version: 66.03
glider: 5
mission: 3
dive: 304
start: 8 9 108 11 11 46
data:
$ID,5
$MISSION,3
$DIVE,304
$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,-82422.984
$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,45
$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
$GPS1,110507,6305.150,-903.667,27,1.8,27,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-49.5
$GPS2,111056,6305.136,-903.748,16,1.9,33,-9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.014,0.221
$KALMAN_X,-132692.6,-216.9,-686.0,228642.0,5191.3
$KALMAN_Y,-59906.4,1150.2,1093.3,161102.3,-17624.1
$MHEAD_RNG_PITCHd_Wd,6.1,13091,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.30,-117.3,0.0,0.0,0,148,0.00,0.00,-114.85,0.000,6,0.000,0.000,424,2113,3098
$GC,152,-1.30,-117.3,3.2,-3.2,6,168,10.40,2.60,0.00,0.000,4,0.136,0.057,2435,3558,3098
$GC,421,-1.02,-117.3,42.2,-13.2,17,426,0.32,2.47,0.00,0.000,6,0.091,0.042,2505,2161,3097
$GC,744,-0.97,-117.3,73.7,-9.9,33,748,0.00,2.55,0.00,0.000,4,0.000,0.057,2505,3565,3098
$GC,898,-0.90,-117.3,89.5,-10.0,40,903,0.15,2.50,0.00,0.000,6,0.094,0.043,2536,2149,3098
$GC,1227,-0.94,-117.3,117.6,-9.1,56,1231,0.00,2.50,0.00,0.000,4,0.000,0.056,2536,746,3099
$GC,1362,-0.94,-117.3,130.3,-8.8,62,1366,0.00,2.53,0.00,0.000,6,0.000,0.048,2536,2156,3099
$GC,1683,-1.00,-117.3,157.1,-8.2,78,1685,0.10,0.00,0.00,0.000,6,0.056,0.000,2504,2156,3099
$GC,1993,-1.00,-117.3,183.4,-8.0,93,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2156,3099
$GC,2302,-1.00,-117.3,205.7,-7.1,108,2306,0.00,2.55,0.00,0.000,4,0.000,0.058,2504,746,3098
$GC,2397,-0.95,-117.3,213.0,-7.7,112,2401,0.00,2.50,0.00,0.000,6,0.000,0.051,2504,2138,3098
$GC,2713,-0.95,-117.3,238.4,-8.6,127,2718,0.00,2.55,0.00,0.000,4,0.000,0.062,2504,3557,3098
$GC,2814,-0.89,-117.3,248.1,-10.3,131,2821,0.15,2.53,0.00,0.000,6,0.094,0.048,2535,2136,3098
$GC,3131,-0.95,-117.3,274.7,-8.2,147,3136,0.00,2.47,0.00,0.000,4,0.000,0.059,2535,749,3097
$GC,3244,-1.00,-117.3,284.1,-8.2,152,3249,0.10,2.50,0.00,0.000,6,0.059,0.052,2504,2141,3098
$GC,3572,-1.00,-117.3,308.0,-6.7,168,3577,0.00,2.55,0.00,0.000,4,0.000,0.061,2504,750,3097
$GC,3662,-0.96,-117.3,314.3,-6.7,172,3667,0.00,2.50,0.00,0.000,6,0.000,0.053,2504,2135,3097
$GC,3984,-0.96,-117.3,334.1,-5.8,188,3988,0.00,2.58,0.00,0.000,4,0.000,0.064,2504,3563,3097
$GC,4214,-0.91,-117.3,349.8,-6.9,198,4219,0.12,2.58,0.00,0.000,6,0.101,0.050,2527,2123,3097
$GC,4537,-0.96,-117.3,367.4,-6.0,214,4541,0.00,2.47,0.00,0.000,4,0.000,0.062,2527,744,3097
$GC,4677,-0.96,-117.3,377.1,-7.0,220,4681,0.00,2.50,0.00,0.000,6,0.000,0.054,2527,2126,3097
$GC,4994,-1.01,-117.3,397.8,-6.5,235,4999,0.00,2.55,0.00,0.000,4,0.000,0.064,2527,740,3096
$GC,5063,-1.05,-117.3,402.8,-7.0,238,5068,0.12,2.47,0.00,0.000,6,0.055,0.054,2490,2113,3096
$GC,5384,-1.01,-117.3,427.9,-8.3,254,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2113,3096
$GC,5695,-0.96,-117.3,450.6,-7.1,269,5700,0.12,2.65,0.00,0.000,4,0.098,0.069,2517,3563,3095
$GC,5850,-0.96,-117.3,462.2,-6.9,276,5854,0.00,2.65,0.00,0.000,6,0.000,0.056,2517,2091,3095
$GC,6177,-0.96,-117.3,483.4,-7.0,292,6181,0.00,2.45,0.00,0.000,4,0.000,0.067,2517,739,3094
$GC,6323,-0.96,-117.3,493.9,-6.9,298,6329,0.00,2.45,0.00,0.000,6,0.000,0.061,2517,2077,3094
$STATE,6348,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6348,begin apogee
$GC,6355,-0.33,0.0,495.7,6.9,300,6457,0.68,0.00,98.43,1.163,6,0.093,0.000,2654,2077,2620
$STATE,6457,end apogee,CONTROL_FINISHED_OK
$STATE,6457,begin climb
$GC,6460,1.30,117.3,499.1,0.0,305,6566,1.65,2.65,97.53,1.131,4,0.071,0.071,3010,691,2141
