version: 66.03
glider: 5
mission: 3
dive: 280
start: 8 6 108 1 10 48
data:
$ID,5
$MISSION,3
$DIVE,280
$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,-81946.57
$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,38
$R_STBD_OVSHOOT,21
$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
$GPS1,010432,6249.755,-938.856,42,1.3,42,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-53.2
$GPS2,010956,6249.759,-938.661,11,1.4,16,-10.1
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.188,0.118
$KALMAN_X,-149251.8,1148.2,1699.0,211155.0,-11284.7
$KALMAN_Y,-10279.1,-1443.4,-440.0,87166.9,12912.0
$MHEAD_RNG_PITCHd_Wd,67.8,52334,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.30,-117.3,0.0,0.0,0,140,0.00,0.00,-111.28,0.000,6,0.000,0.000,416,2110,3099
$GC,144,-1.30,-117.3,2.0,-1.6,5,160,10.43,2.42,0.00,0.000,4,0.134,0.050,2437,756,3098
$GC,239,-1.03,-117.3,18.7,-14.3,8,245,0.32,2.50,0.00,0.000,6,0.090,0.046,2505,2158,3096
$GC,556,-0.97,-117.3,45.6,-8.1,23,560,0.00,2.53,0.00,0.000,4,0.000,0.053,2506,756,3096
$GC,814,-0.89,-117.3,67.2,-7.1,34,821,0.15,2.42,0.00,0.000,6,0.092,0.046,2536,2126,3096
$GC,1131,-0.94,-117.3,86.9,-6.9,50,1135,0.00,2.47,0.00,0.000,4,0.000,0.054,2536,756,3097
$GC,1262,-0.94,-117.3,96.7,-7.9,56,1266,0.00,2.40,0.00,0.000,6,0.000,0.047,2536,2110,3097
$GC,1590,-0.99,-117.3,121.6,-7.9,72,1594,0.00,2.45,0.00,0.000,4,0.000,0.055,2536,754,3098
$GC,1669,-0.99,-117.3,128.2,-8.4,75,1675,0.00,2.40,0.00,0.000,6,0.000,0.048,2536,2108,3098
$GC,1986,-1.04,-117.3,150.2,-6.4,91,1991,0.15,2.45,0.00,0.000,4,0.048,0.056,2492,756,3097
$GC,2123,-0.95,-117.3,160.8,-7.8,97,2128,0.15,2.38,0.00,0.000,6,0.093,0.048,2523,2088,3097
$GC,2445,-0.95,-117.3,181.0,-6.4,113,2449,0.00,2.42,0.00,0.000,4,0.000,0.058,2523,751,3097
$GC,2671,-0.95,-117.3,196.2,-6.6,123,2674,0.00,2.35,0.00,0.000,6,0.000,0.049,2523,2064,3097
$GC,2998,-0.95,-117.3,215.9,-6.1,139,3002,0.00,2.38,0.00,0.000,4,0.000,0.058,2523,757,3097
$GC,3060,-0.95,-117.3,219.9,-6.3,142,3064,0.00,2.33,0.00,0.000,6,0.000,0.051,2523,2057,3097
$GC,3388,-0.95,-117.3,241.0,-6.8,158,3391,0.00,2.38,0.00,0.000,4,0.000,0.060,2523,757,3095
$GC,3456,-0.95,-117.3,246.2,-7.3,161,3461,0.00,2.30,0.00,0.000,6,0.000,0.051,2523,2041,3096
$GC,3784,-0.95,-117.3,269.6,-6.9,177,3789,0.00,2.35,0.00,0.000,4,0.000,0.060,2523,756,3096
$GC,3874,-0.95,-117.3,276.1,-7.7,181,3878,0.00,2.28,0.00,0.000,6,0.000,0.051,2523,2023,3095
$GC,4196,-0.95,-117.3,296.1,-6.1,197,4200,0.00,2.30,0.00,0.000,4,0.000,0.061,2523,757,3095
$GC,4248,-0.95,-117.3,299.2,-6.0,199,4252,0.00,2.28,0.00,0.000,6,0.000,0.051,2523,2019,3095
