version: 66.03
glider: 5
mission: 3
dive: 279
start: 8 5 108 21 16 11
data:
$ID,5
$MISSION,3
$DIVE,279
$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,-81929.43
$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,33
$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
$GPS1,211008,6247.048,-946.806,32,1.5,32,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-51.9
$GPS2,211520,6247.143,-946.741,16,1.4,16,-10.1
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.222,0.009
$KALMAN_X,-152263.3,1536.3,665.9,207874.3,-15404.0
$KALMAN_Y,-16461.8,-816.5,481.1,86972.2,4429.3
$MHEAD_RNG_PITCHd_Wd,97.8,7777,-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,-111.40,0.000,6,0.000,0.000,419,2130,3100
$GC,145,-1.30,-117.3,2.1,-1.5,5,161,10.45,2.45,0.00,0.000,4,0.136,0.050,2437,753,3099
$GC,323,-1.05,-117.3,28.7,-13.5,12,328,0.30,2.50,0.00,0.000,6,0.091,0.046,2500,2154,3098
$GC,651,-0.98,-117.3,55.6,-6.8,28,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2154,3098
$GC,961,-0.93,-117.3,73.7,-5.4,43,966,0.12,2.50,0.00,0.000,4,0.096,0.056,2525,3557,3099
$GC,1219,-0.93,-117.3,89.3,-6.2,54,1225,0.00,2.47,0.00,0.000,6,0.000,0.042,2525,2144,3099
$GC,1536,-0.93,-117.3,110.8,-7.4,70,1540,0.00,2.58,0.00,0.000,4,0.000,0.059,2526,3556,3100
$GC,1576,-0.93,-117.3,114.0,-8.2,72,1580,0.00,2.50,0.00,0.000,6,0.000,0.044,2525,2136,3099
$GC,1903,-0.93,-117.3,142.3,-9.2,88,1907,0.00,2.60,0.00,0.000,4,0.000,0.058,2525,3562,3099
$GC,1931,-0.93,-117.3,145.0,-9.1,89,1935,0.00,2.50,0.00,0.000,6,0.000,0.044,2525,2148,3099
$GC,2247,-0.93,-117.3,172.7,-8.1,104,2251,0.00,2.47,0.00,0.000,4,0.000,0.059,2525,753,3099
$GC,2296,-0.93,-117.3,176.8,-8.0,106,2300,0.00,2.47,0.00,0.000,6,0.000,0.050,2525,2138,3099
$GC,2614,-0.93,-117.3,199.4,-6.6,121,2618,0.00,2.55,0.00,0.000,4,0.000,0.061,2525,3564,3099
$GC,2631,-0.93,-117.3,200.7,-6.4,122,2635,0.00,2.53,0.00,0.000,6,0.000,0.048,2525,2140,3099
$GC,2959,-0.98,-117.3,222.5,-6.6,138,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2140,3098
$GC,3267,-1.02,-117.3,244.1,-7.1,153,3272,0.00,2.58,0.00,0.000,4,0.000,0.061,2525,3556,3098
$GC,3285,-1.02,-117.3,245.4,-6.7,154,3290,0.00,2.53,0.00,0.000,6,0.000,0.048,2525,2135,3098
$GC,3614,-1.07,-117.3,267.1,-6.4,170,3615,0.12,0.00,0.00,0.000,6,0.052,0.000,2487,2134,3098
$GC,3922,-1.00,-117.3,290.0,-7.3,185,3924,0.12,0.00,0.00,0.000,6,0.095,0.000,2513,2134,3097
$GC,4231,-1.00,-117.3,311.2,-7.0,200,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2134,3097
$GC,4541,-1.00,-117.3,333.5,-7.2,215,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2134,3097
