version: 66.03
glider: 5
mission: 3
dive: 289
start: 8 7 108 8 27 51
data:
$ID,5
$MISSION,3
$DIVE,289
$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,-82167.898
$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
$GPS1,081852,6254.290,-906.478,38,2.6,57,-9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-55.5
$GPS2,082659,6254.214,-906.599,15,2.6,34,-9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.046,0.217
$KALMAN_X,-147721.2,424.4,-172.4,240027.6,-1378.8
$KALMAN_Y,-33288.4,512.1,834.2,115196.7,-19947.7
$MHEAD_RNG_PITCHd_Wd,357.8,33397,-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,21,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,-112.65,0.000,6,0.000,0.000,421,2142,3099
$GC,144,-1.30,-117.3,2.1,-1.5,5,160,10.40,2.55,0.00,0.000,4,0.134,0.056,2439,3563,3098
$GC,284,-1.02,-117.3,24.1,-13.8,10,289,0.32,2.50,0.00,0.000,6,0.089,0.043,2508,2137,3097
$GC,601,-0.97,-117.3,52.0,-7.3,25,606,0.00,2.47,0.00,0.000,4,0.000,0.054,2508,744,3096
$GC,710,-0.91,-117.3,58.9,-6.3,30,715,0.12,2.53,0.00,0.000,6,0.094,0.048,2533,2162,3096
$GC,1038,-0.95,-117.3,70.2,-4.3,46,1042,0.00,2.50,0.00,0.000,4,0.000,0.058,2532,3564,3097
$GC,1291,-0.95,-117.3,84.3,-5.9,57,1295,0.00,2.50,0.00,0.000,6,0.000,0.044,2533,2148,3097
$GC,1610,-0.99,-117.3,101.8,-5.1,72,1614,0.00,2.50,0.00,0.000,4,0.000,0.058,2533,744,3098
$GC,1740,-0.99,-117.3,108.4,-5.4,78,1745,0.00,2.53,0.00,0.000,6,0.000,0.050,2533,2161,3098
$GC,2068,-1.04,-117.3,123.2,-5.2,94,2070,0.15,0.00,0.00,0.000,6,0.051,0.000,2488,2159,3098
$GC,2377,-0.96,-117.3,146.1,-8.3,109,2379,0.15,0.00,0.00,0.000,6,0.091,0.000,2519,2162,3097
$GC,2685,-0.96,-117.3,172.5,-9.2,124,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2162,3097
$GC,2996,-0.96,-117.3,201.6,-9.7,139,3000,0.00,2.58,0.00,0.000,4,0.000,0.058,2519,741,3097
$GC,3125,-0.96,-117.3,214.9,-10.2,145,3130,0.00,2.50,0.00,0.000,6,0.000,0.051,2520,2142,3097
$GC,3452,-0.96,-117.3,246.6,-9.6,161,3456,0.00,2.55,0.00,0.000,4,0.000,0.062,2519,3562,3096
$GC,3564,-0.96,-117.3,257.6,-9.8,166,3568,0.00,2.53,0.00,0.000,6,0.000,0.049,2519,2145,3096
$GC,3884,-0.96,-117.3,285.1,-8.3,182,3889,0.00,2.50,0.00,0.000,4,0.000,0.062,2520,748,3096
$GC,4050,-0.96,-117.3,298.8,-7.8,189,4054,0.00,2.53,0.00,0.000,6,0.000,0.052,2519,2151,3096
$GC,4366,-0.96,-117.3,321.8,-6.7,204,4371,0.00,2.58,0.00,0.000,4,0.000,0.062,2520,741,3096
$GC,4457,-0.96,-117.3,328.1,-6.7,208,4461,0.00,2.53,0.00,0.000,6,0.000,0.053,2519,2143,3095
$GC,4778,-0.96,-117.3,350.6,-7.2,224,4782,0.00,2.55,0.00,0.000,4,0.000,0.062,2519,747,3096
$GC,4949,-0.96,-117.3,363.0,-7.3,231,4955,0.00,2.50,0.00,0.000,6,0.000,0.054,2519,2137,3095
$GC,5265,-0.96,-117.3,383.1,-6.8,247,5269,0.00,2.58,0.00,0.000,4,0.000,0.066,2519,3560,3095
$STATE,5464,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5464,begin apogee
$GC,5474,-0.33,0.0,397.8,6.8,256,5574,0.60,0.00,96.88,1.068,6,0.083,0.000,2648,2097,2620
$STATE,5575,end apogee,CONTROL_FINISHED_OK
$STATE,5575,begin climb
$GC,5578,1.30,117.3,401.7,0.0,261,5682,1.65,2.70,95.72,1.040,4,0.063,0.064,3009,3512,2141
$GC,5702,1.22,117.3,394.3,8.4,266,5707,0.00,2.60,0.00,0.000,6,0.000,0.054,3009,2098,2140
