version: 66.03
glider: 5
mission: 3
dive: 323
start: 8 12 108 18 1 51
data:
$ID,5
$MISSION,3
$DIVE,323
$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,-82772.578
$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,31
$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
$GPS1,175502,6330.214,-820.392,40,1.2,40,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-50.9
$GPS2,180057,6330.229,-820.392,14,1.4,14,-9.6
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.011,0.221
$KALMAN_X,-125699.4,80.4,18.2,258139.4,583.1
$KALMAN_Y,-86063.5,-239.2,504.5,235744.7,-4134.9
$MHEAD_RNG_PITCHd_Wd,12.6,32051,-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,-117.22,0.000,6,0.000,0.000,424,2111,3098
$GC,150,-1.30,-117.3,2.7,-2.7,6,166,10.45,2.65,0.00,0.000,4,0.137,0.058,2440,3571,3098
$GC,328,-1.03,-117.3,29.4,-14.3,13,334,0.32,2.50,0.00,0.000,6,0.094,0.043,2507,2153,3097
$GC,656,-0.97,-117.3,61.1,-9.5,29,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2150,3097
$GC,967,-0.92,-117.3,87.3,-8.0,44,971,0.10,2.50,0.00,0.000,4,0.107,0.054,2525,748,3098
$GC,1084,-0.92,-117.3,96.8,-7.9,49,1089,0.00,2.50,0.00,0.000,6,0.000,0.049,2524,2157,3098
$GC,1401,-0.92,-117.3,120.5,-7.8,64,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2155,3099
$GC,1710,-0.92,-117.3,144.0,-7.7,79,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2155,3099
$GC,2018,-0.92,-117.3,168.9,-8.0,94,2022,0.00,2.55,0.00,0.000,4,0.000,0.059,2525,750,3099
$GC,2130,-0.92,-117.3,178.5,-8.2,99,2135,0.00,2.50,0.00,0.000,6,0.000,0.051,2525,2137,3099
$GC,2453,-0.92,-117.3,200.7,-6.6,115,2457,0.00,2.58,0.00,0.000,4,0.000,0.063,2525,3563,3099
$GC,2570,-0.92,-117.3,209.3,-7.1,120,2575,0.00,2.53,0.00,0.000,6,0.000,0.049,2525,2138,3099
$GC,2886,-0.92,-117.3,228.3,-5.7,135,2890,0.00,2.50,0.00,0.000,4,0.000,0.061,2525,745,3098
$GC,3133,-0.92,-117.3,242.9,-5.1,146,3137,0.00,2.50,0.00,0.000,6,0.000,0.054,2525,2128,3098
$GC,3454,-0.92,-117.3,260.7,-6.0,162,3458,0.00,2.62,0.00,0.000,4,0.000,0.068,2525,3566,3098
$GC,3544,-0.92,-117.3,267.1,-7.1,166,3548,0.00,2.62,0.00,0.000,6,0.000,0.054,2525,2114,3098
$GC,3867,-0.92,-117.3,290.9,-7.9,182,3871,0.00,2.47,0.00,0.000,4,0.000,0.066,2525,746,3098
$GC,4125,-0.92,-117.3,315.0,-9.6,193,4131,0.00,2.50,0.00,0.000,6,0.000,0.060,2525,2109,3097
$GC,4441,-0.97,-117.3,340.1,-7.6,209,4446,0.00,2.67,0.00,0.000,4,0.000,0.074,2525,3557,3096
$GC,4560,-0.97,-117.3,349.1,-7.4,214,4565,0.00,2.62,0.00,0.000,6,0.000,0.059,2525,2120,3096
$GC,4877,-1.02,-117.3,369.6,-6.6,229,4881,0.00,2.53,0.00,0.000,4,0.000,0.073,2525,742,3095
$GC,5000,-1.02,-117.3,378.2,-6.6,234,5006,0.00,2.55,0.00,0.000,6,0.000,0.065,2525,2120,3095
$GC,5316,-1.07,-117.3,399.5,-6.8,250,5322,0.15,2.65,0.00,0.000,4,0.061,0.080,2487,3546,3093
$GC,5491,-0.99,-117.3,414.5,-8.5,257,5498,0.12,2.65,0.00,0.000,6,0.109,0.069,2511,2117,3092
$GC,5807,-0.99,-117.3,437.2,-6.8,273,5811,0.00,2.53,0.00,0.000,4,0.000,0.076,2511,738,3092
$GC,5931,-0.99,-117.3,446.3,-7.2,278,5937,0.00,2.58,0.00,0.000,6,0.000,0.070,2511,2120,3090
$GC,6248,-0.99,-117.3,467.3,-6.5,294,6252,0.00,2.70,0.00,0.000,4,0.000,0.083,2511,3558,3090
$GC,6343,-0.99,-117.3,474.1,-7.2,298,6347,0.00,2.67,0.00,0.000,6,0.000,0.069,2511,2119,3089