$GC,4850,-1.00,-117.3,354.6,-6.6,230,4854,0.00,2.60,0.00,0.000,4,0.000,0.063,2513,3558,3096
$GC,4945,-1.00,-117.3,361.6,-7.3,234,4949,0.00,2.53,0.00,0.000,6,0.000,0.050,2514,2141,3096
$GC,5261,-1.00,-117.3,384.5,-7.2,249,5265,0.00,2.60,0.00,0.000,4,0.000,0.064,2514,3564,3096
$GC,5361,-1.00,-117.3,392.4,-7.8,253,5368,0.00,2.53,0.00,0.000,6,0.000,0.049,2513,2140,3096
$GC,5678,-1.00,-117.3,416.5,-8.0,269,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2120,3096
$GC,5987,-1.00,-117.3,437.3,-5.5,284,5991,0.00,2.50,0.00,0.000,4,0.000,0.061,2513,740,3095
$GC,6077,-1.00,-117.3,442.0,-4.9,288,6081,0.00,2.47,0.00,0.000,6,0.000,0.054,2513,2117,3095
$GC,6398,-1.00,-117.3,460.8,-6.3,304,6403,0.00,2.60,0.00,0.000,4,0.000,0.067,2513,3557,3095
$GC,6484,-1.00,-117.3,467.0,-7.6,308,6488,0.00,2.55,0.00,0.000,6,0.000,0.054,2513,2122,3094
$GC,6811,-1.00,-117.3,488.9,-8.1,324,6815,0.00,2.67,0.00,0.000,4,0.000,0.068,2513,3564,3094
$GC,6896,-1.05,-117.3,495.3,-6.7,328,6900,0.00,2.58,0.00,0.000,6,0.000,0.056,2513,2135,3094
$GC,7224,-1.59,-117.3,496.4,0.1,344,7229,0.55,2.65,0.00,0.000,4,0.045,0.070,2376,3552,3093
$GC,7483,-2.13,-117.3,496.4,-0.1,355,7490,0.50,2.55,0.00,0.000,6,0.046,0.055,2254,2136,3093
$STATE,7569,end dive,NO_VERTICAL_VELOCITY
$STATE,7569,begin apogee
$GC,7576,-0.33,0.0,496.4,0.0,360,7678,1.83,0.00,97.25,1.161,6,0.059,0.000,2659,2107,2620
$STATE,7678,end apogee,CONTROL_FINISHED_OK
$STATE,7678,begin climb
$GC,7681,1.30,117.3,496.1,0.0,365,7786,1.62,2.72,96.25,1.131,4,0.065,0.064,3011,689,2141
$GC,7922,1.18,117.3,475.0,9.8,376,7927,0.12,2.58,0.00,0.000,6,0.097,0.058,2988,2099,2140
$GC,8249,1.18,117.3,443.0,10.3,392,8253,0.00,2.60,0.00,0.000,4,0.000,0.070,2988,3508,2139
$GC,8379,1.18,117.3,429.6,10.5,398,8383,0.00,2.50,0.00,0.000,6,0.000,0.057,2988,2132,2138
$GC,8705,1.18,117.3,400.0,9.2,414,8710,0.00,2.58,0.00,0.000,4,0.000,0.068,2988,3512,2138
$GC,8750,1.18,117.3,395.6,10.4,416,8754,0.00,2.47,0.00,0.000,6,0.000,0.055,2988,2156,2138
$GC,9071,1.18,117.3,366.5,9.0,432,9076,0.00,2.53,0.00,0.000,4,0.000,0.066,2988,3511,2137
$GC,9172,1.18,117.3,357.0,9.5,436,9178,0.00,2.40,0.00,0.000,6,0.000,0.053,2988,2187,2137
$GC,9489,1.20,130.9,332.5,7.4,452,9509,0.00,2.53,11.82,0.976,4,0.000,0.063,2988,3507,2086
$GC,9555,1.20,130.9,326.8,9.0,455,9560,0.00,2.38,0.00,0.000,6,0.000,0.051,2988,2193,2086
$GC,9883,1.20,130.9,299.3,8.9,471,9887,0.00,2.42,0.00,0.000,4,0.000,0.064,2988,3508,2086
$GC,9923,1.20,130.9,295.5,10.0,473,9927,0.00,2.35,0.00,0.000,6,0.000,0.051,2988,2200,2086
