version: 66.03
glider: 5
mission: 3
dive: 301
start: 8 9 108 0 32 48
data:
$ID,5
$MISSION,3
$DIVE,301
$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,-82359.492
$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,29
$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
$GPS1,002702,6303.104,-904.730,35,1.8,35,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-56.4
$GPS2,003157,6303.094,-904.785,13,2.0,13,-9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.023,0.221
$KALMAN_X,-137983.7,-163.6,103.1,232188.5,88.4
$KALMAN_Y,-56156.8,1787.2,1798.4,152193.0,-22701.0
$MHEAD_RNG_PITCHd_Wd,15.7,16971,-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,-114.25,0.000,6,0.000,0.000,421,2117,3099
$GC,146,-1.30,-117.3,2.0,-1.4,5,162,10.48,2.60,0.00,0.000,4,0.138,0.058,2435,3560,3098
$GC,414,-1.02,-117.3,38.6,-13.0,16,419,0.35,2.50,0.00,0.000,6,0.092,0.043,2511,2149,3097
$GC,738,-0.96,-117.3,64.4,-8.0,32,742,0.00,2.58,0.00,0.000,4,0.000,0.058,2510,3558,3097
$GC,824,-0.89,-117.3,71.0,-7.3,36,829,0.12,2.45,0.00,0.000,6,0.097,0.043,2534,2167,3097
$GC,1151,-0.94,-117.3,95.1,-8.5,52,1156,0.00,2.50,0.00,0.000,4,0.000,0.055,2534,751,3098
$GC,1320,-0.94,-117.3,109.8,-8.6,59,1327,0.00,2.53,0.00,0.000,6,0.000,0.048,2534,2172,3098
$GC,1637,-0.99,-117.3,135.8,-8.3,75,1641,0.00,2.50,0.00,0.000,4,0.000,0.061,2534,3563,3098
$GC,1771,-0.99,-117.3,148.3,-8.5,81,1776,0.00,2.47,0.00,0.000,6,0.000,0.046,2534,2166,3098
$GC,2094,-1.04,-117.3,173.5,-7.4,97,2095,0.15,0.00,0.00,0.000,6,0.051,0.000,2490,2147,3098
$GC,2402,-0.97,-117.3,199.6,-8.4,112,2410,0.12,2.53,0.00,0.000,4,0.096,0.057,2516,740,3098
$GC,2546,-0.97,-117.3,211.5,-8.2,118,2550,0.00,2.58,0.00,0.000,6,0.000,0.052,2516,2171,3098
$GC,2867,-0.97,-117.3,235.5,-7.6,134,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2170,3098
$GC,3177,-0.97,-117.3,260.5,-8.1,149,3181,0.00,2.58,0.00,0.000,4,0.000,0.061,2516,750,3098
$GC,3294,-0.97,-117.3,271.2,-9.1,154,3298,0.00,2.55,0.00,0.000,6,0.000,0.052,2516,2167,3097
$GC,3611,-0.97,-117.3,300.8,-9.1,169,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2166,3097
$GC,3919,-0.97,-117.3,326.9,-7.9,184,3923,0.00,2.60,0.00,0.000,4,0.000,0.062,2516,741,3097
$GC,4008,-0.97,-117.3,333.9,-8.3,188,4012,0.00,2.53,0.00,0.000,6,0.000,0.054,2516,2145,3097
$GC,4330,-0.97,-117.3,359.2,-7.7,204,4334,0.00,2.55,0.00,0.000,4,0.000,0.062,2516,751,3097
$GC,4437,-0.97,-117.3,367.6,-8.0,209,4441,0.00,2.47,0.00,0.000,6,0.000,0.054,2516,2127,3097
$GC,4765,-0.97,-117.3,388.0,-5.9,225,4769,0.00,2.60,0.00,0.000,4,0.000,0.067,2516,3560,3097
$GC,4946,-0.97,-117.3,398.8,-5.8,233,4951,0.00,2.53,0.00,0.000,6,0.000,0.051,2516,2151,3096
$GC,5268,-0.97,-117.3,422.1,-8.4,249,5272,0.00,2.53,0.00,0.000,4,0.000,0.064,2516,751,3096
$GC,5520,-0.97,-117.3,442.2,-8.0,260,5524,0.00,2.53,0.00,0.000,6,0.000,0.056,2516,2142,3096
$GC,5837,-0.97,-117.3,463.5,-5.8,275,5841,0.00,2.60,0.00,0.000,4,0.000,0.071,2516,3560,3096
$GC,6049,-0.97,-117.3,477.2,-6.4,284,6055,0.00,2.55,0.00,0.000,6,0.000,0.056,2516,2151,3095
$STATE,6177,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6177,begin apogee
$GC,6185,-0.33,0.0,484.7,5.8,291,6286,0.68,0.00,97.75,1.154,6,0.088,0.000,2655,2133,2620
$STATE,6286,end apogee,CONTROL_FINISHED_OK
$STATE,6286,begin climb
$GC,6289,1.30,117.3,486.7,0.0,296,6396,1.62,2.65,96.90,1.123,4,0.068,0.071,3007,3508,2140
$GC,6460,1.23,117.3,472.7,10.2,304,6464,0.00,2.60,0.00,0.000,6,0.000,0.060,3007,2100,2140
$GC,6787,1.17,117.3,437.4,11.1,320,6792,0.12,2.65,0.00,0.000,4,0.097,0.072,2984,3508,2139
