version: 66.03
glider: 5
mission: 3
dive: 327
start: 8 13 108 15 54 15
data:
$ID,5
$MISSION,3
$DIVE,327
$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,-82829.18
$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,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
$GPS1,154732,6334.120,-819.174,40,1.2,40,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-56.3
$GPS2,155321,6334.121,-819.262,12,1.9,12,-9.6
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.107,0.194
$KALMAN_X,-121727.0,271.3,-571.0,255535.7,2298.0
$KALMAN_Y,-99735.5,95.8,-60.0,256856.9,-5862.0
$MHEAD_RNG_PITCHd_Wd,38.5,25591,-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,-117.97,0.000,6,0.000,0.000,421,2117,3099
$GC,150,-1.30,-117.3,3.1,-3.3,6,166,10.50,2.62,0.00,0.000,4,0.138,0.059,2439,3564,3098
$GC,274,-1.01,-117.3,22.8,-13.7,10,281,0.32,2.47,0.00,0.000,6,0.093,0.045,2507,2171,3097
$GC,592,-0.95,-117.3,54.3,-9.0,26,596,0.00,2.55,0.00,0.000,4,0.000,0.057,2507,744,3097
$GC,665,-0.88,-117.3,61.1,-9.3,29,670,0.15,2.55,0.00,0.000,6,0.096,0.050,2537,2162,3097
$GC,982,-0.92,-117.3,83.9,-6.3,44,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2162,3098
$GC,1292,-0.97,-117.3,102.4,-6.0,59,1296,0.00,2.53,0.00,0.000,4,0.000,0.061,2537,3565,3100
$GC,1410,-0.97,-117.3,110.6,-7.0,64,1415,0.00,2.53,0.00,0.000,6,0.000,0.045,2537,2140,3099
$GC,1727,-1.02,-117.3,135.6,-8.4,79,1732,0.12,2.50,0.00,0.000,4,0.054,0.058,2499,744,3100
$GC,1823,-0.95,-117.3,145.3,-10.3,83,1828,0.10,2.53,0.00,0.000,6,0.103,0.052,2519,2144,3100
$GC,2138,-0.95,-117.3,171.9,-8.1,98,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2142,3100
$GC,2449,-0.95,-117.3,194.9,-6.9,113,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2142,3100
$GC,2757,-0.95,-117.3,215.5,-6.6,128,2762,0.00,2.58,0.00,0.000,4,0.000,0.065,2519,3564,3100
$GC,2898,-0.95,-117.3,225.1,-6.4,134,2903,0.00,2.55,0.00,0.000,6,0.000,0.050,2519,2143,3100
$GC,3215,-0.95,-117.3,242.6,-5.7,149,3220,0.00,2.53,0.00,0.000,4,0.000,0.065,2519,746,3100
$GC,3328,-0.95,-117.3,249.8,-6.7,154,3332,0.00,2.53,0.00,0.000,6,0.000,0.055,2519,2134,3100
$GC,3655,-0.95,-117.3,272.9,-8.2,170,3659,0.00,2.60,0.00,0.000,4,0.000,0.067,2518,3563,3099
$GC,3811,-0.95,-117.3,286.7,-9.0,177,3816,0.00,2.58,0.00,0.000,6,0.000,0.054,2519,2136,3099
$GC,4134,-0.95,-117.3,310.9,-7.4,193,4138,0.00,2.50,0.00,0.000,4,0.000,0.065,2519,746,3099
$GC,4219,-0.95,-117.3,317.2,-7.8,197,4223,0.00,2.58,0.00,0.000,6,0.000,0.059,2519,2156,3099
$GC,4546,-0.95,-117.3,337.0,-5.6,213,4550,0.00,2.60,0.00,0.000,4,0.000,0.073,2519,3564,3098
$GC,4654,-0.95,-117.3,343.4,-5.8,218,4658,0.00,2.55,0.00,0.000,6,0.000,0.058,2519,2158,3098
