version: 66.03
glider: 5
mission: 3
dive: 283
start: 8 6 108 12 46 12
data:
$ID,5
$MISSION,3
$DIVE,283
$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,-82010.383
$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,31
$R_STBD_OVSHOOT,22
$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
$GPS1,124007,6251.669,-926.221,38,1.3,43,-10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-57.9
$GPS2,124521,6251.705,-926.061,11,1.9,11,-9.9
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.208,-0.077
$KALMAN_X,-147788.4,-324.0,1007.9,222797.9,-5461.3
$KALMAN_Y,-17642.1,-638.3,682.1,96191.9,1381.6
$MHEAD_RNG_PITCHd_Wd,120.2,43432,-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,-111.10,0.000,6,0.000,0.000,418,2112,3100
$GC,145,-1.30,-117.3,2.2,-1.6,5,161,10.38,2.45,0.00,0.000,4,0.133,0.051,2436,738,3099
$GC,327,-1.04,-117.3,27.7,-11.8,12,332,0.32,2.53,0.00,0.000,6,0.091,0.047,2505,2155,3098
$GC,649,-0.98,-117.3,61.2,-10.3,28,653,0.00,2.55,0.00,0.000,4,0.000,0.053,2505,742,3098
$GC,677,-0.91,-117.3,64.1,-10.1,29,682,0.12,2.50,0.00,0.000,6,0.094,0.047,2530,2143,3098
$GC,995,-0.91,-117.3,88.7,-6.8,44,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2142,3099
$GC,1303,-0.91,-117.3,108.1,-6.4,59,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2142,3099
$GC,1613,-0.91,-117.3,129.0,-7.0,74,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2142,3100
$GC,1922,-0.91,-117.3,151.4,-7.4,89,1926,0.00,2.53,0.00,0.000,4,0.000,0.058,2530,743,3099
$GC,1995,-0.91,-117.3,157.1,-7.5,92,2000,0.00,2.53,0.00,0.000,6,0.000,0.050,2530,2152,3099
$GC,2313,-0.96,-117.3,178.5,-6.6,107,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2152,3099
$GC,2621,-1.00,-117.3,199.9,-6.8,122,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2153,3099
$GC,2931,-1.06,-117.3,222.4,-7.4,137,2933,0.15,0.00,0.00,0.000,6,0.051,0.000,2486,2153,3098
$GC,3241,-0.97,-117.3,250.8,-9.3,152,3243,0.15,0.00,0.00,0.000,6,0.095,0.000,2517,2152,3098
$GC,3548,-0.97,-117.3,277.3,-8.5,167,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2153,3098
$GC,3858,-0.97,-117.3,302.3,-8.0,182,3863,0.00,2.55,0.00,0.000,4,0.000,0.060,2517,752,3098
$GC,3869,-0.97,-117.3,303.3,-7.9,182,3875,0.00,2.50,0.00,0.000,6,0.000,0.051,2517,2143,3097
$GC,4186,-0.97,-117.3,326.9,-7.1,198,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2143,3097
$GC,4495,-0.97,-117.3,346.1,-5.6,213,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2143,3097
$GC,4804,-0.97,-117.3,363.0,-5.3,228,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2143,3097
$GC,5113,-0.97,-117.3,383.4,-7.2,243,5117,0.00,2.55,0.00,0.000,4,0.000,0.065,2517,3553,3096
$GC,5132,-0.97,-117.3,384.7,-7.5,244,5136,0.00,2.53,0.00,0.000,6,0.000,0.052,2517,2139,3096
$GC,5459,-0.97,-117.3,408.9,-7.1,260,5463,0.00,2.50,0.00,0.000,4,0.000,0.061,2517,741,3096
$GC,5641,-0.97,-117.3,422.0,-7.6,268,5645,0.00,2.40,0.00,0.000,6,0.000,0.054,2517,2076,3096
$GC,5968,-0.97,-117.3,444.7,-6.8,284,5972,0.00,2.70,0.00,0.000,4,0.000,0.068,2517,3563,3095
$GC,6046,-0.97,-117.3,451.0,-7.8,287,6052,0.00,2.67,0.00,0.000,6,0.000,0.055,2517,2076,3095
$STATE,6236,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6236,begin apogee
$GC,6243,-0.33,0.0,464.1,7.0,297,6344,0.65,0.00,97.57,1.122,6,0.081,0.000,2654,2116,2620
$STATE,6344,end apogee,CONTROL_FINISHED_OK
$STATE,6345,begin climb