$GC,6659,-0.99,-117.3,493.9,-6.2,313,6664,0.00,2.55,0.00,0.000,4,0.000,0.080,2511,741,3088
$GC,6752,-0.99,-117.3,500.2,-6.9,317,6756,0.00,2.60,0.00,0.000,6,0.000,0.072,2511,2126,3088
$GC,7074,-0.99,-117.3,521.3,-6.5,333,7078,0.00,2.70,0.00,0.000,4,0.000,0.086,2511,3560,3086
$GC,7181,-0.99,-117.3,528.9,-7.1,338,7185,0.00,2.67,0.00,0.000,6,0.000,0.071,2511,2123,3086
$GC,7508,-0.99,-117.3,550.2,-6.5,354,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2104,3085
$GC,7817,-0.99,-117.3,570.8,-7.0,369,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2104,3083
$GC,8126,-0.99,-117.3,592.8,-7.3,384,8127,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2104,3082
$GC,8435,-0.99,-117.3,615.2,-7.1,399,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2104,3081
$GC,8745,-0.99,-117.3,636.9,-7.1,414,8746,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2104,3081
$GC,9054,-0.99,-117.3,657.8,-6.8,429,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2104,3080
$GC,9364,-0.99,-117.3,678.5,-6.7,444,9365,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2104,3079
$GC,9672,-0.99,-117.3,699.3,-6.9,459,9673,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2104,3078
$STATE,9875,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9876,begin apogee
$GC,9882,-0.33,0.0,713.1,6.9,469,9985,0.70,0.00,99.68,1.457,6,0.104,0.000,2651,2104,2620
$STATE,9986,end apogee,CONTROL_FINISHED_OK
$STATE,9986,begin climb
$GC,9990,1.30,117.3,715.5,0.0,474,10099,1.75,0.00,101.47,1.411,6,0.084,0.000,3013,2104,2141
$GC,10412,1.24,117.3,679.9,9.5,495,10417,0.00,2.72,0.00,0.000,4,0.000,0.089,3013,3514,2139
$GC,10456,1.13,117.3,674.9,11.0,497,10462,0.20,2.70,0.00,0.000,6,0.105,0.076,2977,2100,2139
$GC,10779,1.14,124.9,649.2,7.7,513,10793,0.00,2.80,8.02,1.192,4,0.000,0.087,2976,3507,2109
$GC,10833,1.14,124.9,644.4,9.1,515,10838,0.00,2.67,0.00,0.000,6,0.000,0.074,2977,2106,2109
$GC,11150,1.16,135.2,620.1,7.5,530,11166,0.00,2.78,10.55,1.269,4,0.000,0.086,2977,3511,2068
$GC,11222,1.16,135.2,613.8,8.6,532,11226,0.00,2.67,0.00,0.000,6,0.000,0.074,2977,2112,2067
$GC,11538,1.16,136.6,589.1,7.9,547,11542,0.00,2.70,0.00,0.000,4,0.000,0.086,2977,3509,2066
$GC,11605,1.16,136.6,583.3,8.8,550,11610,0.00,2.62,0.00,0.000,6,0.000,0.073,2977,2124,2066
$GC,11928,1.17,145.3,558.3,7.6,566,11943,0.00,2.75,9.80,1.255,4,0.000,0.085,2977,3517,2027
$GC,11990,1.17,145.3,552.8,9.5,568,11994,0.00,2.62,0.00,0.000,6,0.000,0.073,2977,2135,2027
$GC,12317,1.22,145.3,526.9,8.0,584,12321,0.00,2.67,0.00,0.000,4,0.000,0.085,2977,3515,2027
$GC,12372,1.22,145.3,522.0,9.5,586,12378,0.00,2.58,0.00,0.000,6,0.000,0.071,2977,2144,2026
$GC,12689,1.28,145.3,496.2,8.5,602,12694,0.15,2.65,0.00,0.000,4,0.065,0.085,3012,3515,2026
$GC,12745,1.20,145.3,490.3,10.1,604,12751,0.00,2.58,0.00,0.000,6,0.000,0.072,3012,2152,2026
$GC,13061,1.16,145.3,459.1,10.0,620,13066,0.15,2.62,0.00,0.000,4,0.109,0.085,2980,3514,2026
$GC,13135,1.16,145.3,452.3,8.8,623,13139,0.00,2.53,0.00,0.000,6,0.000,0.071,2980,2172,2026
$GC,13451,1.20,145.3,425.6,8.3,638,13455,0.00,2.60,0.00,0.000,4,0.000,0.086,2980,3514,2026
$GC,13501,1.20,145.3,421.2,9.3,640,13505,0.00,2.50,0.00,0.000,6,0.000,0.070,2980,2181,2025
$GC,13817,1.26,145.3,395.5,8.4,655,13822,0.10,2.55,0.00,0.000,4,0.071,0.084,3004,3510,2025