$GC,4980,-0.95,-117.3,361.3,-5.5,234,4985,0.00,2.58,0.00,0.000,4,0.000,0.071,2519,747,3098
$GC,5134,-0.95,-117.3,370.8,-6.9,241,5139,0.00,2.60,0.00,0.000,6,0.000,0.065,2519,2152,3097
$GC,5461,-0.95,-117.3,393.9,-7.1,257,5466,0.00,2.65,0.00,0.000,4,0.000,0.074,2519,740,3096
$GC,5525,-0.95,-117.3,398.7,-7.7,260,5529,0.00,2.58,0.00,0.000,6,0.000,0.066,2519,2131,3096
$GC,5852,-0.95,-117.3,422.7,-7.4,276,5856,0.00,2.67,0.00,0.000,4,0.000,0.079,2519,3566,3094
$GC,5941,-0.95,-117.3,429.8,-8.5,280,5945,0.00,2.65,0.00,0.000,6,0.000,0.064,2519,2126,3094
$GC,6263,-0.95,-117.3,452.9,-7.3,296,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2107,3093
$GC,6572,-0.95,-117.3,476.3,-7.6,311,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2107,3092
$GC,6881,-0.95,-117.3,497.9,-6.7,326,6885,0.00,2.72,0.00,0.000,4,0.000,0.084,2519,3563,3091
$GC,6971,-0.95,-117.3,504.3,-7.0,330,6976,0.00,2.65,0.00,0.000,6,0.000,0.070,2519,2138,3090
$GC,7293,-0.95,-117.3,524.1,-6.1,346,7297,0.00,2.60,0.00,0.000,4,0.000,0.080,2519,741,3089
$GC,7351,-0.95,-117.3,527.8,-6.6,348,7357,0.00,2.65,0.00,0.000,6,0.000,0.073,2519,2152,3089
$GC,7667,-1.00,-117.3,547.7,-6.6,364,7672,0.00,2.67,0.00,0.000,4,0.000,0.084,2519,744,3088
$GC,7740,-1.00,-117.3,552.8,-6.9,367,7744,0.00,2.62,0.00,0.000,6,0.000,0.074,2519,2138,3088
$GC,8057,-1.04,-117.3,573.2,-6.4,382,8058,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2138,3087
$GC,8365,-1.09,-117.3,592.9,-6.4,397,8367,0.12,0.00,0.00,0.000,6,0.070,0.000,2487,2138,3086
$GC,8675,-1.05,-117.3,615.2,-7.3,412,8680,0.00,2.65,0.00,0.000,4,0.000,0.083,2487,744,3085
$GC,8739,-0.99,-117.3,620.1,-7.7,415,8744,0.12,2.62,0.00,0.000,6,0.116,0.075,2511,2135,3085
$GC,9067,-0.99,-117.3,642.2,-7.0,431,9072,0.00,2.67,0.00,0.000,4,0.000,0.087,2512,3563,3084
$GC,9157,-0.99,-117.3,649.2,-8.0,435,9162,0.00,2.67,0.00,0.000,6,0.000,0.073,2511,2129,3084
$GC,9479,-0.99,-117.3,672.3,-7.4,451,9483,0.00,2.60,0.00,0.000,4,0.000,0.087,2511,744,3083
$GC,9574,-0.99,-117.3,679.9,-8.5,455,9578,0.00,2.62,0.00,0.000,6,0.000,0.077,2511,2127,3083
$GC,9890,-0.99,-117.3,702.8,-7.4,470,9894,0.00,2.72,0.00,0.000,4,0.000,0.090,2511,3563,3082
$GC,9986,-0.99,-117.3,710.3,-7.9,474,9990,0.00,2.70,0.00,0.000,6,0.000,0.074,2511,2126,3081
$GC,10302,-0.99,-117.3,732.8,-7.0,489,10306,0.00,2.60,0.00,0.000,4,0.000,0.088,2511,744,3081
$GC,10363,-0.99,-117.3,737.3,-8.1,492,10368,0.00,2.62,0.00,0.000,6,0.000,0.077,2511,2130,3080
$GC,10692,-0.99,-117.3,759.4,-7.0,508,10696,0.00,2.72,0.00,0.000,4,0.000,0.089,2511,3568,3080
$STATE,10733,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10733,begin apogee