$GC,6018,1.14,117.3,365.1,9.1,282,6023,0.15,2.62,0.00,0.000,4,0.089,0.064,2980,3506,2139
$GC,6068,1.16,130.0,361.0,7.4,284,6086,0.00,2.55,11.85,0.930,6,0.000,0.054,2980,2106,2089
$GC,6411,1.21,132.2,334.4,7.9,301,6416,0.00,2.60,0.00,0.000,4,0.000,0.066,2979,3509,2088
$GC,6423,1.25,132.2,333.1,8.4,301,6429,0.00,2.55,0.00,0.000,6,0.000,0.054,2980,2106,2088
$GC,6739,1.29,132.2,305.4,8.5,317,6744,0.15,2.60,0.00,0.000,4,0.051,0.064,3025,3512,2087
$GC,6835,1.18,132.2,294.3,12.0,321,6840,0.20,2.50,0.00,0.000,6,0.094,0.051,2987,2133,2087
$GC,7151,1.18,132.2,265.0,9.2,336,7155,0.00,2.53,0.00,0.000,4,0.000,0.063,2987,3514,2086
$GC,7229,1.18,132.2,257.3,9.7,339,7235,0.00,2.47,0.00,0.000,6,0.000,0.051,2987,2142,2086
$GC,7545,1.18,132.2,230.1,8.3,355,7549,0.00,2.50,0.00,0.000,4,0.000,0.062,2987,3513,2086
$GC,7600,1.18,132.2,225.4,8.8,357,7607,0.00,2.42,0.00,0.000,6,0.000,0.049,2987,2156,2086
$GC,7917,1.22,157.4,202.5,6.9,373,7946,0.00,2.58,22.92,0.926,4,0.000,0.061,2987,3509,1978
$GC,7999,1.27,164.7,196.2,7.7,376,8013,0.00,2.45,7.47,0.805,6,0.000,0.048,2987,2155,1948
$GC,8338,1.33,164.7,167.7,8.8,393,8343,0.15,2.50,0.00,0.000,4,0.050,0.061,3033,3515,1947
$GC,8359,1.33,164.7,165.1,11.0,394,8364,0.00,2.42,0.00,0.000,6,0.000,0.048,3033,2163,1947
$GC,8681,1.26,164.7,127.5,11.7,410,8686,0.15,2.47,0.00,0.000,4,0.091,0.060,3001,3515,1947
$GC,8709,1.26,164.7,124.4,11.6,411,8714,0.00,2.42,0.00,0.000,6,0.000,0.047,3001,2164,1947
$GC,9027,1.26,164.7,95.5,9.0,426,9031,0.00,2.45,0.00,0.000,4,0.000,0.060,3001,3508,1947
$GC,9037,1.26,164.7,94.4,8.9,426,9043,0.00,2.40,0.00,0.000,6,0.000,0.048,3000,2167,1947
$GC,9355,1.26,164.8,69.5,8.0,442,9359,0.00,2.45,0.00,0.000,4,0.000,0.059,3001,3510,1947
$GC,9395,1.26,164.8,66.3,8.0,444,9400,0.00,2.38,0.00,0.000,6,0.000,0.046,3001,2177,1947
$GC,9724,1.37,209.3,47.4,6.0,460,9767,0.12,2.47,36.15,0.830,4,0.051,0.058,3037,3509,1765
$GC,9824,1.37,209.3,37.1,10.9,464,9828,0.00,2.35,0.00,0.000,6,0.000,0.045,3037,2197,1764
$GC,10140,1.33,209.3,2.8,11.2,479,10144,0.00,2.40,0.00,0.000,4,0.000,0.057,3037,3508,1764
$STATE,10149,end climb,SURFACE_DEPTH_REACHED
$STATE,10149,begin surface coast
$FINISH,0.6,1.026911
$STATE,10157,end surface coast,CONTROL_FINISHED_OK
$STATE,10157,begin surface
$SM_CCo,10183,201.38,0.774,0,0,389,547.02
$SM_GC,0.45,0.00,0.00,201.38,0.000,0.000,0.774,418,2123,389,-10.63,-0.74,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1700
$TCM_TEMP,17.50
$XPDR_PINGS,364
$ALTIM_TOP_PING,18.8,999.0
$ALTIM_BOTTOM_PING,301.2,106.4
$24V_AH,23.9,53.926
$10V_AH,10.1,25.945
$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,25.700,115.500,271.000,201.375,0.000,75.527,57.719,158.821,93.250,0.000,0.000,37.127,978.127,7410.920,619.957,1346.438,523.528,33.364,1291.660,0.000,1297.415,0.000,16.996
$DEVICE_MAMPS,134.225,65.962,1067.664,773.903,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,327.818,355.213,428.990,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25408,480
$CAP_FILE_SIZE,92174,0
$CFSIZE,254472192,233361408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,070808,112207,6255.899,-907.609,31,1.8,31,-9.8