version: 66.03
glider: 5
mission: 3
dive: 321
start: 8 12 108 7 35 18
data:
$ID,5
$MISSION,3
$DIVE,321
$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,-82740.883
$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,49
$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
$GPS1,072208,6327.332,-817.348,33,1.2,33,-9.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-46.9
$GPS2,073427,6327.333,-817.168,15,1.6,15,-9.5
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.059,0.214
$KALMAN_X,-126290.9,-461.3,237.6,261835.6,1211.4
$KALMAN_Y,-83234.1,991.9,745.3,226043.8,-5837.7
$MHEAD_RNG_PITCHd_Wd,354.1,35612,-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,-115.28,0.000,6,0.000,0.000,419,2117,3100
$GC,153,-1.30,-117.3,3.0,-3.1,6,169,10.40,2.60,0.00,0.000,4,0.133,0.055,2437,3564,3099
$GC,389,-1.01,-117.3,36.6,-13.5,15,396,0.35,2.45,0.00,0.000,6,0.093,0.042,2511,2169,3098
$GC,705,-0.97,-117.3,64.9,-8.8,31,709,0.00,2.53,0.00,0.000,4,0.000,0.054,2511,743,3099
$GC,906,-0.92,-117.3,80.3,-7.6,40,910,0.00,2.53,0.00,0.000,6,0.000,0.048,2512,2160,3099
$GC,1233,-0.92,-117.3,104.4,-7.8,56,1237,0.00,2.55,0.00,0.000,4,0.000,0.055,2511,750,3099
$GC,1301,-0.88,-117.3,110.0,-8.2,59,1306,0.12,2.47,0.00,0.000,6,0.101,0.048,2535,2137,3099
$GC,1624,-0.93,-117.3,130.9,-6.2,75,1628,0.00,2.55,0.00,0.000,4,0.000,0.060,2535,3560,3100
$GC,1755,-0.93,-117.3,139.8,-7.1,81,1759,0.00,2.55,0.00,0.000,6,0.000,0.045,2535,2119,3100
$GC,2082,-0.98,-117.3,162.3,-7.0,97,2086,0.00,2.45,0.00,0.000,4,0.000,0.058,2535,744,3100
$GC,2200,-0.98,-117.3,171.3,-8.1,102,2204,0.00,2.50,0.00,0.000,6,0.000,0.051,2535,2134,3099
$GC,2516,-1.04,-117.3,194.9,-7.4,117,2518,0.15,0.00,0.00,0.000,6,0.051,0.000,2491,2133,3099
$GC,2826,-0.97,-117.3,220.8,-8.2,132,2831,0.12,2.53,0.00,0.000,4,0.097,0.059,2517,744,3098
$GC,2938,-0.97,-117.3,230.3,-8.1,137,2942,0.00,2.47,0.00,0.000,6,0.000,0.052,2517,2118,3098
$GC,3259,-0.97,-117.3,254.2,-6.8,153,3263,0.00,2.60,0.00,0.000,4,0.000,0.064,2517,3555,3098
$GC,3382,-0.97,-117.3,262.6,-6.7,158,3388,0.00,2.58,0.00,0.000,6,0.000,0.050,2517,2118,3098
$GC,3699,-0.97,-117.3,282.4,-6.3,174,3703,0.00,2.47,0.00,0.000,4,0.000,0.062,2517,738,3097
$GC,3845,-0.97,-117.3,293.0,-7.8,180,3853,0.00,2.53,0.00,0.000,6,0.000,0.054,2517,2137,3097
$GC,4162,-0.97,-117.3,315.5,-7.1,196,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2137,3096
$GC,4472,-0.97,-117.3,335.6,-6.1,211,4476,0.00,2.55,0.00,0.000,4,0.000,0.065,2517,745,3097
$GC,4631,-0.97,-117.3,346.6,-7.1,218,4635,0.00,2.50,0.00,0.000,6,0.000,0.058,2517,2127,3097
$GC,4953,-0.97,-117.3,366.8,-6.1,234,4957,0.00,2.62,0.00,0.000,4,0.000,0.073,2517,3557,3096
$GC,5019,-0.97,-117.3,371.2,-6.3,237,5024,0.00,2.65,0.00,0.000,6,0.000,0.059,2517,2100,3095
$GC,5341,-0.97,-117.3,388.8,-5.6,253,5345,0.00,2.45,0.00,0.000,4,0.000,0.072,2517,746,3095
$GC,5454,-0.97,-117.3,396.3,-6.9,258,5458,0.00,2.47,0.00,0.000,6,0.000,0.064,2517,2088,3094
$GC,5775,-0.97,-117.3,416.9,-6.4,274,5780,0.00,2.70,0.00,0.000,4,0.000,0.077,2517,3557,3093
$GC,5941,-0.97,-117.3,428.5,-7.6,281,5946,0.00,2.67,0.00,0.000,6,0.000,0.063,2517,2096,3092
$GC,6260,-0.97,-117.3,450.4,-7.1,296,6264,0.00,2.47,0.00,0.000,4,0.000,0.077,2517,749,3091
