version: 66.03
glider: 5
mission: 3
dive: 318
start: 8 11 108 17 33 18
data:
$ID,5
$MISSION,3
$DIVE,318
$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,-82697.039
$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,23
$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
$GPS1,172704,6320.788,-824.925,43,1.8,46,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-50.5
$GPS2,173227,6320.808,-824.890,13,1.8,13,-9.6
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.068,0.211
$KALMAN_X,-126653.4,-799.7,114.2,255984.2,3794.7
$KALMAN_Y,-82036.2,732.9,787.0,212980.7,-9814.3
$MHEAD_RNG_PITCHd_Wd,27.6,49224,-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,-117.3,0.0,0.0,0,146,0.00,0.00,-116.53,0.000,6,0.000,0.000,424,2117,3100
$GC,150,-1.30,-117.3,1.9,-1.7,6,166,10.40,2.62,0.00,0.000,4,0.134,0.058,2439,3566,3099
$GC,291,-1.01,-117.3,24.1,-14.5,11,296,0.32,2.53,0.00,0.000,6,0.091,0.043,2507,2143,3098
$GC,607,-0.96,-117.3,56.0,-9.7,26,611,0.00,2.60,0.00,0.000,4,0.000,0.057,2506,3564,3098
$GC,748,-0.88,-117.3,68.7,-8.8,32,753,0.15,2.45,0.00,0.000,6,0.092,0.043,2537,2174,3099
$GC,1064,-0.88,-117.3,90.4,-6.8,47,1068,0.00,2.55,0.00,0.000,4,0.000,0.055,2537,740,3100
$GC,1230,-0.88,-117.3,103.0,-7.6,54,1234,0.00,2.55,0.00,0.000,6,0.000,0.048,2537,2166,3100
$GC,1547,-0.92,-117.3,125.4,-6.8,69,1551,0.00,2.50,0.00,0.000,4,0.000,0.061,2537,3558,3100
$GC,1682,-0.92,-117.3,135.4,-6.9,75,1686,0.00,2.47,0.00,0.000,6,0.000,0.045,2537,2161,3100
$GC,2004,-0.98,-117.3,155.2,-6.0,91,2008,0.00,2.53,0.00,0.000,4,0.000,0.057,2537,746,3101
$GC,2121,-0.98,-117.3,162.6,-6.5,96,2126,0.00,2.55,0.00,0.000,6,0.000,0.051,2537,2165,3100
$GC,2439,-1.04,-117.3,181.7,-6.2,111,2441,0.15,0.00,0.00,0.000,6,0.051,0.000,2494,2166,3099
$GC,2747,-0.97,-117.3,206.5,-8.7,126,2752,0.10,2.58,0.00,0.000,4,0.100,0.060,2514,748,3099
$GC,2848,-0.97,-117.3,215.2,-8.7,130,2854,0.00,2.53,0.00,0.000,6,0.000,0.052,2514,2155,3099
$GC,3165,-0.97,-117.3,240.0,-7.7,146,3169,0.00,2.53,0.00,0.000,4,0.000,0.063,2515,3556,3099
$GC,3311,-0.97,-117.3,251.6,-7.8,152,3317,0.00,2.53,0.00,0.000,6,0.000,0.048,2514,2143,3099
$GC,3627,-0.97,-117.3,271.9,-6.1,168,3631,0.00,2.47,0.00,0.000,4,0.000,0.060,2514,746,3098
$GC,3761,-0.97,-117.3,281.7,-7.6,174,3765,0.00,2.53,0.00,0.000,6,0.000,0.052,2514,2147,3098
$GC,4083,-0.97,-117.3,304.5,-7.3,190,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2147,3098
$GC,4391,-0.97,-117.3,328.9,-8.1,205,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2147,3098
$GC,4701,-0.97,-117.3,349.8,-6.4,220,4706,0.00,2.58,0.00,0.000,4,0.000,0.063,2514,741,3098
$GC,4872,-0.97,-117.3,360.2,-5.7,227,4876,0.00,2.53,0.00,0.000,6,0.000,0.056,2515,2133,3098
$GC,5189,-0.97,-117.3,377.6,-6.1,242,5193,0.00,2.60,0.00,0.000,4,0.000,0.069,2514,3558,3097
$GC,5322,-0.97,-117.3,387.8,-8.1,248,5327,0.00,2.58,0.00,0.000,6,0.000,0.054,2514,2133,3097