$GC,10249,1.20,130.9,262.6,10.4,489,10253,0.00,2.40,0.00,0.000,4,0.000,0.063,2988,3509,2086
$GC,10283,1.20,130.9,259.0,10.6,490,10287,0.00,2.33,0.00,0.000,6,0.000,0.050,2988,2214,2086
$GC,10599,1.20,130.9,229.7,8.8,505,10603,0.00,2.40,0.00,0.000,4,0.000,0.063,2988,3515,2086
$GC,10632,1.20,130.9,226.8,9.3,506,10636,0.00,2.30,0.00,0.000,6,0.000,0.050,2988,2233,2086
$GC,10954,1.22,139.4,201.8,7.6,522,10964,0.00,0.00,8.68,0.847,6,0.000,0.000,2988,2219,2051
$GC,11264,1.23,145.4,178.3,7.7,537,11277,0.00,2.40,6.50,0.775,4,0.000,0.060,2988,3508,2027
$GC,11312,1.23,145.4,174.1,8.1,539,11316,0.00,2.28,0.00,0.000,6,0.000,0.048,2988,2237,2027
$GC,11634,1.23,149.8,148.3,7.8,555,11645,0.00,2.80,5.78,0.734,4,0.000,0.061,2988,690,2008
$GC,11685,1.23,149.8,144.2,8.5,557,11690,0.00,2.80,0.00,0.000,6,0.000,0.053,2988,2240,2008
$GC,12002,1.32,176.8,122.1,6.8,572,12032,0.12,2.90,22.35,0.869,4,0.052,0.059,3024,691,1898
$GC,12061,1.25,176.8,116.5,10.6,574,12068,0.12,2.78,0.00,0.000,6,0.091,0.052,3002,2227,1898
$GC,12377,1.25,176.8,90.2,8.3,590,12378,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2227,1898
$GC,12687,1.25,176.8,63.4,8.6,605,12691,0.00,2.80,0.00,0.000,4,0.000,0.059,3002,689,1898
$GC,12731,1.25,176.8,59.4,8.3,607,12736,0.00,2.72,0.00,0.000,6,0.000,0.051,3001,2210,1898
$GC,13054,1.30,176.8,29.1,9.7,623,13058,0.00,2.78,0.00,0.000,4,0.000,0.059,3002,682,1898
$GC,13098,1.30,176.8,24.5,9.9,625,13102,0.00,2.70,0.00,0.000,6,0.000,0.049,3001,2195,1898
$STATE,13355,end climb,SURFACE_DEPTH_REACHED
$STATE,13356,begin surface coast
$FINISH,0.0,1.025498
$STATE,13376,end surface coast,CONTROL_FINISHED_OK
$STATE,13376,begin surface
$SM_CCo,13400,219.80,0.765,0,0,390,547.02
$SM_GC,0.50,0.00,0.00,219.80,0.000,0.000,0.765,416,2126,390,-10.64,-0.68,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1695
$TCM_TEMP,17.70
$XPDR_PINGS,447
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,23.8,52.466
$10V_AH,10.1,25.306
$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,27.125,132.600,248.625,219.800,0.000,37.762,26.214,124.233,115.500,0.000,0.000,16.415,1249.644,10004.395,638.343,1581.594,460.453,33.350,1428.844,0.000,1546.953,0.000,25.206
$DEVICE_MAMPS,135.759,69.797,1161.238,765.466,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.686,472.275,463.346,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31661,639
$CAP_FILE_SIZE,109960,0
$CFSIZE,254472192,233836544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,060808,010432,6249.755,-938.856,42,1.3,42,-10.1