version: 66.03
glider: 5
mission: 3
dive: 317
start: 8 11 108 13 18 28
data:
$ID,5
$MISSION,3
$DIVE,317
$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,-82683.047
$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,33
$R_STBD_OVSHOOT,18
$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
$GPS1,131151,6319.131,-828.551,43,3.6,62,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-49.4
$GPS2,131738,6319.108,-828.581,15,1.3,32,-9.6
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.072,0.210
$KALMAN_X,-127688.8,-310.2,-402.5,253864.9,4100.7
$KALMAN_Y,-81105.8,789.6,690.9,208957.4,-11684.1
$MHEAD_RNG_PITCHd_Wd,28.6,53362,-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,-116.03,0.000,6,0.000,0.000,423,2192,3099
$GC,153,-1.30,-117.3,3.2,-3.3,6,169,10.55,0.00,0.00,0.000,6,0.137,0.000,2437,2195,3099
$GC,482,-1.04,-117.3,46.1,-11.8,22,484,0.30,0.00,0.00,0.000,6,0.091,0.000,2500,2195,3098
$GC,789,-0.97,-117.3,77.2,-9.3,37,793,0.00,2.60,0.00,0.000,4,0.000,0.052,2500,753,3098
$GC,862,-0.90,-117.3,84.2,-9.9,40,867,0.15,2.50,0.00,0.000,6,0.093,0.046,2532,2157,3098
$GC,1179,-0.90,-117.3,111.0,-8.5,55,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2155,3099
$GC,1488,-0.90,-117.3,135.5,-6.9,70,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2156,3100
$GC,1797,-0.90,-117.3,152.3,-4.8,85,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2156,3100
$GC,2107,-0.94,-117.3,169.0,-5.7,100,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2156,3100
$GC,2416,-0.98,-117.3,188.9,-6.9,115,2420,0.00,2.55,0.00,0.000,4,0.000,0.058,2532,753,3099
$GC,2501,-0.98,-117.3,195.6,-8.1,119,2506,0.00,2.47,0.00,0.000,6,0.000,0.051,2532,2139,3099
$GC,2829,-1.04,-117.3,220.3,-7.7,135,2831,0.12,0.00,0.00,0.000,6,0.053,0.000,2494,2139,3099
$GC,3138,-0.98,-117.3,245.7,-8.4,150,3143,0.10,2.53,0.00,0.000,4,0.099,0.058,2515,755,3099
$GC,3223,-0.98,-117.3,252.6,-8.0,154,3228,0.00,2.47,0.00,0.000,6,0.000,0.051,2515,2140,3099
$GC,3553,-0.98,-117.3,276.2,-6.5,170,3557,0.00,2.53,0.00,0.000,4,0.000,0.059,2515,745,3098
$GC,3671,-0.98,-117.3,283.9,-6.2,175,3676,0.00,2.45,0.00,0.000,6,0.000,0.052,2515,2106,3098
$GC,3987,-0.98,-117.3,299.6,-4.3,190,3992,0.00,2.62,0.00,0.000,4,0.000,0.064,2515,3558,3098
$GC,4245,-0.98,-117.3,317.0,-7.4,201,4249,0.00,2.55,0.00,0.000,6,0.000,0.049,2515,2131,3097
$GC,4561,-0.98,-117.3,341.5,-8.5,216,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2130,3098
$GC,4871,-0.98,-117.3,368.3,-8.4,231,4876,0.00,2.50,0.00,0.000,4,0.000,0.063,2515,739,3097
$GC,4979,-0.98,-117.3,378.1,-9.1,236,4984,0.00,2.50,0.00,0.000,6,0.000,0.055,2515,2124,3097
$GC,5308,-0.98,-117.3,400.1,-5.4,252,5313,0.00,2.62,0.00,0.000,4,0.000,0.070,2515,3557,3096
