version: 66.03
glider: 5
mission: 3
dive: 303
start: 8 9 108 7 34 18
data:
$ID,5
$MISSION,3
$DIVE,303
$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,-82388.5
$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,31
$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
$GPS1,072532,6304.645,-902.023,63,1.4,63,-9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-52.9
$GPS2,073327,6304.553,-902.067,12,1.3,12,-9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.037,0.219
$KALMAN_X,-131968.8,185.7,-312.1,228568.4,6850.4
$KALMAN_Y,-57123.7,1678.0,530.1,157276.9,-16179.5
$MHEAD_RNG_PITCHd_Wd,0.2,13900,-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,-117.3,0.0,0.0,0,146,0.00,0.00,-114.80,0.000,6,0.000,0.000,421,2121,3098
$GC,150,-1.30,-117.3,3.2,-3.3,6,166,10.50,2.60,0.00,0.000,4,0.138,0.057,2440,3560,3097
$GC,397,-1.02,-117.3,35.5,-9.1,16,402,0.32,2.50,0.00,0.000,6,0.090,0.043,2508,2147,3096
$GC,720,-0.98,-117.3,58.0,-7.4,32,724,0.00,2.47,0.00,0.000,4,0.000,0.054,2508,753,3097
$GC,890,-0.92,-117.3,72.9,-9.3,39,897,0.00,2.55,0.00,0.000,6,0.000,0.048,2508,2179,3097
$GC,1207,-0.92,-117.3,98.8,-6.8,55,1212,0.00,2.47,0.00,0.000,4,0.000,0.058,2509,3564,3098
$GC,1356,-0.87,-117.3,108.9,-6.6,61,1363,0.15,2.47,0.00,0.000,6,0.094,0.045,2539,2166,3097
$GC,1675,-0.94,-117.3,128.2,-6.4,77,1679,0.00,2.53,0.00,0.000,4,0.000,0.056,2539,747,3098
$GC,1853,-0.98,-117.3,140.0,-6.1,85,1858,0.12,2.55,0.00,0.000,6,0.055,0.051,2503,2171,3097
$GC,2181,-0.98,-117.3,162.5,-7.3,101,2185,0.00,2.50,0.00,0.000,4,0.000,0.061,2503,3560,3097
$GC,2311,-0.92,-117.3,173.3,-8.5,107,2316,0.12,2.47,0.00,0.000,6,0.096,0.046,2528,2165,3096
$GC,2641,-0.92,-117.3,196.3,-6.9,123,2645,0.00,2.53,0.00,0.000,4,0.000,0.058,2528,747,3096
$GC,2781,-0.92,-117.3,207.1,-7.5,129,2785,0.00,2.55,0.00,0.000,6,0.000,0.051,2528,2163,3096
$GC,3098,-0.92,-117.3,229.1,-6.8,144,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2164,3096
$GC,3409,-0.92,-117.3,250.8,-7.3,159,3413,0.00,2.58,0.00,0.000,4,0.000,0.059,2528,748,3096
$GC,3544,-0.92,-117.3,261.8,-8.0,165,3549,0.00,2.55,0.00,0.000,6,0.000,0.052,2527,2163,3096
$GC,3867,-0.96,-117.3,288.9,-8.9,181,3871,0.00,2.53,0.00,0.000,4,0.000,0.064,2528,3564,3096
$GC,4007,-0.96,-117.3,302.5,-9.4,187,4012,0.00,2.50,0.00,0.000,6,0.000,0.049,2528,2156,3095
$GC,4325,-1.01,-117.3,328.7,-7.8,202,4329,0.00,2.53,0.00,0.000,4,0.000,0.060,2528,741,3095
$GC,4477,-1.01,-117.3,339.9,-6.8,209,4482,0.00,2.53,0.00,0.000,6,0.000,0.053,2528,2152,3095
$GC,4806,-1.06,-117.3,357.0,-4.9,225,4811,0.15,2.55,0.00,0.000,4,0.053,0.064,2480,3563,3094
$GC,4965,-0.95,-117.3,367.1,-6.9,232,4970,0.20,2.53,0.00,0.000,6,0.091,0.051,2521,2151,3094
$GC,5287,-0.95,-117.3,383.5,-5.9,248,5292,0.00,2.53,0.00,0.000,4,0.000,0.064,2521,747,3094
$GC,5484,-0.95,-117.3,399.0,-8.9,257,5489,0.00,2.53,0.00,0.000,6,0.000,0.055,2521,2144,3094
$GC,5813,-0.95,-117.3,427.4,-8.6,273,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2144,3094
$GC,6122,-1.01,-117.3,452.3,-7.7,288,6127,0.00,2.58,0.00,0.000,4,0.000,0.069,2521,747,3094
$GC,6190,-1.01,-117.3,457.3,-7.5,291,6195,0.00,2.55,0.00,0.000,6,0.000,0.060,2521,2140,3094
$GC,6512,-1.07,-117.3,477.7,-6.7,307,6514,0.12,0.00,0.00,0.000,6,0.059,0.000,2486,2139,3093
$STATE,6653,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6653,begin apogee
$GC,6661,-0.33,0.0,487.9,7.3,314,6762,0.82,0.00,97.72,1.168,6,0.097,0.000,2654,2082,2620
$STATE,6762,end apogee,CONTROL_FINISHED_OK
$STATE,6762,begin climb
$GC,6766,1.30,117.3,491.5,0.0,319,6872,1.65,2.65,96.75,1.137,4,0.073,0.074,3009,719,2140
