version: 66.03
glider: 5
mission: 3
dive: 288
start: 8 7 108 5 22 4
data:
$ID,5
$MISSION,3
$DIVE,288
$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,-82130.148
$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,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
$GPS1,051607,6254.749,-904.092,28,1.8,28,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-52.4
$GPS2,052114,6254.663,-904.031,16,1.8,33,-9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.041,0.218
$KALMAN_X,-146480.4,939.2,-475.2,240781.8,892.4
$KALMAN_Y,-25258.7,229.5,-714.6,109848.7,-6623.0
$MHEAD_RNG_PITCHd_Wd,359.0,32284,-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,-117.3,0.0,0.0,0,140,0.00,0.00,-112.15,0.000,6,0.000,0.000,420,2177,3098
$GC,144,-1.30,-117.3,2.2,-1.6,5,160,10.43,2.50,0.00,0.000,4,0.135,0.054,2440,3568,3098
$GC,262,-1.04,-117.3,19.8,-12.3,9,267,0.30,2.53,0.00,0.000,6,0.094,0.042,2501,2138,3096
$GC,579,-0.97,-117.3,53.6,-11.0,24,583,0.00,2.47,0.00,0.000,4,0.000,0.054,2502,740,3096
$GC,779,-0.89,-117.3,74.5,-9.5,33,784,0.17,2.47,0.00,0.000,6,0.091,0.047,2538,2137,3096
$GC,1107,-0.94,-117.3,95.7,-4.5,49,1111,0.00,2.55,0.00,0.000,4,0.000,0.058,2538,3568,3097
$GC,1230,-0.94,-117.3,99.4,-2.4,54,1237,0.00,2.53,0.00,0.000,6,0.000,0.043,2538,2134,3097
$GC,1548,-0.99,-117.3,107.5,-3.6,70,1553,0.12,2.47,0.00,0.000,4,0.051,0.054,2499,739,3098
$GC,1634,-0.92,-117.3,112.7,-6.6,74,1639,0.15,2.47,0.00,0.000,6,0.091,0.048,2531,2140,3097
$GC,1962,-0.92,-117.3,132.2,-6.4,90,1966,0.00,2.53,0.00,0.000,4,0.000,0.059,2530,3556,3098
$GC,2070,-0.92,-117.3,139.9,-7.1,95,2074,0.00,2.50,0.00,0.000,6,0.000,0.044,2530,2137,3097
$GC,2398,-0.97,-117.3,159.8,-5.9,111,2402,0.00,2.47,0.00,0.000,4,0.000,0.057,2530,743,3097
$GC,2585,-0.97,-117.3,170.8,-6.2,119,2589,0.00,2.50,0.00,0.000,6,0.000,0.051,2531,2141,3097
$GC,2902,-1.01,-117.3,187.8,-5.8,134,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2139,3096
$GC,3211,-1.06,-117.3,209.9,-7.7,149,3216,0.15,2.55,0.00,0.000,4,0.052,0.059,2481,740,3096
$GC,3296,-0.95,-117.3,218.0,-9.8,153,3301,0.20,2.50,0.00,0.000,6,0.089,0.051,2522,2137,3096
$GC,3623,-0.95,-117.3,243.1,-7.2,169,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2137,3096
$GC,3932,-0.95,-117.3,264.0,-6.4,184,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2137,3096
$GC,4242,-0.95,-117.3,281.8,-5.1,199,4246,0.00,2.53,0.00,0.000,4,0.000,0.061,2523,751,3095
$GC,4494,-0.95,-117.3,297.0,-6.3,210,4498,0.00,2.47,0.00,0.000,6,0.000,0.051,2523,2133,3096
$GC,4811,-0.95,-117.3,317.7,-6.9,225,4815,0.00,2.58,0.00,0.000,4,0.000,0.064,2523,3557,3095
$GC,4951,-0.95,-117.3,328.1,-7.7,231,4955,0.00,2.53,0.00,0.000,6,0.000,0.050,2523,2139,3095
$GC,5267,-0.95,-117.3,350.0,-6.3,246,5272,0.00,2.60,0.00,0.000,4,0.000,0.064,2523,3560,3094
$GC,5368,-0.95,-117.3,356.4,-6.2,250,5372,0.00,2.50,0.00,0.000,6,0.000,0.051,2522,2165,3094
$GC,5685,-1.01,-117.3,378.4,-4.5,265,5690,0.00,2.55,0.00,0.000,4,0.000,0.063,2523,741,3094
$GC,5793,-1.01,-117.3,386.2,-6.2,270,5798,0.00,2.53,0.00,0.000,6,0.000,0.056,2523,2157,3094
$STATE,6019,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6019,begin apogee
