version: 66.03
glider: 5
mission: 3
dive: 294
start: 8 8 108 0 55 17
data:
$ID,5
$MISSION,3
$DIVE,294
$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,-82243.891
$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,23
$R_STBD_OVSHOOT,21
$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
$GPS1,004931,6301.281,-904.047,39,1.2,44,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-57.5
$GPS2,005426,6301.269,-903.979,10,1.3,15,-9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.200,0.096
$KALMAN_X,-143048.1,-629.6,556.0,237938.9,2680.5
$KALMAN_Y,-37975.9,1055.6,1461.0,131710.5,-15491.1
$MHEAD_RNG_PITCHd_Wd,305.5,20151,-16.8,-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,-117.2,0.0,0.0,0,141,0.00,0.00,-113.60,0.000,6,0.000,0.000,420,2178,3098
$GC,145,-1.30,-117.3,2.0,-1.5,5,161,10.43,2.47,0.00,0.000,4,0.136,0.056,2437,3562,3098
$GC,257,-1.02,-117.3,19.0,-12.5,9,263,0.32,2.53,0.00,0.000,6,0.091,0.044,2505,2140,3096
$GC,581,-0.97,-117.3,47.8,-8.4,25,585,0.00,2.60,0.00,0.000,4,0.000,0.057,2505,3564,3096
$GC,838,-0.91,-117.3,68.5,-8.6,36,845,0.12,2.42,0.00,0.000,6,0.097,0.043,2530,2181,3096
$GC,1156,-0.91,-117.3,90.0,-6.7,52,1160,0.00,2.50,0.00,0.000,4,0.000,0.058,2530,3558,3097
$GC,1257,-0.91,-117.3,98.6,-8.9,56,1263,0.00,2.42,0.00,0.000,6,0.000,0.044,2530,2187,3097
$GC,1573,-0.91,-117.3,123.4,-7.9,72,1578,0.00,2.55,0.00,0.000,4,0.000,0.056,2530,751,3097
$GC,1636,-0.91,-117.3,128.4,-8.5,75,1641,0.00,2.58,0.00,0.000,6,0.000,0.049,2530,2194,3097
$GC,1965,-0.95,-117.3,155.4,-8.5,91,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2195,3096
$GC,2273,-0.99,-117.3,182.1,-8.6,106,2278,0.00,2.62,0.00,0.000,4,0.000,0.060,2530,747,3096
$GC,2374,-0.99,-117.3,191.8,-9.6,110,2380,0.00,2.58,0.00,0.000,6,0.000,0.051,2530,2188,3096
$GC,2692,-1.04,-117.3,218.0,-8.1,126,2693,0.12,0.00,0.00,0.000,6,0.054,0.000,2493,2188,3096
$GC,3000,-0.98,-117.3,244.7,-8.6,141,3005,0.10,2.62,0.00,0.000,4,0.100,0.060,2514,750,3096
$GC,3073,-0.98,-117.3,250.6,-8.0,144,3077,0.00,2.58,0.00,0.000,6,0.000,0.052,2514,2179,3096
$GC,3389,-0.98,-117.3,276.3,-8.5,159,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2179,3095
$GC,3698,-0.98,-117.3,302.9,-9.5,174,3702,0.00,2.60,0.00,0.000,4,0.000,0.060,2514,744,3095
$GC,3765,-0.98,-117.3,308.9,-9.2,177,3769,0.00,2.58,0.00,0.000,6,0.000,0.053,2514,2175,3095
$GC,4086,-0.98,-117.3,333.7,-8.0,193,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2175,3095
$GC,4396,-0.98,-117.3,354.5,-5.8,208,4400,0.00,2.60,0.00,0.000,4,0.000,0.061,2514,739,3095
$GC,4491,-0.98,-117.3,360.7,-6.3,212,4495,0.00,2.58,0.00,0.000,6,0.000,0.054,2514,2169,3095
$GC,4807,-0.98,-117.3,377.5,-5.2,227,4811,0.00,2.53,0.00,0.000,4,0.000,0.066,2514,3564,3094
$GC,4880,-0.98,-117.3,382.1,-6.8,230,4884,0.00,2.53,0.00,0.000,6,0.000,0.051,2514,2151,3094
$GC,5196,-0.98,-117.3,401.6,-6.1,245,5200,0.00,2.60,0.00,0.000,4,0.000,0.066,2514,3564,3094
$GC,5361,-0.98,-117.3,414.2,-7.6,252,5365,0.00,2.50,0.00,0.000,6,0.000,0.052,2514,2167,3094
$GC,5677,-0.98,-117.3,437.4,-6.8,267,5682,0.00,2.58,0.00,0.000,4,0.000,0.065,2513,737,3094
$GC,5869,-0.98,-117.3,450.1,-7.2,275,5875,0.00,2.58,0.00,0.000,6,0.000,0.058,2514,2160,3094
$GC,6185,-0.98,-117.3,466.3,-5.1,291,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2161,3093
$STATE,6329,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6329,begin apogee
$GC,6337,-0.33,0.0,475.4,6.1,298,6437,0.68,0.00,97.30,1.144,6,0.083,0.000,2653,2085,2620
$STATE,6438,end apogee,CONTROL_FINISHED_OK
$STATE,6438,begin climb
