version: 66.03
glider: 5
mission: 3
dive: 347
start: 8 19 108 1 6 34
data:
$ID,5
$MISSION,3
$DIVE,347
$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,-83225.094
$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,41
$R_STBD_OVSHOOT,14
$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
$GPS1,005808,6353.711,-738.808,39,1.1,39,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-56.6
$GPS2,010544,6353.737,-738.835,14,1.6,31,-9.3
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.107,0.194
$KALMAN_X,-119228.7,-261.0,628.0,287356.9,-631.4
$KALMAN_Y,-154826.3,4.8,818.9,347488.0,-3143.5
$MHEAD_RNG_PITCHd_Wd,38.1,100537,-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,-117.3,0.0,0.0,0,147,0.00,0.00,-120.20,0.000,6,0.000,0.000,422,2120,3099
$GC,151,-1.30,-117.3,2.4,-2.5,6,168,10.55,2.62,0.00,0.000,4,0.141,0.059,2436,3567,3098
$GC,364,-1.03,-117.3,35.0,-11.5,14,372,0.32,2.50,0.00,0.000,6,0.097,0.045,2504,2165,3098
$GC,684,-0.97,-117.3,60.8,-7.6,30,688,0.00,2.55,0.00,0.000,4,0.000,0.060,2504,746,3099
$GC,824,-0.90,-117.3,71.9,-7.5,36,829,0.15,2.58,0.00,0.000,6,0.102,0.052,2533,2171,3100
$GC,1141,-0.90,-117.3,92.3,-6.1,51,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2171,3101
$GC,1450,-0.90,-117.3,111.0,-6.5,66,1454,0.00,2.53,0.00,0.000,4,0.000,0.064,2533,3566,3101
$GC,1675,-0.90,-117.3,128.6,-8.0,76,1679,0.00,2.58,0.00,0.000,6,0.000,0.050,2533,2131,3101
$GC,1996,-0.94,-117.3,153.7,-7.7,92,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2115,3101
$GC,2305,-0.99,-117.3,176.8,-7.3,107,2310,0.00,2.53,0.00,0.000,4,0.000,0.067,2533,746,3100
$GC,2415,-1.03,-117.3,185.0,-7.5,112,2420,0.12,2.58,0.00,0.000,6,0.059,0.059,2498,2154,3100
$GC,2742,-1.03,-117.3,211.8,-8.0,128,2746,0.00,2.60,0.00,0.000,4,0.000,0.068,2498,747,3100
$GC,2809,-0.98,-117.3,217.2,-8.1,131,2814,0.00,2.58,0.00,0.000,6,0.000,0.061,2498,2145,3100
$GC,3132,-0.94,-117.3,241.0,-7.3,147,3133,0.12,0.00,0.00,0.000,6,0.105,0.000,2522,2145,3100
$GC,3441,-0.94,-117.3,261.6,-6.6,162,3445,0.00,2.65,0.00,0.000,4,0.000,0.075,2522,741,3099
$GC,3508,-0.94,-117.3,266.6,-7.3,165,3512,0.00,2.58,0.00,0.000,6,0.000,0.065,2522,2128,3099
$GC,3830,-0.98,-117.3,289.3,-7.4,181,3834,0.00,2.67,0.00,0.000,4,0.000,0.079,2522,3562,3098
$GC,3903,-0.98,-117.3,295.4,-8.6,184,3907,0.00,2.65,0.00,0.000,6,0.000,0.064,2522,2122,3097
$GC,4219,-1.02,-117.3,318.9,-7.5,199,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2104,3097
$GC,4529,-1.06,-117.3,341.7,-7.2,214,4534,0.12,2.58,0.00,0.000,4,0.065,0.080,2490,741,3096
$GC,4592,-1.00,-117.3,347.1,-8.8,217,4597,0.10,2.60,0.00,0.000,6,0.117,0.071,2509,2135,3096
$GC,4919,-1.00,-117.3,370.9,-6.9,233,4924,0.00,2.67,0.00,0.000,4,0.000,0.083,2509,3560,3094
$STATE,4989,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4989,begin apogee
$GC,5000,-0.33,0.0,376.5,7.5,236,5101,0.68,0.00,97.88,1.203,6,0.100,0.000,2648,2082,2619
$STATE,5101,end apogee,CONTROL_FINISHED_OK
$STATE,5101,begin climb
$GC,5104,1.30,117.3,379.3,0.0,241,5210,1.73,2.80,96.62,1.157,4,0.081,0.081,3010,3502,2141
