version: 66.03
glider: 5
mission: 3
dive: 284
start: 8 6 108 16 9 29
data:
$ID,5
$MISSION,3
$DIVE,284
$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,-82028.062
$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,25
$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
$GPS1,160338,6251.310,-920.234,33,1.2,33,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-53.8
$GPS2,160838,6251.242,-920.259,17,1.2,17,-9.9
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.168,0.145
$KALMAN_X,-146363.7,-167.9,-34.1,227279.0,-1030.3
$KALMAN_Y,-16788.9,1100.2,-886.4,94327.9,3283.7
$MHEAD_RNG_PITCHd_Wd,59.2,42001,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.30,-117.3,0.0,0.0,0,139,0.00,0.00,-111.45,0.000,6,0.000,0.000,423,2150,3099
$GC,143,-1.30,-117.3,2.1,-1.6,5,159,10.38,2.55,0.00,0.000,4,0.133,0.052,2437,741,3098
$GC,222,-1.03,-117.3,14.5,-11.9,7,229,0.32,2.53,0.00,0.000,6,0.090,0.047,2506,2160,3097
$GC,540,-0.97,-117.3,42.7,-8.2,23,544,0.00,2.50,0.00,0.000,4,0.000,0.057,2506,3560,3097
$GC,652,-0.90,-117.3,52.2,-7.8,28,657,0.15,2.50,0.00,0.000,6,0.092,0.041,2536,2139,3097
$GC,976,-0.90,-117.3,72.6,-7.0,44,981,0.00,2.45,0.00,0.000,4,0.000,0.053,2536,749,3098
$GC,1117,-0.90,-117.3,84.1,-7.6,50,1121,0.00,2.45,0.00,0.000,6,0.000,0.046,2537,2136,3098
$GC,1434,-0.95,-117.3,102.1,-4.8,65,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2135,3099
$GC,1743,-1.01,-117.3,120.3,-6.7,80,1748,0.12,2.53,0.00,0.000,4,0.051,0.054,2498,739,3099
$GC,1822,-0.94,-117.3,127.4,-9.6,83,1829,0.12,2.47,0.00,0.000,6,0.093,0.049,2523,2132,3099
$GC,2137,-0.94,-117.3,154.4,-8.7,99,2142,0.00,2.55,0.00,0.000,4,0.000,0.059,2524,3561,3099
$GC,2249,-0.94,-117.3,165.1,-9.8,104,2254,0.00,2.53,0.00,0.000,6,0.000,0.044,2523,2130,3098
$GC,2572,-0.94,-117.3,189.3,-7.2,120,2576,0.00,2.47,0.00,0.000,4,0.000,0.059,2524,741,3098
$GC,2656,-0.94,-117.3,195.3,-6.7,124,2661,0.00,2.50,0.00,0.000,6,0.000,0.051,2524,2142,3098
$GC,2984,-0.94,-117.3,216.4,-6.6,140,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2140,3098
$GC,3293,-0.94,-117.3,240.3,-8.3,155,3297,0.00,2.55,0.00,0.000,4,0.000,0.060,2524,740,3098
$GC,3359,-0.94,-117.3,246.4,-9.1,158,3363,0.00,2.50,0.00,0.000,6,0.000,0.051,2524,2134,3098
$GC,3680,-0.94,-117.3,274.6,-8.8,174,3688,0.00,2.55,0.00,0.000,4,0.000,0.062,2524,3557,3097
$GC,3766,-0.94,-117.3,282.3,-8.1,177,3773,0.00,2.55,0.00,0.000,6,0.000,0.048,2524,2123,3097
$GC,4083,-0.94,-117.3,303.6,-6.1,193,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2120,3097
$GC,4392,-0.94,-117.3,323.7,-6.8,208,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2120,3097
$GC,4701,-0.94,-117.3,347.6,-8.0,223,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2119,3097
$GC,5011,-0.98,-117.3,372.2,-7.8,238,5015,0.00,2.45,0.00,0.000,4,0.000,0.064,2524,748,3096
$GC,5089,-0.98,-117.3,378.8,-8.1,241,5095,0.00,2.50,0.00,0.000,6,0.000,0.053,2524,2138,3096
$GC,5406,-1.02,-117.3,401.9,-7.2,257,5410,0.00,2.55,0.00,0.000,4,0.000,0.061,2524,738,3096
$GC,5583,-1.02,-117.3,414.5,-6.8,265,5587,0.00,2.45,0.00,0.000,6,0.000,0.054,2523,2108,3095
$GC,5911,-1.07,-117.3,434.3,-5.9,281,5916,0.12,2.50,0.00,0.000,4,0.054,0.062,2485,744,3095
$GC,6169,-0.99,-117.3,456.4,-9.4,292,6175,0.12,2.42,0.00,0.000,6,0.099,0.055,2511,2082,3094
$GC,6486,-1.60,-117.3,471.3,0.0,308,6491,0.55,2.67,0.00,0.000,4,0.044,0.067,2372,3552,3094
$GC,6745,-1.86,-117.3,471.4,-0.2,319,6751,0.20,2.65,0.00,0.000,6,0.048,0.054,2317,2060,3094
$STATE,7058,end dive,NO_VERTICAL_VELOCITY
$STATE,7058,begin apogee
$GC,7066,-0.33,0.0,471.3,0.0,335,7167,1.55,0.00,97.35,1.131,6,0.063,0.000,2658,2109,2620
$STATE,7168,end apogee,CONTROL_FINISHED_OK
$STATE,7168,begin climb