$GC,6368,-0.97,-117.3,459.2,-7.9,301,6373,0.00,2.53,0.00,0.000,6,0.000,0.071,2517,2105,3091
$GC,6696,-0.97,-117.3,483.0,-7.2,317,6700,0.00,2.72,0.00,0.000,4,0.000,0.084,2517,3556,3089
$GC,6848,-0.97,-117.3,495.2,-7.9,324,6853,0.00,2.67,0.00,0.000,6,0.000,0.068,2517,2108,3089
$GC,7176,-1.01,-117.3,518.8,-7.0,340,7177,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2090,3087
$GC,7484,-1.01,-117.3,539.4,-6.6,355,7488,0.00,2.78,0.00,0.000,4,0.000,0.087,2517,3555,3086
$GC,7602,-1.01,-117.3,548.2,-8.4,360,7607,0.00,2.67,0.00,0.000,6,0.000,0.072,2517,2123,3085
$GC,7918,-1.01,-117.3,570.6,-6.9,375,7922,0.00,2.60,0.00,0.000,4,0.000,0.086,2517,737,3084
$GC,8026,-1.01,-117.3,578.6,-7.1,380,8031,0.00,2.60,0.00,0.000,6,0.000,0.075,2517,2119,3083
$GC,8356,-1.06,-117.3,601.2,-6.8,396,8360,0.00,2.72,0.00,0.000,4,0.000,0.088,2517,3560,3082
$GC,8464,-1.06,-117.3,609.0,-6.9,401,8469,0.00,2.70,0.00,0.000,6,0.000,0.073,2517,2111,3081
$GC,8792,-1.10,-117.3,630.2,-6.4,417,8797,0.12,2.55,0.00,0.000,4,0.071,0.083,2485,739,3080
$GC,8901,-1.04,-117.3,638.3,-7.6,422,8905,0.00,2.60,0.00,0.000,6,0.000,0.077,2485,2120,3080
$GC,9228,-0.99,-117.3,662.6,-7.3,438,9230,0.12,0.00,0.00,0.000,6,0.118,0.000,2509,2120,3079
$GC,9537,-0.99,-117.3,683.1,-6.7,453,9538,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2120,3078
$STATE,9740,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9740,begin apogee
$GC,9747,-0.33,0.0,696.4,6.6,463,9850,0.73,0.00,99.30,1.435,6,0.105,0.000,2654,2120,2620
$STATE,9850,end apogee,CONTROL_FINISHED_OK
$STATE,9851,begin climb
$GC,9853,1.30,117.3,698.7,0.0,468,9963,1.73,0.00,101.65,1.393,6,0.083,0.000,3011,2119,2141
$GC,10275,1.24,117.3,663.4,9.4,489,10279,0.00,2.65,0.00,0.000,4,0.000,0.087,3011,3507,2139
$GC,10337,1.14,117.3,656.8,10.2,492,10342,0.17,2.67,0.00,0.000,6,0.110,0.075,2979,2098,2139
$GC,10664,1.14,122.0,630.3,7.8,508,10675,0.00,2.75,5.35,1.040,4,0.000,0.087,2979,3507,2122
$GC,10732,1.14,122.0,624.4,9.5,511,10736,0.00,2.65,0.00,0.000,6,0.000,0.074,2979,2112,2121
$GC,11053,1.15,124.6,599.0,7.9,527,11062,0.00,2.70,4.10,0.916,4,0.000,0.085,2979,3510,2111
$GC,11107,1.15,124.6,594.2,8.3,529,11112,0.00,2.65,0.00,0.000,6,0.000,0.073,2979,2115,2111
$GC,11424,1.15,124.6,568.5,8.1,544,11429,0.00,2.67,0.00,0.000,4,0.000,0.085,2979,3508,2110
$GC,11474,1.15,124.6,564.0,8.7,546,11479,0.00,2.60,0.00,0.000,6,0.000,0.072,2979,2128,2110
$GC,11791,1.15,126.7,539.1,7.9,561,11796,0.00,2.67,0.00,0.000,4,0.000,0.087,2979,3508,2110
$GC,11847,1.15,126.7,533.9,8.9,563,11853,0.00,2.60,0.00,0.000,6,0.000,0.073,2979,2132,2109
$GC,12162,1.15,126.7,507.4,8.3,579,12167,0.00,2.67,0.00,0.000,4,0.000,0.087,2980,3512,2109
$GC,12226,1.15,126.7,501.8,8.4,582,12230,0.00,2.58,0.00,0.000,6,0.000,0.071,2979,2145,2109
$GC,12552,1.18,144.3,476.7,7.2,598,12577,0.00,2.72,17.80,1.269,4,0.000,0.084,2979,3507,2031
$GC,12606,1.18,144.3,472.5,8.1,600,12610,0.00,2.58,0.00,0.000,6,0.000,0.071,2979,2153,2031
$GC,12923,1.24,153.6,449.2,7.6,615,12938,0.00,2.67,9.55,1.186,4,0.000,0.085,2979,3509,1994
$GC,12994,1.24,153.6,443.0,8.7,617,12999,0.00,2.55,0.00,0.000,6,0.000,0.071,2979,2167,1994
$GC,13312,1.30,157.9,418.0,7.8,632,13323,0.15,2.62,5.75,1.035,4,0.064,0.082,3016,3511,1976
