version: 66.03
glider: 5
mission: 3
dive: 328
start: 8 13 108 21 30 57
data:
$ID,5
$MISSION,3
$DIVE,328
$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,-82842.648
$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,33
$R_STBD_OVSHOOT,14
$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
$GPS1,212407,6335.275,-814.176,36,0.9,42,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-55.4
$GPS2,213003,6335.229,-814.092,12,1.8,12,-9.5
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.080,0.207
$KALMAN_X,-120411.7,-329.2,499.4,258218.4,766.1
$KALMAN_Y,-103154.2,260.5,621.9,261465.5,-6924.2
$MHEAD_RNG_PITCHd_Wd,348.3,21465,-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,-117.45,0.000,6,0.000,0.000,421,2107,3098
$GC,150,-1.30,-117.3,3.4,-3.4,6,166,10.62,0.00,0.00,0.000,6,0.138,0.000,2439,2105,3097
$GC,479,-1.04,-117.3,44.6,-10.8,22,481,0.30,0.00,0.00,0.000,6,0.093,0.000,2502,2105,3097
$GC,786,-0.98,-117.3,76.8,-9.6,37,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2105,3098
$GC,1096,-0.92,-117.3,104.8,-9.2,52,1101,0.12,2.47,0.00,0.000,4,0.100,0.056,2527,750,3099
$GC,1183,-0.92,-117.3,112.1,-8.1,56,1187,0.00,2.55,0.00,0.000,6,0.000,0.051,2527,2165,3099
$GC,1510,-0.92,-117.3,137.2,-7.6,72,1514,0.00,2.53,0.00,0.000,4,0.000,0.062,2527,3561,3099
$GC,1628,-0.92,-117.3,147.1,-8.5,77,1632,0.00,2.53,0.00,0.000,6,0.000,0.047,2527,2143,3099
$GC,1944,-0.92,-117.3,172.0,-8.0,92,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2123,3099
$GC,2254,-0.92,-117.3,195.9,-7.9,107,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2124,3099
$GC,2562,-0.92,-117.3,218.0,-6.2,122,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2124,3099
$GC,2872,-0.92,-117.3,234.9,-5.3,137,2876,0.00,2.50,0.00,0.000,4,0.000,0.060,2527,749,3099
$GC,2980,-0.92,-117.3,241.6,-6.6,142,2985,0.00,2.53,0.00,0.000,6,0.000,0.054,2527,2149,3099
$GC,3308,-0.92,-117.3,260.6,-5.7,158,3312,0.00,2.55,0.00,0.000,4,0.000,0.067,2527,3556,3099
$GC,3486,-0.92,-117.3,271.7,-6.6,166,3491,0.00,2.50,0.00,0.000,6,0.000,0.051,2527,2163,3099
$GC,3815,-0.97,-117.3,296.5,-8.1,182,3820,0.00,2.55,0.00,0.000,4,0.000,0.064,2527,744,3099
$GC,4001,-0.97,-117.3,310.2,-6.5,190,4005,0.00,2.58,0.00,0.000,6,0.000,0.058,2527,2152,3099
$GC,4317,-1.01,-117.3,330.2,-6.4,205,4322,0.00,2.60,0.00,0.000,4,0.000,0.069,2527,746,3098
$GC,4453,-1.01,-117.3,339.7,-6.6,211,4457,0.00,2.55,0.00,0.000,6,0.000,0.062,2527,2132,3098
$GC,4775,-1.06,-117.3,362.0,-7.2,227,4776,0.12,0.00,0.00,0.000,6,0.061,0.000,2494,2131,3097
$GC,5085,-1.02,-117.3,385.3,-7.4,242,5089,0.00,2.60,0.00,0.000,4,0.000,0.073,2493,742,3096