$GC,6347,1.30,117.3,466.4,0.0,302,6453,1.65,2.72,96.45,1.091,4,0.065,0.065,3012,690,2141
$GC,6475,1.21,117.3,456.2,10.3,308,6479,0.00,2.58,0.00,0.000,6,0.000,0.057,3012,2092,2141
$GC,6802,1.13,117.3,423.8,9.5,324,6807,0.17,2.60,0.00,0.000,4,0.089,0.067,2976,3515,2139
$GC,6903,1.13,117.3,414.5,9.3,328,6909,0.00,2.58,0.00,0.000,6,0.000,0.056,2976,2107,2138
$GC,7219,1.14,123.7,389.0,7.7,344,7232,0.00,2.67,6.62,0.872,4,0.000,0.067,2976,3507,2115
$GC,7278,1.14,123.7,383.8,8.4,346,7284,0.00,2.53,0.00,0.000,6,0.000,0.055,2976,2126,2114
$GC,7595,1.19,127.6,358.5,7.8,362,7605,0.00,2.60,4.88,0.779,4,0.000,0.067,2976,3508,2099
$GC,7680,1.19,127.6,351.0,9.1,366,7684,0.00,2.47,0.00,0.000,6,0.000,0.054,2977,2145,2099
$GC,8008,1.27,147.2,325.4,7.1,382,8030,0.12,2.62,17.15,1.002,4,0.054,0.064,3011,3508,2020
$GC,8077,1.21,147.2,319.5,9.4,385,8081,0.00,2.42,0.00,0.000,6,0.000,0.052,3010,2174,2019
$GC,8405,1.17,147.2,292.0,8.5,401,8406,0.15,0.00,0.00,0.000,6,0.092,0.000,2981,2174,2018
$GC,8713,1.22,147.2,267.0,8.1,416,8717,0.00,2.45,0.00,0.000,4,0.000,0.064,2981,3509,2018
$GC,8798,1.27,147.2,259.3,9.2,420,8803,0.12,2.35,0.00,0.000,6,0.054,0.049,3015,2193,2018
$GC,9126,1.21,147.2,225.3,10.8,436,9127,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2189,2018
$GC,9434,1.17,147.2,190.5,11.4,451,9439,0.15,2.40,0.00,0.000,4,0.091,0.061,2982,3509,2019
$GC,9497,1.22,147.2,183.9,10.4,454,9502,0.00,2.33,0.00,0.000,6,0.000,0.048,2982,2205,2018
$GC,9825,1.27,147.2,154.5,8.5,470,9830,0.10,2.72,0.00,0.000,4,0.055,0.060,3012,682,2019
$GC,9858,1.22,147.2,150.9,11.1,471,9864,0.00,2.75,0.00,0.000,6,0.000,0.052,3012,2220,2018
$GC,10175,1.22,147.2,121.8,8.4,487,10179,0.00,2.33,0.00,0.000,4,0.000,0.061,3012,3516,2019
$GC,10231,1.17,147.2,116.8,9.1,489,10238,0.15,2.33,0.00,0.000,6,0.090,0.047,2982,2214,2018
$GC,10548,1.28,186.1,96.1,6.2,505,10591,0.12,2.85,32.00,0.862,4,0.052,0.059,3019,687,1860
$GC,10620,1.28,186.1,90.1,9.6,508,10624,0.00,2.75,0.00,0.000,6,0.000,0.051,3019,2217,1860
$GC,10941,1.28,186.1,59.4,10.2,524,10945,0.00,2.78,0.00,0.000,4,0.000,0.058,3019,691,1860
$GC,10997,1.28,186.1,53.2,10.9,526,11003,0.00,2.67,0.00,0.000,6,0.000,0.051,3019,2189,1860
$GC,11313,1.28,186.1,21.0,9.9,542,11317,0.00,2.38,0.00,0.000,4,0.000,0.058,3019,3515,1860
$GC,11363,1.28,186.1,15.7,10.9,544,11367,0.00,2.38,0.00,0.000,6,0.000,0.045,3019,2180,1860
$STATE,11512,end climb,SURFACE_DEPTH_REACHED
$STATE,11513,begin surface coast
$FINISH,0.0,1.012958
$STATE,11533,end surface coast,CONTROL_FINISHED_OK
$STATE,11533,begin surface
$SM_CCo,11556,216.45,0.772,0,0,390,547.02
$SM_GC,0.55,0.00,0.00,216.45,0.000,0.000,0.772,423,2164,390,-10.61,0.48,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1695
$TCM_TEMP,17.80
$XPDR_PINGS,396
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,401.4,72.4
$24V_AH,23.9,53.053
$10V_AH,10.1,25.577
$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,25.800,96.825,254.675,216.450,0.000,37.759,27.955,128.179,102.250,0.000,0.000,11.517,1058.061,8713.851,621.909,1259.449,435.390,33.352,1261.971,0.000,1239.093,0.000,23.704
$DEVICE_MAMPS,132.691,80.535,1122.121,772.369,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,377.323,408.461,421.841,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28590,552
$CAP_FILE_SIZE,92849,0
$CFSIZE,254472192,233631744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,060808,160338,6251.310,-920.234,33,1.2,33,-9.9