version: 66.03
glider: 5
mission: 3
dive: 324
start: 8 12 108 23 19 27
data:
$ID,5
$MISSION,3
$DIVE,324
$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,-82788.367
$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,25
$R_STBD_OVSHOOT,15
$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
$GPS1,231237,6331.628,-819.145,32,1.0,32,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-55.1
$GPS2,231833,6331.588,-819.209,15,1.2,15,-9.6
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.015,0.221
$KALMAN_X,-124660.0,-147.5,-57.4,258411.9,1428.0
$KALMAN_Y,-88440.4,2.9,-226.9,241129.2,-2793.9
$MHEAD_RNG_PITCHd_Wd,13.4,29403,-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,-117.95,0.000,6,0.000,0.000,421,2114,3100
$GC,150,-1.30,-117.3,3.0,-3.2,6,166,10.45,2.62,0.00,0.000,4,0.137,0.056,2435,3567,3099
$GC,263,-0.99,-117.3,20.7,-12.4,10,268,0.38,2.53,0.00,0.000,6,0.094,0.044,2514,2145,3098
$GC,586,-0.99,-117.3,51.0,-8.6,26,590,0.00,2.50,0.00,0.000,4,0.000,0.056,2514,746,3099
$GC,775,-0.94,-117.3,65.2,-7.6,34,779,0.00,2.47,0.00,0.000,6,0.000,0.049,2514,2129,3099
$GC,1091,-0.94,-117.3,89.1,-7.4,49,1096,0.00,2.58,0.00,0.000,4,0.000,0.061,2514,3558,3100
$GC,1178,-0.90,-117.3,96.0,-8.3,53,1182,0.00,2.55,0.00,0.000,6,0.000,0.045,2514,2121,3100
$GC,1506,-0.90,-117.3,120.2,-7.4,69,1510,0.00,2.47,0.00,0.000,4,0.000,0.059,2514,739,3100
$GC,1596,-0.90,-117.3,127.3,-7.8,73,1600,0.00,2.50,0.00,0.000,6,0.000,0.051,2514,2127,3100
$GC,1919,-0.90,-117.3,150.2,-6.9,89,1924,0.00,2.60,0.00,0.000,4,0.000,0.064,2514,3566,3101
$GC,2037,-0.90,-117.3,158.9,-7.5,94,2042,0.00,2.60,0.00,0.000,6,0.000,0.048,2514,2113,3100
$GC,2354,-0.90,-117.3,180.7,-6.7,109,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2111,3100
$GC,2663,-0.90,-117.3,203.8,-7.4,124,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2110,3100
$GC,2973,-0.90,-117.3,225.2,-6.6,139,2977,0.00,2.67,0.00,0.000,4,0.000,0.064,2514,3560,3100
$GC,3119,-0.90,-117.3,235.8,-7.4,145,3125,0.00,2.58,0.00,0.000,6,0.000,0.049,2514,2120,3100
$GC,3435,-0.90,-117.3,257.6,-6.9,161,3440,0.00,2.47,0.00,0.000,4,0.000,0.064,2514,747,3100
$GC,3499,-0.90,-117.3,261.9,-7.3,164,3504,0.00,2.50,0.00,0.000,6,0.000,0.055,2514,2130,3100
$GC,3826,-0.90,-117.3,285.5,-7.6,180,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2131,3100
$GC,4135,-0.90,-117.3,309.6,-7.7,195,4139,0.00,2.58,0.00,0.000,4,0.000,0.067,2514,741,3100
$GC,4236,-0.90,-117.3,318.3,-9.2,199,4242,0.00,2.53,0.00,0.000,6,0.000,0.061,2514,2121,3099
$GC,4552,-0.90,-117.3,343.7,-7.6,215,4556,0.00,2.67,0.00,0.000,4,0.000,0.075,2514,3564,3099
