version: 66.03
glider: 5
mission: 3
dive: 329
start: 8 14 108 3 17 57
data:
$ID,5
$MISSION,3
$DIVE,329
$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,-82858.297
$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,27
$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
$GPS1,031037,6334.935,-815.736,38,1.0,43,-9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-56.9
$GPS2,031703,6334.907,-815.802,15,1.2,15,-9.6
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.081,0.207
$KALMAN_X,-118766.4,-409.3,-581.4,256253.5,4009.5
$KALMAN_Y,-107940.7,376.1,-335.4,266510.8,-6012.9
$MHEAD_RNG_PITCHd_Wd,30.9,22736,-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,-117.15,0.000,6,0.000,0.000,419,2114,3098
$GC,150,-1.30,-117.3,3.4,-3.4,6,166,10.57,2.50,0.00,0.000,4,0.140,0.054,2439,740,3098
$GC,358,-1.04,-117.3,33.6,-12.7,14,363,0.30,2.55,0.00,0.000,6,0.095,0.049,2500,2158,3097
$GC,676,-0.97,-117.3,63.6,-9.2,29,681,0.00,2.53,0.00,0.000,4,0.000,0.058,2501,3563,3097
$GC,778,-0.87,-117.3,73.8,-9.9,33,785,0.17,2.55,0.00,0.000,6,0.092,0.044,2536,2125,3097
$GC,1094,-0.91,-117.3,99.5,-8.6,49,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2122,3098
$GC,1405,-0.96,-117.3,124.5,-7.8,64,1409,0.00,2.60,0.00,0.000,4,0.000,0.061,2536,3554,3099
$GC,1640,-0.96,-117.3,145.0,-8.2,74,1646,0.00,2.50,0.00,0.000,6,0.000,0.046,2536,2142,3099
$GC,1957,-1.02,-117.3,169.7,-7.9,90,1962,0.12,2.50,0.00,0.000,4,0.054,0.058,2500,746,3099
$GC,2142,-0.95,-117.3,187.0,-9.5,98,2147,0.10,2.50,0.00,0.000,6,0.102,0.052,2519,2131,3099
$GC,2458,-0.95,-117.3,210.8,-7.4,113,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2131,3099
$GC,2766,-0.95,-117.3,234.8,-8.1,128,2771,0.00,2.53,0.00,0.000,4,0.000,0.061,2519,746,3099
$GC,2840,-0.95,-117.3,241.0,-8.6,131,2844,0.00,2.50,0.00,0.000,6,0.000,0.054,2519,2125,3099
$GC,3156,-0.95,-117.3,264.4,-7.2,146,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2124,3099
$GC,3466,-0.95,-117.3,286.4,-7.0,161,3470,0.00,2.62,0.00,0.000,4,0.000,0.070,2519,3557,3099
$GC,3669,-0.95,-117.3,301.9,-7.5,170,3673,0.00,2.65,0.00,0.000,6,0.000,0.054,2519,2090,3098
$GC,3991,-0.95,-117.3,322.0,-5.8,186,3995,0.00,2.75,0.00,0.000,4,0.000,0.072,2519,3557,3098
$GC,4076,-0.95,-117.3,327.7,-7.2,190,4081,0.00,2.62,0.00,0.000,6,0.000,0.057,2519,2105,3098
$GC,4404,-0.95,-117.3,348.4,-6.4,206,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2087,3097
$GC,4714,-0.95,-117.3,369.7,-7.4,221,4719,0.00,2.72,0.00,0.000,4,0.000,0.077,2519,3553,3096
$GC,4832,-0.95,-117.3,379.3,-8.1,226,4836,0.00,2.65,0.00,0.000,6,0.000,0.063,2519,2101,3095
