version: 66.03
glider: 5
mission: 3
dive: 382
start: 8 28 108 12 52 59
data:
$ID,5
$MISSION,3
$DIVE,382
$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,-83902.195
$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,55
$R_STBD_OVSHOOT,15
$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
$GPS1,124537,6340.910,-605.771,43,1.1,44,-8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-58.9
$GPS2,125208,6340.978,-605.721,12,1.3,12,-8.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,NO9
$TGT_LATLONG,6340.000,-605.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.123,-0.185
$KALMAN_X,-81574.8,-170.4,-537.2,331304.1,5148.8
$KALMAN_Y,-178817.0,-95.8,-403.0,349171.5,4996.2
$MHEAD_RNG_PITCHd_Wd,222.0,1905,-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,-115.75,0.000,6,0.000,0.000,420,2110,3099
$GC,151,-1.30,-117.3,3.4,-3.4,6,167,10.65,2.62,0.00,0.000,4,0.142,0.058,2438,3566,3098
$GC,286,-1.01,-117.3,25.2,-13.2,11,291,0.32,2.47,0.00,0.000,6,0.094,0.043,2506,2172,3097
$GC,609,-0.95,-117.3,51.6,-7.9,27,613,0.00,2.55,0.00,0.000,4,0.000,0.059,2506,3565,3098
$GC,627,-0.87,-117.3,53.2,-8.0,28,632,0.17,2.47,0.00,0.000,6,0.094,0.044,2541,2165,3098
$GC,956,-0.92,-117.3,76.3,-7.5,44,961,0.00,2.55,0.00,0.000,4,0.000,0.058,2541,741,3100
$GC,991,-0.92,-117.3,79.2,-8.1,45,997,0.00,2.58,0.00,0.000,6,0.000,0.051,2541,2176,3100
$GC,1308,-0.97,-117.3,102.8,-7.3,61,1309,0.10,0.00,0.00,0.000,6,0.058,0.000,2511,2176,3100
$GC,1617,-0.97,-117.3,128.1,-8.2,76,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2176,3100
$GC,1926,-0.97,-117.3,153.2,-7.9,91,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2176,3100
$GC,2235,-0.97,-117.3,177.2,-7.6,106,2239,0.00,2.62,0.00,0.000,4,0.000,0.061,2511,742,3100
$GC,2246,-0.97,-117.3,178.1,-7.4,106,2252,0.00,2.60,0.00,0.000,6,0.000,0.054,2511,2179,3100
$GC,2563,-0.97,-117.3,200.7,-6.9,122,2567,0.00,2.62,0.00,0.000,4,0.000,0.061,2511,747,3100
$GC,2573,-0.97,-117.3,201.5,-6.7,122,2580,0.00,2.60,0.00,0.000,6,0.000,0.054,2511,2186,3100
$GC,2890,-0.97,-117.3,224.8,-7.9,138,2894,0.00,2.62,0.00,0.000,4,0.000,0.062,2511,750,3099
$GC,2900,-0.97,-117.3,225.8,-8.0,138,2904,0.00,2.60,0.00,0.000,6,0.000,0.054,2511,2189,3099
$GC,3217,-0.97,-117.3,252.4,-8.3,153,3221,0.00,2.47,0.00,0.000,4,0.000,0.066,2511,3556,3099
$GC,3239,-0.93,-117.3,254.4,-8.3,154,3243,0.00,2.45,0.00,0.000,6,0.000,0.051,2511,2195,3099
$GC,3561,-0.93,-117.3,279.6,-7.6,170,3565,0.00,2.53,0.00,0.000,4,0.000,0.067,2511,3556,3099
$GC,3588,-0.93,-117.3,282.0,-8.1,171,3592,0.00,2.42,0.00,0.000,6,0.000,0.051,2511,2206,3099
$STATE,3860,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3860,begin apogee