$GC,4569,-0.95,-117.3,319.0,-6.6,215,4573,0.00,2.30,0.00,0.000,4,0.000,0.061,2524,757,3095
$GC,4627,-0.95,-117.3,323.2,-7.9,217,4633,0.00,2.25,0.00,0.000,6,0.000,0.051,2523,2007,3095
$GC,4943,-0.95,-117.3,348.8,-8.7,233,4948,0.00,2.80,0.00,0.000,4,0.000,0.065,2523,3561,3094
$GC,4993,-0.95,-117.3,353.8,-9.3,235,4998,0.00,2.75,0.00,0.000,6,0.000,0.051,2523,2016,3094
$GC,5310,-0.95,-117.3,379.3,-7.4,250,5314,0.00,2.25,0.00,0.000,4,0.000,0.061,2523,758,3094
$GC,5406,-0.95,-117.3,386.5,-7.5,254,5410,0.00,2.22,0.00,0.000,6,0.000,0.051,2523,2000,3094
$GC,5722,-0.95,-117.3,406.5,-6.1,269,5726,0.00,2.28,0.00,0.000,4,0.000,0.063,2523,757,3093
$GC,5951,-0.95,-117.3,422.4,-6.7,279,5955,0.00,2.20,0.00,0.000,6,0.000,0.051,2523,1978,3093
$GC,6273,-1.01,-117.3,440.5,-5.8,295,6278,0.00,2.85,0.00,0.000,4,0.000,0.065,2523,3556,3093
$GC,6480,-1.01,-117.3,453.9,-5.6,304,6485,0.00,2.78,0.00,0.000,6,0.000,0.052,2523,2003,3093
$GC,6797,-1.05,-117.3,472.7,-5.9,319,6802,0.12,2.25,0.00,0.000,4,0.054,0.066,2486,759,3093
$GC,6905,-0.98,-117.3,481.5,-9.2,324,6909,0.12,2.20,0.00,0.000,6,0.102,0.056,2512,1986,3093
$STATE,6986,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6987,begin apogee
$GC,6994,-0.33,0.0,487.8,7.0,328,7094,0.68,0.00,97.45,1.133,6,0.081,0.000,2654,2108,2620
$STATE,7095,end apogee,CONTROL_FINISHED_OK
$STATE,7095,begin climb
$GC,7099,1.30,117.3,490.5,0.0,333,7205,1.62,2.65,96.53,1.108,4,0.064,0.067,3009,3497,2140
$GC,7230,1.20,117.3,482.0,10.2,339,7234,0.00,2.55,0.00,0.000,6,0.000,0.057,3009,2116,2140
$GC,7552,1.12,117.3,452.6,9.4,355,7557,0.15,2.60,0.00,0.000,4,0.092,0.067,2977,3502,2139
$GC,7570,1.08,117.3,450.8,9.5,356,7574,0.00,2.55,0.00,0.000,6,0.000,0.056,2977,2102,2139
$GC,7897,1.09,125.0,426.2,7.6,372,7911,0.00,2.65,7.68,0.932,4,0.000,0.068,2977,3490,2110
$GC,7975,1.09,125.0,420.0,8.5,375,7979,0.00,2.50,0.00,0.000,6,0.000,0.056,2977,2124,2110
$GC,8290,1.09,125.0,396.4,8.3,390,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2113,2108
$GC,8601,1.14,125.0,368.9,9.3,405,8605,0.00,2.55,0.00,0.000,4,0.000,0.067,2977,3499,2108
$GC,8641,1.14,125.0,365.0,9.5,407,8645,0.00,2.50,0.00,0.000,6,0.000,0.054,2977,2116,2108
$GC,8968,1.18,125.0,336.7,8.4,423,8972,0.00,2.55,0.00,0.000,4,0.000,0.064,2977,3504,2107
$GC,9018,1.18,125.0,332.3,8.4,425,9022,0.00,2.47,0.00,0.000,6,0.000,0.051,2977,2126,2107
$GC,9335,1.23,132.2,307.3,7.7,440,9348,0.00,2.60,6.88,0.869,4,0.000,0.062,2977,3502,2081
$GC,9406,1.23,132.2,301.3,8.1,443,9410,0.00,2.47,0.00,0.000,6,0.000,0.051,2977,2133,2081
