version: 66.03
glider: 5
mission: 3
dive: 307
start: 8 9 108 21 59 8
data:
$ID,5
$MISSION,3
$DIVE,307
$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,-82486.422
$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,19
$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
$GPS1,215231,6308.512,-903.455,39,1.6,44,-9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-47.9
$GPS2,215814,6308.471,-903.554,11,1.6,16,-9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.021,0.221
$KALMAN_X,-131827.4,-382.8,-801.6,228225.8,5168.7
$KALMAN_Y,-64996.3,1417.4,691.8,172511.6,-16132.3
$MHEAD_RNG_PITCHd_Wd,4.5,7178,-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,21,begin dive
$GC,24,-1.30,-117.3,0.0,0.0,0,146,0.00,0.00,-114.82,0.000,6,0.000,0.000,420,2175,3099
$GC,150,-1.30,-117.3,3.3,-3.4,6,166,10.52,2.53,0.00,0.000,4,0.139,0.058,2439,3565,3098
$GC,290,-1.00,-117.3,25.4,-12.2,11,295,0.32,2.50,0.00,0.000,6,0.090,0.042,2507,2142,3098
$GC,607,-0.95,-117.3,57.7,-9.4,26,611,0.00,2.47,0.00,0.000,4,0.000,0.053,2507,746,3098
$GC,812,-0.90,-117.3,71.0,-5.4,35,817,0.12,2.50,0.00,0.000,6,0.095,0.047,2532,2148,3098
$GC,1134,-0.90,-117.3,84.5,-3.8,51,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2147,3099
$GC,1443,-0.90,-117.3,100.6,-5.6,66,1448,0.00,2.55,0.00,0.000,4,0.000,0.057,2532,745,3099
$GC,1516,-0.90,-117.3,104.9,-6.1,69,1520,0.00,2.47,0.00,0.000,6,0.000,0.048,2532,2129,3099
$GC,1835,-0.94,-117.3,124.0,-6.6,84,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2129,3099
$GC,2143,-0.98,-117.3,146.5,-7.3,99,2147,0.00,2.53,0.00,0.000,4,0.000,0.058,2532,742,3099
$GC,2221,-0.98,-117.3,152.6,-7.1,102,2227,0.00,2.45,0.00,0.000,6,0.000,0.050,2532,2108,3099
$GC,2538,-1.03,-117.3,177.9,-8.4,118,2543,0.12,2.60,0.00,0.000,4,0.053,0.060,2494,3555,3099
$GC,2703,-0.95,-117.3,195.0,-10.1,125,2708,0.12,2.58,0.00,0.000,6,0.097,0.046,2519,2100,3098
$GC,3019,-0.95,-117.3,223.4,-8.5,140,3023,0.00,2.42,0.00,0.000,4,0.000,0.060,2520,746,3098
$GC,3097,-0.95,-117.3,230.4,-8.6,143,3103,0.00,2.45,0.00,0.000,6,0.000,0.051,2520,2108,3098
$GC,3412,-0.95,-117.3,256.2,-8.0,159,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2108,3098
$GC,3723,-0.95,-117.3,278.1,-6.5,174,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2108,3098
$GC,4031,-0.95,-117.3,295.8,-5.2,189,4035,0.00,2.47,0.00,0.000,4,0.000,0.060,2520,749,3097
$GC,4162,-0.95,-117.3,302.9,-5.3,195,4166,0.00,2.45,0.00,0.000,6,0.000,0.052,2520,2114,3097
$GC,4490,-0.95,-117.3,319.6,-5.4,211,4494,0.00,2.60,0.00,0.000,4,0.000,0.063,2520,3564,3097
$GC,4747,-0.95,-117.3,337.9,-8.1,222,4753,0.00,2.58,0.00,0.000,6,0.000,0.050,2520,2123,3097
$GC,5063,-0.95,-117.3,364.9,-8.8,238,5067,0.00,2.47,0.00,0.000,4,0.000,0.063,2520,744,3096
$GC,5175,-0.95,-117.3,375.7,-9.4,243,5179,0.00,2.47,0.00,0.000,6,0.000,0.054,2520,2116,3096
$GC,5497,-0.95,-117.3,401.2,-7.1,259,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2116,3096
$GC,5805,-0.95,-117.3,418.6,-4.8,274,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2116,3096
$GC,6115,-0.95,-117.3,432.5,-4.6,289,6119,0.00,2.53,0.00,0.000,4,0.000,0.064,2520,741,3095
$GC,6250,-0.95,-117.3,439.3,-5.1,295,6254,0.00,2.47,0.00,0.000,6,0.000,0.058,2520,2100,3095
$GC,6573,-0.95,-117.3,454.7,-4.9,311,6577,0.00,2.50,0.00,0.000,4,0.000,0.068,2520,751,3095
$GC,6658,-0.95,-117.3,459.8,-5.8,315,6662,0.00,2.45,0.00,0.000,6,0.000,0.059,2520,2096,3095
$GC,6986,-0.99,-117.3,477.3,-6.1,331,6990,0.00,2.70,0.00,0.000,4,0.000,0.074,2520,3560,3094
$GC,7242,-0.99,-117.3,496.0,-8.2,342,7249,0.00,2.65,0.00,0.000,6,0.000,0.061,2520,2107,3092
$STATE,7349,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7349,begin apogee
