version: 66.03
glider: 5
mission: 3
dive: 285
start: 8 6 108 19 57 13
data:
$ID,5
$MISSION,3
$DIVE,285
$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,-82063.695
$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,34
$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
$GPS1,194638,6250.910,-919.404,25,1.6,25,-9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-55.2
$GPS2,195623,6250.856,-919.587,15,2.6,34,-9.9
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.184,0.124
$KALMAN_X,-150646.4,530.5,-330.1,231773.0,-5246.4
$KALMAN_Y,-22119.5,770.5,-485.8,98899.6,-4698.8
$MHEAD_RNG_PITCHd_Wd,65.8,42437,-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,-117.3,0.0,0.0,0,140,0.00,0.00,-111.05,0.000,6,0.000,0.000,416,2186,3098
$GC,144,-1.30,-117.3,2.2,-1.5,5,160,10.38,2.58,0.00,0.000,4,0.133,0.049,2435,741,3097
$GC,325,-1.03,-117.3,28.9,-13.1,12,330,0.32,2.47,0.00,0.000,6,0.092,0.047,2502,2141,3096
$GC,647,-0.97,-117.3,65.7,-10.7,28,652,0.00,2.53,0.00,0.000,4,0.000,0.052,2503,737,3096
$GC,721,-0.88,-117.3,72.0,-7.1,31,726,0.17,2.50,0.00,0.000,6,0.099,0.046,2538,2141,3096
$GC,1040,-0.94,-117.3,90.3,-7.8,46,1044,0.00,2.53,0.00,0.000,4,0.000,0.054,2537,742,3097
$GC,1135,-0.98,-117.3,98.7,-8.1,50,1139,0.00,2.45,0.00,0.000,6,0.000,0.047,2538,2118,3097
$GC,1454,-1.04,-117.3,119.6,-5.6,65,1459,0.15,2.55,0.00,0.000,4,0.048,0.058,2487,3557,3097
$GC,1580,-0.93,-117.3,129.1,-7.2,70,1587,0.17,2.58,0.00,0.000,6,0.090,0.044,2524,2100,3097
$GC,1896,-0.93,-117.3,148.2,-5.9,86,1901,0.00,2.65,0.00,0.000,4,0.000,0.059,2525,3552,3097
$GC,1998,-0.93,-117.3,155.2,-7.0,90,2005,0.00,2.53,0.00,0.000,6,0.000,0.045,2524,2128,3097
$GC,2315,-0.93,-117.3,177.0,-7.2,106,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2127,3097
$GC,2627,-0.93,-117.3,200.5,-7.5,121,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2126,3097
$GC,2933,-0.93,-117.3,222.5,-6.6,136,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2126,3097
$GC,3242,-0.93,-117.3,238.2,-4.3,151,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2125,3096
$GC,3552,-0.93,-117.3,251.3,-5.0,166,3557,0.00,2.47,0.00,0.000,4,0.000,0.060,2524,737,3096
$GC,3604,-0.93,-117.3,254.6,-6.3,168,3609,0.00,2.50,0.00,0.000,6,0.000,0.051,2524,2131,3096
$GC,3921,-0.93,-117.3,278.2,-8.0,183,3925,0.00,2.58,0.00,0.000,4,0.000,0.062,2524,3564,3095
$GC,4016,-0.93,-117.3,286.2,-8.2,187,4021,0.00,2.55,0.00,0.000,6,0.000,0.048,2525,2129,3095
$GC,4332,-0.93,-117.3,308.0,-6.6,202,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2129,3094
$GC,4642,-0.93,-117.3,329.8,-7.4,217,4646,0.00,2.47,0.00,0.000,4,0.000,0.062,2525,746,3094
$GC,4737,-0.93,-117.3,337.3,-8.0,221,4742,0.00,2.50,0.00,0.000,6,0.000,0.053,2525,2137,3094
$GC,5055,-0.97,-117.3,354.6,-4.2,236,5059,0.00,2.58,0.00,0.000,4,0.000,0.064,2525,3563,3093
$GC,5146,-0.97,-117.3,358.7,-4.6,240,5150,0.00,2.53,0.00,0.000,6,0.000,0.050,2525,2147,3094
$GC,5468,-1.03,-117.3,372.9,-5.5,256,5472,0.00,2.50,0.00,0.000,4,0.000,0.062,2525,751,3093
$GC,5519,-1.07,-117.3,376.4,-6.9,258,5524,0.12,2.53,0.00,0.000,6,0.055,0.053,2488,2156,3093
$GC,5841,-1.01,-117.3,400.2,-7.5,273,5845,0.00,2.55,0.00,0.000,4,0.000,0.067,2488,3564,3093
$GC,5990,-0.93,-117.3,411.6,-7.0,279,5996,0.17,2.53,0.00,0.000,6,0.094,0.051,2523,2147,3092
$GC,6306,-0.98,-117.3,429.6,-6.1,295,6310,0.00,2.50,0.00,0.000,4,0.000,0.065,2523,751,3092
$GC,6494,-0.98,-117.3,442.0,-6.6,303,6499,0.00,2.50,0.00,0.000,6,0.000,0.056,2523,2132,3092
