version: 66.03
glider: 5
mission: 3
dive: 306
start: 8 9 108 18 15 52
data:
$ID,5
$MISSION,3
$DIVE,306
$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,-82468.961
$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,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
$GPS1,180938,6308.144,-901.584,36,1.1,36,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-48.1
$GPS2,181502,6308.117,-901.604,15,1.1,32,-9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.056,0.215
$KALMAN_X,-130518.6,-980.0,-275.7,228661.3,6896.2
$KALMAN_Y,-61365.1,1428.6,467.7,168429.9,-13983.6
$MHEAD_RNG_PITCHd_Wd,355.2,7316,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.30,-117.3,0.0,0.0,0,146,0.00,0.00,-114.38,0.000,6,0.000,0.000,421,2176,3099
$GC,150,-1.30,-117.3,3.4,-3.6,6,166,10.50,2.50,0.00,0.000,4,0.140,0.054,2436,3563,3098
$GC,419,-1.03,-117.3,39.4,-11.0,17,424,0.32,2.53,0.00,0.000,6,0.093,0.042,2504,2136,3098
$GC,742,-0.97,-117.3,70.3,-10.1,33,747,0.00,2.47,0.00,0.000,4,0.000,0.053,2504,740,3099
$GC,889,-0.91,-117.3,86.1,-10.4,39,896,0.12,2.47,0.00,0.000,6,0.097,0.048,2529,2129,3099
$GC,1206,-0.91,-117.3,111.1,-7.2,55,1210,0.00,2.55,0.00,0.000,4,0.000,0.058,2529,3557,3099
$GC,1341,-0.91,-117.3,121.4,-7.4,61,1345,0.00,2.53,0.00,0.000,6,0.000,0.043,2529,2129,3099
$GC,1664,-0.91,-117.3,140.6,-5.6,77,1668,0.00,2.45,0.00,0.000,4,0.000,0.057,2529,752,3099
$GC,1872,-0.91,-117.3,152.9,-5.9,86,1876,0.00,2.47,0.00,0.000,6,0.000,0.049,2529,2134,3099
$GC,2188,-0.91,-117.3,171.5,-6.3,101,2192,0.00,2.53,0.00,0.000,4,0.000,0.061,2529,3556,3098
$GC,2307,-0.91,-117.3,180.3,-7.6,106,2311,0.00,2.55,0.00,0.000,6,0.000,0.046,2529,2121,3099
$GC,2625,-0.96,-117.3,203.0,-7.4,121,2629,0.00,2.45,0.00,0.000,4,0.000,0.059,2529,749,3098
$GC,2736,-0.96,-117.3,212.2,-8.1,126,2741,0.00,2.47,0.00,0.000,6,0.000,0.051,2529,2124,3099
$GC,3059,-1.00,-117.3,238.6,-8.4,142,3063,0.00,2.58,0.00,0.000,4,0.000,0.063,2529,3555,3098
$GC,3204,-1.00,-117.3,252.0,-9.0,148,3210,0.00,2.58,0.00,0.000,6,0.000,0.048,2529,2113,3098
$GC,3521,-1.04,-117.3,276.6,-7.4,164,3526,0.12,2.45,0.00,0.000,4,0.053,0.058,2492,740,3098
$GC,3622,-0.96,-117.3,284.9,-8.2,168,3628,0.12,2.47,0.00,0.000,6,0.099,0.052,2517,2121,3098
$GC,3940,-0.96,-117.3,303.7,-5.3,184,3944,0.00,2.60,0.00,0.000,4,0.000,0.064,2517,3557,3097
$GC,4093,-0.96,-117.3,312.8,-6.2,191,4097,0.00,2.58,0.00,0.000,6,0.000,0.049,2517,2111,3097
$GC,4420,-0.96,-117.3,334.0,-7.2,207,4424,0.00,2.45,0.00,0.000,4,0.000,0.060,2517,738,3097
$GC,4499,-0.96,-117.3,340.4,-7.9,210,4505,0.00,2.50,0.00,0.000,6,0.000,0.053,2517,2134,3097
$GC,4815,-0.96,-117.3,366.4,-8.2,226,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2133,3096
$GC,5125,-0.96,-117.3,386.5,-5.8,241,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2134,3096
$GC,5434,-0.96,-117.3,406.8,-7.5,256,5438,0.00,2.55,0.00,0.000,4,0.000,0.063,2517,739,3096
$GC,5558,-0.96,-117.3,417.3,-7.6,261,5564,0.00,2.50,0.00,0.000,6,0.000,0.058,2518,2120,3096
$GC,5874,-0.96,-117.3,441.6,-7.6,277,5878,0.00,2.62,0.00,0.000,4,0.000,0.071,2517,3555,3095
$GC,6093,-0.96,-117.3,458.8,-7.5,287,6097,0.00,2.58,0.00,0.000,6,0.000,0.055,2517,2124,3094
$GC,6420,-0.96,-117.3,477.2,-4.9,303,6424,0.00,2.53,0.00,0.000,4,0.000,0.071,2517,741,3094
$GC,6516,-0.96,-117.3,483.0,-6.0,307,6520,0.00,2.55,0.00,0.000,6,0.000,0.062,2517,2132,3094
$STATE,6813,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6813,begin apogee
$GC,6819,-0.33,0.0,500.4,5.4,321,6921,0.65,0.00,98.53,1.177,6,0.084,0.000,2652,2132,2620
$STATE,6922,end apogee,CONTROL_FINISHED_OK
$STATE,6922,begin climb
$GC,6925,1.30,117.3,502.5,0.0,326,7031,1.65,2.78,98.12,1.140,4,0.073,0.074,3007,687,2141