$GC,5185,-0.96,-117.3,393.5,-8.1,246,5192,0.12,2.53,0.00,0.000,6,0.108,0.066,2518,2119,3096
$GC,5501,-0.96,-117.3,416.3,-7.4,262,5506,0.00,2.67,0.00,0.000,4,0.000,0.078,2518,3557,3095
$GC,5691,-0.96,-117.3,431.7,-7.8,270,5698,0.00,2.62,0.00,0.000,6,0.000,0.064,2518,2124,3094
$GC,6008,-0.96,-117.3,452.7,-6.6,286,6012,0.00,2.55,0.00,0.000,4,0.000,0.077,2518,747,3093
$GC,6131,-0.96,-117.3,461.4,-7.4,291,6138,0.00,2.58,0.00,0.000,6,0.000,0.071,2518,2128,3092
$GC,6448,-0.96,-117.3,481.2,-6.3,307,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2128,3091
$GC,6758,-1.00,-117.3,501.7,-6.6,322,6762,0.00,2.67,0.00,0.000,4,0.000,0.083,2518,3560,3090
$GC,6892,-1.00,-117.3,511.7,-6.7,328,6897,0.00,2.62,0.00,0.000,6,0.000,0.067,2518,2132,3090
$GC,7214,-1.04,-117.3,533.3,-6.8,344,7219,0.00,2.58,0.00,0.000,4,0.000,0.081,2518,743,3089
$GC,7304,-1.04,-117.3,539.8,-7.5,348,7309,0.00,2.60,0.00,0.000,6,0.000,0.072,2518,2133,3089
$GC,7626,-1.08,-117.3,561.8,-7.0,364,7631,0.12,2.70,0.00,0.000,4,0.067,0.084,2486,3567,3087
$GC,7728,-1.00,-117.3,570.3,-8.3,368,7735,0.12,2.67,0.00,0.000,6,0.113,0.071,2510,2130,3087
$GC,8044,-1.00,-117.3,592.9,-7.3,384,8045,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2113,3086
$GC,8354,-1.00,-117.3,615.1,-7.1,399,8355,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2113,3086
$GC,8663,-1.00,-117.3,636.7,-7.1,414,8664,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2113,3084
$GC,8972,-1.00,-117.3,657.8,-6.9,429,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2113,3084
$GC,9282,-1.00,-117.3,678.5,-6.5,444,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2113,3083
$GC,9590,-1.00,-117.3,698.9,-6.5,459,9595,0.00,2.60,0.00,0.000,4,0.000,0.087,2511,744,3082
$GC,9681,-1.00,-117.3,705.2,-7.0,463,9685,0.00,2.65,0.00,0.000,6,0.000,0.076,2510,2147,3082
$GC,10005,-1.00,-117.3,726.2,-6.4,479,10009,0.00,2.67,0.00,0.000,4,0.000,0.090,2511,3559,3081
$GC,10100,-1.00,-117.3,733.0,-6.7,483,10104,0.00,2.65,0.00,0.000,6,0.000,0.075,2510,2145,3080
$GC,10417,-1.00,-117.3,753.0,-6.4,498,10421,0.00,2.65,0.00,0.000,4,0.000,0.089,2510,741,3079
$GC,10540,-1.00,-117.3,761.8,-7.0,503,10545,0.00,2.65,0.00,0.000,6,0.000,0.081,2510,2145,3079
$GC,10856,-1.00,-117.3,781.9,-6.6,519,10861,0.00,2.70,0.00,0.000,4,0.000,0.090,2510,3565,3079
$GC,10964,-1.00,-117.3,789.4,-6.6,524,10968,0.00,2.65,0.00,0.000,4,0.000,0.074,2510,2145,3078
$STATE,10969,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10969,begin apogee
$GC,10976,-0.33,0.0,789.9,6.5,524,11081,0.68,0.00,101.60,1.513,6,0.100,0.000,2649,2128,2620
$STATE,11081,end apogee,CONTROL_FINISHED_OK
