version: 66.03
glider: 5
mission: 3
dive: 297
start: 8 8 108 11 8 10
data:
$ID,5
$MISSION,3
$DIVE,297
$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,-82304.805
$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,48
$R_STBD_OVSHOOT,22
$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
$GPS1,110208,6300.250,-902.224,41,1.4,41,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-59.0
$GPS2,110720,6300.215,-902.188,15,1.5,32,-9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.051,0.216
$KALMAN_X,-133095.0,-1224.9,-733.5,231476.8,12187.0
$KALMAN_Y,-48122.1,600.3,1336.3,140513.2,-22199.5
$MHEAD_RNG_PITCHd_Wd,356.6,21902,-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,-113.75,0.000,6,0.000,0.000,424,2107,3099
$GC,145,-1.30,-117.3,2.0,-1.6,5,161,10.43,2.62,0.00,0.000,4,0.136,0.057,2436,3560,3099
$GC,316,-1.03,-117.3,24.1,-11.1,11,323,0.32,2.45,0.00,0.000,6,0.092,0.043,2505,2171,3097
$GC,634,-0.97,-117.3,50.9,-9.5,27,638,0.00,2.53,0.00,0.000,4,0.000,0.054,2505,750,3097
$GC,765,-0.89,-117.3,63.1,-9.3,33,770,0.15,2.53,0.00,0.000,6,0.094,0.048,2536,2167,3097
$GC,1092,-0.94,-117.3,93.8,-9.0,49,1096,0.00,2.50,0.00,0.000,4,0.000,0.060,2536,3560,3098
$GC,1227,-0.94,-117.3,105.9,-9.0,55,1231,0.00,2.47,0.00,0.000,6,0.000,0.044,2536,2163,3098
$GC,1551,-0.99,-117.3,132.4,-8.1,71,1552,0.10,0.00,0.00,0.000,6,0.055,0.000,2505,2160,3098
$GC,1857,-0.99,-117.3,161.2,-9.6,86,1861,0.00,2.53,0.00,0.000,4,0.000,0.057,2505,744,3098
$GC,1947,-0.94,-117.3,169.8,-9.7,90,1952,0.00,2.58,0.00,0.000,6,0.000,0.051,2505,2174,3098
$GC,2268,-0.94,-117.3,197.4,-8.0,106,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2174,3098
$GC,2577,-0.94,-117.3,222.7,-8.3,121,2582,0.00,2.60,0.00,0.000,4,0.000,0.061,2505,749,3098
$GC,2664,-0.90,-117.3,230.1,-8.9,125,2669,0.12,2.55,0.00,0.000,6,0.097,0.052,2531,2171,3098
$GC,2994,-0.95,-117.3,253.7,-7.0,141,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2168,3097
$GC,3301,-1.00,-117.3,277.5,-8.0,156,3306,0.00,2.60,0.00,0.000,4,0.000,0.061,2531,744,3097
$GC,3409,-1.00,-117.3,286.7,-8.4,161,3414,0.00,2.53,0.00,0.000,6,0.000,0.053,2531,2153,3097
$GC,3738,-1.05,-117.3,310.5,-6.8,177,3743,0.15,2.55,0.00,0.000,4,0.052,0.064,2483,3564,3097
$GC,3850,-0.94,-117.3,320.2,-8.4,182,3855,0.20,2.53,0.00,0.000,6,0.090,0.051,2523,2151,3097
$GC,4175,-0.98,-117.3,340.9,-6.5,198,4179,0.00,2.53,0.00,0.000,4,0.000,0.063,2523,737,3096
$GC,4324,-0.98,-117.3,350.9,-6.8,204,4330,0.00,2.55,0.00,0.000,6,0.000,0.054,2523,2149,3096
$GC,4640,-0.98,-117.3,369.3,-5.2,220,4644,0.00,2.55,0.00,0.000,4,0.000,0.067,2523,3559,3096
$GC,4842,-0.98,-117.3,381.8,-5.7,229,4846,0.00,2.53,0.00,0.000,6,0.000,0.051,2523,2145,3096
$GC,5164,-1.03,-117.3,398.7,-5.4,245,5168,0.00,2.53,0.00,0.000,4,0.000,0.064,2523,741,3096
$GC,5287,-1.03,-117.3,406.1,-6.1,250,5293,0.00,2.53,0.00,0.000,6,0.000,0.056,2523,2140,3096
$GC,5603,-1.03,-117.3,426.5,-6.4,266,5608,0.00,2.60,0.00,0.000,4,0.000,0.069,2523,3565,3095
$GC,5861,-1.08,-117.3,444.7,-7.0,277,5868,0.12,2.53,0.00,0.000,6,0.057,0.056,2486,2165,3095
$GC,6179,-1.03,-117.3,467.6,-6.7,293,6183,0.00,2.58,0.00,0.000,4,0.000,0.067,2486,740,3095
$STATE,6209,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6209,begin apogee
$GC,6218,-0.33,0.0,470.1,7.1,294,6319,0.77,0.00,97.68,1.156,6,0.085,0.000,2651,2102,2620
$STATE,6320,end apogee,CONTROL_FINISHED_OK
$STATE,6320,begin climb
$GC,6323,1.30,117.3,472.4,0.0,299,6429,1.65,2.70,96.70,1.121,4,0.068,0.071,3009,3505,2140
