version: 66.03
glider: 5
mission: 3
dive: 296
start: 8 8 108 7 58 12
data:
$ID,5
$MISSION,3
$DIVE,296
$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,-82272.023
$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,24
$R_STBD_OVSHOOT,20
$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
$GPS1,075208,6300.233,-900.170,35,1.4,35,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-59.3
$GPS2,075721,6300.171,-900.091,13,1.5,13,-9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.081,0.207
$KALMAN_X,-132002.4,183.9,-1497.1,231535.5,14944.4
$KALMAN_Y,-43847.0,1118.0,129.5,136874.8,-16304.8
$MHEAD_RNG_PITCHd_Wd,348.5,21908,-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,-117.3,0.0,0.0,0,141,0.00,0.00,-113.07,0.000,6,0.000,0.000,420,2165,3098
$GC,145,-1.30,-117.3,2.1,-1.6,5,161,10.45,2.50,0.00,0.000,4,0.137,0.057,2436,3563,3098
$GC,352,-1.02,-117.3,31.3,-11.6,13,357,0.32,2.53,0.00,0.000,6,0.094,0.044,2504,2137,3097
$GC,670,-0.97,-117.3,57.0,-8.7,28,674,0.00,2.47,0.00,0.000,4,0.000,0.054,2504,741,3097
$GC,890,-0.90,-117.3,79.3,-10.4,38,895,0.15,2.50,0.00,0.000,6,0.094,0.048,2534,2143,3097
$GC,1218,-0.95,-117.3,107.1,-8.7,54,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2143,3098
$GC,1528,-1.00,-117.3,132.2,-7.9,69,1532,0.00,2.55,0.00,0.000,4,0.000,0.058,2534,743,3098
$GC,1617,-1.00,-117.3,139.7,-8.2,73,1621,0.00,2.50,0.00,0.000,6,0.000,0.051,2535,2132,3098
$GC,1939,-1.06,-117.3,164.8,-7.8,89,1944,0.15,2.55,0.00,0.000,4,0.051,0.060,2486,3563,3098
$GC,2041,-0.95,-117.3,175.0,-9.9,93,2048,0.17,2.55,0.00,0.000,6,0.091,0.047,2521,2130,3098
$GC,2356,-0.95,-117.3,202.6,-8.7,109,2360,0.00,2.45,0.00,0.000,4,0.000,0.061,2522,750,3098
$GC,2469,-0.95,-117.3,212.5,-8.9,114,2473,0.00,2.47,0.00,0.000,6,0.000,0.052,2521,2125,3097
$GC,2790,-0.95,-117.3,238.1,-7.9,130,2794,0.00,2.58,0.00,0.000,4,0.000,0.063,2522,3565,3097
$GC,2902,-0.95,-117.3,247.6,-8.5,135,2906,0.00,2.58,0.00,0.000,6,0.000,0.049,2521,2123,3097
$GC,3224,-0.95,-117.3,273.3,-8.0,151,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2123,3096
$GC,3533,-0.95,-117.3,297.3,-7.6,166,3537,0.00,2.47,0.00,0.000,4,0.000,0.063,2522,744,3096
$GC,3641,-0.95,-117.3,306.0,-8.0,171,3646,0.00,2.50,0.00,0.000,6,0.000,0.053,2521,2135,3096
$GC,3969,-0.95,-117.3,331.4,-8.0,187,3973,0.00,2.58,0.00,0.000,4,0.000,0.064,2522,3561,3096
$GC,4054,-0.95,-117.3,339.1,-9.4,191,4059,0.00,2.58,0.00,0.000,6,0.000,0.051,2521,2114,3095
$GC,4382,-0.95,-117.3,366.8,-7.7,207,4386,0.00,2.45,0.00,0.000,4,0.000,0.061,2521,746,3096
$GC,4591,-0.95,-117.3,382.2,-7.0,216,4595,0.00,2.47,0.00,0.000,6,0.000,0.054,2522,2116,3095
$GC,4908,-0.99,-117.3,402.3,-5.7,231,4912,0.00,2.62,0.00,0.000,4,0.000,0.068,2521,3557,3095
$GC,5090,-0.99,-117.3,414.6,-7.1,239,5094,0.00,2.62,0.00,0.000,6,0.000,0.053,2521,2096,3095
$GC,5412,-1.04,-117.3,435.2,-6.1,255,5416,0.00,2.70,0.00,0.000,4,0.000,0.070,2522,3554,3094
$STATE,5632,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5632,begin apogee
$GC,5642,-0.33,0.0,450.1,6.7,265,5742,0.60,0.00,97.50,1.128,6,0.084,0.000,2650,2079,2620
$STATE,5743,end apogee,CONTROL_FINISHED_OK
$STATE,5743,begin climb
$GC,5746,1.30,117.3,452.4,0.0,270,5852,1.65,2.72,96.10,1.101,4,0.067,0.070,3009,3501,2140
$GC,5861,1.21,117.3,445.6,8.5,275,5865,0.00,2.60,0.00,0.000,6,0.000,0.058,3009,2101,2140