$GC,6613,1.20,117.3,488.2,9.7,312,6618,0.00,2.62,0.00,0.000,6,0.000,0.062,3010,2105,2140
$GC,6935,1.15,117.3,459.8,9.2,328,6937,0.15,0.00,0.00,0.000,6,0.098,0.000,2982,2105,2139
$GC,7243,1.15,117.3,433.6,9.1,343,7247,0.00,2.60,0.00,0.000,4,0.000,0.075,2982,3505,2137
$GC,7366,1.15,117.3,420.5,10.3,348,7372,0.00,2.55,0.00,0.000,6,0.000,0.061,2982,2125,2136
$GC,7682,1.15,117.3,390.6,8.6,364,7686,0.00,2.62,0.00,0.000,4,0.000,0.074,2981,3512,2135
$GC,7766,1.15,117.3,383.6,8.8,368,7771,0.00,2.53,0.00,0.000,6,0.000,0.060,2982,2134,2135
$GC,8094,1.18,138.8,360.0,7.0,384,8119,0.00,2.65,17.65,1.068,4,0.000,0.069,2982,3504,2054
$GC,8187,1.18,138.8,352.2,8.4,388,8191,0.00,2.53,0.00,0.000,6,0.000,0.057,2981,2130,2054
$GC,8508,1.18,138.8,325.7,8.3,404,8513,0.00,2.55,0.00,0.000,4,0.000,0.069,2981,3509,2053
$GC,8536,1.18,138.8,323.2,9.1,405,8540,0.00,2.50,0.00,0.000,6,0.000,0.056,2981,2140,2053
$GC,8852,1.20,151.9,299.0,7.4,420,8874,0.00,2.60,12.38,0.992,4,0.000,0.064,2982,3502,2000
$GC,8891,1.22,158.9,296.0,7.7,421,8905,0.00,2.47,7.65,0.904,6,0.000,0.053,2982,2148,1972
$GC,9229,1.29,169.7,271.6,7.5,438,9245,0.12,2.55,9.80,0.931,4,0.055,0.064,3018,3507,1928
$GC,9292,1.23,169.7,265.6,10.7,440,9296,0.00,2.45,0.00,0.000,6,0.000,0.051,3017,2161,1928
$GC,9619,1.23,169.7,230.9,11.0,456,9623,0.00,2.50,0.00,0.000,4,0.000,0.063,3017,3515,1928
$GC,9629,1.23,169.7,229.5,11.1,456,9635,0.00,2.42,0.00,0.000,6,0.000,0.050,3017,2162,1928
$GC,9945,1.23,169.7,194.7,11.0,472,9949,0.00,2.47,0.00,0.000,4,0.000,0.061,3018,3508,1928
$GC,9974,1.19,169.7,191.3,11.8,473,9978,0.15,2.40,0.00,0.000,6,0.090,0.049,2988,2173,1928
$GC,10290,1.25,169.7,162.9,8.8,488,10294,0.00,2.45,0.00,0.000,4,0.000,0.062,2988,3508,1929
$GC,10330,1.29,169.7,159.2,9.4,490,10335,0.10,2.38,0.00,0.000,6,0.059,0.049,3018,2184,1929
$GC,10657,1.29,169.7,126.0,10.3,506,10661,0.00,2.42,0.00,0.000,4,0.000,0.061,3018,3509,1929
$GC,10713,1.29,169.7,119.7,11.3,508,10719,0.00,2.35,0.00,0.000,6,0.000,0.048,3018,2193,1929
$GC,11029,1.29,169.7,87.3,9.8,524,11034,0.00,2.42,0.00,0.000,4,0.000,0.061,3018,3515,1930
$GC,11080,1.25,169.7,81.8,10.1,526,11084,0.00,2.38,0.00,0.000,6,0.000,0.048,3018,2194,1930
$GC,11396,1.25,169.7,50.4,9.4,541,11397,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2175,1930
$GC,11706,1.25,169.7,20.8,9.8,556,11710,0.00,2.42,0.00,0.000,4,0.000,0.059,3018,3515,1930
$GC,11717,1.25,169.7,19.7,9.7,556,11724,0.00,2.35,0.00,0.000,6,0.000,0.046,3017,2191,1931
$STATE,11907,end climb,SURFACE_DEPTH_REACHED
$STATE,11907,begin surface coast
$FINISH,-0.2,1.007853
$STATE,11929,end surface coast,CONTROL_FINISHED_OK
$STATE,11929,begin surface
$SM_CCo,11952,217.27,0.772,0,0,390,547.02
$SM_GC,0.37,0.00,0.00,217.27,0.000,0.000,0.772,420,2165,390,-10.62,0.71,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1700
$TCM_TEMP,16.70
$XPDR_PINGS,352
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,400.3,104.0
$24V_AH,23.8,56.161
$10V_AH,10.1,26.904
$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,25.675,125.500,243.425,217.275,0.000,37.760,29.985,138.297,91.250,0.000,0.000,33.862,1143.441,8756.474,633.045,1522.765,464.416,33.357,1390.234,0.000,1469.100,0.000,23.474
$DEVICE_MAMPS,135.759,75.166,1162.772,772.369,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,388.336,415.360,396.156,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28534,567
$CAP_FILE_SIZE,103852,0
$CFSIZE,254472192,232628224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,090808,143556,6307.096,-902.755,40,1.8,40,-9.8