$GC,6027,-0.33,0.0,400.4,5.3,281,6126,0.62,0.00,96.38,1.077,6,0.081,0.000,2655,2079,2620
$STATE,6127,end apogee,CONTROL_FINISHED_OK
$STATE,6127,begin climb
$GC,6130,1.30,117.3,404.0,0.0,286,6234,1.62,2.62,95.57,1.046,4,0.064,0.065,3009,710,2141
$GC,6260,1.22,117.3,395.7,9.0,292,6264,0.00,2.55,0.00,0.000,6,0.000,0.055,3009,2104,2140
$GC,6587,1.16,117.3,364.8,9.3,308,6592,0.15,2.58,0.00,0.000,4,0.093,0.065,2977,3511,2139
$GC,6654,1.25,171.0,360.7,5.6,311,6704,0.12,2.53,44.28,1.016,6,0.054,0.054,3012,2115,1922
$GC,7023,1.25,171.0,324.4,10.2,329,7027,0.00,2.58,0.00,0.000,4,0.000,0.064,3011,3506,1920
$GC,7068,1.20,171.0,319.2,10.6,331,7073,0.00,2.55,0.00,0.000,6,0.000,0.053,3011,2103,1920
$GC,7389,1.20,171.0,287.8,9.2,347,7390,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2103,1919
$GC,7699,1.20,171.0,260.8,8.8,362,7703,0.00,2.60,0.00,0.000,4,0.000,0.064,3011,3506,1919
$GC,7709,1.20,171.0,259.6,8.9,362,7715,0.00,2.55,0.00,0.000,6,0.000,0.052,3011,2097,1919
$GC,8025,1.20,171.0,227.9,11.1,378,8029,0.00,2.60,0.00,0.000,4,0.000,0.063,3011,3513,1919
$GC,8075,1.20,171.0,222.0,12.1,380,8079,0.00,2.55,0.00,0.000,6,0.000,0.051,3011,2097,1919
$GC,8391,1.20,171.0,186.7,10.7,395,8395,0.00,2.58,0.00,0.000,4,0.000,0.062,3011,3507,1918
$GC,8446,1.20,171.0,180.5,11.5,397,8452,0.00,2.50,0.00,0.000,6,0.000,0.049,3011,2115,1918
$GC,8762,1.20,171.0,149.1,9.8,413,8767,0.00,2.55,0.00,0.000,4,0.000,0.061,3011,3511,1918
$GC,8834,1.20,171.0,141.1,10.4,416,8839,0.00,2.47,0.00,0.000,6,0.000,0.047,3011,2128,1918
$GC,9151,1.20,171.0,109.3,10.4,431,9155,0.00,2.53,0.00,0.000,4,0.000,0.060,3011,3507,1918
$GC,9207,1.20,171.0,102.9,11.6,433,9213,0.00,2.45,0.00,0.000,6,0.000,0.048,3011,2137,1918
$GC,9525,1.20,171.0,69.5,10.2,449,9529,0.00,2.50,0.00,0.000,4,0.000,0.059,3011,3506,1918
$GC,9569,1.20,171.0,64.5,10.7,451,9573,0.00,2.42,0.00,0.000,6,0.000,0.047,3011,2150,1918
$GC,9891,1.20,171.0,33.8,9.3,467,9895,0.00,2.47,0.00,0.000,4,0.000,0.059,3011,3509,1918
$GC,9999,1.20,171.0,23.9,9.5,472,10003,0.00,2.38,0.00,0.000,6,0.000,0.044,3011,2169,1918
$STATE,10240,end climb,SURFACE_DEPTH_REACHED
$STATE,10241,begin surface coast
$FINISH,0.0,1.026931
$STATE,10264,end surface coast,CONTROL_FINISHED_OK
$STATE,10264,begin surface
$SM_CCo,10287,221.88,0.774,0,0,390,547.02
$SM_GC,0.55,0.00,0.00,221.88,0.000,0.000,0.774,420,2144,390,-10.62,-0.17,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1705
$TCM_TEMP,17.50
$XPDR_PINGS,351
$ALTIM_TOP_PING,18.4,18.0
$ALTIM_BOTTOM_PING,400.4,6.5
$24V_AH,23.9,53.780
$10V_AH,10.1,25.883
$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,25.275,106.000,236.225,221.875,0.000,37.762,32.955,106.937,91.000,0.000,0.000,33.448,984.837,7495.782,606.223,1335.242,399.245,33.363,1262.347,0.000,1287.138,0.000,23.157
$DEVICE_MAMPS,134.992,66.729,1076.868,773.903,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,331.744,360.004,408.090,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25369,485
$CAP_FILE_SIZE,88610,0
$CFSIZE,254472192,233406464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,070808,081852,6254.290,-906.478,38,2.6,57,-9.8