$GC,13357,1.22,157.9,413.5,9.4,634,13361,0.00,2.53,0.00,0.000,6,0.000,0.069,3016,2175,1975
$GC,13678,1.18,157.9,382.4,9.8,650,13683,0.15,2.58,0.00,0.000,4,0.106,0.083,2984,3507,1975
$GC,13729,1.18,157.9,377.6,8.6,652,13733,0.00,2.50,0.00,0.000,6,0.000,0.069,2985,2176,1975
$GC,14045,1.26,176.5,354.0,7.2,667,14068,0.00,2.67,16.85,1.187,4,0.000,0.081,2984,3511,1900
$GC,14132,1.31,176.5,346.8,8.7,670,14139,0.15,2.47,0.00,0.000,6,0.062,0.067,3020,2195,1900
$GC,14449,1.27,176.5,314.0,10.8,686,14453,0.00,2.53,0.00,0.000,4,0.000,0.080,3020,3509,1899
$GC,14482,1.21,176.5,309.9,11.8,687,14488,0.15,2.45,0.00,0.000,6,0.104,0.066,2993,2198,1899
$GC,14798,1.21,176.5,280.6,9.0,703,14802,0.00,2.50,0.00,0.000,4,0.000,0.077,2993,3514,1899
$GC,14808,1.21,176.5,279.5,9.2,703,14814,0.00,2.45,0.00,0.000,6,0.000,0.064,2993,2196,1899
$GC,15125,1.25,176.5,250.7,9.1,719,15129,0.00,2.50,0.00,0.000,4,0.000,0.074,2993,3514,1899
$GC,15215,1.25,176.5,241.7,10.2,723,15219,0.00,2.40,0.00,0.000,6,0.000,0.060,2993,2213,1899
$GC,15536,1.30,176.5,213.5,9.1,739,15537,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2212,1899
$GC,15846,1.35,176.5,184.7,9.1,754,15851,0.15,2.42,0.00,0.000,4,0.056,0.068,3035,3509,1900
$GC,15868,1.35,176.5,182.4,10.2,755,15872,0.00,2.35,0.00,0.000,6,0.000,0.055,3035,2214,1899
$GC,16191,1.29,176.5,149.9,9.7,771,16195,0.12,2.40,0.00,0.000,4,0.102,0.066,3012,3511,1901
$GC,16213,1.25,176.5,147.4,10.6,772,16218,0.00,2.35,0.00,0.000,6,0.000,0.053,3012,2208,1900
$GC,16535,1.25,176.5,118.2,9.1,788,16539,0.00,2.40,0.00,0.000,4,0.000,0.064,3012,3513,1902
$GC,16553,1.25,176.5,116.6,8.8,789,16557,0.00,2.33,0.00,0.000,6,0.000,0.050,3012,2214,1902
$GC,16881,1.25,176.5,85.1,9.9,805,16885,0.00,2.40,0.00,0.000,4,0.000,0.064,3013,3519,1903
$GC,16914,1.25,176.5,81.7,9.0,806,16918,0.00,2.33,0.00,0.000,6,0.000,0.050,3012,2225,1904
$GC,17235,1.25,176.5,53.1,9.2,822,17239,0.00,2.38,0.00,0.000,4,0.000,0.062,3012,3519,1905
$GC,17246,1.25,176.5,52.2,8.6,822,17252,0.00,2.33,0.00,0.000,6,0.000,0.048,3012,2220,1905
$GC,17563,1.25,176.5,23.9,9.8,838,17564,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2217,1905
$STATE,17827,end climb,SURFACE_DEPTH_REACHED
$STATE,17827,begin surface coast
$FINISH,-0.3,1.026905
$STATE,17849,end surface coast,CONTROL_FINISHED_OK
$STATE,17849,begin surface
$SM_CCo,17872,218.68,0.811,0,0,389,547.02
$SM_GC,0.20,0.00,0.00,218.68,0.000,0.000,0.811,419,2111,389,-10.63,-0.79,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1721
$TCM_TEMP,17.30
$XPDR_PINGS,203
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,626.2,79.4
$24V_AH,23.5,58.841
$10V_AH,10.1,28.153
$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,26.075,189.000,260.350,218.675,0.000,113.277,94.574,265.861,56.250,0.000,0.000,15.418,1680.288,13477.817,709.841,2127.394,834.219,33.360,1753.131,0.000,2076.907,0.000,37.971
$DEVICE_MAMPS,132.691,88.205,1435.057,810.719,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,592.414,626.179,528.752,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44346,852
$CAP_FILE_SIZE,152710,0
$CFSIZE,254472192,231608320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,120808,123807,6328.692,-818.045,36,1.1,36,-9.5