$GC,6441,1.30,117.3,477.5,0.0,303,6542,1.67,0.00,96.88,1.114,6,0.070,0.000,3013,2084,2141
$GC,6843,1.24,117.3,441.8,9.2,323,6847,0.00,2.65,0.00,0.000,4,0.000,0.072,3013,3505,2139
$GC,7101,1.15,117.3,418.2,9.4,334,7107,0.17,2.45,0.00,0.000,6,0.094,0.059,2980,2174,2138
$GC,7417,1.15,117.3,392.7,8.3,350,7421,0.00,2.53,0.00,0.000,4,0.000,0.072,2980,3511,2137
$GC,7450,1.15,117.3,389.5,9.0,351,7456,0.00,2.42,0.00,0.000,6,0.000,0.059,2980,2188,2137
$GC,7767,1.16,120.1,364.1,7.9,367,7771,0.00,2.47,0.00,0.000,4,0.000,0.070,2980,3506,2136
$GC,7833,1.16,120.1,358.1,8.2,370,7838,0.00,2.40,0.00,0.000,6,0.000,0.056,2980,2191,2135
$GC,8157,1.17,127.0,333.4,7.7,386,8171,0.00,2.50,8.48,0.943,4,0.000,0.067,2980,3501,2102
$GC,8183,1.17,127.0,331.0,8.5,387,8187,0.00,2.38,0.00,0.000,6,0.000,0.054,2980,2203,2102
$GC,8505,1.26,159.0,308.2,6.5,403,8540,0.10,2.50,27.48,1.035,4,0.061,0.064,3009,3504,1971
$GC,8563,1.22,159.0,303.5,8.5,405,8569,0.00,2.38,0.00,0.000,6,0.000,0.052,3009,2205,1971
$GC,8879,1.22,159.0,275.4,9.5,421,8883,0.00,2.40,0.00,0.000,4,0.000,0.064,3009,3507,1970
$GC,8891,1.22,159.0,274.1,9.8,421,8895,0.00,2.33,0.00,0.000,6,0.000,0.051,3009,2219,1970
$GC,9207,1.22,159.0,242.6,10.2,436,9211,0.00,2.38,0.00,0.000,4,0.000,0.063,3009,3507,1970
$GC,9228,1.22,159.0,240.3,10.1,437,9233,0.00,2.33,0.00,0.000,6,0.000,0.051,3009,2218,1970
$GC,9551,1.22,159.0,207.6,10.1,453,9555,0.00,2.38,0.00,0.000,4,0.000,0.062,3009,3509,1970
$GC,9568,1.22,159.0,205.7,10.2,454,9572,0.00,2.30,0.00,0.000,6,0.000,0.049,3009,2224,1970
$GC,9894,1.22,159.0,172.9,9.9,470,9899,0.00,2.35,0.00,0.000,4,0.000,0.061,3009,3508,1970
$GC,9905,1.22,159.0,171.7,9.9,470,9912,0.00,2.28,0.00,0.000,6,0.000,0.049,3009,2234,1971
$GC,10222,1.22,159.0,137.5,11.4,486,10226,0.00,2.35,0.00,0.000,4,0.000,0.061,3009,3511,1971
$GC,10240,1.22,159.0,135.4,11.3,487,10244,0.00,2.28,0.00,0.000,6,0.000,0.048,3009,2234,1971
$GC,10568,1.22,159.0,100.9,9.9,503,10569,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2217,1971
$GC,10879,1.22,159.0,71.4,9.1,518,10880,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2217,1971
$GC,11186,1.22,159.0,45.1,8.6,533,11191,0.00,2.72,0.00,0.000,4,0.000,0.058,3009,707,1972
$GC,11253,1.22,159.0,38.4,10.0,536,11258,0.00,2.67,0.00,0.000,6,0.000,0.050,3009,2204,1972
$GC,11576,1.22,159.0,10.1,8.8,552,11580,0.00,2.33,0.00,0.000,4,0.000,0.060,3009,3508,1972
$GC,11616,1.22,159.0,6.5,8.4,554,11620,0.00,2.28,0.00,0.000,6,0.000,0.045,3009,2221,1972
$STATE,11672,end climb,SURFACE_DEPTH_REACHED
$STATE,11672,begin surface coast
$FINISH,-0.1,1.015052
$STATE,11694,end surface coast,CONTROL_FINISHED_OK
$STATE,11694,begin surface
$SM_CCo,11718,227.40,0.781,0,0,390,547.02
$SM_GC,0.54,0.00,0.00,227.40,0.000,0.000,0.781,421,2120,390,-10.62,-0.82,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1711
$TCM_TEMP,16.70
$XPDR_PINGS,376
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,475.4,6.6
$24V_AH,23.8,54.666
$10V_AH,10.1,26.260
$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,24.950,114.375,230.125,227.400,0.000,37.763,26.816,114.311,98.250,0.000,0.000,15.791,1100.695,8697.057,636.864,1384.431,426.339,33.364,1322.402,0.000,1354.265,0.000,30.929
$DEVICE_MAMPS,135.759,72.098,1143.597,780.806,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,381.962,411.891,420.102,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28507,558
$CAP_FILE_SIZE,96215,0
$CFSIZE,254472192,233123840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,080808,041538,6301.370,-900.377,35,0.8,35,-9.8