$GC,4723,-0.90,-117.3,356.7,-7.7,222,4729,0.00,2.62,0.00,0.000,6,0.000,0.060,2514,2124,3098
$GC,5040,-0.90,-117.3,377.6,-6.3,238,5044,0.00,2.55,0.00,0.000,4,0.000,0.075,2514,741,3098
$GC,5130,-0.90,-117.3,383.6,-6.7,242,5135,0.00,2.58,0.00,0.000,6,0.000,0.067,2514,2127,3097
$GC,5451,-0.90,-117.3,403.5,-6.4,258,5456,0.00,2.67,0.00,0.000,4,0.000,0.081,2514,3564,3096
$GC,5592,-0.90,-117.3,413.1,-6.4,264,5596,0.00,2.65,0.00,0.000,6,0.000,0.066,2514,2129,3095
$GC,5908,-0.90,-117.3,433.9,-6.5,279,5912,0.00,2.55,0.00,0.000,4,0.000,0.081,2514,744,3094
$GC,6031,-0.90,-117.3,442.2,-6.7,284,6037,0.00,2.60,0.00,0.000,6,0.000,0.071,2514,2134,3093
$GC,6348,-0.90,-117.3,462.3,-6.2,300,6352,0.00,2.67,0.00,0.000,4,0.000,0.083,2514,3560,3092
$GC,6504,-0.90,-117.3,473.3,-7.0,307,6509,0.00,2.65,0.00,0.000,6,0.000,0.067,2514,2130,3091
$GC,6827,-0.90,-117.3,494.0,-6.8,323,6831,0.00,2.60,0.00,0.000,4,0.000,0.084,2514,741,3090
$GC,6882,-0.90,-117.3,498.3,-8.5,325,6888,0.00,2.62,0.00,0.000,6,0.000,0.074,2514,2141,3090
$GC,7199,-0.90,-117.3,521.3,-7.1,341,7203,0.00,2.67,0.00,0.000,4,0.000,0.085,2514,3560,3089
$GC,7377,-0.90,-117.3,534.7,-8.5,349,7382,0.00,2.62,0.00,0.000,6,0.000,0.069,2514,2142,3089
$GC,7705,-0.90,-117.3,559.9,-7.8,365,7709,0.00,2.62,0.00,0.000,4,0.000,0.084,2514,742,3088
$GC,7796,-0.90,-117.3,567.4,-8.3,369,7800,0.00,2.65,0.00,0.000,6,0.000,0.075,2514,2146,3087
$GC,8117,-0.90,-117.3,592.6,-7.4,385,8118,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2147,3086
$GC,8427,-0.90,-117.3,613.1,-6.2,400,8431,0.00,2.67,0.00,0.000,4,0.000,0.086,2514,745,3085
$GC,8505,-0.90,-117.3,618.5,-7.9,403,8512,0.00,2.62,0.00,0.000,6,0.000,0.076,2514,2134,3085
$GC,8821,-0.90,-117.3,639.7,-6.8,419,8826,0.00,2.70,0.00,0.000,4,0.000,0.087,2514,3562,3084
$GC,8962,-0.90,-117.3,650.0,-7.9,425,8970,0.00,2.65,0.00,0.000,6,0.000,0.072,2514,2120,3083
$GC,9287,-0.90,-117.3,670.6,-6.5,441,9291,0.00,2.58,0.00,0.000,4,0.000,0.084,2514,760,3083
$GC,9373,-0.90,-117.3,676.3,-6.7,445,9377,0.00,2.60,0.00,0.000,6,0.000,0.077,2514,2138,3082
$GC,9700,-0.94,-117.3,697.1,-6.2,461,9705,0.00,2.70,0.00,0.000,4,0.000,0.088,2514,3563,3082
$GC,9812,-0.94,-117.3,705.0,-7.2,466,9817,0.00,2.65,0.00,0.000,6,0.000,0.074,2514,2148,3081
$GC,10134,-0.94,-117.3,725.4,-6.2,482,10139,0.00,2.62,0.00,0.000,4,0.000,0.087,2514,744,3080
$GC,10393,-1.40,-117.3,726.7,-0.0,493,10400,0.40,2.62,0.00,0.000,6,0.058,0.077,2418,2133,3080
$GC,10710,-1.79,-117.3,726.7,0.0,509,10715,0.35,2.67,0.00,0.000,4,0.058,0.086,2334,741,3079
$STATE,10779,end dive,NO_VERTICAL_VELOCITY
$STATE,10780,begin apogee
