version: 66.03
glider: 5
mission: 3
dive: 281
start: 8 6 108 4 56 41
data:
$ID,5
$MISSION,3
$DIVE,281
$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,-81962.992
$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,40
$R_STBD_OVSHOOT,30
$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
$GPS1,045001,6250.112,-932.338,40,1.3,40,-10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-53.9
$GPS2,045550,6250.036,-932.455,15,1.4,15,-10.0
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.157,0.157
$KALMAN_X,-145571.7,1482.6,-19.4,214244.0,-3399.0
$KALMAN_Y,-13807.0,-1145.8,-1533.9,92067.1,9060.9
$MHEAD_RNG_PITCHd_Wd,55.0,48879,-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,-111.60,0.000,6,0.000,0.000,415,2121,3098
$GC,145,-1.30,-117.3,2.0,-1.4,5,157,10.45,0.00,0.00,0.000,6,0.132,0.000,2441,2112,3097
$GC,463,-1.07,-117.3,43.9,-12.5,21,468,0.22,2.58,0.00,0.000,4,0.091,0.056,2490,3555,3097
$GC,548,-0.94,-117.3,53.1,-10.2,25,553,0.15,2.47,0.00,0.000,6,0.094,0.041,2522,2152,3097
$GC,876,-0.94,-117.3,82.5,-8.8,41,880,0.00,2.53,0.00,0.000,4,0.000,0.057,2522,3550,3097
$GC,999,-0.94,-117.3,93.0,-7.9,46,1005,0.00,2.45,0.00,0.000,6,0.000,0.042,2522,2158,3097
$GC,1315,-0.94,-117.3,113.7,-7.1,62,1320,0.00,2.50,0.00,0.000,4,0.000,0.054,2522,746,3097
$GC,1401,-0.94,-117.3,120.3,-7.7,66,1406,0.00,2.47,0.00,0.000,6,0.000,0.048,2522,2141,3098
$GC,1729,-0.94,-117.3,144.8,-8.0,82,1733,0.00,2.53,0.00,0.000,4,0.000,0.059,2522,3557,3098
$GC,1894,-0.94,-117.3,158.1,-7.5,89,1898,0.00,2.45,0.00,0.000,6,0.000,0.044,2522,2168,3098
$GC,2210,-0.94,-117.3,181.0,-7.1,104,2214,0.00,2.53,0.00,0.000,4,0.000,0.059,2522,750,3098
$GC,2299,-0.94,-117.3,187.6,-7.5,108,2304,0.00,2.50,0.00,0.000,6,0.000,0.050,2522,2153,3097
$GC,2623,-0.94,-117.3,209.7,-6.7,124,2627,0.00,2.53,0.00,0.000,4,0.000,0.058,2522,750,3097
$GC,2679,-0.94,-117.3,213.7,-7.4,126,2685,0.00,2.50,0.00,0.000,6,0.000,0.051,2522,2143,3097
$GC,2996,-0.94,-117.3,232.4,-5.6,142,3000,0.00,2.55,0.00,0.000,4,0.000,0.063,2522,3564,3097
$GC,3058,-0.94,-117.3,235.7,-5.8,145,3063,0.00,2.53,0.00,0.000,6,0.000,0.049,2522,2142,3096
$GC,3387,-0.94,-117.3,250.6,-4.4,161,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2142,3096
$GC,3696,-0.94,-117.3,265.8,-5.3,176,3700,0.00,2.58,0.00,0.000,4,0.000,0.062,2522,3557,3096
$GC,3752,-0.94,-117.3,269.5,-6.9,178,3758,0.00,2.50,0.00,0.000,6,0.000,0.048,2522,2150,3096
$GC,4068,-0.94,-117.3,289.8,-6.7,194,4073,0.00,2.50,0.00,0.000,4,0.000,0.061,2522,751,3096
$GC,4131,-0.94,-117.3,294.3,-6.6,197,4136,0.00,2.53,0.00,0.000,6,0.000,0.052,2522,2161,3096