$GC,5643,-0.97,-117.3,414.0,-8.6,264,5648,0.00,2.53,0.00,0.000,4,0.000,0.067,2514,738,3097
$GC,5733,-0.97,-117.3,422.0,-8.7,268,5738,0.00,2.58,0.00,0.000,6,0.000,0.061,2514,2143,3097
$GC,6055,-0.97,-117.3,447.1,-7.5,284,6060,0.00,2.62,0.00,0.000,4,0.000,0.074,2515,3564,3096
$GC,6151,-0.97,-117.3,454.6,-7.5,288,6156,0.00,2.62,0.00,0.000,6,0.000,0.061,2515,2128,3095
$GC,6470,-0.97,-117.3,475.6,-7.2,303,6474,0.00,2.55,0.00,0.000,4,0.000,0.074,2514,739,3095
$GC,6633,-0.97,-117.3,488.9,-8.4,310,6637,0.00,2.55,0.00,0.000,6,0.000,0.067,2514,2116,3094
$GC,6949,-0.97,-117.3,512.8,-7.3,325,6953,0.00,2.70,0.00,0.000,4,0.000,0.079,2514,3566,3093
$GC,7114,-0.97,-117.3,525.6,-8.0,332,7119,0.00,2.65,0.00,0.000,6,0.000,0.066,2514,2124,3092
$GC,7430,-0.97,-117.3,546.4,-6.4,347,7435,0.00,2.55,0.00,0.000,4,0.000,0.081,2514,744,3091
$GC,7504,-0.97,-117.3,551.5,-6.9,350,7508,0.00,2.58,0.00,0.000,6,0.000,0.071,2514,2123,3091
$GC,7820,-0.97,-117.3,571.8,-6.6,365,7824,0.00,2.70,0.00,0.000,4,0.000,0.084,2514,3560,3090
$GC,7927,-0.97,-117.3,579.3,-6.5,370,7932,0.00,2.65,0.00,0.000,6,0.000,0.068,2514,2123,3089
$GC,8256,-0.97,-117.3,600.8,-6.7,386,8260,0.00,2.55,0.00,0.000,4,0.000,0.082,2514,744,3088
$STATE,8299,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8299,begin apogee
$GC,8308,-0.33,0.0,603.8,6.5,388,8411,0.65,0.00,99.10,1.319,6,0.097,0.000,2649,2102,2620
$STATE,8411,end apogee,CONTROL_FINISHED_OK
$STATE,8411,begin climb
$GC,8414,1.30,117.3,606.5,0.0,393,8518,1.73,0.00,99.60,1.277,6,0.077,0.000,3010,2102,2141
$GC,8815,1.24,117.3,574.7,8.6,413,8820,0.00,2.67,0.00,0.000,4,0.000,0.084,3010,3509,2139
$GC,8878,1.15,117.3,568.8,10.0,416,8883,0.15,2.62,0.00,0.000,6,0.104,0.071,2983,2115,2138
$GC,9206,1.17,128.2,543.1,7.5,432,9222,0.00,2.75,10.52,1.145,4,0.000,0.081,2983,3514,2096
$GC,9285,1.17,128.2,536.7,8.3,434,9291,0.00,2.62,0.00,0.000,6,0.000,0.070,2983,2125,2095
$GC,9601,1.17,128.2,510.3,8.9,450,9605,0.00,2.67,0.00,0.000,4,0.000,0.084,2982,3509,2094
$GC,9651,1.17,128.2,505.6,9.8,452,9655,0.00,2.60,0.00,0.000,6,0.000,0.071,2983,2128,2094
$GC,9967,1.17,128.2,477.3,8.9,467,9971,0.00,2.65,0.00,0.000,4,0.000,0.083,2983,3508,2094
$GC,9994,1.17,128.2,474.7,9.1,468,9998,0.00,2.58,0.00,0.000,6,0.000,0.071,2983,2139,2093
$GC,10310,1.23,165.3,452.1,6.3,483,10351,0.00,2.75,31.50,1.239,4,0.000,0.081,2983,3513,1945
$GC,10368,1.25,182.1,448.0,7.2,485,10389,0.00,2.58,15.70,1.172,6,0.000,0.068,2983,2133,1877
$GC,10704,1.32,182.4,423.1,8.0,501,10709,0.15,2.62,0.00,0.000,4,0.060,0.080,3024,3512,1875
$GC,10793,1.24,182.4,412.9,11.6,505,10798,0.12,2.50,0.00,0.000,6,0.109,0.067,3002,2180,1875
$GC,11116,1.24,182.4,379.1,10.7,521,11120,0.00,2.53,0.00,0.000,4,0.000,0.077,3002,3514,1874
$GC,11160,1.24,182.4,374.0,11.3,523,11165,0.00,2.45,0.00,0.000,6,0.000,0.064,3002,2197,1874
$GC,11482,1.24,182.4,344.7,8.4,539,11483,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2179,1874