$GC,13873,1.21,145.3,389.9,9.8,657,13879,0.00,2.47,0.00,0.000,6,0.000,0.069,3004,2190,2025
$GC,14190,1.21,145.3,359.7,9.6,673,14194,0.00,2.55,0.00,0.000,4,0.000,0.083,3004,3515,2025
$GC,14274,1.21,145.3,351.1,10.8,677,14278,0.00,2.42,0.00,0.000,6,0.000,0.067,3004,2203,2025
$GC,14600,1.21,145.3,320.2,9.3,693,14605,0.00,2.50,0.00,0.000,4,0.000,0.081,3004,3510,2025
$GC,14686,1.21,145.3,312.3,9.6,697,14690,0.00,2.40,0.00,0.000,6,0.000,0.064,3004,2214,2025
$GC,15013,1.23,155.7,286.8,7.5,713,15028,0.00,2.53,10.23,1.095,4,0.000,0.079,3004,3510,1985
$GC,15040,1.23,155.7,284.4,8.3,713,15045,0.00,2.45,0.00,0.000,6,0.000,0.064,3004,2208,1984
$GC,15356,1.23,155.7,256.6,9.5,728,15360,0.00,2.47,0.00,0.000,4,0.000,0.077,3004,3510,1984
$GC,15396,1.23,155.7,252.7,9.5,730,15400,0.00,2.38,0.00,0.000,6,0.000,0.061,3004,2222,1984
$GC,15724,1.23,155.7,224.8,8.3,746,15729,0.00,2.45,0.00,0.000,4,0.000,0.076,3004,3515,1984
$GC,15735,1.23,155.7,223.5,8.4,746,15741,0.00,2.40,0.00,0.000,6,0.000,0.062,3004,2218,1984
$GC,16051,1.24,165.6,198.6,7.5,762,16066,0.00,2.47,9.85,1.001,4,0.000,0.073,3004,3512,1944
$GC,16117,1.24,165.6,192.5,9.0,764,16121,0.00,2.38,0.00,0.000,6,0.000,0.059,3004,2227,1944
$GC,16444,1.24,165.6,163.7,9.0,780,16449,0.00,2.40,0.00,0.000,4,0.000,0.070,3004,3512,1944
$GC,16462,1.24,165.6,162.0,9.5,781,16466,0.00,2.33,0.00,0.000,6,0.000,0.055,3004,2235,1944
$GC,16791,1.24,165.6,132.9,9.2,797,16795,0.00,2.38,0.00,0.000,4,0.000,0.067,3004,3512,1945
$GC,16818,1.24,165.6,130.2,8.7,798,16822,0.00,2.33,0.00,0.000,6,0.000,0.054,3004,2234,1945
$GC,17134,1.24,165.6,102.8,8.5,813,17138,0.00,2.38,0.00,0.000,4,0.000,0.065,3004,3519,1946
$GC,17151,1.24,165.6,101.3,8.5,814,17155,0.00,2.30,0.00,0.000,6,0.000,0.051,3004,2238,1946
$GC,17480,1.24,165.6,71.5,9.4,830,17484,0.00,2.35,0.00,0.000,4,0.000,0.065,3004,3514,1947
$GC,17490,1.24,165.6,70.3,9.4,830,17496,0.00,2.30,0.00,0.000,6,0.000,0.051,3004,2253,1947
$GC,17806,1.24,165.6,42.2,8.8,846,17807,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2253,1949
$GC,18117,1.29,165.6,17.0,8.6,861,18118,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2235,1950
$STATE,18298,end climb,SURFACE_DEPTH_REACHED
$STATE,18298,begin surface coast
$FINISH,-0.3,1.026912
$STATE,18320,end surface coast,CONTROL_FINISHED_OK
$STATE,18320,begin surface
$SM_CCo,18343,228.27,0.827,0,0,389,547.02
$SM_GC,0.15,0.00,0.00,228.27,0.000,0.000,0.827,420,2113,389,-10.62,-1.10,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1704
$TCM_TEMP,15.90
$XPDR_PINGS,203
$ALTIM_TOP_PING,18.5,17.8
$ALTIM_BOTTOM_PING,675.7,46.8
$24V_AH,23.5,59.190
$10V_AH,10.1,28.331
$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,25.475,173.300,249.600,228.275,0.000,37.762,27.037,153.680,56.750,0.000,0.000,14.921,1685.194,13872.582,697.567,2101.911,569.270,33.381,1726.398,0.000,2052.642,0.000,41.467
$DEVICE_MAMPS,136.526,88.972,1457.300,826.826,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,612.039,636.844,528.620,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44310,871
$CAP_FILE_SIZE,144572,0
$CFSIZE,254472192,231477248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,120808,231237,6331.628,-819.145,32,1.0,32,-9.6