$GC,4458,-0.94,-117.3,315.3,-6.3,213,4462,0.00,2.50,0.00,0.000,4,0.000,0.064,2522,3556,3095
$GC,4613,-0.94,-117.3,325.5,-6.7,220,4617,0.00,2.45,0.00,0.000,6,0.000,0.048,2522,2172,3095
$GC,4940,-0.94,-117.3,344.6,-5.6,236,4944,0.00,2.55,0.00,0.000,4,0.000,0.062,2522,751,3095
$GC,5058,-0.94,-117.3,352.1,-6.2,241,5063,0.00,2.55,0.00,0.000,6,0.000,0.053,2522,2171,3095
$GC,5375,-0.94,-117.3,372.1,-6.8,256,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2171,3094
$GC,5684,-0.99,-117.3,395.7,-8.6,271,5689,0.00,2.60,0.00,0.000,4,0.000,0.062,2522,747,3094
$GC,5905,-0.99,-117.3,415.7,-9.3,281,5909,0.00,2.55,0.00,0.000,6,0.000,0.055,2522,2165,3094
$GC,6233,-0.99,-117.3,443.2,-7.9,297,6237,0.00,2.58,0.00,0.000,4,0.000,0.063,2522,747,3094
$GC,6318,-0.99,-117.3,449.3,-7.9,301,6322,0.00,2.55,0.00,0.000,6,0.000,0.055,2522,2164,3093
$GC,6644,-1.04,-117.3,471.9,-6.5,317,6649,0.00,2.58,0.00,0.000,4,0.000,0.065,2522,750,3093
$GC,6708,-1.09,-117.3,476.0,-6.8,320,6713,0.15,2.53,0.00,0.000,6,0.053,0.057,2481,2149,3093
$GC,7036,-1.39,-117.3,495.0,-0.7,336,7041,0.22,2.58,0.00,0.000,4,0.047,0.071,2416,3565,3093
$GC,7296,-1.75,-117.3,495.0,0.2,347,7302,0.32,2.53,0.00,0.000,6,0.044,0.056,2336,2148,3092
$GC,7613,-2.05,-117.3,495.0,-0.0,363,7618,0.22,2.60,0.00,0.000,4,0.048,0.071,2273,3558,3091
$STATE,7632,end dive,NO_VERTICAL_VELOCITY
$STATE,7632,begin apogee
$GC,7642,-0.33,0.0,494.9,0.0,364,7743,1.75,0.00,97.07,1.153,6,0.075,0.000,2657,2089,2620
$STATE,7744,end apogee,CONTROL_FINISHED_OK
$STATE,7744,begin climb
$GC,7747,1.30,117.3,494.8,0.0,369,7849,1.65,0.00,96.75,1.124,6,0.068,0.000,3011,2089,2141
$GC,8159,1.23,117.3,458.8,9.9,389,8163,0.00,2.62,0.00,0.000,4,0.000,0.069,3011,3505,2139
$GC,8266,1.14,117.3,446.3,12.0,394,8271,0.17,2.53,0.00,0.000,6,0.091,0.058,2978,2124,2139
$GC,8594,1.14,117.3,417.6,8.1,410,8598,0.00,2.58,0.00,0.000,4,0.000,0.068,2978,3507,2139
$GC,8613,1.16,126.6,416.1,7.6,411,8627,0.00,2.53,8.88,0.961,6,0.000,0.057,2978,2126,2103
$GC,8944,1.21,133.1,390.0,7.7,427,8958,0.00,2.65,6.95,0.909,4,0.000,0.067,2978,3508,2077
$GC,9022,1.21,133.1,383.0,9.4,430,9027,0.00,2.53,0.00,0.000,6,0.000,0.054,2978,2125,2077
$GC,9338,1.25,133.1,353.3,9.8,445,9343,0.10,2.58,0.00,0.000,4,0.058,0.069,3007,3507,2076
$GC,9429,1.20,133.1,343.0,11.3,449,9433,0.00,2.47,0.00,0.000,6,0.000,0.053,3007,2143,2075
$GC,9750,1.16,133.1,308.4,10.1,465,9755,0.12,2.50,0.00,0.000,4,0.094,0.064,2982,3511,2075
$GC,9789,1.16,133.1,304.5,9.8,467,9794,0.00,2.42,0.00,0.000,6,0.000,0.051,2982,2165,2076
