version: 66.03
glider: 5
mission: 3
dive: 315
start: 8 11 108 5 14 11
data:
$ID,5
$MISSION,3
$DIVE,315
$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,-82639.719
$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,39
$R_STBD_OVSHOOT,17
$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
$GPS1,050738,6317.506,-836.151,29,1.3,29,-9.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-49.4
$GPS2,051320,6317.515,-836.095,10,1.5,15,-9.6
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.097,0.199
$KALMAN_X,-130501.9,-27.6,408.9,249048.4,1433.6
$KALMAN_Y,-75891.9,1064.8,765.4,200421.7,-10095.9
$MHEAD_RNG_PITCHd_Wd,35.6,58866,-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,-117.3,0.0,0.0,0,149,0.00,0.00,-116.78,0.000,6,0.000,0.000,422,2114,3098
$GC,153,-1.30,-117.3,2.8,-2.9,6,169,10.43,2.62,0.00,0.000,4,0.136,0.058,2436,3565,3098
$GC,294,-1.03,-117.3,25.2,-13.1,11,299,0.32,2.50,0.00,0.000,6,0.092,0.043,2505,2153,3096
$GC,611,-0.96,-117.3,52.5,-7.3,26,615,0.00,2.58,0.00,0.000,4,0.000,0.057,2505,3564,3097
$GC,757,-0.87,-117.3,66.3,-8.8,32,764,0.17,2.42,0.00,0.000,6,0.091,0.042,2541,2182,3097
$GC,1074,-0.93,-117.3,89.9,-7.6,48,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2166,3097
$GC,1384,-0.99,-117.3,113.4,-7.7,63,1389,0.12,2.55,0.00,0.000,4,0.051,0.054,2503,745,3098
$GC,1587,-0.92,-117.3,133.5,-9.4,72,1592,0.12,2.60,0.00,0.000,6,0.097,0.050,2526,2206,3098
$GC,1909,-0.92,-117.3,160.0,-7.6,88,1913,0.00,2.42,0.00,0.000,4,0.000,0.061,2527,3564,3098
$GC,1987,-0.92,-117.3,166.6,-8.1,91,1991,0.00,2.42,0.00,0.000,6,0.000,0.046,2527,2198,3098
$GC,2304,-0.92,-117.3,188.6,-6.6,106,2308,0.00,2.60,0.00,0.000,4,0.000,0.058,2527,742,3098
$GC,2377,-0.92,-117.3,193.7,-7.1,109,2381,0.00,2.65,0.00,0.000,6,0.000,0.051,2527,2213,3098
$GC,2693,-0.92,-117.3,215.5,-6.9,124,2697,0.00,2.42,0.00,0.000,4,0.000,0.063,2527,3564,3097
$GC,2783,-0.92,-117.3,222.5,-8.2,128,2787,0.00,2.42,0.00,0.000,6,0.000,0.048,2527,2202,3098
$GC,3104,-0.92,-117.3,245.7,-7.2,144,3109,0.00,2.58,0.00,0.000,4,0.000,0.058,2527,747,3097
$GC,3195,-0.92,-117.3,252.7,-7.5,148,3200,0.00,2.62,0.00,0.000,6,0.000,0.051,2526,2205,3097
$GC,3519,-0.92,-117.3,275.4,-6.9,164,3523,0.00,2.67,0.00,0.000,4,0.000,0.060,2526,738,3096
$GC,3581,-0.92,-117.3,280.2,-7.4,167,3586,0.00,2.60,0.00,0.000,6,0.000,0.053,2527,2189,3097
$GC,3908,-0.96,-117.3,307.5,-8.9,183,3912,0.00,2.60,0.00,0.000,4,0.000,0.062,2527,748,3096
$GC,4015,-0.96,-117.3,317.0,-8.3,188,4019,0.00,2.53,0.00,0.000,6,0.000,0.052,2527,2158,3097
$GC,4342,-1.01,-117.3,339.2,-6.1,204,4346,0.00,2.53,0.00,0.000,4,0.000,0.064,2527,3561,3096
$GC,4466,-1.01,-117.3,346.8,-5.6,209,4472,0.00,2.50,0.00,0.000,6,0.000,0.050,2527,2167,3096
