version: 66.03
glider: 5
mission: 3
dive: 378
start: 8 27 108 13 27 48
data:
$ID,5
$MISSION,3
$DIVE,378
$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,-83829.602
$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,16
$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
$GPS1,132026,6346.137,-605.300,40,1.5,41,-8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-56.3
$GPS2,132657,6346.137,-605.139,13,1.6,13,-8.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,NO9
$TGT_LATLONG,6340.000,-605.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.176,-0.244
$KALMAN_X,-91057.6,-195.1,-778.7,341589.6,4445.4
$KALMAN_Y,-192743.2,975.1,605.0,370553.4,-4337.1
$MHEAD_RNG_PITCHd_Wd,224.3,11365,-11.2,-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,-0.94,-117.3,0.0,0.0,0,146,0.00,0.00,-117.10,0.000,6,0.000,0.000,418,2105,3098
$GC,151,-0.94,-117.3,3.1,-3.2,6,167,11.00,2.65,0.00,0.000,4,0.140,0.057,2517,3567,3097
$GC,321,-0.65,-117.3,23.2,-9.1,12,328,0.32,2.50,0.00,0.000,6,0.091,0.044,2584,2153,3096
$GC,641,-0.59,-117.3,42.3,-5.6,28,645,0.00,2.58,0.00,0.000,4,0.000,0.058,2584,3565,3097
$GC,652,-0.53,-117.3,43.0,-5.4,28,659,0.15,2.50,0.00,0.000,6,0.087,0.043,2615,2150,3097
$GC,969,-0.58,-117.3,56.6,-4.2,44,973,0.00,2.58,0.00,0.000,4,0.000,0.058,2615,3569,3098
$GC,1026,-0.63,-117.3,59.1,-4.8,46,1032,0.00,2.50,0.00,0.000,6,0.000,0.044,2615,2153,3098
$GC,1342,-0.68,-117.3,74.0,-4.9,62,1347,0.15,2.58,0.00,0.000,4,0.051,0.059,2569,3569,3099
$GC,1354,-0.68,-117.3,74.6,-4.8,62,1360,0.00,2.50,0.00,0.000,6,0.000,0.045,2569,2157,3099
$GC,1671,-0.59,-117.3,94.8,-6.3,78,1676,0.15,2.58,0.00,0.000,4,0.085,0.059,2604,3571,3099
$GC,1683,-0.52,-117.3,95.6,-6.1,78,1689,0.00,2.50,0.00,0.000,6,0.000,0.045,2603,2156,3099
$GC,2000,-0.52,-117.3,111.8,-4.9,94,2004,0.00,2.55,0.00,0.000,4,0.000,0.060,2603,3564,3099
$GC,2018,-0.52,-117.3,112.8,-5.0,95,2023,0.00,2.50,0.00,0.000,6,0.000,0.046,2603,2152,3099
$GC,2346,-0.52,-117.3,128.0,-4.7,111,2350,0.00,2.58,0.00,0.000,4,0.000,0.062,2603,3564,3100
$GC,2357,-0.52,-117.3,128.6,-4.8,111,2363,0.00,2.50,0.00,0.000,6,0.000,0.048,2603,2152,3100
$GC,2676,-0.52,-117.3,142.8,-4.1,127,2680,0.00,2.58,0.00,0.000,4,0.000,0.063,2603,3564,3099
$GC,2686,-0.52,-117.3,143.4,-4.2,127,2693,0.00,2.50,0.00,0.000,6,0.000,0.048,2603,2157,3099
$GC,3002,-0.52,-117.3,155.2,-3.8,143,3007,0.00,2.58,0.00,0.000,4,0.000,0.061,2603,3570,3099
$GC,3021,-0.52,-117.3,155.9,-3.5,144,3025,0.00,2.50,0.00,0.000,6,0.000,0.046,2603,2156,3099
$GC,3348,-0.52,-117.3,168.9,-4.4,160,3352,0.00,2.58,0.00,0.000,4,0.000,0.062,2603,3568,3099
$GC,3375,-0.52,-117.3,170.2,-4.7,161,3379,0.00,2.50,0.00,0.000,6,0.000,0.046,2603,2157,3099
$GC,3693,-0.52,-117.3,184.4,-4.8,176,3697,0.00,2.58,0.00,0.000,4,0.000,0.062,2603,3569,3098
$GC,3703,-0.52,-117.3,185.0,-4.9,176,3709,0.00,2.50,0.00,0.000,6,0.000,0.047,2603,2158,3098
$GC,4020,-0.52,-117.3,199.6,-4.8,192,4025,0.00,2.58,0.00,0.000,4,0.000,0.063,2603,3568,3098
$GC,4071,-0.52,-117.3,202.6,-5.5,194,4075,0.00,2.47,0.00,0.000,6,0.000,0.048,2603,2174,3098
$GC,4392,-0.52,-117.3,219.5,-5.1,210,4396,0.00,2.55,0.00,0.000,4,0.000,0.065,2603,3564,3098
$GC,4436,-0.52,-117.3,222.0,-5.8,212,4441,0.00,2.47,0.00,0.000,6,0.000,0.050,2603,2179,3098
$GC,4759,-0.52,-117.3,235.8,-4.1,228,4763,0.00,2.53,0.00,0.000,4,0.000,0.064,2603,3564,3097
$GC,4771,-0.52,-117.3,236.4,-4.3,228,4777,0.00,2.47,0.00,0.000,6,0.000,0.050,2603,2181,3098
$GC,5088,-0.52,-117.3,250.7,-4.6,244,5092,0.00,2.55,0.00,0.000,4,0.000,0.065,2603,3567,3097
$GC,5139,-0.52,-117.3,253.3,-5.4,246,5143,0.00,2.45,0.00,0.000,6,0.000,0.049,2603,2195,3097
