version: 66.03
glider: 5
mission: 3
dive: 298
start: 8 8 108 14 34 13
data:
$ID,5
$MISSION,3
$DIVE,298
$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,-82319.125
$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,22
$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
$GPS1,142508,6301.667,-901.056,41,1.5,41,-9.8
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-58.6
$GPS2,143321,6301.647,-901.054,13,1.5,13,-9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.061,0.213
$KALMAN_X,-131803.8,-2335.0,-68.6,231590.5,11828.0
$KALMAN_Y,-48476.2,975.7,1272.8,143182.8,-18763.5
$MHEAD_RNG_PITCHd_Wd,353.7,19194,-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,-113.35,0.000,6,0.000,0.000,419,2158,3099
$GC,145,-1.30,-117.3,1.9,-1.4,5,161,10.48,2.53,0.00,0.000,4,0.137,0.056,2439,3562,3098
$GC,358,-1.03,-117.3,34.9,-15.1,13,365,0.32,2.50,0.00,0.000,6,0.089,0.043,2507,2142,3097
$GC,678,-0.99,-117.3,63.5,-7.3,29,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2124,3098
$GC,984,-0.94,-117.3,84.7,-6.9,44,989,0.00,2.60,0.00,0.000,4,0.000,0.058,2507,3564,3098
$GC,1071,-0.88,-117.3,91.0,-6.9,48,1076,0.15,2.53,0.00,0.000,6,0.094,0.044,2538,2132,3098
$GC,1399,-0.94,-117.3,107.9,-5.1,64,1403,0.00,2.47,0.00,0.000,4,0.000,0.056,2538,740,3098
$GC,1530,-0.98,-117.3,115.7,-6.5,70,1534,0.00,2.50,0.00,0.000,6,0.000,0.050,2538,2140,3098
$GC,1860,-1.05,-117.3,137.1,-7.0,86,1862,0.17,0.00,0.00,0.000,6,0.048,0.000,2488,2138,3098
$GC,2167,-0.96,-117.3,165.1,-9.5,101,2172,0.15,2.55,0.00,0.000,4,0.093,0.058,2522,740,3098
$GC,2256,-0.96,-117.3,173.3,-8.8,105,2261,0.00,2.50,0.00,0.000,6,0.000,0.051,2522,2136,3098
$GC,2578,-0.96,-117.3,199.9,-8.4,121,2583,0.00,2.55,0.00,0.000,4,0.000,0.061,2522,3557,3097
$GC,2701,-0.96,-117.3,211.1,-9.0,126,2706,0.00,2.58,0.00,0.000,6,0.000,0.047,2522,2109,3097
$GC,3018,-0.96,-117.3,238.3,-8.7,141,3022,0.00,2.45,0.00,0.000,4,0.000,0.059,2523,737,3097
$GC,3107,-0.96,-117.3,246.8,-9.9,145,3111,0.00,2.47,0.00,0.000,6,0.000,0.051,2522,2116,3097
$GC,3429,-0.96,-117.3,274.8,-8.3,161,3433,0.00,2.60,0.00,0.000,4,0.000,0.063,2522,3558,3097
$GC,3534,-0.96,-117.3,284.5,-9.3,165,3541,0.00,2.60,0.00,0.000,6,0.000,0.049,2522,2101,3096
$GC,3851,-0.96,-117.3,310.2,-7.5,181,3855,0.00,2.42,0.00,0.000,4,0.000,0.061,2522,747,3096
$GC,3994,-0.96,-117.3,320.7,-7.1,187,3998,0.00,2.42,0.00,0.000,6,0.000,0.052,2522,2093,3096
$GC,4310,-0.96,-117.3,340.4,-6.6,202,4314,0.00,2.65,0.00,0.000,4,0.000,0.064,2522,3560,3096
$GC,4424,-0.96,-117.3,348.9,-7.9,207,4428,0.00,2.62,0.00,0.000,6,0.000,0.049,2522,2080,3096
$GC,4745,-1.01,-117.3,372.0,-6.7,223,4750,0.00,2.40,0.00,0.000,4,0.000,0.062,2522,745,3096
$GC,4876,-1.01,-117.3,381.8,-7.9,229,4881,0.00,2.40,0.00,0.000,6,0.000,0.054,2523,2077,3096
$GC,5204,-1.01,-117.3,404.1,-6.6,245,5208,0.00,2.45,0.00,0.000,4,0.000,0.065,2522,738,3095
$GC,5327,-1.01,-117.3,412.9,-6.9,250,5334,0.00,2.38,0.00,0.000,6,0.000,0.056,2522,2054,3095
$GC,5645,-1.06,-117.3,433.6,-6.2,266,5646,0.12,0.00,0.00,0.000,6,0.056,0.000,2487,2054,3095
$GC,5954,-1.00,-117.3,453.6,-5.0,281,5958,0.12,2.45,0.00,0.000,4,0.099,0.069,2512,744,3095
$GC,6132,-1.00,-117.3,459.8,-3.6,289,6137,0.00,2.38,0.00,0.000,6,0.000,0.061,2512,2034,3094
$STATE,6430,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6431,begin apogee