$GC,10116,1.16,133.1,276.5,8.1,483,10121,0.00,2.45,0.00,0.000,4,0.000,0.062,2982,3511,2076
$GC,10134,1.16,133.1,275.0,8.6,484,10138,0.00,2.40,0.00,0.000,6,0.000,0.049,2982,2171,2076
$GC,10460,1.16,133.7,248.3,8.0,500,10461,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2170,2076
$GC,10770,1.19,153.5,225.4,7.1,515,10790,0.00,0.00,18.00,0.931,6,0.000,0.000,2982,2171,1993
$GC,11100,1.29,174.7,201.2,7.0,531,11120,0.12,0.00,17.88,0.913,6,0.051,0.000,3019,2170,1908
$GC,11429,1.29,174.7,171.2,9.0,547,11433,0.00,2.45,0.00,0.000,4,0.000,0.061,3020,3508,1907
$GC,11452,1.24,174.7,169.0,9.7,548,11456,0.00,2.38,0.00,0.000,6,0.000,0.048,3019,2181,1908
$GC,11780,1.24,174.7,140.3,9.2,564,11784,0.00,2.42,0.00,0.000,4,0.000,0.060,3019,3512,1907
$GC,11792,1.20,174.7,139.1,9.4,564,11799,0.15,2.38,0.00,0.000,6,0.091,0.048,2991,2181,1907
$GC,12108,1.25,174.7,111.3,8.8,580,12109,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2181,1907
$GC,12419,1.32,174.7,83.4,8.4,595,12424,0.12,2.65,0.00,0.000,4,0.052,0.058,3028,689,1908
$GC,12430,1.32,174.7,82.2,8.0,595,12436,0.00,2.65,0.00,0.000,6,0.000,0.051,3028,2174,1908
$GC,12748,1.33,182.2,55.7,7.7,611,12762,0.00,2.45,8.25,0.745,4,0.000,0.058,3028,3508,1877
$GC,12797,1.29,182.2,51.5,8.2,613,12801,0.00,2.35,0.00,0.000,6,0.000,0.046,3028,2186,1877
$GC,13119,1.29,182.2,25.7,9.2,629,13123,0.00,2.40,0.00,0.000,4,0.000,0.058,3028,3512,1876
$GC,13159,1.29,182.2,21.5,10.1,631,13163,0.00,2.35,0.00,0.000,6,0.000,0.044,3028,2185,1876
$STATE,13365,end climb,SURFACE_DEPTH_REACHED
$STATE,13365,begin surface coast
$FINISH,0.0,1.026856
$STATE,13388,end surface coast,CONTROL_FINISHED_OK
$STATE,13388,begin surface
$SM_CCo,13411,216.38,0.767,0,0,390,547.02
$SM_GC,0.48,0.00,0.00,216.38,0.000,0.000,0.767,422,2169,390,-10.62,0.54,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1714
$TCM_TEMP,16.90
$XPDR_PINGS,438
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,23.8,52.762
$10V_AH,10.1,25.445
$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,27.225,135.700,253.775,216.375,0.000,37.762,36.050,152.569,113.500,0.000,0.000,15.800,1265.313,9977.414,646.069,1588.135,502.543,33.351,1438.944,0.000,1554.029,0.000,28.079
$DEVICE_MAMPS,131.924,71.331,1152.801,767.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.613,479.354,452.947,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31643,642
$CAP_FILE_SIZE,112558,0
$CFSIZE,254472192,233725952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,060808,084527,6250.247,-931.594,39,3.9,58,-10.0