$STATE,6663,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6664,begin apogee
$GC,6670,-0.33,0.0,452.3,6.1,311,6770,0.62,0.00,96.57,1.120,6,0.081,0.000,2656,2132,2620
$STATE,6770,end apogee,CONTROL_FINISHED_OK
$STATE,6771,begin climb
$GC,6774,1.30,117.3,454.5,0.0,316,6879,1.62,2.72,96.25,1.088,4,0.066,0.065,3009,702,2141
$GC,6889,1.20,117.3,447.3,9.1,321,6893,0.00,2.58,0.00,0.000,6,0.000,0.056,3009,2098,2140
$GC,7205,1.14,117.3,415.2,10.5,336,7207,0.17,0.00,0.00,0.000,6,0.089,0.000,2977,2098,2140
$GC,7515,1.14,117.3,385.9,9.4,351,7519,0.00,2.60,0.00,0.000,4,0.000,0.068,2976,3512,2139
$GC,7587,1.14,117.3,379.1,8.9,354,7591,0.00,2.58,0.00,0.000,6,0.000,0.055,2976,2096,2139
$GC,7903,1.17,134.7,354.7,7.2,369,7924,0.00,2.67,15.25,0.997,4,0.000,0.066,2976,3507,2070
$GC,7959,1.21,135.3,350.2,8.0,371,7964,0.00,2.58,0.00,0.000,6,0.000,0.055,2976,2099,2070
$GC,8276,1.27,139.1,324.7,7.8,386,8287,0.12,2.65,5.35,0.799,4,0.054,0.065,3011,3511,2051
$GC,8340,1.20,139.1,318.9,9.4,389,8344,0.00,2.55,0.00,0.000,6,0.000,0.053,3011,2104,2051
$GC,8667,1.20,164.1,295.8,6.9,405,8696,0.00,2.65,21.67,0.996,4,0.000,0.063,3011,3506,1950
$GC,8736,1.20,164.1,289.8,9.5,408,8741,0.00,2.53,0.00,0.000,6,0.000,0.051,3011,2116,1950
$GC,9058,1.20,164.1,256.3,11.2,424,9063,0.00,2.58,0.00,0.000,4,0.000,0.062,3011,3509,1949
$GC,9099,1.20,164.1,251.5,12.4,426,9103,0.00,2.47,0.00,0.000,6,0.000,0.050,3011,2133,1949
$GC,9425,1.20,164.1,212.4,12.1,442,9429,0.00,2.50,0.00,0.000,4,0.000,0.061,3011,3508,1949
$GC,9470,1.20,164.1,206.8,12.7,444,9474,0.00,2.45,0.00,0.000,6,0.000,0.048,3011,2139,1949
$GC,9791,1.20,164.1,170.3,11.0,460,9795,0.00,2.53,0.00,0.000,4,0.000,0.061,3011,3511,1949
$GC,9830,1.20,164.1,166.0,11.2,462,9834,0.00,2.45,0.00,0.000,6,0.000,0.048,3011,2138,1949
$GC,10158,1.20,164.1,134.2,8.6,478,10162,0.00,2.50,0.00,0.000,4,0.000,0.060,3011,3509,1949
$GC,10202,1.20,164.1,130.4,8.7,480,10206,0.00,2.40,0.00,0.000,6,0.000,0.048,3011,2165,1949
$GC,10523,1.20,164.1,104.5,10.5,496,10527,0.00,2.47,0.00,0.000,4,0.000,0.059,3011,3514,1949
$GC,10541,1.20,164.1,102.3,11.6,497,10546,0.00,2.40,0.00,0.000,6,0.000,0.047,3011,2164,1949
$GC,10870,1.20,164.1,61.6,12.4,513,10871,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2164,1949
$GC,11178,1.20,164.1,28.5,9.4,528,11182,0.00,2.45,0.00,0.000,4,0.000,0.058,3011,3512,1950
$GC,11256,1.20,164.1,20.7,9.9,531,11263,0.00,2.35,0.00,0.000,6,0.000,0.044,3011,2179,1950
$STATE,11487,end climb,SURFACE_DEPTH_REACHED
$STATE,11487,begin surface coast
$FINISH,0.2,1.026841
$STATE,11509,end surface coast,CONTROL_FINISHED_OK
$STATE,11510,begin surface
$SM_CCo,11532,227.32,0.773,0,0,390,547.02
$SM_GC,0.54,0.00,0.00,227.32,0.000,0.000,0.773,419,2157,390,-10.63,-0.06,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1693
$TCM_TEMP,16.80
$XPDR_PINGS,375
$ALTIM_TOP_PING,18.2,999.0
$ALTIM_BOTTOM_PING,400.2,61.9
$24V_AH,23.9,53.350
$10V_AH,10.1,25.708
$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,25.250,116.275,235.100,227.325,0.000,75.523,70.242,229.927,97.000,0.000,0.000,35.011,1081.075,8638.446,618.173,1372.800,638.024,33.365,1304.838,0.000,1322.521,0.000,23.340
$DEVICE_MAMPS,132.691,68.263,1119.820,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,372.377,405.049,409.618,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28493,544
$CAP_FILE_SIZE,99267,0
$CFSIZE,254472192,233529344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,060808,231431,6252.874,-916.377,38,1.1,38,-9.9