version: 66.03
glider: 5
mission: 3
dive: 287
start: 8 7 108 2 26 18
data:
$ID,5
$MISSION,3
$DIVE,287
$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,-82096.078
$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,26
$R_STBD_OVSHOOT,23
$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
$GPS1,021708,6255.207,-909.007,29,1.3,29,-9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-53.6
$GPS2,022527,6255.209,-908.663,14,1.5,14,-9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.170,0.143
$KALMAN_X,-148020.5,868.4,894.4,236975.3,-3069.3
$KALMAN_Y,-19366.0,-606.5,-494.0,105552.7,1129.6
$MHEAD_RNG_PITCHd_Wd,59.7,31926,-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,-111.68,0.000,6,0.000,0.000,420,2122,3100
$GC,143,-1.30,-117.3,2.1,-1.4,5,159,10.45,2.47,0.00,0.000,4,0.137,0.050,2438,744,3099
$GC,335,-1.03,-117.3,28.5,-12.8,12,342,0.32,2.50,0.00,0.000,6,0.094,0.047,2506,2152,3098
$GC,652,-0.98,-117.3,63.6,-11.2,28,656,0.00,2.50,0.00,0.000,4,0.000,0.057,2506,3562,3097
$GC,782,-0.91,-117.3,78.3,-10.4,34,787,0.12,2.45,0.00,0.000,6,0.097,0.042,2531,2164,3098
$GC,1111,-0.91,-117.3,106.0,-8.1,50,1115,0.00,2.50,0.00,0.000,4,0.000,0.054,2531,749,3098
$GC,1274,-0.91,-117.3,119.5,-8.4,57,1278,0.00,2.55,0.00,0.000,6,0.000,0.048,2531,2181,3098
$GC,1591,-0.95,-117.3,142.6,-6.8,72,1595,0.00,2.60,0.00,0.000,4,0.000,0.055,2531,743,3098
$GC,1669,-0.95,-117.3,147.5,-5.8,75,1676,0.00,2.55,0.00,0.000,6,0.000,0.050,2531,2173,3098
$GC,1986,-0.99,-117.3,163.7,-5.3,91,1991,0.00,2.55,0.00,0.000,4,0.000,0.058,2531,748,3098
$GC,2050,-0.99,-117.3,167.7,-6.1,94,2054,0.00,2.53,0.00,0.000,6,0.000,0.050,2531,2165,3098
$GC,2377,-1.04,-117.3,185.9,-5.7,110,2379,0.12,0.00,0.00,0.000,6,0.053,0.000,2493,2165,3098
$GC,2686,-0.98,-117.3,207.5,-7.3,125,2691,0.10,2.58,0.00,0.000,4,0.100,0.059,2514,749,3098
$GC,2782,-0.98,-117.3,214.1,-7.0,129,2786,0.00,2.50,0.00,0.000,6,0.000,0.051,2514,2146,3097
$GC,3098,-0.98,-117.3,237.3,-8.3,144,3102,0.00,2.53,0.00,0.000,4,0.000,0.062,2514,3556,3097
$GC,3216,-0.98,-117.3,248.2,-9.1,149,3220,0.00,2.50,0.00,0.000,6,0.000,0.047,2514,2148,3097
$GC,3532,-0.98,-117.3,275.9,-8.7,164,3536,0.00,2.53,0.00,0.000,4,0.000,0.062,2514,739,3097
$GC,3599,-0.98,-117.3,282.3,-9.4,167,3603,0.00,2.55,0.00,0.000,6,0.000,0.052,2514,2157,3096
$GC,3922,-0.98,-117.3,310.1,-8.6,183,3926,0.00,2.53,0.00,0.000,4,0.000,0.064,2514,3562,3096
$GC,4006,-0.98,-117.3,317.5,-8.6,187,4011,0.00,2.50,0.00,0.000,6,0.000,0.049,2514,2152,3096
$GC,4334,-0.98,-117.3,343.9,-8.2,203,4338,0.00,2.58,0.00,0.000,4,0.000,0.064,2514,3560,3096
$GC,4400,-0.98,-117.3,350.3,-9.7,206,4405,0.00,2.50,0.00,0.000,6,0.000,0.051,2514,2160,3095
$GC,4722,-0.98,-117.3,374.4,-6.4,222,4726,0.00,2.53,0.00,0.000,4,0.000,0.061,2514,741,3095
$GC,4980,-0.98,-117.3,393.5,-7.6,233,4986,0.00,2.53,0.00,0.000,6,0.000,0.054,2514,2141,3094
$STATE,5110,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5110,begin apogee
$GC,5117,-0.33,0.0,401.8,6.3,240,5217,0.68,0.00,96.38,1.069,6,0.085,0.000,2652,2065,2620
$STATE,5217,end apogee,CONTROL_FINISHED_OK
$STATE,5217,begin climb