$GC,6438,-0.33,0.0,469.8,4.7,304,6539,0.68,0.00,97.53,1.157,6,0.087,0.000,2652,2107,2620
$STATE,6540,end apogee,CONTROL_FINISHED_OK
$STATE,6540,begin climb
$GC,6543,1.30,117.3,469.3,0.0,309,6649,1.67,2.72,96.45,1.121,4,0.073,0.072,3012,693,2140
$GC,6741,1.21,117.3,447.3,12.6,318,6745,0.00,2.60,0.00,0.000,6,0.000,0.063,3011,2094,2140
$GC,7062,1.16,117.3,408.7,11.5,334,7067,0.15,2.65,0.00,0.000,4,0.096,0.074,2983,691,2138
$GC,7128,1.16,117.3,401.3,10.1,337,7133,0.00,2.60,0.00,0.000,6,0.000,0.065,2983,2100,2138
$GC,7450,1.16,117.3,371.9,8.3,353,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2100,2137
$GC,7759,1.23,160.2,349.9,6.0,368,7801,0.00,2.67,35.28,1.091,4,0.000,0.073,2983,3510,1966
$GC,7830,1.26,181.3,345.3,7.0,371,7854,0.00,2.60,18.80,1.048,6,0.000,0.061,2983,2098,1879
$GC,8180,1.36,200.7,321.0,7.1,388,8203,0.15,2.72,16.70,1.029,4,0.054,0.069,3027,3512,1801
$GC,8231,1.29,200.7,315.9,10.5,390,8236,0.00,2.55,0.00,0.000,6,0.000,0.058,3027,2131,1801
$GC,8555,1.24,200.7,287.4,8.6,406,8560,0.15,2.58,0.00,0.000,4,0.094,0.067,2996,3516,1800
$GC,8617,1.29,208.7,282.3,7.6,409,8632,0.00,2.53,8.07,0.913,6,0.000,0.054,2996,2130,1768
$GC,8950,1.34,208.7,257.0,8.1,425,8955,0.12,2.55,0.00,0.000,4,0.055,0.065,3028,3509,1768
$GC,8995,1.28,208.7,252.2,11.4,427,8999,0.00,2.47,0.00,0.000,6,0.000,0.053,3028,2146,1768
$GC,9316,1.24,208.7,216.8,11.6,443,9321,0.15,2.50,0.00,0.000,4,0.093,0.064,2996,3511,1768
$GC,9367,1.29,208.7,210.9,11.0,445,9371,0.00,2.42,0.00,0.000,6,0.000,0.051,2997,2166,1767
$GC,9683,1.35,208.7,179.1,10.1,460,9688,0.12,2.47,0.00,0.000,4,0.054,0.061,3031,3515,1768
$GC,9711,1.35,208.7,175.7,12.8,461,9715,0.00,2.42,0.00,0.000,6,0.000,0.049,3030,2168,1768
$GC,10028,1.31,208.7,138.3,11.4,476,10032,0.00,2.45,0.00,0.000,4,0.000,0.061,3030,3510,1768
$GC,10068,1.27,208.7,133.6,11.7,478,10073,0.12,2.38,0.00,0.000,6,0.092,0.048,3007,2181,1768
$GC,10396,1.28,218.4,106.0,7.6,494,10411,0.00,2.47,9.52,0.815,4,0.000,0.061,3007,3517,1729
$GC,10441,1.28,218.4,102.2,8.8,496,10445,0.00,2.35,0.00,0.000,6,0.000,0.048,3007,2195,1729
$GC,10774,1.33,218.4,70.3,10.8,512,10775,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2178,1729
$GC,11084,1.38,218.4,36.3,10.9,527,11086,0.10,0.00,0.00,0.000,6,0.058,0.000,3037,2177,1729
$STATE,11389,end climb,SURFACE_DEPTH_REACHED
$STATE,11390,begin surface coast
$FINISH,-0.1,1.013255
$STATE,11411,end surface coast,CONTROL_FINISHED_OK
$STATE,11411,begin surface
$SM_CCo,11434,194.02,0.788,0,0,390,547.02
$SM_GC,0.54,0.00,0.00,194.02,0.000,0.000,0.788,420,2164,390,-10.62,0.37,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1708
$TCM_TEMP,17.30
$XPDR_PINGS,333
$ALTIM_TOP_PING,19.3,999.0
$ALTIM_BOTTOM_PING,450.7,29.0
$24V_AH,23.8,55.263
$10V_AH,10.1,26.515
$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,26.300,110.850,282.350,194.025,0.000,75.525,78.908,163.136,87.000,0.000,0.000,13.698,1090.522,8446.486,617.022,1414.214,558.013,33.361,1329.498,0.000,1383.373,0.000,26.503
$DEVICE_MAMPS,137.293,82.836,1157.403,788.476,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,372.541,401.610,414.881,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28503,543
$CAP_FILE_SIZE,99664,0
$CFSIZE,254472192,232931328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,080808,174908,6301.745,-900.682,27,1.7,27,-9.8