$GC,6923,1.21,117.3,481.2,9.8,326,6928,0.00,2.58,0.00,0.000,6,0.000,0.063,3009,2101,2140
$GC,7241,1.16,117.3,451.8,8.8,341,7246,0.15,2.62,0.00,0.000,4,0.095,0.076,2977,3511,2139
$GC,7319,1.16,117.3,444.5,9.2,344,7325,0.00,2.55,0.00,0.000,6,0.000,0.064,2977,2140,2139
$GC,7634,1.16,117.3,410.6,10.5,360,7639,0.00,2.60,0.00,0.000,4,0.000,0.075,2977,3510,2137
$GC,7735,1.16,117.3,400.7,8.3,364,7741,0.00,2.53,0.00,0.000,6,0.000,0.061,2977,2142,2136
$GC,8051,1.19,136.8,377.5,7.1,380,8074,0.00,2.72,16.33,1.083,4,0.000,0.071,2977,693,2061
$GC,8327,1.21,150.7,356.8,7.4,392,8346,0.00,2.65,12.95,1.046,6,0.000,0.061,2977,2138,2004
$GC,8673,1.31,177.1,334.5,6.8,409,8703,0.15,2.78,22.25,1.067,4,0.054,0.066,3020,689,1897
$GC,8855,1.25,177.1,315.3,11.2,417,8860,0.00,2.65,0.00,0.000,6,0.000,0.057,3020,2148,1897
$GC,9177,1.20,177.1,282.1,10.2,433,9182,0.15,2.47,0.00,0.000,4,0.094,0.065,2989,3507,1897
$GC,9187,1.20,177.1,280.9,10.2,433,9193,0.00,2.47,0.00,0.000,6,0.000,0.054,2989,2144,1897
$GC,9504,1.25,177.1,251.6,9.6,449,9508,0.00,2.53,0.00,0.000,4,0.000,0.064,2989,3514,1897
$GC,9537,1.25,177.1,248.0,10.4,450,9543,0.00,2.47,0.00,0.000,6,0.000,0.052,2989,2146,1897
$GC,9854,1.30,177.1,217.9,8.8,466,9859,0.12,2.50,0.00,0.000,4,0.054,0.063,3023,3516,1897
$GC,9898,1.23,177.1,213.1,10.4,468,9903,0.12,2.42,0.00,0.000,6,0.093,0.051,3000,2162,1897
$GC,10220,1.24,179.7,186.6,7.9,484,10229,0.00,2.50,4.30,0.674,4,0.000,0.061,2999,3512,1887
$GC,10252,1.24,179.7,183.6,9.2,485,10256,0.00,2.42,0.00,0.000,6,0.000,0.049,3000,2170,1887
$GC,10568,1.24,179.7,157.1,8.4,500,10572,0.00,2.45,0.00,0.000,4,0.000,0.061,3000,3508,1887
$GC,10608,1.24,179.7,153.4,9.9,502,10612,0.00,2.40,0.00,0.000,6,0.000,0.049,3000,2168,1887
$GC,10935,1.24,179.7,125.1,8.6,518,10939,0.00,2.45,0.00,0.000,4,0.000,0.061,3000,3508,1887
$GC,10956,1.24,179.7,122.9,9.2,519,10961,0.00,2.38,0.00,0.000,6,0.000,0.048,3000,2181,1887
$GC,11279,1.24,183.9,96.5,7.8,535,11289,0.00,2.45,5.53,0.703,4,0.000,0.059,3000,3512,1870
$GC,11334,1.24,183.9,91.4,9.1,537,11340,0.00,2.38,0.00,0.000,6,0.000,0.048,3000,2186,1870
$GC,11650,1.24,183.9,65.3,8.3,553,11655,0.00,2.42,0.00,0.000,4,0.000,0.059,3000,3508,1870
$GC,11724,1.24,183.9,57.1,10.9,556,11728,0.00,2.33,0.00,0.000,6,0.000,0.047,3000,2207,1869
$GC,12042,1.30,183.9,28.1,8.3,571,12046,0.00,2.40,0.00,0.000,4,0.000,0.059,3000,3515,1870
$GC,12064,1.35,183.9,26.1,8.0,572,12069,0.12,2.30,0.00,0.000,6,0.051,0.045,3037,2214,1870
$STATE,12320,end climb,SURFACE_DEPTH_REACHED
$STATE,12320,begin surface coast
$FINISH,0.0,1.026877
$STATE,12347,end surface coast,CONTROL_FINISHED_OK
$STATE,12347,begin surface
$SM_CCo,12370,211.43,0.779,0,0,390,547.02
$SM_GC,0.31,0.00,0.00,211.43,0.000,0.000,0.779,423,2129,390,-10.61,-0.57,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1700
$TCM_TEMP,17.50
$XPDR_PINGS,377
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,450.7,46.0
$24V_AH,23.8,56.014
$10V_AH,10.1,26.839
$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,26.400,130.925,255.825,211.425,0.000,75.527,53.162,165.558,98.250,0.000,0.000,12.307,1198.263,9010.811,639.637,1641.417,570.933,33.358,1450.080,0.000,1603.374,0.000,29.461
$DEVICE_MAMPS,138.060,82.836,1168.141,779.272,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.438,429.753,440.755,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28482,586
$CAP_FILE_SIZE,111041,0
$CFSIZE,254472192,232677376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,090808,110507,6305.150,-903.667,27,1.8,27,-9.8