$GC,6836,1.17,117.3,432.3,9.6,322,6841,0.00,2.55,0.00,0.000,6,0.000,0.061,2984,2118,2139
$GC,7153,1.19,130.2,407.5,7.4,337,7174,0.00,2.67,11.65,1.019,4,0.000,0.071,2984,3507,2089
$GC,7208,1.19,130.2,402.8,8.4,339,7212,0.00,2.58,0.00,0.000,6,0.000,0.059,2984,2118,2088
$GC,7524,1.23,151.5,378.4,7.0,354,7549,0.00,2.67,18.62,1.067,4,0.000,0.070,2984,3501,2002
$GC,7618,1.26,174.2,372.0,7.0,358,7643,0.00,2.53,19.65,1.067,6,0.000,0.058,2984,2120,1909
$GC,7962,1.32,174.2,347.5,8.5,375,7967,0.15,2.60,0.00,0.000,4,0.054,0.068,3027,3512,1908
$GC,8035,1.23,174.2,338.6,12.7,378,8041,0.15,2.50,0.00,0.000,6,0.097,0.054,3000,2144,1907
$GC,8351,1.23,174.2,307.7,10.0,393,8356,0.00,2.53,0.00,0.000,4,0.000,0.066,3000,3509,1907
$GC,8373,1.23,174.2,305.2,11.0,394,8378,0.00,2.47,0.00,0.000,6,0.000,0.054,3000,2143,1907
$GC,8695,1.23,174.2,271.3,10.6,410,8700,0.00,2.53,0.00,0.000,4,0.000,0.064,3000,3510,1907
$GC,8723,1.23,174.2,268.0,11.6,411,8728,0.00,2.47,0.00,0.000,6,0.000,0.052,3000,2145,1907
$GC,9039,1.23,174.2,236.1,9.7,426,9044,0.00,2.50,0.00,0.000,4,0.000,0.064,3000,3513,1907
$GC,9080,1.23,174.2,231.8,10.3,428,9084,0.00,2.45,0.00,0.000,6,0.000,0.051,3000,2152,1907
$GC,9406,1.23,174.2,202.1,8.7,444,9411,0.00,2.50,0.00,0.000,4,0.000,0.062,3000,3515,1907
$GC,9440,1.23,174.2,199.0,9.2,445,9446,0.00,2.42,0.00,0.000,6,0.000,0.051,3000,2169,1907
$GC,9757,1.23,174.2,172.9,8.1,461,9761,0.00,2.45,0.00,0.000,4,0.000,0.061,3000,3509,1907
$GC,9796,1.23,174.2,169.3,9.1,463,9800,0.00,2.40,0.00,0.000,6,0.000,0.049,3000,2170,1908
$GC,10123,1.23,174.2,140.9,8.6,479,10127,0.00,2.45,0.00,0.000,4,0.000,0.061,3000,3509,1908
$GC,10134,1.23,174.2,139.7,8.7,479,10140,0.00,2.40,0.00,0.000,6,0.000,0.049,3000,2174,1908
$GC,10452,1.23,174.2,110.6,9.9,495,10456,0.00,2.45,0.00,0.000,4,0.000,0.060,3000,3515,1909
$GC,10474,1.23,174.2,108.1,10.4,496,10478,0.00,2.38,0.00,0.000,6,0.000,0.048,2999,2180,1909
$GC,10796,1.23,174.2,77.1,9.6,512,10800,0.00,2.42,0.00,0.000,4,0.000,0.060,3000,3510,1909
$GC,10818,1.23,174.2,74.8,9.7,513,10822,0.00,2.40,0.00,0.000,6,0.000,0.047,3000,2170,1909
$GC,11140,1.24,181.6,48.5,7.7,529,11154,0.00,2.50,8.05,0.749,4,0.000,0.059,3000,3504,1879
$GC,11189,1.24,181.6,44.4,8.3,531,11193,0.00,2.38,0.00,0.000,6,0.000,0.048,3000,2185,1879
$GC,11518,1.34,204.9,19.1,6.9,547,11543,0.00,2.47,19.65,0.801,4,0.000,0.058,3000,3511,1783
$GC,11572,1.40,204.9,14.6,8.0,549,11577,0.15,2.40,0.00,0.000,6,0.049,0.046,3041,2179,1783
$STATE,11701,end climb,SURFACE_DEPTH_REACHED
$STATE,11701,begin surface coast
$FINISH,-0.0,1.026969
$STATE,11722,end surface coast,CONTROL_FINISHED_OK
$STATE,11722,begin surface
$SM_CCo,11745,202.20,0.782,0,0,389,547.02
$SM_GC,0.49,0.00,0.00,202.20,0.000,0.000,0.782,422,2147,389,-10.62,-0.08,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1717
$TCM_TEMP,17.30
$XPDR_PINGS,377
$ALTIM_TOP_PING,19.1,999.0
$ALTIM_BOTTOM_PING,425.5,68.0
$24V_AH,23.8,55.708
$10V_AH,10.1,26.703
$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,25.425,130.800,272.275,202.200,0.000,37.761,28.955,114.566,97.750,0.000,0.000,13.859,1122.910,8546.685,632.206,1509.000,436.254,33.359,1397.658,0.000,1472.465,0.000,25.318
$DEVICE_MAMPS,138.060,72.098,1154.335,782.340,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,381.133,407.871,418.248,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28471,556
$CAP_FILE_SIZE,101946,0
$CFSIZE,254472192,232787968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,090808,035308,6304.804,-901.220,32,0.9,32,-9.8