$STATE,11081,begin climb
$GC,11085,1.30,117.3,792.5,0.0,529,11196,1.70,2.72,103.40,1.463,4,0.079,0.087,3007,3507,2141
$GC,11202,1.16,117.3,784.1,8.1,535,11207,0.12,2.70,0.00,0.000,6,0.108,0.073,2986,2101,2141
$GC,11518,1.16,117.3,756.5,8.8,550,11522,0.00,2.72,0.00,0.000,4,0.000,0.087,2986,3509,2140
$GC,11591,1.16,117.3,749.6,9.0,553,11596,0.00,2.65,0.00,0.000,6,0.000,0.074,2986,2114,2139
$GC,11907,1.16,117.3,721.9,8.8,568,11912,0.00,2.70,0.00,0.000,4,0.000,0.086,2986,3514,2139
$GC,11980,1.12,117.3,715.0,9.0,571,11985,0.00,2.62,0.00,0.000,6,0.000,0.073,2986,2124,2139
$GC,12297,1.12,117.3,686.3,9.2,586,12301,0.00,2.67,0.00,0.000,4,0.000,0.087,2986,3508,2138
$GC,12352,1.12,117.3,680.6,10.0,588,12358,0.00,2.60,0.00,0.000,6,0.000,0.072,2986,2132,2138
$GC,12668,1.12,117.3,651.8,9.2,604,12673,0.00,2.67,0.00,0.000,4,0.000,0.086,2986,3514,2138
$GC,12724,1.12,117.3,646.0,10.5,606,12730,0.00,2.60,0.00,0.000,6,0.000,0.073,2985,2139,2138
$GC,13040,1.12,117.3,616.8,9.3,622,13044,0.00,2.65,0.00,0.000,4,0.000,0.085,2986,3510,2137
$GC,13103,1.12,117.3,610.8,9.9,625,13107,0.00,2.53,0.00,0.000,6,0.000,0.070,2986,2158,2137
$GC,13430,1.12,117.3,581.4,8.8,641,13434,0.00,2.62,0.00,0.000,4,0.000,0.085,2986,3513,2137
$GC,13469,1.12,117.3,577.7,10.0,643,13473,0.00,2.53,0.00,0.000,6,0.000,0.069,2986,2167,2137
$GC,13796,1.12,117.3,550.6,8.2,659,13801,0.00,2.60,0.00,0.000,4,0.000,0.086,2986,3514,2136
$GC,13852,1.12,117.3,545.5,8.8,661,13858,0.00,2.53,0.00,0.000,6,0.000,0.071,2986,2172,2137
$GC,14168,1.13,126.6,522.0,7.6,677,14182,0.00,2.62,8.90,1.221,4,0.000,0.084,2986,3510,2104
$GC,14235,1.13,126.6,516.7,9.3,680,14239,0.00,2.50,0.00,0.000,6,0.000,0.070,2986,2187,2104
$GC,14562,1.15,139.2,492.2,7.4,696,14584,0.00,2.62,12.32,1.251,4,0.000,0.081,2986,3507,2052
$GC,14641,1.17,147.9,485.8,7.6,699,14655,0.00,2.47,9.25,1.190,6,0.000,0.067,2986,2176,2017
$GC,14983,1.17,147.9,458.5,8.2,716,14988,0.00,2.55,0.00,0.000,4,0.000,0.084,2986,3511,2016
$GC,15016,1.17,147.9,455.3,9.1,717,15022,0.00,2.47,0.00,0.000,6,0.000,0.071,2986,2194,2016
$GC,15333,1.17,147.9,427.4,9.2,733,15337,0.00,2.53,0.00,0.000,4,0.000,0.083,2986,3509,2016
$GC,15388,1.17,147.9,421.7,10.1,735,15395,0.00,2.45,0.00,0.000,6,0.000,0.068,2986,2202,2016
$GC,15704,1.17,147.9,393.8,8.8,751,15709,0.00,2.50,0.00,0.000,4,0.000,0.081,2986,3509,2015
$GC,15745,1.17,147.9,390.0,9.5,753,15749,0.00,2.42,0.00,0.000,6,0.000,0.065,2986,2206,2015
$GC,16072,1.17,147.9,361.5,8.4,769,16076,0.00,2.50,0.00,0.000,4,0.000,0.080,2986,3512,2016
$GC,16122,1.17,147.9,357.0,8.2,771,16126,0.00,2.40,0.00,0.000,6,0.000,0.064,2985,2220,2015