$GC,9728,1.32,155.2,278.0,7.0,459,9754,0.15,2.55,20.23,0.986,4,0.051,0.060,3023,3500,1986
$GC,9790,1.23,155.2,272.1,10.6,462,9795,0.15,2.45,0.00,0.000,6,0.091,0.049,2996,2143,1986
$GC,10117,1.23,155.2,242.9,9.3,478,10121,0.00,2.50,0.00,0.000,4,0.000,0.061,2996,3507,1985
$GC,10150,1.23,155.2,239.4,10.2,479,10156,0.00,2.42,0.00,0.000,6,0.000,0.049,2995,2161,1985
$GC,10466,1.23,155.2,209.3,9.5,495,10470,0.00,2.45,0.00,0.000,4,0.000,0.061,2995,3504,1985
$GC,10487,1.23,155.2,207.1,9.8,496,10491,0.00,2.40,0.00,0.000,6,0.000,0.048,2995,2166,1985
$GC,10808,1.23,155.2,179.5,8.2,512,10809,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2166,1985
$GC,11117,1.23,155.9,154.7,8.0,527,11121,0.00,2.40,0.00,0.000,4,0.000,0.060,2995,3500,1985
$GC,11135,1.23,155.9,153.1,8.1,528,11139,0.00,2.38,0.00,0.000,6,0.000,0.047,2996,2166,1986
$GC,11464,1.23,155.9,123.7,8.9,544,11469,0.00,2.42,0.00,0.000,4,0.000,0.060,2996,3501,1985
$GC,11514,1.23,155.9,118.6,9.3,546,11519,0.00,2.35,0.00,0.000,6,0.000,0.047,2996,2179,1986
$GC,11832,1.23,155.9,93.3,8.2,561,11833,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2179,1986
$GC,12141,1.28,155.9,64.8,10.2,576,12145,0.00,2.40,0.00,0.000,4,0.000,0.059,2995,3502,1986
$GC,12197,1.32,155.9,58.8,10.6,578,12203,0.10,2.33,0.00,0.000,6,0.058,0.047,3024,2194,1986
$GC,12513,1.32,155.9,28.6,8.8,594,12518,0.00,2.67,0.00,0.000,4,0.000,0.059,3024,691,1986
$GC,12558,1.27,155.9,23.9,9.5,596,12562,0.00,2.65,0.00,0.000,6,0.000,0.050,3024,2185,1986
$STATE,12794,end climb,SURFACE_DEPTH_REACHED
$STATE,12794,begin surface coast
$FINISH,-0.0,1.013485
$STATE,12816,end surface coast,CONTROL_FINISHED_OK
$STATE,12816,begin surface
$SM_CCo,12839,233.27,0.771,0,0,390,547.02
$SM_GC,0.57,0.00,0.00,233.27,0.000,0.000,0.771,415,2130,390,-10.65,-0.59,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1688
$TCM_TEMP,17.70
$XPDR_PINGS,436
$ALTIM_TOP_PING,19.1,18.2
$ALTIM_BOTTOM_PING,450.4,47.3
$24V_AH,23.8,52.611
$10V_AH,10.1,25.375
$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,25.575,142.225,228.750,233.275,0.000,37.762,27.298,132.793,112.750,0.000,0.000,16.517,1238.483,9437.454,631.483,1615.884,476.947,33.349,1440.913,0.000,1576.625,0.000,26.829
$DEVICE_MAMPS,134.225,69.030,1132.859,770.835,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.039,447.874,442.557,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31683,609
$CAP_FILE_SIZE,112666,0
$CFSIZE,254472192,233779200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,060808,045001,6250.112,-932.338,40,1.3,40,-10.0