$GC,10790,-0.33,0.0,726.7,0.0,512,10893,1.50,0.00,99.43,1.477,6,0.084,0.000,2652,2111,2620
$STATE,10894,end apogee,CONTROL_FINISHED_OK
$STATE,10894,begin climb
$GC,10897,1.30,117.3,726.5,0.0,517,11008,1.70,2.75,101.15,1.427,4,0.080,0.085,3009,3502,2141
$GC,11204,1.20,117.3,699.4,11.1,531,11209,0.00,2.65,0.00,0.000,6,0.000,0.074,3010,2099,2140
$GC,11526,1.13,117.3,668.6,9.2,547,11531,0.17,2.72,0.00,0.000,4,0.107,0.087,2976,3507,2139
$GC,11616,1.13,117.3,660.4,8.9,551,11621,0.00,2.65,0.00,0.000,6,0.000,0.074,2976,2111,2139
$GC,11938,1.13,117.3,634.1,8.2,567,11942,0.00,2.70,0.00,0.000,4,0.000,0.086,2976,3511,2139
$GC,11994,1.13,117.3,629.3,9.3,569,12000,0.00,2.62,0.00,0.000,6,0.000,0.072,2976,2120,2138
$GC,12309,1.13,117.3,604.8,8.1,585,12314,0.00,2.65,0.00,0.000,4,0.000,0.086,2976,3505,2138
$GC,12365,1.13,117.3,599.7,9.5,587,12370,0.00,2.60,0.00,0.000,6,0.000,0.074,2976,2129,2138
$GC,12683,1.14,125.3,574.4,7.6,603,12697,0.00,2.72,8.12,1.222,4,0.000,0.085,2976,3504,2108
$GC,12737,1.14,125.3,569.4,9.5,605,12741,0.00,2.60,0.00,0.000,6,0.000,0.073,2976,2127,2108
$GC,13053,1.14,126.9,544.3,7.9,620,13057,0.00,2.65,0.00,0.000,4,0.000,0.086,2976,3506,2108
$GC,13116,1.14,126.9,539.0,8.6,623,13120,0.00,2.58,0.00,0.000,6,0.000,0.071,2976,2141,2107
$GC,13443,1.19,131.0,513.2,7.8,639,13456,0.00,2.72,6.47,1.134,4,0.000,0.084,2976,3511,2086
$GC,13497,1.19,131.0,508.4,8.2,641,13502,0.00,2.58,0.00,0.000,6,0.000,0.071,2976,2152,2086
$GC,13814,1.24,131.0,483.7,8.0,656,13819,0.10,2.62,0.00,0.000,4,0.071,0.084,3001,3506,2086
$GC,13859,1.18,131.0,479.4,9.7,658,13863,0.00,2.53,0.00,0.000,6,0.000,0.071,3001,2162,2086
$GC,14180,1.18,131.0,451.4,8.9,674,14185,0.00,2.60,0.00,0.000,4,0.000,0.084,3000,3509,2086
$GC,14248,1.13,131.0,445.0,9.4,677,14253,0.12,2.53,0.00,0.000,6,0.111,0.070,2978,2166,2085
$GC,14570,1.20,143.3,420.7,7.4,693,14592,0.00,2.67,12.07,1.219,4,0.000,0.082,2978,3505,2035
$GC,14631,1.20,143.3,415.7,8.1,695,14637,0.00,2.50,0.00,0.000,6,0.000,0.068,2978,2181,2035
$GC,14948,1.26,144.6,391.4,7.9,711,14953,0.12,2.55,0.00,0.000,4,0.067,0.083,3007,3508,2034
$GC,14999,1.19,144.6,386.4,10.0,713,15003,0.00,2.47,0.00,0.000,6,0.000,0.067,3007,2187,2035
$GC,15315,1.19,144.6,357.9,8.8,728,15319,0.00,2.55,0.00,0.000,4,0.000,0.081,3008,3512,2034
$GC,15393,1.15,144.6,350.6,8.4,731,15399,0.15,2.45,0.00,0.000,6,0.107,0.067,2979,2202,2034
$GC,15710,1.26,174.1,329.0,6.7,747,15745,0.10,2.62,26.70,1.199,4,0.069,0.080,3005,3512,1910
$GC,15768,1.26,174.1,324.0,8.4,749,15773,0.00,2.45,0.00,0.000,6,0.000,0.066,3005,2206,1910
$GC,16084,1.26,174.1,297.1,8.5,765,16088,0.00,2.50,0.00,0.000,4,0.000,0.080,3005,3511,1910
