version: 66.03
glider: 5
mission: 3
dive: 299
start: 8 8 108 17 54 54
data:
$ID,5
$MISSION,3
$DIVE,299
$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,-82332.781
$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,19
$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
$GPS1,174908,6301.745,-900.682,27,1.7,27,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-58.9
$GPS2,175403,6301.729,-900.673,13,1.7,13,-9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.076,0.208
$KALMAN_X,-130725.1,-1791.6,-1177.1,231407.2,14740.3
$KALMAN_Y,-51929.4,2036.4,390.2,146627.6,-20054.8
$MHEAD_RNG_PITCHd_Wd,349.9,19031,-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,-117.3,0.0,0.0,0,142,0.00,0.00,-114.43,0.000,6,0.000,0.000,421,2164,3099
$GC,146,-1.30,-117.3,1.9,-1.4,5,162,10.48,2.50,0.00,0.000,4,0.137,0.057,2437,3561,3099
$GC,347,-1.05,-117.3,32.5,-15.4,13,352,0.30,2.53,0.00,0.000,6,0.092,0.044,2500,2140,3097
$GC,669,-0.99,-117.3,72.6,-10.9,29,673,0.00,2.47,0.00,0.000,4,0.000,0.054,2500,746,3098
$GC,927,-0.92,-117.3,97.2,-8.6,40,934,0.12,2.45,0.00,0.000,6,0.099,0.048,2527,2125,3099
$GC,1245,-0.92,-117.3,121.5,-7.7,56,1249,0.00,2.50,0.00,0.000,4,0.000,0.058,2527,751,3099
$GC,1502,-0.92,-117.3,141.8,-7.4,67,1509,0.00,2.40,0.00,0.000,6,0.000,0.049,2527,2088,3099
$GC,1818,-0.92,-117.3,159.9,-5.1,83,1822,0.00,2.42,0.00,0.000,4,0.000,0.057,2527,751,3099
$GC,1920,-0.92,-117.3,165.3,-5.2,87,1926,0.00,2.38,0.00,0.000,6,0.000,0.050,2527,2075,3099
$GC,2236,-0.92,-117.3,180.2,-4.4,103,2241,0.00,2.65,0.00,0.000,4,0.000,0.061,2527,3556,3099
$GC,2394,-0.92,-117.3,187.3,-4.5,110,2399,0.00,2.62,0.00,0.000,6,0.000,0.047,2527,2077,3099
$GC,2717,-0.96,-117.3,201.2,-4.4,126,2721,0.00,2.38,0.00,0.000,4,0.000,0.061,2527,752,3098
$GC,2852,-0.96,-117.3,207.5,-4.6,132,2856,0.00,2.38,0.00,0.000,6,0.000,0.050,2527,2080,3098
$GC,3174,-1.01,-117.3,221.9,-4.5,148,3179,0.00,2.65,0.00,0.000,4,0.000,0.063,2527,3556,3098
$GC,3293,-1.01,-117.3,228.3,-5.1,153,3297,0.00,2.65,0.00,0.000,6,0.000,0.048,2527,2067,3098
$GC,3610,-1.05,-117.3,243.6,-5.2,168,3614,0.12,2.38,0.00,0.000,4,0.054,0.059,2490,739,3098
$GC,3688,-0.96,-117.3,249.2,-7.1,171,3694,0.12,2.42,0.00,0.000,6,0.100,0.052,2516,2084,3098
$GC,4006,-0.96,-117.3,270.9,-7.6,187,4011,0.00,2.45,0.00,0.000,4,0.000,0.060,2516,742,3097
$GC,4101,-0.96,-117.3,279.2,-8.6,191,4106,0.00,2.38,0.00,0.000,6,0.000,0.052,2516,2062,3097
$GC,4418,-0.96,-117.3,311.3,-11.8,206,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2063,3097
$GC,4727,-0.96,-117.3,348.5,-11.8,221,4731,0.00,2.40,0.00,0.000,4,0.000,0.062,2516,747,3097
$GC,4862,-0.96,-117.3,365.4,-12.9,227,4866,0.00,2.35,0.00,0.000,6,0.000,0.054,2516,2045,3097
$GC,5184,-0.96,-117.3,402.4,-10.6,243,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2045,3097
$GC,5492,-0.96,-117.3,434.2,-9.3,258,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2046,3097
$GC,5802,-0.96,-117.3,456.5,-6.3,273,5807,0.00,2.78,0.00,0.000,4,0.000,0.073,2516,3556,3097
$STATE,5969,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5969,begin apogee
$GC,5979,-0.33,0.0,466.2,9.2,280,6080,0.62,0.00,98.18,1.147,6,0.084,0.000,2650,2076,2620
$STATE,6081,end apogee,CONTROL_FINISHED_OK
$STATE,6081,begin climb
$GC,6085,1.30,117.3,470.2,0.0,285,6192,1.67,2.75,96.50,1.122,4,0.071,0.072,3011,3503,2140