$GC,10743,-0.33,0.0,762.7,7.1,510,10847,0.68,0.00,101.10,1.496,6,0.102,0.000,2648,2083,2621
$STATE,10848,end apogee,CONTROL_FINISHED_OK
$STATE,10848,begin climb
$GC,10852,1.30,117.3,765.2,0.0,515,10962,1.73,2.83,102.85,1.445,4,0.084,0.086,3009,3511,2141
$GC,10969,1.19,117.3,757.6,9.0,520,10976,0.00,2.72,0.00,0.000,6,0.000,0.074,3009,2099,2141
$GC,11286,1.12,117.3,727.1,9.9,536,11291,0.15,2.72,0.00,0.000,4,0.107,0.085,2978,3509,2139
$GC,11359,1.12,117.3,720.1,9.1,539,11363,0.00,2.65,0.00,0.000,6,0.000,0.074,2978,2115,2139
$GC,11675,1.12,118.2,694.2,8.0,554,11679,0.00,2.67,0.00,0.000,4,0.000,0.085,2977,3511,2138
$GC,11748,1.12,118.2,687.9,8.4,557,11752,0.00,2.62,0.00,0.000,6,0.000,0.072,2977,2124,2138
$GC,12064,1.13,127.5,663.3,7.6,572,12079,0.00,2.72,10.07,1.282,4,0.000,0.084,2977,3511,2099
$GC,12130,1.13,127.5,657.7,8.4,574,12134,0.00,2.62,0.00,0.000,6,0.000,0.073,2977,2133,2099
$GC,12451,1.13,127.5,632.5,8.1,590,12456,0.00,2.67,0.00,0.000,4,0.000,0.086,2977,3511,2099
$GC,12514,1.13,127.5,627.1,8.1,593,12518,0.00,2.58,0.00,0.000,6,0.000,0.071,2977,2143,2099
$GC,12841,1.15,138.2,602.1,7.5,609,12856,0.00,2.70,10.82,1.288,4,0.000,0.084,2977,3510,2056
$GC,12919,1.15,138.2,595.2,9.2,611,12925,0.00,2.55,0.00,0.000,6,0.000,0.071,2978,2165,2056
$GC,13236,1.22,152.2,571.0,7.4,627,13257,0.00,2.65,13.80,1.302,4,0.000,0.084,2978,3509,1998
$GC,13308,1.22,152.2,565.1,8.0,630,13312,0.00,2.53,0.00,0.000,6,0.000,0.070,2977,2173,1998
$GC,13630,1.29,167.1,541.7,7.3,646,13652,0.15,2.65,14.12,1.289,4,0.065,0.084,3017,3514,1938
$GC,13704,1.22,167.1,534.5,10.4,649,13709,0.12,2.53,0.00,0.000,6,0.110,0.071,2996,2186,1938
$GC,14025,1.22,167.1,505.9,9.1,665,14029,0.00,2.58,0.00,0.000,4,0.000,0.083,2996,3516,1937
$GC,14109,1.22,167.1,497.5,9.7,669,14113,0.00,2.47,0.00,0.000,6,0.000,0.067,2996,2197,1937
$GC,14437,1.22,167.1,467.8,9.1,685,14441,0.00,2.55,0.00,0.000,4,0.000,0.084,2996,3511,1937
$GC,14486,1.22,167.1,462.9,9.5,687,14491,0.00,2.45,0.00,0.000,6,0.000,0.070,2996,2210,1936
$GC,14802,1.22,167.1,435.5,8.4,702,14806,0.00,2.50,0.00,0.000,4,0.000,0.083,2996,3515,1937
$GC,14849,1.22,167.1,431.4,8.6,704,14853,0.00,2.42,0.00,0.000,6,0.000,0.068,2996,2221,1937
$GC,15170,1.24,177.5,405.9,7.5,720,15186,0.00,2.53,10.50,1.174,4,0.000,0.081,2996,3514,1896
$GC,15232,1.24,177.5,400.3,9.2,722,15236,0.00,2.40,0.00,0.000,6,0.000,0.067,2996,2231,1896
$GC,15559,1.24,177.5,368.5,10.4,738,15564,0.00,2.45,0.00,0.000,4,0.000,0.081,2996,3512,1896
$GC,15593,1.24,177.5,364.6,10.5,739,15598,0.00,2.38,0.00,0.000,6,0.000,0.066,2996,2238,1896
$GC,15908,1.24,177.5,330.7,10.9,755,15912,0.00,2.45,0.00,0.000,4,0.000,0.081,2996,3515,1895