$GC,4782,-1.06,-117.3,362.5,-5.9,225,4787,0.12,2.55,0.00,0.000,4,0.054,0.064,2489,3563,3096
$GC,4945,-0.99,-117.3,377.5,-9.7,232,4950,0.12,2.45,0.00,0.000,6,0.097,0.051,2515,2196,3095
$GC,5261,-0.99,-117.3,403.6,-7.8,247,5265,0.00,2.60,0.00,0.000,4,0.000,0.065,2515,744,3095
$GC,5462,-0.99,-117.3,418.5,-7.4,256,5467,0.00,2.65,0.00,0.000,6,0.000,0.058,2515,2200,3095
$GC,5783,-0.99,-117.3,439.8,-6.2,272,5787,0.00,2.50,0.00,0.000,4,0.000,0.072,2515,3563,3095
$GC,5918,-0.99,-117.3,448.9,-7.2,278,5922,0.00,2.47,0.00,0.000,6,0.000,0.058,2515,2195,3094
$GC,6239,-0.99,-117.3,469.6,-6.9,294,6244,0.00,2.65,0.00,0.000,4,0.000,0.071,2515,746,3094
$GC,6486,-0.99,-117.3,488.0,-6.5,305,6491,0.00,2.65,0.00,0.000,6,0.000,0.064,2515,2184,3093
$GC,6808,-0.99,-117.3,509.4,-6.8,321,6813,0.00,2.55,0.00,0.000,4,0.000,0.078,2515,3557,3092
$GC,6881,-0.99,-117.3,514.7,-7.4,324,6886,0.00,2.53,0.00,0.000,6,0.000,0.064,2515,2187,3092
$GC,7197,-0.99,-117.3,535.1,-6.6,339,7202,0.00,2.62,0.00,0.000,4,0.000,0.075,2515,746,3091
$GC,7283,-0.99,-117.3,541.5,-7.7,343,7288,0.00,2.67,0.00,0.000,6,0.000,0.069,2515,2186,3090
$STATE,7483,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7483,begin apogee
$GC,7491,-0.33,0.0,556.2,6.6,353,7593,0.68,0.00,99.32,1.261,6,0.097,0.000,2651,2094,2620
$STATE,7594,end apogee,CONTROL_FINISHED_OK
$STATE,7594,begin climb
$GC,7597,1.30,117.3,559.1,0.0,358,7703,1.73,2.72,98.35,1.226,4,0.079,0.077,3012,3509,2140
$GC,7718,1.21,117.3,552.1,8.5,363,7722,0.00,2.65,0.00,0.000,6,0.000,0.067,3012,2107,2140
$GC,8034,1.14,117.3,520.8,10.4,378,8039,0.15,2.70,0.00,0.000,4,0.100,0.079,2980,3510,2138
$GC,8119,1.14,117.3,512.5,9.2,382,8124,0.00,2.60,0.00,0.000,6,0.000,0.067,2980,2116,2138
$GC,8446,1.14,117.3,483.1,8.5,398,8451,0.00,2.65,0.00,0.000,4,0.000,0.081,2980,3509,2137
$GC,8513,1.14,117.3,477.4,8.6,401,8517,0.00,2.60,0.00,0.000,6,0.000,0.067,2980,2120,2137
$GC,8835,1.17,135.7,454.0,7.2,417,8856,0.00,2.72,16.12,1.156,4,0.000,0.080,2980,3508,2066
$GC,8890,1.18,139.4,449.6,7.8,419,8902,0.00,2.60,4.65,0.864,6,0.000,0.068,2980,2130,2051
$GC,9213,1.24,149.6,425.6,7.5,435,9228,0.00,2.70,10.32,1.100,4,0.000,0.080,2980,3508,2009
$GC,9280,1.24,149.6,420.0,8.6,437,9284,0.00,2.60,0.00,0.000,6,0.000,0.067,2980,2127,2009
$GC,9601,1.29,149.6,392.0,8.8,453,9606,0.12,2.65,0.00,0.000,4,0.063,0.078,3012,3509,2006
$GC,9613,1.29,149.6,390.7,8.9,453,9619,0.00,2.55,0.00,0.000,6,0.000,0.065,3012,2139,2006
$GC,9929,1.24,149.6,358.1,9.8,469,9933,0.00,2.60,0.00,0.000,4,0.000,0.074,3012,3517,2006
$GC,9969,1.18,149.6,354.1,10.3,471,9974,0.12,2.50,0.00,0.000,6,0.104,0.060,2989,2159,2006
$GC,10296,1.18,149.6,326.3,8.3,487,10301,0.00,2.55,0.00,0.000,4,0.000,0.072,2989,3510,2005