$GC,6218,1.18,117.3,463.3,12.7,292,6224,0.12,2.62,0.00,0.000,6,0.097,0.066,2988,2103,2140
$GC,6546,1.18,117.3,437.2,9.6,308,6550,0.00,2.67,0.00,0.000,4,0.000,0.076,2988,3504,2139
$GC,6663,1.18,117.3,422.2,13.3,313,6667,0.00,2.58,0.00,0.000,6,0.000,0.064,2988,2118,2139
$GC,6979,1.18,117.3,385.4,11.0,328,6983,0.00,2.62,0.00,0.000,4,0.000,0.076,2988,3509,2137
$GC,7091,1.18,117.3,372.3,11.9,333,7095,0.00,2.53,0.00,0.000,6,0.000,0.062,2988,2142,2136
$GC,7412,1.18,117.3,339.3,8.8,349,7416,0.00,2.58,0.00,0.000,4,0.000,0.074,2988,3508,2134
$GC,7428,1.18,117.3,337.9,8.7,350,7433,0.00,2.53,0.00,0.000,6,0.000,0.060,2988,2135,2134
$GC,7757,1.27,170.8,316.2,5.6,366,7806,0.00,2.65,42.97,1.088,4,0.000,0.069,2988,3500,1923
$GC,7842,1.32,204.5,311.3,6.5,370,7877,0.12,2.50,29.00,1.051,6,0.060,0.057,3021,2145,1786
$GC,8197,1.32,204.5,280.5,9.3,387,8201,0.00,2.53,0.00,0.000,4,0.000,0.067,3021,3504,1784
$GC,8214,1.28,204.5,278.6,9.4,388,8218,0.00,2.45,0.00,0.000,6,0.000,0.054,3020,2161,1784
$GC,8540,1.28,204.5,247.3,9.7,404,8545,0.00,2.47,0.00,0.000,4,0.000,0.064,3021,3505,1784
$GC,8559,1.23,204.5,245.4,10.3,405,8564,0.12,2.42,0.00,0.000,6,0.097,0.052,2999,2165,1784
$GC,8886,1.23,204.5,217.2,8.7,421,8890,0.00,2.47,0.00,0.000,4,0.000,0.063,2998,3508,1784
$GC,8907,1.23,204.5,215.2,8.4,422,8912,0.00,2.42,0.00,0.000,6,0.000,0.050,2999,2165,1784
$GC,9229,1.23,204.5,185.8,9.7,438,9234,0.00,2.47,0.00,0.000,4,0.000,0.062,2998,3512,1784
$GC,9263,1.23,204.5,182.1,10.3,439,9269,0.00,2.40,0.00,0.000,6,0.000,0.049,2999,2179,1785
$GC,9579,1.27,204.5,149.1,10.7,455,9583,0.00,2.42,0.00,0.000,4,0.000,0.061,2999,3506,1785
$GC,9590,1.32,204.5,147.8,10.7,455,9597,0.00,2.40,0.00,0.000,6,0.000,0.049,2998,2172,1785
$GC,9908,1.32,204.5,113.9,10.5,471,9912,0.00,2.45,0.00,0.000,4,0.000,0.061,2999,3509,1785
$GC,9920,1.32,204.5,112.6,10.3,471,9926,0.00,2.38,0.00,0.000,6,0.000,0.048,2998,2183,1785
$GC,10237,1.36,204.5,83.5,8.5,487,10239,0.12,0.00,0.00,0.000,6,0.051,0.000,3034,2182,1786
$GC,10546,1.29,204.5,50.5,10.7,502,10547,0.12,0.00,0.00,0.000,6,0.094,0.000,3011,2182,1786
$GC,10856,1.29,204.5,21.9,9.1,517,10860,0.00,2.67,0.00,0.000,4,0.000,0.059,3011,684,1786
$GC,10866,1.29,204.5,20.6,9.6,517,10873,0.00,2.67,0.00,0.000,6,0.000,0.051,3011,2185,1787
$STATE,11076,end climb,SURFACE_DEPTH_REACHED
$STATE,11077,begin surface coast
$FINISH,-0.1,1.013753
$STATE,11099,end surface coast,CONTROL_FINISHED_OK
$STATE,11099,begin surface
$SM_CCo,11122,202.27,0.788,0,0,389,547.02
$SM_GC,0.44,0.00,0.00,202.27,0.000,0.000,0.788,419,2113,389,-10.63,-1.02,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1703
$TCM_TEMP,17.30
$XPDR_PINGS,328
$ALTIM_TOP_PING,18.1,999.0
$ALTIM_BOTTOM_PING,400.2,75.8
$24V_AH,23.8,55.412
$10V_AH,10.1,26.576
$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,25.300,115.575,266.650,202.275,0.000,37.763,29.005,114.585,85.250,0.000,0.000,13.031,1059.125,8118.063,630.562,1395.798,420.839,33.360,1332.685,0.000,1367.044,0.000,23.710
$DEVICE_MAMPS,137.293,75.933,1147.432,787.709,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.221,387.891,387.356,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28508,529
$CAP_FILE_SIZE,94475,0
$CFSIZE,254472192,232886272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,080808,210515,6301.493,-904.115,36,3.2,55,-9.8