$GC,5539,-0.98,-117.3,412.4,-5.4,262,5543,0.00,2.58,0.00,0.000,6,0.000,0.056,2515,2135,3096
$GC,5855,-0.98,-117.3,426.2,-4.5,277,5860,0.00,2.53,0.00,0.000,4,0.000,0.067,2515,742,3096
$GC,5969,-0.98,-117.3,432.6,-5.9,282,5974,0.00,2.55,0.00,0.000,6,0.000,0.061,2515,2133,3096
$GC,6291,-0.98,-117.3,451.6,-6.3,298,6295,0.00,2.65,0.00,0.000,4,0.000,0.076,2515,3564,3095
$GC,6498,-0.98,-117.3,466.0,-7.2,307,6502,0.00,2.58,0.00,0.000,6,0.000,0.062,2515,2157,3094
$GC,6814,-0.98,-117.3,485.0,-6.0,322,6818,0.00,2.58,0.00,0.000,4,0.000,0.073,2515,747,3093
$GC,6926,-0.98,-117.3,493.2,-7.7,327,6930,0.00,2.62,0.00,0.000,6,0.000,0.068,2515,2164,3092
$GC,7247,-0.98,-117.3,514.9,-6.8,343,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2164,3091
$GC,7557,-0.98,-117.3,536.3,-6.9,358,7561,0.00,2.67,0.00,0.000,4,0.000,0.078,2515,748,3090
$GC,7635,-0.98,-117.3,542.2,-7.2,361,7641,0.00,2.62,0.00,0.000,6,0.000,0.071,2515,2154,3089
$GC,7951,-0.98,-117.3,563.7,-6.6,377,7956,0.00,2.62,0.00,0.000,4,0.000,0.084,2515,3562,3088
$GC,8053,-0.98,-117.3,571.6,-8.3,381,8059,0.00,2.62,0.00,0.000,6,0.000,0.070,2515,2148,3087
$STATE,8077,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8077,begin apogee
$GC,8084,-0.33,0.0,573.7,7.9,383,8186,0.68,0.00,98.85,1.299,6,0.092,0.000,2653,2130,2620
$STATE,8187,end apogee,CONTROL_FINISHED_OK
$STATE,8187,begin climb
$GC,8190,1.30,117.3,576.9,0.0,388,8296,1.67,2.70,98.38,1.257,4,0.076,0.082,3009,3516,2141
$GC,8352,1.21,117.3,566.4,9.6,395,8359,0.00,2.67,0.00,0.000,6,0.000,0.071,3009,2103,2140
$GC,8669,1.15,117.3,537.8,9.3,411,8674,0.15,2.70,0.00,0.000,4,0.101,0.082,2978,3508,2139
$GC,8737,1.15,117.3,531.5,8.8,414,8741,0.00,2.62,0.00,0.000,6,0.000,0.070,2978,2113,2138
$GC,9058,1.17,130.7,506.4,7.4,430,9080,0.00,2.75,12.25,1.159,4,0.000,0.081,2978,3502,2086
$GC,9126,1.17,130.7,500.9,8.1,433,9131,0.00,2.60,0.00,0.000,6,0.000,0.068,2978,2122,2086
$GC,9454,1.20,150.9,477.1,7.1,449,9478,0.00,2.75,18.35,1.200,4,0.000,0.082,2978,3505,2004
$GC,9535,1.20,150.9,470.5,8.3,452,9541,0.00,2.60,0.00,0.000,6,0.000,0.069,2978,2131,2003
$GC,9852,1.28,157.4,445.9,7.7,468,9867,0.12,2.72,7.07,1.048,4,0.064,0.081,3009,3508,1978
$GC,9913,1.23,157.4,440.0,9.7,470,9920,0.00,2.58,0.00,0.000,6,0.000,0.070,3009,2142,1978
$GC,10230,1.23,157.4,409.7,10.2,486,10234,0.00,2.62,0.00,0.000,4,0.000,0.081,3009,3508,1977
$GC,10292,1.23,157.4,402.8,11.0,489,10296,0.00,2.53,0.00,0.000,6,0.000,0.067,3009,2150,1976
$GC,10618,1.23,157.4,369.7,10.2,505,10623,0.00,2.60,0.00,0.000,4,0.000,0.080,3009,3510,1976
$GC,10659,1.19,157.4,365.2,10.8,507,10664,0.00,2.53,0.00,0.000,6,0.000,0.065,3009,2152,1976
$GC,10986,1.19,157.4,329.5,11.1,523,10991,0.00,2.58,0.00,0.000,4,0.000,0.075,3009,3509,1975
$GC,11076,1.14,157.4,319.0,11.9,527,11081,0.15,2.47,0.00,0.000,6,0.101,0.061,2980,2170,1974