$GC,16117,1.26,174.1,294.0,8.8,766,16123,0.00,2.40,0.00,0.000,6,0.000,0.063,3005,2218,1909
$GC,16433,1.26,174.1,266.6,8.8,782,16436,0.00,2.47,0.00,0.000,4,0.000,0.079,3005,3515,1909
$GC,16489,1.26,174.1,261.3,10.5,784,16493,0.00,2.40,0.00,0.000,6,0.000,0.064,3005,2225,1909
$GC,16805,1.26,174.1,233.6,8.6,799,16809,0.00,2.42,0.00,0.000,4,0.000,0.075,3005,3510,1909
$GC,16845,1.26,174.1,229.8,9.0,801,16849,0.00,2.38,0.00,0.000,6,0.000,0.059,3005,2217,1909
$GC,17172,1.26,174.1,199.9,8.9,817,17176,0.00,2.45,0.00,0.000,4,0.000,0.073,3005,3517,1909
$GC,17212,1.26,174.1,196.0,9.8,819,17216,0.00,2.35,0.00,0.000,6,0.000,0.058,3005,2235,1909
$GC,17539,1.26,174.1,162.9,10.3,835,17543,0.00,2.40,0.00,0.000,4,0.000,0.070,3005,3514,1910
$GC,17558,1.26,174.1,160.9,10.4,836,17562,0.00,2.30,0.00,0.000,6,0.000,0.054,3005,2241,1910
$GC,17885,1.26,174.1,128.4,9.9,852,17889,0.00,2.35,0.00,0.000,4,0.000,0.067,3005,3510,1910
$GC,17895,1.26,174.1,127.1,10.1,852,17901,0.00,2.30,0.00,0.000,6,0.000,0.054,3005,2241,1910
$GC,18211,1.26,174.1,96.2,9.4,868,18215,0.00,2.35,0.00,0.000,4,0.000,0.066,3005,3512,1911
$GC,18222,1.26,174.1,95.0,9.4,868,18228,0.00,2.28,0.00,0.000,6,0.000,0.052,3005,2245,1911
$GC,18538,1.26,174.1,66.9,9.3,884,18539,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2245,1913
$GC,18847,1.26,174.1,35.8,9.7,899,18852,0.00,2.80,0.00,0.000,4,0.000,0.062,3005,685,1914
$GC,18859,1.26,174.1,34.5,9.7,899,18865,0.00,2.78,0.00,0.000,6,0.000,0.054,3005,2229,1914
$GC,19177,1.31,174.1,9.0,8.7,915,19178,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2230,1915
$STATE,19276,end climb,SURFACE_DEPTH_REACHED
$STATE,19276,begin surface coast
$FINISH,-0.4,1.025659
$STATE,19297,end surface coast,CONTROL_FINISHED_OK
$STATE,19297,begin surface
$SM_CCo,19320,223.48,0.825,0,0,390,547.02
$SM_GC,0.31,0.00,0.00,223.48,0.000,0.000,0.825,425,2138,390,-10.60,-0.54,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1697
$TCM_TEMP,16.90
$XPDR_PINGS,200
$ALTIM_TOP_PING,19.3,19.1
$24V_AH,23.5,59.363
$10V_AH,10.1,28.426
$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,26.775,221.325,253.950,223.475,0.000,37.753,33.091,148.256,56.500,0.000,0.000,15.162,1812.888,14395.056,723.394,2370.502,598.321,33.380,1904.778,0.000,2314.331,0.000,44.295
$DEVICE_MAMPS,136.526,88.205,1477.242,824.525,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,645.677,676.066,549.287,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47451,921
$CAP_FILE_SIZE,161646,0
$CFSIZE,254472192,231387136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,130808,044632,6332.632,-819.031,40,1.7,40,-9.6