$GC,16439,1.17,147.9,329.6,8.5,786,16443,0.00,2.45,0.00,0.000,4,0.000,0.079,2986,3516,2015
$GC,16501,1.17,147.9,323.5,9.2,788,16507,0.00,2.40,0.00,0.000,6,0.000,0.064,2986,2223,2016
$GC,16817,1.21,147.9,295.7,8.7,804,16821,0.00,2.45,0.00,0.000,4,0.000,0.079,2986,3511,2016
$GC,16880,1.21,147.9,290.1,9.1,807,16884,0.00,2.33,0.00,0.000,6,0.000,0.061,2986,2240,2016
$GC,17207,1.26,147.9,263.2,8.0,823,17211,0.00,2.42,0.00,0.000,4,0.000,0.078,2986,3513,2016
$GC,17297,1.26,147.9,255.6,8.1,827,17301,0.00,2.30,0.00,0.000,6,0.000,0.062,2986,2266,2016
$GC,17619,1.37,178.7,233.1,6.6,843,17654,0.15,2.47,27.12,1.096,4,0.060,0.074,3028,3515,1891
$GC,17677,1.29,178.7,228.2,9.1,845,17683,0.00,2.33,0.00,0.000,6,0.000,0.061,3028,2269,1891
$GC,17994,1.23,178.7,198.0,9.7,861,17996,0.17,0.00,0.00,0.000,6,0.100,0.000,2997,2253,1890
$GC,18302,1.27,178.7,171.6,8.7,876,18307,0.00,2.88,0.00,0.000,4,0.000,0.068,2997,688,1890
$GC,18312,1.27,178.7,170.8,8.4,876,18319,0.00,2.92,0.00,0.000,6,0.000,0.061,2997,2283,1890
$GC,18630,1.32,178.7,140.7,10.4,892,18635,0.00,2.95,0.00,0.000,4,0.000,0.067,2997,682,1891
$GC,18640,1.32,178.7,139.5,10.1,892,18647,0.00,2.90,0.00,0.000,6,0.000,0.059,2997,2276,1891
$GC,18957,1.36,178.7,107.7,10.3,908,18959,0.15,0.00,0.00,0.000,6,0.054,0.000,3034,2276,1892
$GC,19269,1.30,178.7,72.0,11.5,923,19270,0.12,0.00,0.00,0.000,6,0.097,0.000,3012,2276,1893
$GC,19575,1.30,178.7,41.4,9.5,938,19576,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2276,1894
$GC,19885,1.30,178.7,14.4,8.5,953,19886,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2276,1895
$STATE,20026,end climb,SURFACE_DEPTH_REACHED
$STATE,20026,begin surface coast
$FINISH,-0.2,1.026920
$STATE,20048,end surface coast,CONTROL_FINISHED_OK
$STATE,20048,begin surface
$SM_CCo,20071,223.98,0.821,0,0,390,547.02
$SM_GC,0.19,0.00,0.00,223.98,0.000,0.000,0.821,418,2113,390,-10.63,-0.59,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1697
$TCM_TEMP,16.90
$XPDR_PINGS,206
$ALTIM_TOP_PING,19.7,19.4
$ALTIM_BOTTOM_PING,726.2,73.7
$24V_AH,23.5,60.078
$10V_AH,10.1,28.798
$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,25.850,186.275,262.600,223.975,0.000,37.758,25.360,156.217,58.000,0.000,0.000,12.840,1829.120,15260.149,732.165,2235.748,592.499,33.363,1830.719,0.000,2186.424,0.000,44.419
$DEVICE_MAMPS,138.060,89.739,1512.524,820.690,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,673.938,706.344,540.432,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50479,961
$CAP_FILE_SIZE,155830,0
$CFSIZE,254472192,231096320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,140808,031037,6334.935,-815.736,38,1.0,43,-9.6