version: 66.03
glider: 5
mission: 3
dive: 272
start: 8 4 108 19 45 28
data:
$ID,5
$MISSION,3
$DIVE,272
$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,-81752.977
$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,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
$GPS1,193901,6239.821,-1009.540,42,1.5,42,-10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-50.0
$GPS2,194438,6239.827,-1009.626,16,1.3,33,-10.3
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.177,-0.134
$KALMAN_X,-145570.1,2075.1,604.0,180892.0,-19511.1
$KALMAN_Y,-29957.3,650.3,686.8,85222.6,-7803.5
$MHEAD_RNG_PITCHd_Wd,137.5,31345,-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,-117.3,0.0,0.0,0,141,0.00,0.00,-111.95,0.000,6,0.000,0.000,422,2132,3099
$GC,145,-1.30,-117.3,1.9,-1.5,5,161,10.48,2.45,0.00,0.000,4,0.137,0.050,2439,756,3098
$GC,357,-1.07,-117.3,35.8,-14.9,13,364,0.28,2.50,0.00,0.000,6,0.092,0.047,2495,2163,3097
$GC,676,-1.00,-117.3,64.0,-5.2,29,680,0.00,2.55,0.00,0.000,4,0.000,0.054,2495,749,3097
$GC,688,-0.93,-117.3,64.8,-4.9,29,695,0.15,2.47,0.00,0.000,6,0.092,0.047,2527,2143,3097
$GC,1006,-0.93,-117.3,73.7,-4.1,45,1010,0.00,2.50,0.00,0.000,4,0.000,0.055,2527,757,3097
$GC,1039,-0.93,-117.3,75.9,-7.0,46,1045,0.00,2.40,0.00,0.000,6,0.000,0.048,2527,2109,3097
$GC,1355,-0.93,-117.3,108.5,-13.2,62,1360,0.00,2.58,0.00,0.000,4,0.000,0.058,2527,3553,3098
$GC,1367,-0.93,-117.3,110.3,-13.9,62,1373,0.00,2.55,0.00,0.000,6,0.000,0.045,2527,2110,3098
$GC,1682,-0.93,-117.3,153.3,-12.1,78,1686,0.00,2.42,0.00,0.000,4,0.000,0.056,2527,743,3098
$GC,1733,-0.93,-117.3,158.8,-10.7,80,1737,0.00,2.40,0.00,0.000,6,0.000,0.049,2527,2089,3098
$GC,2050,-0.97,-117.3,180.3,-4.3,95,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2089,3098
$GC,2359,-1.01,-117.3,193.3,-5.1,110,2363,0.00,2.42,0.00,0.000,4,0.000,0.058,2527,750,3098
$GC,2404,-1.01,-117.3,196.2,-6.5,112,2408,0.00,2.40,0.00,0.000,6,0.000,0.050,2527,2095,3098
$GC,2726,-1.06,-117.3,220.3,-8.1,128,2727,0.12,0.00,0.00,0.000,6,0.052,0.000,2488,2095,3097
$GC,3036,-0.99,-117.3,246.7,-7.8,143,3041,0.12,2.45,0.00,0.000,4,0.094,0.059,2514,750,3097
$GC,3058,-0.99,-117.3,248.5,-7.5,144,3062,0.00,2.42,0.00,0.000,6,0.000,0.051,2514,2102,3097
$GC,3379,-0.99,-117.3,270.4,-7.4,160,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2102,3097
$GC,3688,-0.99,-117.3,296.7,-8.5,175,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2102,3096
$GC,3997,-0.99,-117.3,314.3,-3.8,190,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2102,3097
$GC,4307,-0.99,-117.3,320.1,-1.7,205,4311,0.00,2.62,0.00,0.000,4,0.000,0.064,2514,3559,3096
$GC,4319,-0.99,-117.3,320.4,-2.0,205,4325,0.00,2.60,0.00,0.000,6,0.000,0.052,2515,2103,3096
$GC,4635,-0.99,-117.3,344.8,-11.2,221,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2084,3096
$GC,4944,-0.99,-117.3,387.0,-13.2,236,4948,0.00,2.67,0.00,0.000,4,0.000,0.065,2514,3553,3096
$GC,5000,-0.99,-117.3,393.8,-11.5,238,5006,0.00,2.60,0.00,0.000,6,0.000,0.051,2514,2097,3095
$GC,5316,-0.99,-117.3,417.1,-5.1,254,5320,0.00,2.42,0.00,0.000,4,0.000,0.063,2514,742,3095
$GC,5326,-0.99,-117.3,417.5,-4.4,254,5332,0.00,2.42,0.00,0.000,6,0.000,0.054,2514,2087,3095
$GC,5643,-0.99,-117.3,423.2,-0.7,270,5647,0.00,2.67,0.00,0.000,4,0.000,0.067,2514,3563,3095
$GC,5670,-0.99,-117.3,423.3,-0.8,271,5675,0.00,2.60,0.00,0.000,6,0.000,0.054,2515,2116,3095
$GC,5987,-0.99,-117.3,426.9,-2.5,286,5991,0.00,2.67,0.00,0.000,4,0.000,0.067,2514,3562,3095
$GC,6133,-0.99,-117.3,433.3,-4.8,292,6139,0.00,2.58,0.00,0.000,6,0.000,0.053,2515,2122,3094
$GC,6449,-0.99,-117.3,453.8,-7.6,308,6454,0.00,2.65,0.00,0.000,4,0.000,0.071,2514,3551,3093
$GC,6513,-0.99,-117.3,459.1,-8.4,311,6518,0.00,2.55,0.00,0.000,6,0.000,0.057,2514,2138,3093