$GC,7171,1.30,117.3,471.2,0.0,340,7274,1.60,0.00,96.62,1.102,6,0.062,0.000,3009,2109,2141
$GC,7583,1.24,117.3,436.1,9.5,360,7587,0.00,2.55,0.00,0.000,4,0.000,0.067,3009,3496,2139
$GC,7594,1.17,117.3,434.8,9.6,360,7602,0.12,2.55,0.00,0.000,6,0.097,0.056,2986,2098,2139
$GC,7911,1.20,136.3,413.1,7.1,376,7933,0.00,2.70,16.85,1.030,4,0.000,0.066,2986,3497,2064
$GC,7967,1.20,136.3,408.6,8.1,378,7971,0.00,2.53,0.00,0.000,6,0.000,0.056,2986,2119,2063
$GC,8283,1.20,136.3,383.0,8.3,393,8287,0.00,2.55,0.00,0.000,4,0.000,0.067,2986,3502,2062
$GC,8304,1.20,136.3,380.8,9.8,394,8309,0.00,2.50,0.00,0.000,6,0.000,0.054,2986,2129,2062
$GC,8626,1.20,136.3,352.6,8.7,410,8631,0.00,2.53,0.00,0.000,4,0.000,0.065,2986,3497,2061
$GC,8654,1.20,136.3,349.9,9.9,411,8658,0.00,2.47,0.00,0.000,6,0.000,0.052,2986,2130,2060
$GC,8970,1.20,136.3,322.2,8.8,426,8974,0.00,2.53,0.00,0.000,4,0.000,0.064,2987,3497,2061
$GC,9015,1.20,136.3,317.8,10.0,428,9019,0.00,2.42,0.00,0.000,6,0.000,0.051,2987,2147,2061
$GC,9335,1.20,136.3,289.9,8.4,444,9340,0.00,2.47,0.00,0.000,4,0.000,0.063,2986,3501,2060
$GC,9376,1.20,136.3,286.3,8.4,446,9380,0.00,2.40,0.00,0.000,6,0.000,0.051,2986,2158,2060
$GC,9703,1.20,136.3,258.9,8.7,462,9707,0.00,2.45,0.00,0.000,4,0.000,0.062,2986,3500,2060
$GC,9754,1.20,136.3,254.1,9.5,464,9758,0.00,2.40,0.00,0.000,6,0.000,0.049,2986,2164,2060
$GC,10071,1.20,136.3,227.6,8.1,479,10075,0.00,2.42,0.00,0.000,4,0.000,0.061,2986,3496,2060
$GC,10098,1.20,136.3,225.0,9.4,480,10103,0.00,2.38,0.00,0.000,6,0.000,0.048,2986,2171,2060
$GC,10414,1.20,136.3,199.8,8.3,495,10418,0.00,2.42,0.00,0.000,4,0.000,0.061,2986,3501,2061
$GC,10441,1.20,136.3,197.3,9.1,496,10445,0.00,2.38,0.00,0.000,6,0.000,0.048,2986,2174,2060
$GC,10758,1.20,136.3,167.7,9.8,511,10762,0.00,2.42,0.00,0.000,4,0.000,0.061,2987,3504,2060
$GC,10791,1.20,136.3,164.2,10.0,512,10795,0.00,2.35,0.00,0.000,6,0.000,0.048,2986,2188,2061
$GC,11107,1.25,165.5,139.7,6.7,527,11137,0.00,2.47,24.08,0.884,4,0.000,0.058,2986,3497,1945
$GC,11179,1.30,165.5,134.7,8.1,530,11183,0.12,2.35,0.00,0.000,6,0.051,0.046,3021,2193,1944
$GC,11500,1.25,165.5,106.7,9.1,546,11501,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2191,1944
$GC,11812,1.21,165.5,76.1,10.2,561,11816,0.15,2.38,0.00,0.000,4,0.088,0.058,2988,3497,1944
$GC,11867,1.27,165.5,70.4,9.5,563,11874,0.00,2.33,0.00,0.000,6,0.000,0.047,2988,2192,1944
$GC,12184,1.35,165.5,43.3,8.2,579,12189,0.15,2.67,0.00,0.000,4,0.048,0.058,3035,690,1944
$GC,12229,1.26,165.5,39.2,9.6,581,12235,0.15,2.65,0.00,0.000,6,0.088,0.050,3006,2173,1944
$GC,12551,1.26,165.5,12.8,8.5,597,12552,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2174,1944
$STATE,12694,end climb,SURFACE_DEPTH_REACHED
$STATE,12694,begin surface coast
$FINISH,0.1,1.026841
$STATE,12714,end surface coast,CONTROL_FINISHED_OK
$STATE,12715,begin surface
$SM_CCo,12738,226.65,0.768,0,0,389,547.02
$SM_GC,0.48,0.00,0.00,226.65,0.000,0.000,0.768,415,2172,389,-10.65,0.85,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1692
$TCM_TEMP,17.80
$XPDR_PINGS,440
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,23.8,53.198
$10V_AH,10.1,25.643
$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,27.075,124.725,234.900,226.650,0.000,37.786,27.142,117.618,113.500,0.000,0.000,17.053,1185.677,9517.130,632.532,1493.798,440.340,33.357,1383.026,0.000,1464.021,0.000,23.606
$DEVICE_MAMPS,133.458,89.739,1130.558,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.840,451.990,458.042,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31717,605
$CAP_FILE_SIZE,104443,0
$CFSIZE,254472192,233570304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,060808,194638,6250.910,-919.404,25,1.6,25,-9.9