$GC,5149,-0.95,-117.3,400.7,-6.6,241,5154,0.00,2.50,0.00,0.000,4,0.000,0.076,2519,745,3094
$GC,5264,-0.95,-117.3,408.5,-7.1,246,5268,0.00,2.50,0.00,0.000,6,0.000,0.067,2519,2090,3093
$GC,5585,-0.95,-117.3,429.0,-6.1,262,5589,0.00,2.72,0.00,0.000,4,0.000,0.079,2519,3553,3092
$GC,5715,-0.95,-117.3,438.1,-7.7,268,5720,0.00,2.67,0.00,0.000,6,0.000,0.065,2519,2095,3092
$GC,6043,-0.99,-117.3,458.4,-5.8,284,6047,0.00,2.50,0.00,0.000,4,0.000,0.077,2519,744,3091
$GC,6174,-0.99,-117.3,466.7,-6.2,290,6178,0.00,2.53,0.00,0.000,6,0.000,0.070,2519,2099,3090
$GC,6502,-1.03,-117.3,486.0,-5.9,306,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2099,3089
$GC,6811,-1.03,-117.3,504.0,-5.8,321,6815,0.00,2.75,0.00,0.000,4,0.000,0.084,2519,3561,3088
$GC,7012,-1.03,-117.3,517.8,-6.6,330,7016,0.00,2.75,0.00,0.000,6,0.000,0.069,2519,2078,3087
$GC,7335,-1.07,-117.3,538.1,-6.5,346,7337,0.12,0.00,0.00,0.000,6,0.067,0.000,2486,2066,3087
$GC,7644,-1.03,-117.3,560.8,-7.2,361,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2066,3086
$GC,7952,-0.98,-117.3,582.8,-7.2,376,7954,0.15,0.00,0.00,0.000,6,0.109,0.000,2516,2066,3085
$GC,8262,-0.98,-117.3,603.1,-6.6,391,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2066,3084
$GC,8570,-0.98,-117.3,623.9,-6.9,406,8571,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2066,3083
$GC,8880,-0.98,-117.3,646.0,-7.2,421,8884,0.00,2.85,0.00,0.000,4,0.000,0.088,2516,3561,3082
$GC,8988,-0.98,-117.3,654.2,-7.9,426,8992,0.00,2.75,0.00,0.000,6,0.000,0.074,2516,2090,3082
$GC,9315,-1.02,-117.3,677.1,-6.7,442,9319,0.00,2.50,0.00,0.000,4,0.000,0.084,2516,746,3081
$GC,9412,-1.02,-117.3,683.7,-6.7,446,9417,0.00,2.55,0.00,0.000,6,0.000,0.075,2516,2097,3080
$GC,9729,-1.06,-117.3,704.8,-6.7,461,9734,0.00,2.78,0.00,0.000,4,0.000,0.090,2516,3559,3080
$GC,9883,-1.06,-117.3,716.0,-7.1,468,9887,0.00,2.72,0.00,0.000,6,0.000,0.074,2516,2102,3079
$GC,10210,-1.11,-117.3,737.2,-6.3,484,10215,0.12,2.58,0.00,0.000,4,0.071,0.087,2484,741,3079
$GC,10296,-1.04,-117.3,743.5,-7.6,488,10301,0.00,2.58,0.00,0.000,6,0.000,0.077,2484,2101,3078
$GC,10625,-1.00,-117.3,766.9,-6.9,504,10630,0.12,2.78,0.00,0.000,4,0.117,0.090,2508,3560,3078
$GC,10740,-1.00,-117.3,775.1,-6.8,509,10744,0.00,2.75,0.00,0.000,6,0.000,0.076,2508,2098,3078
$STATE,10934,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10934,begin apogee
$GC,10941,-0.33,0.0,788.7,6.7,519,11046,0.73,0.00,101.88,1.513,6,0.100,0.000,2654,2097,2620
$STATE,11047,end apogee,CONTROL_FINISHED_OK
$STATE,11047,begin climb
$GC,11050,1.30,117.3,790.9,0.0,524,11161,1.70,2.83,103.03,1.461,4,0.081,0.087,3009,3510,2141