$GC,6840,-0.99,-117.3,486.8,-8.7,327,6844,0.00,2.65,0.00,0.000,4,0.000,0.071,2514,3560,3092
$GC,6867,-0.99,-117.3,489.0,-8.0,328,6872,0.00,2.58,0.00,0.000,6,0.000,0.057,2514,2132,3092
$STATE,7180,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7180,begin apogee
$GC,7188,-0.33,0.0,513.1,6.6,343,7288,0.68,0.00,97.22,1.189,6,0.085,0.000,2655,2113,2620
$STATE,7289,end apogee,CONTROL_FINISHED_OK
$STATE,7289,begin climb
$GC,7292,1.30,117.3,515.6,0.0,348,7398,1.65,2.72,96.55,1.157,4,0.069,0.069,3012,689,2141
$GC,7443,1.19,117.3,503.9,11.0,355,7448,0.15,2.60,0.00,0.000,6,0.094,0.060,2984,2098,2140
$GC,7764,1.19,117.3,474.6,9.0,371,7769,0.00,2.60,0.00,0.000,4,0.000,0.071,2984,3505,2139
$GC,7933,1.19,117.3,457.2,10.5,378,7939,0.00,2.55,0.00,0.000,6,0.000,0.059,2984,2119,2139
$GC,8249,1.22,135.5,428.5,7.2,394,8271,0.00,2.67,16.00,1.077,4,0.000,0.069,2984,3514,2067
$GC,8350,1.22,135.5,420.5,8.5,398,8354,0.00,2.55,0.00,0.000,6,0.000,0.058,2984,2127,2066
$GC,8666,1.22,136.7,394.7,7.9,413,8670,0.00,2.58,0.00,0.000,4,0.000,0.070,2984,3506,2066
$GC,8721,1.22,136.7,389.3,10.0,415,8728,0.00,2.50,0.00,0.000,6,0.000,0.058,2984,2134,2066
$GC,9037,1.22,136.7,353.3,12.8,431,9042,0.00,2.58,0.00,0.000,4,0.000,0.068,2984,3513,2065
$GC,9088,1.22,136.7,346.0,14.1,433,9093,0.00,2.50,0.00,0.000,6,0.000,0.055,2984,2137,2065
$GC,9404,1.22,136.7,310.1,9.1,448,9408,0.00,2.53,0.00,0.000,4,0.000,0.066,2984,3507,2064
$GC,9459,1.22,136.7,305.1,8.7,450,9465,0.00,2.42,0.00,0.000,6,0.000,0.053,2984,2165,2064
$GC,9776,1.22,136.7,278.1,10.1,466,9780,0.00,2.47,0.00,0.000,4,0.000,0.065,2984,3511,2063
$GC,9843,1.22,136.7,270.4,11.2,469,9847,0.00,2.38,0.00,0.000,6,0.000,0.051,2984,2193,2063
$GC,10164,1.22,136.7,238.8,9.1,485,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2193,2063
$GC,10473,1.22,136.7,211.3,9.3,500,10475,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2193,2063
$GC,10782,1.22,136.7,181.7,9.1,515,10783,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2193,2064
$GC,11092,1.33,206.2,161.7,4.8,530,11155,0.15,2.47,56.47,0.938,4,0.051,0.060,3030,3508,1778
$GC,11198,1.30,223.1,155.0,7.2,534,11217,0.00,2.35,14.88,0.867,6,0.000,0.049,3030,2210,1710
$GC,11530,1.26,223.1,122.0,14.0,550,11535,0.15,2.75,0.00,0.000,4,0.091,0.059,2999,680,1710
$GC,11575,1.31,223.1,114.6,15.9,552,11580,0.00,2.78,0.00,0.000,6,0.000,0.051,2998,2225,1710
$GC,11897,1.36,223.1,68.2,14.0,568,11899,0.12,0.00,0.00,0.000,6,0.051,0.000,3034,2225,1710
$GC,12208,1.36,223.1,27.9,12.5,583,12213,0.00,2.78,0.00,0.000,4,0.000,0.058,3034,687,1710
$GC,12286,1.31,223.1,17.0,13.5,586,12293,0.00,2.70,0.00,0.000,6,0.000,0.050,3034,2208,1710
$STATE,12416,end climb,SURFACE_DEPTH_REACHED
$STATE,12416,begin surface coast
$FINISH,0.0,1.026932
$STATE,12436,end surface coast,CONTROL_FINISHED_OK
$STATE,12436,begin surface
$SM_CCo,12460,195.82,0.783,0,0,390,547.02
$SM_GC,0.55,0.00,0.00,195.82,0.000,0.000,0.783,416,2107,390,-10.64,-1.19,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1693
$TCM_TEMP,17.50
$XPDR_PINGS,327
$ALTIM_TOP_PING,19.2,18.6
$ALTIM_BOTTOM_PING,450.6,72.3
$24V_AH,23.8,51.422
$10V_AH,10.1,24.845
$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,25.350,122.450,281.125,195.825,0.000,37.762,29.684,128.627,85.500,0.000,0.000,33.138,1135.258,9392.938,638.889,1371.569,456.107,33.359,1345.207,0.000,1324.133,0.000,26.890
$DEVICE_MAMPS,137.293,71.331,1188.850,783.107,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,406.081,440.865,387.715,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31653,594
$CAP_FILE_SIZE,100432,0
$CFSIZE,254472192,234205184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,040808,231738,6240.886,-1004.623,34,1.9,34,-10.2