$GC,7356,-0.33,0.0,503.9,7.3,348,7458,0.65,0.00,99.15,1.179,6,0.083,0.000,2656,2089,2620
$STATE,7459,end apogee,CONTROL_FINISHED_OK
$STATE,7459,begin climb
$GC,7463,1.30,117.3,505.1,0.0,353,7566,1.67,0.00,98.70,1.147,6,0.068,0.000,3013,2088,2141
$GC,7862,1.23,117.3,468.3,9.8,373,7866,0.00,2.67,0.00,0.000,4,0.000,0.077,3013,3505,2139
$GC,7963,1.14,117.3,458.5,9.4,377,7970,0.20,2.58,0.00,0.000,6,0.095,0.064,2976,2124,2139
$GC,8280,1.23,145.4,436.5,6.7,393,8309,0.00,2.67,23.98,1.113,4,0.000,0.077,2976,3502,2027
$GC,8409,1.34,178.7,428.1,6.5,398,8444,0.20,2.58,29.20,1.125,6,0.053,0.064,3023,2124,1890
$GC,8769,1.28,178.7,396.5,9.5,416,8773,0.00,2.62,0.00,0.000,4,0.000,0.075,3023,3504,1888
$GC,8842,1.20,178.7,389.0,9.9,419,8847,0.17,2.53,0.00,0.000,6,0.099,0.062,2992,2144,1888
$GC,9158,1.22,193.0,365.1,7.4,434,9180,0.00,2.62,12.73,1.045,4,0.000,0.072,2991,3495,1832
$GC,9204,1.22,193.0,361.6,8.5,436,9208,0.00,2.47,0.00,0.000,6,0.000,0.058,2991,2156,1832
$GC,9532,1.29,205.0,337.8,7.5,452,9553,0.00,2.62,11.48,1.012,4,0.000,0.067,2991,3511,1784
$GC,9599,1.35,205.0,332.3,8.0,455,9604,0.15,2.47,0.00,0.000,6,0.054,0.055,3028,2164,1783
$GC,9927,1.30,205.0,298.5,11.5,471,9931,0.00,2.50,0.00,0.000,4,0.000,0.067,3028,3508,1783
$GC,9961,1.23,205.0,294.0,12.5,472,9969,0.12,2.40,0.00,0.000,6,0.086,0.053,3000,2182,1783
$GC,10277,1.23,205.0,261.0,10.7,488,10281,0.00,2.45,0.00,0.000,4,0.000,0.064,3001,3505,1783
$GC,10305,1.23,205.0,257.8,11.7,489,10309,0.00,2.40,0.00,0.000,6,0.000,0.051,3001,2181,1782
$GC,10621,1.27,205.0,222.6,11.3,504,10625,0.00,2.45,0.00,0.000,4,0.000,0.063,3001,3512,1783
$GC,10643,1.31,205.0,219.7,12.1,505,10647,0.00,2.40,0.00,0.000,6,0.000,0.051,3001,2185,1783
$GC,10966,1.36,205.0,183.0,11.4,521,10970,0.12,2.42,0.00,0.000,4,0.054,0.061,3034,3507,1783
$GC,10987,1.36,205.0,180.1,12.5,522,10991,0.00,2.35,0.00,0.000,6,0.000,0.048,3034,2197,1784
$GC,11309,1.32,205.0,138.7,12.5,538,11313,0.00,2.40,0.00,0.000,4,0.000,0.061,3034,3507,1784
$GC,11320,1.27,205.0,137.1,12.4,538,11327,0.15,2.35,0.00,0.000,6,0.092,0.049,3006,2197,1784
$GC,11637,1.27,205.0,103.7,10.2,554,11641,0.00,2.40,0.00,0.000,4,0.000,0.061,3005,3508,1785
$GC,11654,1.27,205.0,101.7,10.5,555,11659,0.00,2.33,0.00,0.000,6,0.000,0.048,3005,2205,1785
$GC,11983,1.27,205.0,68.4,10.4,571,11987,0.00,2.38,0.00,0.000,4,0.000,0.060,3006,3505,1785
$GC,12000,1.27,205.0,66.4,10.7,572,12004,0.00,2.33,0.00,0.000,6,0.000,0.047,3005,2201,1785
$GC,12333,1.33,205.0,34.0,8.3,588,12337,0.00,2.38,0.00,0.000,4,0.000,0.058,3005,3507,1786
$GC,12378,1.38,205.0,30.1,8.6,590,12383,0.12,2.30,0.00,0.000,6,0.053,0.047,3039,2214,1786
$STATE,12655,end climb,SURFACE_DEPTH_REACHED
$STATE,12655,begin surface coast
$FINISH,-0.1,1.026888
$STATE,12680,end surface coast,CONTROL_FINISHED_OK
$STATE,12680,begin surface
$SM_CCo,12703,196.95,0.776,0,0,390,547.02
$SM_GC,0.07,0.00,0.00,196.95,0.000,0.000,0.776,420,2132,390,-10.63,-0.54,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1710
$TCM_TEMP,17.40
$XPDR_PINGS,340
$ALTIM_TOP_PING,19.3,999.0
$ALTIM_BOTTOM_PING,425.1,88.2
$24V_AH,23.8,56.611
$10V_AH,10.1,27.105
$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,26.175,124.575,275.225,196.950,0.000,37.760,28.412,153.090,88.500,0.000,0.000,16.836,1193.628,9362.128,658.708,1543.656,491.493,33.357,1419.279,0.000,1505.406,0.000,25.023
$DEVICE_MAMPS,138.827,76.700,1178.879,776.204,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.653,446.970,446.016,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31681,605
$CAP_FILE_SIZE,107518,0
$CFSIZE,254472192,232472576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,100808,013541,6310.274,-903.421,49,1.9,53,-9.9