$GC,5221,1.30,117.3,404.5,0.0,245,5325,1.65,2.70,95.32,1.042,4,0.071,0.064,3009,3508,2140
$GC,5366,1.21,117.3,393.7,10.3,251,5373,0.00,2.53,0.00,0.000,6,0.000,0.052,3010,2124,2140
$GC,5683,1.15,117.3,364.5,8.4,267,5688,0.15,2.60,0.00,0.000,4,0.090,0.064,2977,689,2139
$GC,5701,1.15,117.3,363.1,8.1,268,5705,0.00,2.55,0.00,0.000,6,0.000,0.054,2977,2101,2139
$GC,6027,1.17,127.0,338.4,7.6,284,6041,0.00,2.60,9.10,0.892,4,0.000,0.064,2977,3506,2102
$GC,6117,1.17,127.0,331.6,8.1,288,6122,0.00,2.53,0.00,0.000,6,0.000,0.053,2977,2112,2102
$GC,6445,1.18,137.2,305.8,7.5,304,6459,0.00,2.62,9.82,0.905,4,0.000,0.063,2977,3512,2060
$GC,6562,1.22,137.2,296.3,8.3,308,6566,0.00,2.50,0.00,0.000,6,0.000,0.051,2977,2129,2059
$GC,6878,1.29,144.5,271.4,7.7,323,6893,0.15,2.60,7.40,0.846,4,0.051,0.061,3021,3507,2031
$GC,6961,1.19,144.5,262.9,10.3,326,6968,0.17,2.47,0.00,0.000,6,0.088,0.051,2988,2138,2030
$GC,7277,1.19,144.5,233.4,9.5,342,7281,0.00,2.53,0.00,0.000,4,0.000,0.062,2988,3512,2030
$GC,7332,1.19,144.5,227.6,10.5,344,7338,0.00,2.45,0.00,0.000,6,0.000,0.049,2988,2149,2030
$GC,7649,1.19,144.5,196.7,10.0,360,7653,0.00,2.50,0.00,0.000,4,0.000,0.062,2988,3511,2030
$GC,7688,1.19,144.5,192.6,10.8,362,7692,0.00,2.42,0.00,0.000,6,0.000,0.049,2988,2158,2030
$GC,8014,1.19,144.5,159.8,9.5,378,8019,0.00,2.47,0.00,0.000,4,0.000,0.061,2988,3512,2030
$GC,8032,1.19,144.5,158.1,9.9,379,8037,0.00,2.40,0.00,0.000,6,0.000,0.048,2988,2168,2030
$GC,8360,1.19,144.5,129.9,8.4,395,8364,0.00,2.45,0.00,0.000,4,0.000,0.061,2988,3510,2030
$GC,8387,1.19,144.5,127.5,8.7,396,8391,0.00,2.38,0.00,0.000,6,0.000,0.048,2988,2181,2030
$GC,8707,1.23,144.5,102.4,8.2,411,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2182,2030
$GC,9013,1.28,144.5,74.1,9.4,426,9017,0.00,2.67,0.00,0.000,4,0.000,0.059,2988,682,2030
$GC,9034,1.28,144.5,71.8,9.8,427,9039,0.00,2.65,0.00,0.000,6,0.000,0.050,2988,2166,2030
$GC,9358,1.36,158.9,45.0,7.3,443,9375,0.17,0.00,13.00,0.782,6,0.047,0.000,3036,2167,1972
$GC,9685,1.30,158.9,15.5,9.6,459,9687,0.12,0.00,0.00,0.000,6,0.093,0.000,3013,2166,1972
$STATE,9848,end climb,SURFACE_DEPTH_REACHED
$STATE,9848,begin surface coast
$FINISH,0.1,1.026898
$STATE,9869,end surface coast,CONTROL_FINISHED_OK
$STATE,9869,begin surface
$SM_CCo,9891,228.50,0.770,0,0,390,547.02
$SM_GC,0.57,0.00,0.00,228.50,0.000,0.000,0.770,420,2174,390,-10.62,0.71,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1715
$TCM_TEMP,17.60
$XPDR_PINGS,358
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,326.7,85.0
$24V_AH,23.9,53.641
$10V_AH,10.1,25.824
$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,25.425,106.275,231.025,228.500,0.000,75.525,59.946,188.612,92.000,0.000,0.000,14.490,954.019,7278.445,616.855,1233.101,544.178,33.356,1239.590,0.000,1209.751,0.000,18.555
$DEVICE_MAMPS,136.526,66.729,1069.198,770.068,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,319.678,344.478,383.803,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22186,468
$CAP_FILE_SIZE,87907,0
$CFSIZE,254472192,233451520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,070808,051607,6254.749,-904.092,28,1.8,28,-9.8