$GC,10363,1.18,149.6,320.0,9.4,490,10368,0.00,2.45,0.00,0.000,6,0.000,0.057,2989,2171,2005
$GC,10686,1.18,149.6,293.9,8.1,506,10687,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2153,2005
$GC,10994,1.18,149.6,268.1,8.3,521,10998,0.00,2.50,0.00,0.000,4,0.000,0.067,2989,3512,2005
$GC,11089,1.18,149.6,259.4,8.7,525,11093,0.00,2.45,0.00,0.000,6,0.000,0.053,2988,2161,2005
$GC,11406,1.25,163.7,235.2,7.4,540,11428,0.00,2.58,12.60,0.958,4,0.000,0.064,2989,3514,1952
$GC,11467,1.29,163.7,230.2,8.7,542,11473,0.00,2.45,0.00,0.000,6,0.000,0.051,2989,2166,1952
$GC,11784,1.36,174.7,206.7,7.5,558,11800,0.15,2.53,10.62,0.910,4,0.052,0.061,3034,3518,1906
$GC,11825,1.27,174.7,202.7,11.2,559,11830,0.15,2.42,0.00,0.000,6,0.094,0.049,3006,2178,1906
$GC,12151,1.27,174.7,171.4,10.1,575,12156,0.00,2.45,0.00,0.000,4,0.000,0.061,3006,3512,1906
$GC,12186,1.27,174.7,167.6,10.9,576,12191,0.00,2.40,0.00,0.000,6,0.000,0.049,3006,2181,1907
$GC,12502,1.27,174.7,134.8,10.6,592,12506,0.00,2.45,0.00,0.000,4,0.000,0.061,3006,3518,1907
$GC,12535,1.27,174.7,130.9,11.0,593,12541,0.00,2.38,0.00,0.000,6,0.000,0.048,3006,2192,1907
$GC,12852,1.27,174.7,98.6,10.2,609,12856,0.00,2.42,0.00,0.000,4,0.000,0.061,3006,3515,1908
$GC,12862,1.27,174.7,97.3,10.1,609,12868,0.00,2.35,0.00,0.000,6,0.000,0.048,3006,2198,1908
$GC,13178,1.27,174.7,66.0,9.6,625,13179,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2197,1909
$GC,13488,1.27,174.7,36.5,9.4,640,13489,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2195,1910
$GC,13798,1.29,186.8,9.7,7.5,655,13820,0.00,2.50,12.18,0.762,4,0.000,0.059,3006,3517,1858
$GC,13859,1.29,186.8,3.4,11.7,657,13866,0.00,2.40,0.00,0.000,6,0.000,0.046,3006,2179,1857
$STATE,13884,end climb,SURFACE_DEPTH_REACHED
$STATE,13884,begin surface coast
$FINISH,-0.2,1.026914
$STATE,13907,end surface coast,CONTROL_FINISHED_OK
$STATE,13907,begin surface
$SM_CCo,13931,207.55,0.788,0,0,389,547.02
$SM_GC,0.28,0.00,0.00,207.55,0.000,0.000,0.788,423,2149,389,-10.61,-0.08,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1700
$TCM_TEMP,17.50
$XPDR_PINGS,324
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,475.4,90.6
$24V_AH,23.7,57.840
$10V_AH,10.1,27.673
$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,25.800,158.025,264.175,207.550,0.000,37.758,28.631,151.036,85.000,0.000,0.000,15.487,1321.901,10245.242,667.497,1735.035,512.656,33.356,1541.057,0.000,1691.906,0.000,28.593
$DEVICE_MAMPS,135.759,80.535,1260.948,788.476,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.340,484.664,442.533,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34890,660
$CAP_FILE_SIZE,120937,0
$CFSIZE,254472192,232009728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,110808,091108,6318.390,-830.775,39,1.1,39,-9.6