$GC,6461,1.21,117.3,462.0,10.0,305,6465,0.00,2.60,0.00,0.000,6,0.000,0.060,3009,2101,2140
$GC,6777,1.14,117.3,432.1,9.0,320,6782,0.15,2.62,0.00,0.000,4,0.096,0.072,2978,3505,2139
$GC,6788,1.09,117.3,431.0,9.0,320,6795,0.00,2.60,0.00,0.000,6,0.000,0.061,2978,2097,2139
$GC,7105,1.14,146.3,409.5,6.7,336,7135,0.00,2.70,24.60,1.096,4,0.000,0.071,2978,3505,2023
$GC,7197,1.14,146.3,402.4,8.6,340,7201,0.00,2.58,0.00,0.000,6,0.000,0.059,2977,2113,2022
$GC,7514,1.20,155.7,377.6,7.6,355,7529,0.00,2.67,8.93,0.986,4,0.000,0.071,2978,3504,1985
$GC,7614,1.25,155.7,368.7,8.7,359,7619,0.12,2.50,0.00,0.000,6,0.058,0.057,3010,2138,1985
$GC,7931,1.25,155.7,338.9,9.5,374,7935,0.00,2.55,0.00,0.000,4,0.000,0.069,3010,3508,1984
$GC,7986,1.21,155.7,333.2,10.2,376,7992,0.00,2.47,0.00,0.000,6,0.000,0.055,3011,2145,1984
$GC,8302,1.21,155.7,302.5,9.5,392,8306,0.00,2.53,0.00,0.000,4,0.000,0.067,3010,3507,1983
$GC,8381,1.16,155.7,294.7,10.0,395,8388,0.15,2.45,0.00,0.000,6,0.095,0.054,2980,2160,1983
$GC,8698,1.24,161.0,269.4,7.8,411,8709,0.00,2.50,6.03,0.847,4,0.000,0.064,2981,3506,1962
$GC,8726,1.29,161.0,266.9,9.3,412,8731,0.15,2.45,0.00,0.000,6,0.052,0.051,3020,2160,1962
$GC,9043,1.23,161.0,233.6,10.9,427,9048,0.12,2.47,0.00,0.000,4,0.094,0.062,2998,3506,1962
$GC,9075,1.23,161.0,229.8,10.7,428,9081,0.00,2.40,0.00,0.000,6,0.000,0.050,2998,2176,1962
$GC,9392,1.23,161.0,197.8,10.3,444,9396,0.00,2.45,0.00,0.000,4,0.000,0.062,2998,3512,1962
$GC,9433,1.23,161.0,193.2,12.0,446,9437,0.00,2.38,0.00,0.000,6,0.000,0.049,2998,2184,1962
$GC,9760,1.23,161.0,157.2,11.2,462,9764,0.00,2.42,0.00,0.000,4,0.000,0.061,2998,3511,1963
$GC,9828,1.23,161.0,149.2,12.2,465,9832,0.00,2.35,0.00,0.000,6,0.000,0.048,2998,2195,1963
$GC,10150,1.23,161.0,117.4,9.2,481,10154,0.00,2.40,0.00,0.000,4,0.000,0.061,2998,3507,1963
$GC,10167,1.23,161.0,115.6,9.4,482,10172,0.00,2.35,0.00,0.000,6,0.000,0.048,2998,2192,1963
$GC,10496,1.27,187.3,90.4,6.8,498,10520,0.00,0.00,22.23,0.871,6,0.000,0.000,2998,2189,1856
$GC,10826,1.38,225.8,66.7,6.2,514,10863,0.15,2.47,31.33,0.852,4,0.049,0.058,3044,3515,1698
$GC,10888,1.33,225.8,60.8,10.6,516,10893,0.12,2.38,0.00,0.000,6,0.091,0.048,3020,2197,1698
$GC,11215,1.33,225.8,30.3,9.3,532,11219,0.00,2.40,0.00,0.000,4,0.000,0.059,3020,3509,1698
$GC,11248,1.33,225.8,26.7,10.1,533,11255,0.00,2.35,0.00,0.000,6,0.000,0.047,3020,2188,1698
$STATE,11500,end climb,SURFACE_DEPTH_REACHED
$STATE,11500,begin surface coast
$FINISH,0.0,1.003852
$STATE,11522,end surface coast,CONTROL_FINISHED_OK
$STATE,11522,begin surface
$SM_CCo,11545,191.80,0.787,0,0,390,547.02
$SM_GC,0.53,0.00,0.00,191.80,0.000,0.000,0.787,419,2168,390,-10.63,0.51,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1699
$TCM_TEMP,17.50
$XPDR_PINGS,369
$ALTIM_TOP_PING,19.7,19.3
$ALTIM_BOTTOM_PING,425.1,54.7
$24V_AH,23.8,55.106
$10V_AH,10.1,26.451
$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,26.325,125.725,287.475,191.800,0.000,37.762,27.721,115.351,95.750,0.000,0.000,32.155,1102.367,8418.734,638.311,1462.753,431.343,33.357,1369.953,0.000,1408.782,0.000,24.890
$DEVICE_MAMPS,135.759,72.098,1155.869,786.942,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,374.389,402.141,411.524,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28559,547
$CAP_FILE_SIZE,101568,0
$CFSIZE,254472192,232980480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,080808,142508,6301.667,-901.056,41,1.5,41,-9.8