$GC,11399,1.20,157.4,290.5,8.4,543,11400,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2152,1974
$GC,11708,1.28,163.6,265.6,7.7,558,11722,0.12,2.58,6.35,0.912,4,0.058,0.069,3013,3511,1952
$GC,11740,1.24,163.6,262.8,9.3,559,11744,0.00,2.47,0.00,0.000,6,0.000,0.057,3013,2164,1952
$GC,12056,1.24,163.6,236.1,8.3,574,12060,0.00,2.50,0.00,0.000,4,0.000,0.066,3013,3512,1952
$GC,12073,1.24,163.6,234.5,8.5,575,12077,0.00,2.42,0.00,0.000,6,0.000,0.054,3013,2171,1952
$GC,12401,1.24,163.6,204.1,9.7,591,12405,0.00,2.47,0.00,0.000,4,0.000,0.065,3013,3512,1953
$GC,12444,1.24,163.6,199.3,10.9,593,12449,0.00,2.42,0.00,0.000,6,0.000,0.052,3013,2171,1953
$GC,12766,1.24,163.6,167.7,9.5,609,12770,0.00,2.47,0.00,0.000,4,0.000,0.064,3013,3515,1954
$GC,12806,1.24,163.6,163.6,10.7,611,12811,0.00,2.40,0.00,0.000,6,0.000,0.051,3013,2179,1954
$GC,13134,1.24,163.6,134.7,8.6,627,13138,0.00,2.45,0.00,0.000,4,0.000,0.062,3013,3514,1954
$GC,13162,1.24,163.6,132.0,9.4,628,13166,0.00,2.38,0.00,0.000,6,0.000,0.049,3013,2189,1954
$GC,13479,1.24,163.6,104.1,9.0,643,13483,0.00,2.42,0.00,0.000,4,0.000,0.061,3013,3513,1955
$GC,13523,1.24,163.6,99.7,9.7,645,13527,0.00,2.35,0.00,0.000,6,0.000,0.048,3013,2197,1955
$GC,13850,1.24,163.6,68.7,9.9,661,13854,0.00,2.40,0.00,0.000,4,0.000,0.061,3013,3512,1956
$GC,13861,1.24,163.6,67.5,10.2,661,13868,0.00,2.35,0.00,0.000,6,0.000,0.048,3013,2202,1956
$GC,14178,1.24,163.6,37.9,8.4,677,14182,0.00,2.40,0.00,0.000,4,0.000,0.060,3014,3516,1957
$GC,14223,1.24,165.5,34.1,7.9,679,14232,0.00,2.33,4.25,0.604,6,0.000,0.046,3013,2212,1945
$GC,14551,1.25,172.5,5.3,7.7,695,14565,0.00,2.45,6.90,0.698,4,0.000,0.058,3013,3516,1915
$STATE,14579,end climb,SURFACE_DEPTH_REACHED
$STATE,14579,begin surface coast
$FINISH,0.7,1.026905
$STATE,14586,end surface coast,CONTROL_FINISHED_OK
$STATE,14586,begin surface
$SM_CCo,14611,218.30,0.791,0,0,390,547.02
$SM_GC,0.18,0.00,0.00,218.30,0.000,0.000,0.791,423,2132,390,-10.61,-0.51,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1716
$TCM_TEMP,19.30
$XPDR_PINGS,305
$ALTIM_TOP_PING,18.4,18.0
$ALTIM_BOTTOM_PING,526.3,57.4
$24V_AH,23.7,58.155
$10V_AH,10.1,27.819
$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,25.400,147.325,252.400,218.300,0.000,37.760,36.523,132.077,81.000,0.000,0.000,32.014,1357.251,10921.211,659.735,1737.925,502.645,33.359,1524.965,0.000,1677.598,0.000,34.956
$DEVICE_MAMPS,136.526,84.370,1298.531,790.777,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,479.794,517.555,459.593,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35003,696
$CAP_FILE_SIZE,119359,0
$CFSIZE,254472192,231895040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,110808,172704,6320.788,-824.925,43,1.8,46,-9.6