$GC,5456,-0.57,-117.3,267.1,-4.5,261,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2195,3097
$GC,5766,-0.62,-117.3,280.9,-4.6,276,5770,0.00,2.55,0.00,0.000,4,0.000,0.069,2603,3570,3097
$GC,5817,-0.67,-117.3,283.4,-4.8,278,5821,0.00,2.45,0.00,0.000,6,0.000,0.053,2603,2209,3097
$GC,6133,-0.71,-117.3,297.9,-4.9,293,6135,0.12,0.00,0.00,0.000,6,0.057,0.000,2569,2209,3097
$GC,6443,-0.65,-117.3,316.9,-6.4,308,6448,0.00,2.65,0.00,0.000,4,0.000,0.067,2569,750,3096
$GC,6455,-0.59,-117.3,317.7,-6.2,308,6461,0.17,2.67,0.00,0.000,6,0.090,0.060,2603,2211,3096
$STATE,6606,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6606,begin apogee
$GC,6614,-0.33,0.0,325.3,4.9,316,6713,0.25,0.00,96.32,1.080,6,0.079,0.000,2655,2102,2620
$STATE,6714,end apogee,CONTROL_FINISHED_OK
$STATE,6714,begin climb
$GC,6717,0.94,117.3,327.8,0.0,321,6820,1.33,2.67,96.25,1.039,4,0.068,0.071,2936,3511,2140
$GC,6849,0.97,173.3,320.4,6.7,327,6905,0.00,2.62,46.25,1.012,6,0.000,0.058,2936,2074,1912
$GC,7219,0.99,186.1,293.1,7.7,345,7234,0.00,0.00,11.55,0.932,6,0.000,0.000,2936,2074,1861
$GC,7544,1.05,222.3,268.9,7.2,361,7581,0.10,2.70,30.67,1.011,4,0.063,0.070,2967,3510,1713
$GC,7658,0.99,222.3,259.3,8.7,365,7663,0.10,2.55,0.00,0.000,6,0.094,0.057,2946,2125,1712
$GC,7980,0.99,223.3,234.5,8.0,381,7984,0.00,2.62,0.00,0.000,4,0.000,0.071,2946,3518,1712
$GC,8042,0.99,223.3,229.3,8.4,384,8047,0.00,2.53,0.00,0.000,6,0.000,0.056,2946,2136,1712
$GC,8370,1.00,232.0,203.9,7.8,400,8384,0.00,2.60,9.27,0.909,4,0.000,0.067,2946,3515,1674
$GC,8430,1.01,234.7,199.1,7.9,402,8439,0.00,2.47,4.12,0.692,6,0.000,0.054,2946,2158,1663
$GC,8769,1.04,255.7,173.6,7.5,419,8792,0.00,2.72,18.30,0.953,4,0.000,0.066,2947,687,1576
$GC,8820,1.04,255.7,169.5,8.2,421,8825,0.00,2.72,0.00,0.000,6,0.000,0.058,2947,2175,1576
$GC,9141,1.12,308.4,147.1,6.8,437,9192,0.12,2.55,42.80,0.956,4,0.054,0.064,2983,3515,1362
$GC,9229,1.08,308.4,139.4,9.6,441,9233,0.00,2.45,0.00,0.000,6,0.000,0.051,2983,2168,1362
$GC,9556,1.00,308.4,109.6,9.2,457,9561,0.15,2.70,0.00,0.000,4,0.084,0.066,2948,683,1363
$GC,9598,1.06,308.4,106.1,8.9,459,9602,0.00,2.70,0.00,0.000,6,0.000,0.054,2948,2182,1362
$GC,9926,1.22,367.7,82.8,6.7,475,9981,0.17,2.50,47.95,0.896,4,0.048,0.061,3003,3511,1120
$GC,10013,1.15,367.7,74.0,11.2,479,10018,0.12,2.47,0.00,0.000,6,0.082,0.050,2978,2149,1120
$GC,10340,1.20,399.9,47.9,7.3,495,10374,0.00,2.67,26.65,0.848,4,0.000,0.064,2977,690,989
$GC,10409,1.21,408.3,42.7,7.8,498,10426,0.00,2.67,8.25,0.752,6,0.000,0.053,2977,2165,954
$GC,10738,1.38,470.1,21.3,6.6,514,10795,0.22,0.00,49.55,0.834,6,0.044,0.000,3038,2165,703
$STATE,10917,end climb,SURFACE_DEPTH_REACHED
$STATE,10917,begin surface coast
$FINISH,-0.1,1.027015
$STATE,10938,end surface coast,CONTROL_FINISHED_OK
$STATE,10938,begin surface
$SM_CCo,10961,47.45,0.805,0,0,390,547.02
$SM_GC,0.47,0.00,0.00,47.45,0.000,0.000,0.805,422,2167,390,-10.61,0.45,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1720
$TCM_TEMP,17.20
$XPDR_PINGS,327
$ALTIM_TOP_PING,19.9,19.2
$ALTIM_BOTTOM_PING,325.3,7.0
$24V_AH,23.7,69.734
$10V_AH,10.1,34.038
$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,26.100,133.400,487.950,47.450,0.000,37.759,31.253,169.267,84.250,0.000,0.000,13.645,1018.122,7959.016,678.082,1217.687,516.717,33.384,1350.766,0.000,1194.016,0.000,18.326
$DEVICE_MAMPS,140.361,71.331,1079.936,804.583,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,357.022,390.288,490.855,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25465,524
$CAP_FILE_SIZE,99681,0
$CFSIZE,254472192,227172352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,270808,163305,6345.235,-605.948,68,2.0,68,-8.4