3
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.217,0.048
$KALMAN_X,-137651.5,539.0,1347.4,173370.2,-15149.3
$KALMAN_Y,-22591.3,-271.4,-14.5,86122.3,3071.8
$MHEAD_RNG_PITCHd_Wd,87.8,28171,-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,-112.57,0.000,6,0.000,0.000,421,2132,3099
$GC,146,-1.30,-117.3,2.1,-1.5,5,162,10.52,2.45,0.00,0.000,4,0.141,0.051,2435,754,3098
$GC,247,-1.04,-117.3,16.9,-12.2,8,254,0.30,2.50,0.00,0.000,6,0.093,0.047,2498,2161,3096
$GC,564,-0.98,-117.3,41.6,-7.4,24,568,0.00,2.50,0.00,0.000,4,0.000,0.056,2498,3563,3096
$GC,597,-0.89,-117.3,44.1,-7.4,25,605,0.17,2.50,0.00,0.000,6,0.094,0.043,2535,2147,3096
$GC,915,-0.95,-117.3,65.0,-6.9,41,919,0.00,2.47,0.00,0.000,4,0.000,0.056,2535,752,3097
$GC,993,-0.99,-117.3,71.2,-8.1,44,999,0.00,2.45,0.00,0.000,6,0.000,0.047,2535,2132,3097
$GC,1312,-1.05,-117.3,92.8,-6.5,60,1314,0.17,0.00,0.00,0.000,6,0.047,0.000,2484,2131,3097
$GC,1619,-0.96,-117.3,122.8,-11.1,75,1624,0.15,2.53,0.00,0.000,4,0.093,0.056,2518,741,3097
$GC,1704,-0.96,-117.3,131.5,-10.2,79,1708,0.00,2.47,0.00,0.000,6,0.000,0.049,2518,2128,3097
$GC,2031,-0.96,-117.3,159.8,-8.1,95,2035,0.00,2.55,0.00,0.000,4,0.000,0.061,2519,3554,3098
$GC,2070,-0.96,-117.3,163.2,-8.7,97,2075,0.00,2.53,0.00,0.000,6,0.000,0.047,2518,2129,3097
$GC,2397,-0.96,-117.3,190.4,-8.6,113,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2127,3097
$GC,2706,-0.96,-117.3,218.8,-9.9,128,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2126,3097
$GC,3015,-0.96,-117.3,247.1,-8.3,143,3020,0.00,2.62,0.00,0.000,4,0.000,0.061,2518,3563,3096
$GC,3056,-0.96,-117.3,250.5,-8.7,145,3060,0.00,2.55,0.00,0.000,6,0.000,0.048,2518,2127,3096
$GC,3383,-0.96,-117.3,274.7,-7.0,161,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2125,3096
$GC,3692,-0.96,-117.3,296.7,-7.7,176,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2125,3096
$GC,4002,-0.96,-117.3,317.6,-6.1,191,4006,0.00,2.45,0.00,0.000,4,0.000,0.061,2518,746,3096
$GC,4048,-0.96,-117.3,320.5,-6.0,193,4053,0.00,2.47,0.00,0.000,6,0.000,0.052,2519,2135,3096
$GC,4376,-0.96,-117.3,338.5,-6.0,209,4380,0.00,2.58,0.00,0.000,4,0.000,0.064,2518,3564,3096
$GC,4434,-0.96,-117.3,342.0,-6.3,211,4440,0.00,2.55,0.00,0.000,6,0.000,0.050,2518,2136,3095
$GC,4750,-0.96,-117.3,360.3,-5.8,227,4754,0.00,2.47,0.00,0.000,4,0.000,0.061,2518,745,3095
$GC,4974,-0.96,-117.3,377.9,-7.6,237,4978,0.00,2.50,0.00,0.000,6,0.000,0.053,2518,2135,3095
$GC,5295,-1.01,-117.3,404.3,-8.8,253,5299,0.00,2.53,0.00,0.000,4,0.000,0.062,2519,744,3095
$GC,5362,-1.01,-117.3,410.6,-9.1,256,5366,0.00,2.47,0.00,0.000,6,0.000,0.054,2518,2117,3095
$GC,5684,-1.06,-117.3,435.5,-6.6,272,5688,0.00,2.53,0.00,0.000,4,0.000,0.065,2519,741,3095
$GC,5861,-1.06,-117.3,446.7,-6.3,280,5865,0.00,2.45,0.00,0.000,6,0.000,0.057,2519,2096,3095
$GC,6189,-1.10,-117.3,465.4,-5.8,296,6191,0.12,0.00,0.00,0.000,6,0.056,0.000,2483,2096,3094
$GC,6497,-1.10,-117.3,485.8,-7.0,311,6502,0.00,2.50,0.00,0.000,4,0.000,0.070,2482,739,3093
$STATE,6512,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6512,begin apogee
$GC,6523,-0.33,0.0,487.2,7.4,312,6623,0.82,0.00,97.55,1.159,6,0.084,0.000,2657,2104,2620
$STATE,6624,end apogee,CONTROL_FINISHED_OK
$STATE,6624,begin climb
$GC,6627,1.30,117.3,489.8,0.0,317,6733,1.65,2.67,96.40,1.128,4,0.067,0.070,3012,3502,2141