$GC,11791,1.24,182.4,319.5,8.3,554,11795,0.00,2.47,0.00,0.000,4,0.000,0.074,3002,3509,1874
$GC,11808,1.24,182.4,318.0,8.2,555,11813,0.00,2.42,0.00,0.000,6,0.000,0.061,3002,2192,1874
$GC,12136,1.24,182.4,289.7,9.0,571,12140,0.00,2.47,0.00,0.000,4,0.000,0.071,3002,3514,1874
$GC,12185,1.24,182.4,284.6,10.2,573,12190,0.00,2.40,0.00,0.000,6,0.000,0.058,3002,2204,1874
$GC,12502,1.24,182.4,251.4,11.4,588,12506,0.00,2.42,0.00,0.000,4,0.000,0.068,3002,3510,1874
$GC,12512,1.24,182.4,249.9,11.6,588,12516,0.00,2.38,0.00,0.000,6,0.000,0.055,3002,2206,1874
$GC,12828,1.24,182.4,217.3,9.5,603,12832,0.00,2.40,0.00,0.000,4,0.000,0.066,3002,3511,1874
$GC,12839,1.24,182.4,216.3,9.5,603,12845,0.00,2.35,0.00,0.000,6,0.000,0.052,3002,2213,1874
$GC,13155,1.24,182.4,187.7,8.6,619,13159,0.00,2.40,0.00,0.000,4,0.000,0.064,3002,3514,1875
$GC,13165,1.24,182.4,186.8,8.8,619,13171,0.00,2.35,0.00,0.000,6,0.000,0.051,3002,2213,1875
$GC,13481,1.24,182.4,156.9,9.7,635,13485,0.00,2.40,0.00,0.000,4,0.000,0.064,3002,3518,1876
$GC,13499,1.24,182.4,155.2,9.7,636,13503,0.00,2.33,0.00,0.000,6,0.000,0.050,3002,2220,1876
$GC,13826,1.24,182.4,125.1,8.5,652,13827,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2220,1878
$GC,14135,1.28,182.4,98.5,8.6,667,14140,0.00,2.38,0.00,0.000,4,0.000,0.062,3002,3516,1878
$GC,14148,1.33,182.4,97.5,8.4,667,14154,0.00,2.33,0.00,0.000,6,0.000,0.049,3002,2217,1879
$GC,14464,1.38,182.4,72.3,8.5,683,14469,0.12,2.38,0.00,0.000,4,0.052,0.061,3038,3512,1879
$GC,14475,1.38,182.4,71.3,8.2,683,14481,0.00,2.30,0.00,0.000,6,0.000,0.049,3038,2229,1879
$GC,14792,1.34,182.4,39.9,9.7,699,14793,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2210,1880
$GC,15102,1.27,182.4,5.3,12.1,714,15104,0.17,0.00,0.00,0.000,6,0.088,0.000,3005,2210,1880
$STATE,15138,end climb,SURFACE_DEPTH_REACHED
$STATE,15139,begin surface coast
$FINISH,-0.1,1.026920
$STATE,15160,end surface coast,CONTROL_FINISHED_OK
$STATE,15161,begin surface
$SM_CCo,15184,211.90,0.795,0,0,390,547.02
$SM_GC,0.28,0.00,0.00,211.90,0.000,0.000,0.795,419,2145,390,-10.63,-0.20,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1725
$TCM_TEMP,17.40
$XPDR_PINGS,276
$ALTIM_TOP_PING,18.0,999.0
$ALTIM_BOTTOM_PING,575.4,38.4
$24V_AH,23.6,58.315
$10V_AH,10.1,27.896
$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,25.400,162.050,256.425,211.900,0.000,37.759,30.208,131.598,74.500,0.000,0.000,13.369,1413.946,11329.732,674.872,1795.494,506.108,33.360,1564.598,0.000,1749.684,0.000,40.416
$DEVICE_MAMPS,134.225,84.370,1319.240,794.612,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,494.123,530.611,473.482,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37983,717
$CAP_FILE_SIZE,124994,0
$CFSIZE,254472192,231829504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,110808,215108,6322.434,-820.998,33,1.5,33,-9.5