$GC,11171,1.16,117.3,783.6,8.6,530,11176,0.15,2.72,0.00,0.000,6,0.107,0.074,2982,2098,2141
$GC,11499,1.16,117.3,755.8,8.2,546,11504,0.00,2.75,0.00,0.000,4,0.000,0.087,2982,3514,2140
$GC,11594,1.16,117.3,747.3,8.9,550,11599,0.00,2.65,0.00,0.000,6,0.000,0.074,2982,2117,2139
$GC,11910,1.16,117.3,721.0,8.3,565,11914,0.00,2.70,0.00,0.000,4,0.000,0.086,2982,3511,2139
$GC,11977,1.16,117.3,715.0,9.1,568,11982,0.00,2.62,0.00,0.000,6,0.000,0.072,2982,2122,2139
$GC,12298,1.16,117.3,688.2,8.5,584,12302,0.00,2.67,0.00,0.000,4,0.000,0.086,2982,3508,2138
$GC,12364,1.16,117.3,682.1,8.5,587,12369,0.00,2.60,0.00,0.000,6,0.000,0.074,2982,2136,2138
$GC,12687,1.17,121.9,656.1,7.8,603,12697,0.00,2.70,5.47,1.113,4,0.000,0.085,2982,3512,2122
$GC,12750,1.17,121.9,650.9,9.0,606,12754,0.00,2.60,0.00,0.000,6,0.000,0.071,2982,2142,2121
$GC,13076,1.17,123.6,624.9,7.9,622,13081,0.00,2.65,0.00,0.000,4,0.000,0.085,2982,3509,2121
$GC,13172,1.17,123.6,616.6,8.1,626,13177,0.00,2.55,0.00,0.000,6,0.000,0.071,2982,2155,2121
$GC,13489,1.19,133.6,592.1,7.5,641,13509,0.00,2.72,11.45,1.296,4,0.000,0.084,2982,3511,2075
$GC,13544,1.20,137.7,587.8,7.8,643,13556,0.00,2.58,5.57,1.088,6,0.000,0.071,2982,2150,2058
$GC,13865,1.23,155.7,564.5,7.2,659,13889,0.00,2.72,17.33,1.321,4,0.000,0.084,2982,3509,1985
$GC,13943,1.23,155.7,558.4,8.3,662,13947,0.00,2.53,0.00,0.000,6,0.000,0.070,2982,2181,1984
$GC,14260,1.25,171.8,535.2,7.3,677,14281,0.00,2.62,15.05,1.293,4,0.000,0.083,2982,3512,1919
$GC,14315,1.28,187.1,530.8,7.3,679,14336,0.10,2.53,15.02,1.273,6,0.071,0.070,3008,2171,1857
$GC,14655,1.28,187.1,499.0,9.9,696,14659,0.00,2.55,0.00,0.000,4,0.000,0.084,3008,3507,1856
$GC,14723,1.28,187.1,491.6,10.5,699,14727,0.00,2.47,0.00,0.000,6,0.000,0.068,3008,2191,1856
$GC,15044,1.28,187.1,459.5,9.9,715,15048,0.00,2.55,0.00,0.000,4,0.000,0.084,3008,3508,1855
$GC,15107,1.28,187.1,453.2,10.1,718,15111,0.00,2.45,0.00,0.000,6,0.000,0.069,3008,2204,1856
$GC,15434,1.28,187.1,420.9,9.8,734,15438,0.00,2.50,0.00,0.000,4,0.000,0.083,3008,3508,1855
$GC,15466,1.28,187.1,417.7,9.4,735,15473,0.00,2.42,0.00,0.000,6,0.000,0.071,3008,2213,1855
$GC,15783,1.28,187.1,387.7,9.6,751,15787,0.00,2.50,0.00,0.000,4,0.000,0.082,3008,3511,1855
$GC,15846,1.28,187.1,381.2,10.3,754,15850,0.00,2.40,0.00,0.000,6,0.000,0.067,3008,2224,1855
$GC,16172,1.28,187.1,350.6,9.2,770,16176,0.00,2.45,0.00,0.000,4,0.000,0.081,3008,3511,1855
$GC,16217,1.28,187.1,346.3,9.5,772,16221,0.00,2.38,0.00,0.000,6,0.000,0.064,3008,2233,1855
$GC,16538,1.28,187.1,318.9,8.5,788,16542,0.00,2.45,0.00,0.000,4,0.000,0.080,3008,3513,1855