$GC,6773,1.20,117.3,479.3,10.5,324,6778,0.00,2.58,0.00,0.000,6,0.000,0.058,3012,2103,2140
$GC,7100,1.11,117.3,445.8,10.3,340,7105,0.17,2.62,0.00,0.000,4,0.094,0.070,2976,3506,2140
$GC,7140,1.11,117.3,441.9,9.6,342,7144,0.00,2.58,0.00,0.000,6,0.000,0.059,2976,2104,2139
$GC,7467,1.13,132.4,415.4,7.3,358,7486,0.00,0.00,13.62,1.039,6,0.000,0.000,2976,2103,2080
$GC,7796,1.24,197.4,396.4,5.0,374,7859,0.10,2.70,53.62,1.113,4,0.060,0.069,3004,3499,1815
$GC,7905,1.24,197.4,388.1,8.2,379,7910,0.00,2.55,0.00,0.000,6,0.000,0.058,3003,2116,1815
$GC,8232,1.24,197.4,356.3,11.6,395,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2098,1813
$GC,8541,1.24,197.4,318.8,11.7,410,8546,0.00,2.58,0.00,0.000,4,0.000,0.066,3004,3510,1812
$GC,8587,1.24,197.4,313.3,12.3,412,8591,0.00,2.53,0.00,0.000,6,0.000,0.054,3004,2119,1812
$GC,8907,1.24,197.4,277.7,11.5,428,8912,0.00,2.58,0.00,0.000,4,0.000,0.064,3004,3508,1812
$GC,8941,1.24,197.4,273.7,11.1,429,8947,0.00,2.47,0.00,0.000,6,0.000,0.052,3004,2139,1812
$GC,9257,1.26,208.8,245.2,7.5,445,9273,0.00,2.55,10.73,0.927,4,0.000,0.062,3004,3508,1767
$GC,9307,1.29,231.0,241.5,7.0,446,9331,0.00,2.45,18.98,0.963,6,0.000,0.050,3004,2153,1678
$GC,9649,1.29,231.0,216.3,8.5,463,9654,0.00,2.65,0.00,0.000,4,0.000,0.064,3004,683,1677
$GC,9671,1.29,231.0,214.0,9.4,464,9676,0.00,2.65,0.00,0.000,6,0.000,0.053,3004,2156,1678
$GC,9993,1.29,231.0,182.1,10.2,480,9997,0.00,2.42,0.00,0.000,4,0.000,0.061,3004,3507,1678
$GC,10033,1.29,231.0,177.9,10.2,482,10037,0.00,2.40,0.00,0.000,6,0.000,0.049,3004,2167,1678
$GC,10360,1.34,263.1,152.0,6.5,498,10389,0.00,0.00,27.10,0.914,6,0.000,0.000,3004,2167,1547
$GC,10690,1.40,263.1,126.1,8.7,514,10695,0.15,2.45,0.00,0.000,4,0.048,0.058,3049,3509,1547
$GC,10731,1.32,263.1,121.6,12.0,516,10736,0.17,2.40,0.00,0.000,6,0.087,0.048,3016,2167,1547
$GC,11059,1.32,263.1,83.5,12.7,532,11063,0.00,2.65,0.00,0.000,4,0.000,0.061,3016,684,1547
$GC,11086,1.32,263.1,79.4,14.7,533,11090,0.00,2.65,0.00,0.000,6,0.000,0.051,3016,2167,1547
$GC,11404,1.32,263.1,40.9,10.8,548,11408,0.00,2.40,0.00,0.000,4,0.000,0.058,3016,3509,1547
$GC,11427,1.38,263.1,38.0,11.3,549,11432,0.00,2.42,0.00,0.000,6,0.000,0.048,3016,2153,1547
$GC,11751,1.38,263.1,2.5,10.6,565,11755,0.00,2.12,0.00,0.000,3,0.000,0.058,3016,951,1547
$STATE,11755,end climb,SURFACE_DEPTH_REACHED
$STATE,11755,begin surface coast
$FINISH,0.8,1.026898
$STATE,11759,end surface coast,CONTROL_FINISHED_OK
$STATE,11759,begin surface
$SM_CCo,11785,169.55,0.787,0,0,389,547.02
$SM_GC,0.53,0.00,0.00,169.55,0.000,0.000,0.787,420,2173,389,-10.63,0.34,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1712
$TCM_TEMP,19.40
$XPDR_PINGS,355
$ALTIM_TOP_PING,18.4,17.8
$ALTIM_BOTTOM_PING,475.8,21.3
$24V_AH,23.8,51.117
$10V_AH,10.1,24.714
$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,25.750,120.400,318.000,169.550,0.000,37.762,39.400,130.545,92.750,0.000,0.000,16.206,1092.606,8777.281,638.924,1320.424,461.067,33.353,1322.343,0.000,1286.572,0.000,28.030
$DEVICE_MAMPS,141.128,69.797,1158.937,786.942,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,386.531,419.195,408.123,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28604,565
$CAP_FILE_SIZE,97020,0
$CFSIZE,254472192,234315776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,040808,154802,6242.109,-1007.648,37,1.7,37,-10.3