$GC,7076,1.23,117.3,490.9,10.9,333,7080,0.00,2.65,0.00,0.000,6,0.000,0.064,3007,2108,2140
$GC,7392,1.18,117.3,458.7,10.6,348,7396,0.00,2.62,0.00,0.000,4,0.000,0.077,3007,3508,2139
$GC,7455,1.10,117.3,452.4,9.7,351,7461,0.20,2.58,0.00,0.000,6,0.093,0.064,2970,2118,2139
$GC,7783,1.18,129.4,426.9,7.5,367,7796,0.00,0.00,11.15,1.037,6,0.000,0.000,2970,2103,2092
$GC,8093,1.25,135.5,403.0,7.7,382,8107,0.15,2.70,6.65,0.939,4,0.057,0.074,3011,3507,2067
$GC,8159,1.16,135.5,396.2,10.7,385,8164,0.15,2.55,0.00,0.000,6,0.099,0.062,2983,2121,2067
$GC,8487,1.17,140.9,369.8,7.8,401,8498,0.00,2.65,5.93,0.904,4,0.000,0.072,2983,3509,2045
$GC,8588,1.17,140.9,361.6,8.0,405,8595,0.00,2.53,0.00,0.000,6,0.000,0.059,2983,2134,2044
$GC,8905,1.19,154.0,337.6,7.4,421,8926,0.00,2.65,12.32,1.031,4,0.000,0.070,2983,3507,1992
$GC,8990,1.20,157.6,330.9,7.8,424,9000,0.00,2.50,4.90,0.808,6,0.000,0.058,2982,2146,1977
$GC,9323,1.25,163.8,306.1,7.7,441,9336,0.00,2.62,6.53,0.883,4,0.000,0.068,2983,3510,1952
$GC,9406,1.30,163.8,299.0,8.8,444,9413,0.15,2.47,0.00,0.000,6,0.054,0.055,3022,2161,1953
$GC,9722,1.24,163.8,268.8,9.5,460,9727,0.00,2.50,0.00,0.000,4,0.000,0.066,3021,3509,1952
$GC,9780,1.16,163.8,262.8,10.3,462,9786,0.20,2.42,0.00,0.000,6,0.091,0.052,2983,2171,1952
$GC,10097,1.22,163.8,237.1,8.3,478,10101,0.00,2.47,0.00,0.000,4,0.000,0.064,2983,3512,1952
$GC,10124,1.27,163.8,234.6,8.9,479,10129,0.10,2.42,0.00,0.000,6,0.059,0.052,3012,2173,1952
$GC,10441,1.27,163.8,202.7,10.6,494,10445,0.00,2.45,0.00,0.000,4,0.000,0.063,3012,3510,1952
$GC,10481,1.27,163.8,198.1,11.9,496,10485,0.00,2.38,0.00,0.000,6,0.000,0.051,3012,2187,1953
$GC,10807,1.27,163.8,163.3,10.7,512,10811,0.00,2.42,0.00,0.000,4,0.000,0.061,3012,3511,1953
$GC,10848,1.27,163.8,158.8,11.2,514,10852,0.00,2.38,0.00,0.000,6,0.000,0.048,3012,2185,1953
$GC,11175,1.27,163.8,125.4,9.7,530,11179,0.00,2.42,0.00,0.000,4,0.000,0.061,3012,3511,1954
$GC,11185,1.27,163.8,124.3,9.5,530,11192,0.00,2.38,0.00,0.000,6,0.000,0.048,3012,2186,1954
$GC,11502,1.27,163.8,95.6,8.6,546,11506,0.00,2.42,0.00,0.000,4,0.000,0.060,3012,3514,1954
$GC,11529,1.27,163.8,93.0,9.5,547,11533,0.00,2.35,0.00,0.000,6,0.000,0.047,3012,2202,1954
$GC,11845,1.27,163.8,65.4,9.0,562,11849,0.00,2.40,0.00,0.000,4,0.000,0.059,3012,3516,1954
$GC,11867,1.27,163.8,63.4,8.7,563,11871,0.00,2.33,0.00,0.000,6,0.000,0.047,3012,2213,1954
$GC,12190,1.33,205.7,41.9,6.1,579,12228,0.00,0.00,35.12,0.821,6,0.000,0.000,3012,2209,1781
$GC,12538,1.33,205.7,13.9,9.0,596,12542,0.00,2.40,0.00,0.000,4,0.000,0.060,3012,3512,1780
$GC,12565,1.33,205.7,11.2,9.9,597,12569,0.00,2.35,0.00,0.000,6,0.000,0.045,3012,2199,1780
$STATE,12672,end climb,SURFACE_DEPTH_REACHED
$STATE,12672,begin surface coast
$FINISH,-0.1,1.026885
$STATE,12694,end surface coast,CONTROL_FINISHED_OK
$STATE,12694,begin surface
$SM_CCo,12718,197.75,0.770,0,0,390,547.02
$SM_GC,0.34,0.00,0.00,197.75,0.000,0.000,0.770,419,2178,390,-10.63,0.82,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1722
$TCM_TEMP,17.50
$XPDR_PINGS,341
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,500.4,6.4
$24V_AH,23.8,56.456
$10V_AH,10.1,27.037
$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,25.750,135.300,279.250,197.750,0.000,37.761,29.642,122.698,89.750,0.000,0.000,32.571,1214.955,9286.432,658.363,1631.142,451.572,33.358,1463.330,0.000,1574.029,0.000,32.561
$DEVICE_MAMPS,139.594,76.700,1176.578,770.068,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.116,446.001,440.907,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31728,603
$CAP_FILE_SIZE,109930,0
$CFSIZE,254472192,232521728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,090808,215231,6308.512,-903.455,39,1.6,44,-9.8