$GC,3867,-0.33,0.0,302.3,7.3,184,3967,0.70,0.00,97.00,1.029,6,0.086,0.000,2653,2085,2620
$STATE,3968,end apogee,CONTROL_FINISHED_OK
$STATE,3968,begin climb
$GC,3972,1.30,117.3,305.7,0.0,189,4076,1.70,2.70,95.68,0.999,4,0.074,0.067,3012,3502,2141
$GC,4133,1.25,117.3,295.2,8.6,197,4137,0.00,2.55,0.00,0.000,6,0.000,0.054,3011,2112,2140
$GC,4454,1.25,117.3,268.2,8.4,213,4459,0.00,2.60,0.00,0.000,4,0.000,0.069,3012,3506,2139
$GC,4533,1.20,117.3,260.9,9.3,216,4539,0.00,2.58,0.00,0.000,6,0.000,0.055,3012,2096,2139
$GC,4849,1.20,117.3,232.6,8.4,232,4853,0.00,2.62,0.00,0.000,4,0.000,0.071,3011,3511,2137
$GC,4984,1.14,117.3,220.0,9.3,238,4989,0.17,2.50,0.00,0.000,6,0.094,0.053,2978,2136,2137
$GC,5306,1.20,117.3,193.8,8.3,254,5310,0.00,2.55,0.00,0.000,4,0.000,0.068,2978,3511,2135
$GC,5391,1.20,117.3,186.4,9.2,258,5395,0.00,2.42,0.00,0.000,6,0.000,0.051,2978,2164,2135
$GC,5718,1.31,149.4,163.3,6.5,274,5752,0.15,2.53,26.12,0.946,4,0.053,0.064,3022,3505,2010
$GC,5805,1.24,149.4,155.6,9.9,278,5810,0.12,2.40,0.00,0.000,6,0.098,0.050,3000,2179,2010
$GC,6132,1.24,149.4,128.4,8.2,294,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2179,2009
$GC,6441,1.24,149.4,102.5,8.4,309,6445,0.00,2.45,0.00,0.000,4,0.000,0.062,3000,3512,2009
$GC,6549,1.24,149.4,92.7,9.1,314,6553,0.00,2.38,0.00,0.000,6,0.000,0.048,3000,2184,2009
$GC,6877,1.24,149.4,62.9,10.3,330,6881,0.00,2.67,0.00,0.000,4,0.000,0.062,3000,690,2009
$GC,6939,1.24,149.4,55.7,11.2,333,6944,0.00,2.67,0.00,0.000,6,0.000,0.052,3000,2184,2009
$GC,7268,1.32,166.8,26.1,7.2,349,7291,0.00,2.42,14.85,0.813,4,0.000,0.061,3000,3507,1940
$GC,7417,1.37,166.8,13.7,8.7,355,7422,0.12,2.35,0.00,0.000,6,0.053,0.045,3034,2195,1940
$STATE,7544,end climb,SURFACE_DEPTH_REACHED
$STATE,7545,begin surface coast
$FINISH,-0.1,1.026711
$STATE,7568,end surface coast,CONTROL_FINISHED_OK
$STATE,7568,begin surface
$SM_CCo,7592,234.57,0.802,0,0,390,547.02
$SM_GC,0.53,0.00,0.00,234.57,0.000,0.000,0.802,425,2168,390,-10.60,0.45,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1672
$TCM_TEMP,17.40
$XPDR_PINGS,278
$ALTIM_TOP_PING,20.0,999.0
$ALTIM_BOTTOM_PING,300.9,10.9
$24V_AH,23.7,70.434
$10V_AH,10.1,34.402
$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,25.650,81.350,233.650,234.575,0.000,37.761,33.419,169.884,71.750,0.000,0.000,12.055,730.529,5512.216,629.682,882.675,452.650,33.366,1083.864,0.000,869.348,0.000,16.749
$DEVICE_MAMPS,141.895,71.331,1028.547,802.282,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,248.092,267.305,359.994,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19067,362
$CAP_FILE_SIZE,69379,0
$CFSIZE,254472192,226918400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,280808,150437,6341.304,-605.931,31,0.9,31,-8.4