$GC,16593,1.28,187.1,313.6,10.3,790,16599,0.00,2.35,0.00,0.000,6,0.000,0.065,3008,2238,1855
$GC,16910,1.28,187.1,287.1,8.2,806,16911,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2222,1856
$GC,17218,1.28,187.1,259.0,9.5,821,17222,0.00,2.42,0.00,0.000,4,0.000,0.079,3008,3509,1856
$GC,17274,1.28,187.1,253.1,9.8,823,17280,0.00,2.35,0.00,0.000,6,0.000,0.062,3008,2235,1856
$GC,17590,1.28,187.1,223.1,9.5,839,17595,0.00,2.42,0.00,0.000,4,0.000,0.075,3008,3513,1856
$GC,17624,1.28,187.1,219.9,10.5,840,17630,0.00,2.35,0.00,0.000,6,0.000,0.061,3008,2236,1856
$GC,17940,1.28,187.1,192.1,9.1,856,17944,0.00,2.40,0.00,0.000,4,0.000,0.073,3008,3517,1856
$GC,17951,1.28,187.1,190.9,9.1,856,17955,0.00,2.35,0.00,0.000,6,0.000,0.058,3008,2235,1856
$GC,18268,1.28,187.1,163.6,8.6,871,18272,0.00,2.40,0.00,0.000,4,0.000,0.071,3008,3513,1857
$GC,18279,1.28,187.1,162.5,9.2,871,18284,0.00,2.30,0.00,0.000,6,0.000,0.056,3008,2251,1856
$GC,18596,1.28,187.1,132.6,9.3,887,18600,0.00,2.35,0.00,0.000,4,0.000,0.067,3008,3511,1857
$GC,18608,1.28,187.1,131.3,9.2,887,18614,0.00,2.28,0.00,0.000,6,0.000,0.053,3008,2251,1857
$GC,18924,1.28,187.1,104.1,8.8,903,18925,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2251,1858
$GC,19235,1.28,187.1,75.8,9.2,918,19239,0.00,2.80,0.00,0.000,4,0.000,0.064,3008,692,1859
$GC,19246,1.28,187.1,74.5,9.1,918,19252,0.00,2.78,0.00,0.000,6,0.000,0.055,3008,2241,1859
$GC,19562,1.32,187.1,46.0,8.1,934,19564,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2241,1861
$GC,19872,1.37,191.4,22.0,7.8,949,19880,0.00,0.00,6.32,0.734,6,0.000,0.000,3008,2241,1839
$STATE,20116,end climb,SURFACE_DEPTH_REACHED
$STATE,20116,begin surface coast
$FINISH,-0.2,1.026934
$STATE,20138,end surface coast,CONTROL_FINISHED_OK
$STATE,20138,begin surface
$SM_CCo,20162,214.05,0.812,0,0,390,547.02
$SM_GC,0.42,0.00,0.00,214.05,0.000,0.000,0.812,421,2122,390,-10.62,-0.82,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1691
$TCM_TEMP,17.10
$XPDR_PINGS,180
$ALTIM_TOP_PING,18.5,17.8
$ALTIM_BOTTOM_PING,751.0,47.7
$24V_AH,23.5,60.260
$10V_AH,10.1,28.894
$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,25.775,195.625,281.125,214.050,0.000,37.759,33.646,176.259,51.750,0.000,0.000,15.024,1860.867,15207.273,712.500,2347.991,631.478,33.361,1874.422,0.000,2293.294,0.000,48.920
$DEVICE_MAMPS,139.594,89.739,1512.524,812.253,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,675.039,707.429,552.553,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50671,962
$CAP_FILE_SIZE,159707,0
$CFSIZE,254472192,231030784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,140808,085855,6335.803,-810.722,42,1.4,42,-9.5