version: 66.03
glider: 5
mission: 3
dive: 302
start: 8 9 108 4 1 36
data:
$ID,5
$MISSION,3
$DIVE,302
$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,-82375.57
$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,23
$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
$GPS1,035308,6304.804,-901.220,32,0.9,32,-9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-55.0
$GPS2,040045,6304.842,-901.031,15,1.2,15,-9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.155,0.158
$KALMAN_X,-135226.5,-74.2,257.4,232404.4,3037.6
$KALMAN_Y,-54577.3,1702.5,835.4,154907.2,-15879.1
$MHEAD_RNG_PITCHd_Wd,325.2,13285,-16.8,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.31,-117.0,0.0,0.0,0,149,0.00,0.00,-114.85,0.000,6,0.000,0.000,422,2152,3096
$GC,153,-1.31,-117.3,3.4,-3.4,6,169,10.45,2.55,0.00,0.000,4,0.137,0.058,2439,3564,3095
$GC,422,-1.02,-117.3,42.3,-11.7,17,427,0.32,2.53,0.00,0.000,6,0.090,0.043,2507,2141,3095
$GC,746,-0.96,-117.3,59.5,-0.9,33,751,0.00,2.47,0.00,0.000,4,0.000,0.054,2507,746,3095
$GC,924,-0.90,-117.3,61.2,-2.4,41,930,0.12,2.45,0.00,0.000,6,0.096,0.048,2532,2123,3095
$GC,1253,-0.90,-117.3,78.1,-7.7,57,1257,0.00,2.58,0.00,0.000,4,0.000,0.059,2532,3558,3095
$GC,1415,-0.90,-117.3,95.3,-11.7,64,1419,0.00,2.55,0.00,0.000,6,0.000,0.044,2532,2118,3095
$GC,1731,-0.94,-117.3,133.3,-11.2,79,1735,0.00,2.45,0.00,0.000,4,0.000,0.056,2532,738,3095
$GC,1810,-0.94,-117.3,141.1,-9.3,82,1816,0.00,2.47,0.00,0.000,6,0.000,0.051,2532,2122,3095
$GC,2127,-0.99,-117.3,160.8,-5.5,98,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2121,3095
$GC,2437,-1.03,-117.3,180.2,-7.5,113,2441,0.12,2.50,0.00,0.000,4,0.053,0.058,2493,751,3095
$GC,2537,-0.95,-117.3,190.0,-10.3,117,2544,0.12,2.45,0.00,0.000,6,0.097,0.051,2519,2120,3095
$GC,2854,-0.95,-117.3,218.2,-8.9,133,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2119,3095
$GC,3163,-0.95,-117.3,240.7,-6.3,148,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2119,3095
$GC,3472,-0.95,-117.3,253.6,-3.2,163,3476,0.00,2.50,0.00,0.000,4,0.000,0.060,2519,748,3094
$GC,3562,-0.95,-117.3,257.0,-3.5,167,3566,0.00,2.45,0.00,0.000,6,0.000,0.052,2519,2108,3094
$GC,3883,-0.95,-117.3,268.0,-4.1,183,3887,0.00,2.60,0.00,0.000,4,0.000,0.062,2519,3553,3094
$GC,4048,-0.95,-117.3,277.7,-7.1,190,4052,0.00,2.58,0.00,0.000,6,0.000,0.048,2519,2107,3094
$GC,4363,-0.95,-117.3,302.8,-8.6,205,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2091,3093
$GC,4673,-0.95,-117.3,333.5,-9.9,220,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2090,3093
$GC,4983,-0.95,-117.3,364.5,-9.9,235,4987,0.00,2.67,0.00,0.000,4,0.000,0.064,2519,3560,3093
$GC,5116,-0.95,-117.3,379.2,-10.5,241,5121,0.00,2.58,0.00,0.000,6,0.000,0.049,2519,2120,3093
$GC,5438,-0.95,-117.3,405.6,-7.0,257,5443,0.00,2.45,0.00,0.000,4,0.000,0.062,2519,746,3093
$GC,5646,-0.95,-117.3,416.4,-3.5,266,5650,0.00,2.50,0.00,0.000,6,0.000,0.054,2518,2129,3093
$GC,5963,-0.95,-117.3,426.8,-4.3,281,5967,0.00,2.55,0.00,0.000,4,0.000,0.067,2519,747,3092
$GC,6064,-0.95,-117.3,433.0,-6.6,285,6070,0.00,2.45,0.00,0.000,6,0.000,0.058,2519,2100,3092
$GC,6380,-1.00,-117.3,456.7,-8.2,301,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2099,3092
$GC,6690,-1.00,-117.3,478.6,-6.4,316,6694,0.00,2.67,0.00,0.000,4,0.000,0.075,2519,3563,3092
$STATE,6817,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6817,begin apogee