$GC,15927,1.24,177.5,328.7,11.2,756,15931,0.00,2.35,0.00,0.000,6,0.000,0.063,2996,2241,1896
$GC,16254,1.28,177.5,295.7,10.2,772,16257,0.00,2.40,0.00,0.000,4,0.000,0.079,2996,3512,1895
$GC,16281,1.28,177.5,292.6,11.0,773,16285,0.00,2.35,0.00,0.000,6,0.000,0.064,2996,2242,1896
$GC,16603,1.28,177.5,257.7,10.7,789,16605,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2226,1896
$GC,16912,1.28,177.5,227.8,9.0,804,16916,0.00,2.42,0.00,0.000,4,0.000,0.076,2996,3519,1895
$GC,16980,1.32,177.5,221.5,8.9,807,16984,0.00,2.38,0.00,0.000,6,0.000,0.060,2996,2228,1896
$GC,17302,1.39,196.7,196.9,7.1,823,17327,0.15,2.50,17.50,1.048,4,0.057,0.070,3037,3514,1817
$GC,17334,1.31,196.7,194.1,9.9,824,17338,0.00,2.38,0.00,0.000,6,0.000,0.057,3037,2235,1816
$GC,17651,1.25,196.7,164.0,9.4,839,17653,0.17,0.00,0.00,0.000,6,0.099,0.000,3004,2218,1816
$GC,17959,1.25,196.7,139.1,8.3,854,17963,0.00,2.38,0.00,0.000,4,0.000,0.067,3004,3514,1817
$GC,17977,1.25,197.7,137.6,8.0,855,17981,0.00,2.33,0.00,0.000,6,0.000,0.052,3004,2230,1817
$GC,18306,1.30,197.7,108.7,9.0,871,18310,0.00,2.38,0.00,0.000,4,0.000,0.065,3004,3515,1819
$GC,18324,1.30,197.7,106.9,9.0,872,18327,0.00,2.30,0.00,0.000,6,0.000,0.050,3004,2234,1818
$GC,18658,1.35,206.6,79.4,7.6,888,18675,0.00,0.00,10.32,0.864,6,0.000,0.000,3004,2233,1777
$GC,18988,1.42,206.6,51.5,8.6,904,18992,0.15,2.35,0.00,0.000,4,0.052,0.061,3047,3514,1777
$GC,19005,1.42,206.6,49.5,8.9,905,19009,0.00,2.28,0.00,0.000,6,0.000,0.048,3047,2240,1778
$GC,19339,1.36,206.6,14.9,11.2,921,19340,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2223,1778
$STATE,19460,end climb,SURFACE_DEPTH_REACHED
$STATE,19460,begin surface coast
$FINISH,-0.3,1.009522
$STATE,19480,end surface coast,CONTROL_FINISHED_OK
$STATE,19480,begin surface
$SM_CCo,19503,205.35,0.822,0,0,389,547.02
$SM_GC,0.30,0.00,0.00,205.35,0.000,0.000,0.822,421,2119,389,-10.62,-1.24,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1698
$TCM_TEMP,16.90
$XPDR_PINGS,217
$ALTIM_TOP_PING,19.3,18.2
$ALTIM_BOTTOM_PING,751.1,21.5
$24V_AH,23.5,59.900
$10V_AH,10.1,28.705
$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,26.075,210.050,291.100,205.350,0.000,37.755,25.847,151.261,61.500,0.000,0.000,12.077,1810.578,14719.820,718.822,2222.450,585.270,33.388,1833.601,0.000,2165.879,0.000,51.757
$DEVICE_MAMPS,138.060,89.739,1495.650,822.224,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,651.945,683.356,547.495,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47402,928
$CAP_FILE_SIZE,159424,0
$CFSIZE,254472192,231174144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,30,0,0
$GPS,130808,212407,6335.275,-814.176,36,0.9,42,-9.5