$GC,6177,1.14,117.3,416.5,9.6,290,6182,0.17,2.65,0.00,0.000,4,0.091,0.071,2974,3511,2139
$GC,6308,1.14,117.3,405.5,8.8,296,6313,0.00,2.53,0.00,0.000,6,0.000,0.058,2974,2134,2139
$GC,6636,1.18,117.3,379.1,8.1,312,6640,0.00,2.60,0.00,0.000,4,0.000,0.071,2974,3512,2138
$GC,6703,1.18,117.3,373.1,9.3,315,6707,0.00,2.50,0.00,0.000,6,0.000,0.058,2974,2147,2138
$GC,7024,1.23,117.3,344.7,9.3,331,7029,0.12,2.55,0.00,0.000,4,0.057,0.070,3006,3505,2136
$GC,7052,1.19,117.3,341.4,12.3,332,7056,0.00,2.45,0.00,0.000,6,0.000,0.057,3006,2164,2136
$GC,7369,1.14,117.3,306.9,10.9,347,7374,0.15,2.50,0.00,0.000,4,0.094,0.067,2974,3508,2135
$GC,7413,1.14,117.3,302.1,10.0,349,7417,0.00,2.45,0.00,0.000,6,0.000,0.054,2974,2161,2135
$GC,7734,1.20,117.3,273.8,8.5,365,7739,0.00,2.50,0.00,0.000,4,0.000,0.066,2974,3511,2135
$GC,7780,1.24,117.3,269.6,8.9,367,7785,0.12,2.42,0.00,0.000,6,0.055,0.051,3006,2168,2135
$GC,8101,1.20,117.3,240.3,8.7,383,8105,0.00,2.45,0.00,0.000,4,0.000,0.064,3006,3508,2135
$GC,8147,1.13,117.3,236.1,8.8,385,8152,0.15,2.40,0.00,0.000,6,0.094,0.051,2977,2174,2134
$GC,8469,1.21,134.2,213.3,7.2,401,8490,0.00,2.53,13.88,0.936,4,0.000,0.063,2977,3515,2073
$GC,8514,1.25,134.2,209.6,8.0,403,8519,0.12,2.42,0.00,0.000,6,0.054,0.050,3011,2179,2073
$GC,8841,1.25,134.2,177.6,9.9,419,8846,0.00,2.42,0.00,0.000,4,0.000,0.061,3011,3511,2072
$GC,8869,1.20,134.2,174.7,10.8,420,8874,0.00,2.38,0.00,0.000,6,0.000,0.048,3011,2183,2073
$GC,9186,1.20,134.2,144.3,9.4,435,9190,0.00,2.42,0.00,0.000,4,0.000,0.061,3011,3508,2073
$GC,9214,1.15,134.2,141.5,10.7,436,9219,0.17,2.38,0.00,0.000,6,0.088,0.048,2977,2185,2073
$GC,9531,1.25,154.5,118.8,7.1,451,9556,0.12,2.50,17.95,0.874,4,0.053,0.059,3012,3507,1990
$GC,9600,1.25,154.5,112.7,9.6,454,9604,0.00,2.35,0.00,0.000,6,0.000,0.047,3012,2199,1990
$GC,9927,1.25,154.5,79.5,10.6,470,9931,0.00,2.40,0.00,0.000,4,0.000,0.061,3012,3509,1989
$GC,9954,1.25,154.5,76.4,11.3,471,9958,0.00,2.35,0.00,0.000,6,0.000,0.048,3012,2201,1990
$GC,10273,1.25,154.5,40.0,11.4,486,10277,0.00,2.40,0.00,0.000,4,0.000,0.060,3012,3515,1990
$GC,10300,1.25,154.5,36.3,12.0,487,10305,0.00,2.33,0.00,0.000,6,0.000,0.047,3012,2211,1989
$GC,10616,1.25,154.5,6.7,9.1,502,10618,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2204,1990
$STATE,10675,end climb,SURFACE_DEPTH_REACHED
$STATE,10676,begin surface coast
$FINISH,-0.1,1.002732
$STATE,10698,end surface coast,CONTROL_FINISHED_OK
$STATE,10698,begin surface
$SM_CCo,10722,233.57,0.789,0,0,390,547.02
$SM_GC,0.56,0.00,0.00,233.57,0.000,0.000,0.789,423,2112,390,-10.61,-1.05,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1722
$TCM_TEMP,16.40
$XPDR_PINGS,346
$ALTIM_TOP_PING,18.2,999.0
$ALTIM_BOTTOM_PING,426.3,33.5
$24V_AH,23.8,54.955
$10V_AH,10.1,26.388
$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,25.875,120.225,225.425,233.575,0.000,37.761,34.389,119.820,90.000,0.000,0.000,13.636,1044.947,7791.934,614.510,1384.021,435.893,33.358,1311.658,0.000,1351.769,0.000,24.888
$DEVICE_MAMPS,136.526,71.331,1128.257,789.243,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,347.074,372.295,385.822,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25393,506
$CAP_FILE_SIZE,96871,0
$CFSIZE,254472192,233029632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,080808,110208,6300.250,-902.224,41,1.4,41,-9.8