$GC,6826,-0.33,0.0,485.9,5.7,322,6927,0.65,0.00,97.70,1.165,6,0.091,0.000,2653,2082,2620
$STATE,6928,end apogee,CONTROL_FINISHED_OK
$STATE,6928,begin climb
$GC,6932,1.31,117.3,490.1,0.0,327,7034,1.67,0.00,97.95,1.137,6,0.071,0.000,3011,2082,2141
$GC,7330,1.25,117.3,451.8,10.1,347,7334,0.00,2.67,0.00,0.000,4,0.000,0.077,3011,3506,2139
$GC,7490,1.18,117.3,435.0,11.7,354,7495,0.15,2.62,0.00,0.000,6,0.097,0.064,2983,2099,2139
$GC,7811,1.25,161.8,409.9,6.0,370,7854,0.00,2.80,36.92,1.126,4,0.000,0.077,2984,3511,1960
$GC,7949,1.33,183.5,401.5,7.0,376,7973,0.17,2.62,19.15,1.084,6,0.054,0.064,3028,2105,1872
$GC,8303,1.26,183.5,368.8,9.7,393,8305,0.12,0.00,0.00,0.000,6,0.103,0.000,3005,2091,1869
$GC,8611,1.26,183.5,338.5,10.3,408,8615,0.00,2.62,0.00,0.000,4,0.000,0.071,3005,3506,1868
$GC,8666,1.26,183.5,332.4,11.1,410,8673,0.00,2.53,0.00,0.000,6,0.000,0.059,3005,2130,1868
$GC,8982,1.26,183.5,295.9,12.0,426,8987,0.00,2.58,0.00,0.000,4,0.000,0.068,3005,3507,1867
$GC,9045,1.26,183.5,288.1,12.1,429,9050,0.00,2.47,0.00,0.000,6,0.000,0.054,3005,2144,1867
$GC,9372,1.26,183.5,252.5,10.2,445,9377,0.00,2.53,0.00,0.000,4,0.000,0.065,3005,3509,1867
$GC,9435,1.26,183.5,245.7,10.2,448,9439,0.00,2.45,0.00,0.000,6,0.000,0.052,3005,2151,1867
$GC,9762,1.26,183.5,208.5,12.6,464,9766,0.00,2.50,0.00,0.000,4,0.000,0.064,3005,3509,1867
$GC,9791,1.26,183.5,204.7,13.0,465,9795,0.00,2.42,0.00,0.000,6,0.000,0.051,3005,2165,1867
$GC,10106,1.26,183.5,169.2,10.1,480,10111,0.00,2.47,0.00,0.000,4,0.000,0.063,3005,3512,1868
$GC,10125,1.26,183.5,167.4,10.1,481,10129,0.00,2.40,0.00,0.000,6,0.000,0.049,3005,2171,1868
$GC,10452,1.26,183.5,137.6,8.9,497,10456,0.00,2.45,0.00,0.000,4,0.000,0.061,3005,3508,1868
$GC,10507,1.26,183.5,132.1,9.8,499,10513,0.00,2.38,0.00,0.000,6,0.000,0.049,3005,2183,1868
$GC,10824,1.26,183.5,101.3,10.1,515,10828,0.00,2.42,0.00,0.000,4,0.000,0.061,3005,3508,1869
$GC,10857,1.26,183.5,97.6,10.4,516,10863,0.00,2.38,0.00,0.000,6,0.000,0.048,3005,2181,1869
$GC,11174,1.26,183.5,70.3,8.1,532,11178,0.00,2.45,0.00,0.000,4,0.000,0.060,3005,3513,1869
$GC,11208,1.26,183.5,67.1,8.7,533,11215,0.00,2.35,0.00,0.000,6,0.000,0.048,3005,2194,1869
$GC,11525,1.31,183.5,33.7,11.6,549,11529,0.00,2.40,0.00,0.000,4,0.000,0.060,3005,3509,1869
$GC,11580,1.31,183.5,27.5,10.4,551,11586,0.00,2.33,0.00,0.000,6,0.000,0.048,3005,2202,1870
$STATE,11873,end climb,SURFACE_DEPTH_REACHED
$STATE,11873,begin surface coast
$FINISH,0.5,1.026857
$STATE,11896,end surface coast,CONTROL_FINISHED_OK
$STATE,11896,begin surface
$SM_CCo,11920,213.07,0.787,0,0,390,547.02
$SM_GC,0.38,0.00,0.00,213.07,0.000,0.000,0.787,420,2132,390,-10.62,-0.51,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1716
$TCM_TEMP,17.30
$XPDR_PINGS,335
$ALTIM_TOP_PING,19.3,999.0
$ALTIM_BOTTOM_PING,451.7,44.1
$24V_AH,23.8,55.860
$10V_AH,10.1,26.769
$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,25.125,110.625,251.725,213.075,0.000,75.522,84.163,119.772,87.500,0.000,0.000,15.450,1122.372,8828.931,648.668,1465.063,528.870,33.362,1361.503,0.000,1432.559,0.000,26.519
$DEVICE_MAMPS,137.293,83.603,1165.073,786.942,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,388.438,417.359,423.547,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28574,567
$CAP_FILE_SIZE,97562,0
$CFSIZE,254472192,232742912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,090808,072532,6304.645,-902.023,63,1.4,63,-9.8