$GC,5236,1.23,117.3,371.2,9.0,247,5241,0.00,2.65,0.00,0.000,6,0.000,0.067,3010,2101,2140
$GC,5558,1.18,117.3,344.3,8.2,263,5562,0.00,2.67,0.00,0.000,4,0.000,0.081,3010,3510,2139
$GC,5625,1.11,117.3,338.4,8.6,266,5631,0.20,2.62,0.00,0.000,6,0.104,0.067,2974,2108,2139
$GC,5947,1.21,142.2,316.2,6.9,282,5976,0.00,2.80,21.42,1.121,4,0.000,0.081,2974,3509,2039
$GC,6028,1.27,142.2,310.0,8.3,285,6034,0.15,2.62,0.00,0.000,6,0.061,0.071,3009,2120,2038
$GC,6345,1.27,142.2,283.5,8.2,301,6349,0.00,2.67,0.00,0.000,4,0.000,0.081,3009,3510,2037
$GC,6412,1.23,142.2,277.6,9.2,304,6416,0.00,2.58,0.00,0.000,6,0.000,0.067,3009,2135,2037
$GC,6734,1.24,151.2,252.9,7.6,320,6748,0.00,2.67,8.73,1.038,4,0.000,0.081,3009,3510,2003
$GC,6817,1.19,151.2,245.8,8.8,323,6823,0.00,2.55,0.00,0.000,6,0.000,0.064,3009,2146,2003
$GC,7132,1.19,151.2,219.8,8.4,339,7137,0.00,2.60,0.00,0.000,4,0.000,0.081,3009,3509,2002
$GC,7206,1.19,151.2,212.9,9.7,342,7210,0.00,2.53,0.00,0.000,6,0.000,0.064,3009,2154,2002
$GC,7522,1.19,151.2,182.2,10.2,357,7526,0.00,2.58,0.00,0.000,4,0.000,0.079,3009,3509,2001
$GC,7571,1.19,151.2,176.7,11.3,359,7576,0.00,2.50,0.00,0.000,6,0.000,0.064,3009,2166,2001
$GC,7889,1.19,151.2,144.7,10.1,374,7893,0.00,2.55,0.00,0.000,4,0.000,0.075,3009,3509,2001
$GC,7984,1.19,151.2,134.7,10.4,378,7988,0.00,2.42,0.00,0.000,6,0.000,0.058,3009,2189,2000
$GC,8301,1.19,151.2,105.0,8.9,393,8306,0.00,2.47,0.00,0.000,4,0.000,0.072,3009,3510,2000
$GC,8335,1.19,151.2,101.5,9.6,394,8342,0.00,2.38,0.00,0.000,6,0.000,0.057,3009,2204,2000
$GC,8652,1.19,151.2,72.9,9.4,410,8655,0.00,2.45,0.00,0.000,4,0.000,0.071,3009,3515,2000
$GC,8735,1.19,151.2,64.9,9.8,413,8742,0.00,2.35,0.00,0.000,6,0.000,0.054,3010,2216,2000
$GC,9053,1.21,160.4,39.2,7.6,429,9067,0.00,2.47,8.62,0.883,4,0.000,0.068,3009,3508,1965
$GC,9085,1.21,160.4,36.7,8.1,430,9089,0.00,2.38,0.00,0.000,6,0.000,0.054,3009,2213,1965
$GC,9403,1.24,179.2,14.4,7.1,445,9424,0.00,2.47,16.48,0.904,4,0.000,0.064,3010,3517,1889
$GC,9431,1.27,200.0,12.1,7.1,446,9458,0.00,2.40,18.17,0.885,6,0.000,0.051,3009,2204,1803
$STATE,9559,end climb,SURFACE_DEPTH_REACHED
$STATE,9559,begin surface coast
$FINISH,0.1,1.026783
$STATE,9582,end surface coast,CONTROL_FINISHED_OK
$STATE,9582,begin surface
$SM_CCo,9605,216.18,0.865,0,0,390,547.02
$SM_GC,0.26,0.00,0.00,216.18,0.000,0.000,0.865,420,2173,390,-10.63,0.65,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1710
$TCM_TEMP,16.00
$XPDR_PINGS,138
$ALTIM_TOP_PING,18.8,19.1
$ALTIM_BOTTOM_PING,375.2,11.1
$24V_AH,23.6,63.677
$10V_AH,10.1,30.758
$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,25.675,107.975,267.925,216.175,0.000,37.760,41.828,207.449,37.500,0.000,0.000,31.042,921.255,6960.819,633.740,1219.003,532.430,33.381,1252.945,0.000,1174.935,0.000,21.532
$DEVICE_MAMPS,141.128,82.836,1203.423,865.176,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,320.010,328.000,394.354,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22288,454
$CAP_FILE_SIZE,86976,0
$CFSIZE,254472192,229670912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,190808,035137,6354.067,-738.576,35,0.9,40,-9.3