version: 66.03
glider: 5
mission: 3
dive: 332
start: 8 14 108 20 45 51
data:
$ID,5
$MISSION,3
$DIVE,332
$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,-82903.961
$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,35
$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
$GPS1,203901,6335.543,-817.356,38,0.9,43,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-54.1
$GPS2,204457,6335.542,-817.240,13,1.1,13,-9.6
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.104,0.196
$KALMAN_X,-116298.5,-527.7,298.9,251790.6,1044.5
$KALMAN_Y,-121534.9,453.5,921.6,279930.2,-8701.8
$MHEAD_RNG_PITCHd_Wd,37.4,22500,-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,-117.90,0.000,6,0.000,0.000,424,2109,3100
$GC,150,-1.30,-117.3,2.9,-3.0,6,166,10.52,2.45,0.00,0.000,4,0.140,0.053,2436,754,3099
$GC,419,-1.04,-117.3,39.1,-11.6,17,424,0.32,2.53,0.00,0.000,6,0.094,0.048,2505,2158,3098
$GC,744,-0.98,-117.3,64.8,-6.4,33,748,0.00,2.53,0.00,0.000,4,0.000,0.055,2504,755,3099
$GC,926,-0.92,-117.3,77.1,-7.1,41,931,0.12,2.47,0.00,0.000,6,0.099,0.048,2529,2152,3099
$GC,1248,-0.92,-117.3,95.3,-5.9,57,1253,0.00,2.53,0.00,0.000,4,0.000,0.061,2528,3554,3101
$GC,1394,-0.92,-117.3,105.6,-7.7,63,1401,0.00,2.50,0.00,0.000,6,0.000,0.046,2529,2147,3100
$GC,1712,-0.92,-117.3,125.8,-6.4,79,1717,0.00,2.53,0.00,0.000,4,0.000,0.061,2528,741,3101
$GC,1803,-0.92,-117.3,132.3,-7.2,83,1807,0.00,2.53,0.00,0.000,6,0.000,0.053,2529,2137,3100
$GC,2124,-0.92,-117.3,155.0,-7.3,99,2128,0.00,2.55,0.00,0.000,4,0.000,0.062,2529,3563,3101
$GC,2227,-0.92,-117.3,163.0,-7.6,103,2233,0.00,2.55,0.00,0.000,6,0.000,0.048,2529,2137,3101
$GC,2543,-0.92,-117.3,185.5,-7.2,119,2547,0.00,2.50,0.00,0.000,4,0.000,0.060,2529,745,3100
$GC,2633,-0.92,-117.3,192.4,-7.8,123,2637,0.00,2.50,0.00,0.000,6,0.000,0.054,2529,2126,3100
$GC,2954,-0.92,-117.3,216.0,-7.7,139,2958,0.00,2.55,0.00,0.000,4,0.000,0.063,2528,742,3100
$GC,3068,-0.92,-117.3,225.2,-7.8,144,3073,0.00,2.47,0.00,0.000,6,0.000,0.054,2528,2108,3100
$GC,3392,-0.96,-117.3,251.1,-8.3,160,3396,0.00,2.62,0.00,0.000,4,0.000,0.066,2528,3553,3100
$GC,3531,-0.96,-117.3,263.5,-8.1,166,3536,0.00,2.58,0.00,0.000,6,0.000,0.051,2528,2120,3100
$GC,3849,-1.01,-117.3,286.1,-7.2,181,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2102,3100
$GC,4157,-1.07,-117.3,307.9,-6.7,196,4159,0.15,0.00,0.00,0.000,6,0.055,0.000,2488,2102,3099
$GC,4467,-0.98,-117.3,331.7,-7.3,211,4472,0.12,2.53,0.00,0.000,4,0.103,0.070,2513,740,3099
$GC,4585,-0.98,-117.3,340.6,-6.9,216,4589,0.00,2.55,0.00,0.000,6,0.000,0.063,2513,2128,3099
$GC,4902,-0.98,-117.3,361.4,-6.5,231,4907,0.00,2.65,0.00,0.000,4,0.000,0.077,2513,3559,3098
$GC,5003,-0.98,-117.3,368.6,-7.3,235,5010,0.00,2.62,0.00,0.000,6,0.000,0.061,2513,2116,3097
$GC,5320,-0.98,-117.3,389.1,-6.6,251,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2104,3097
$GC,5630,-0.98,-117.3,410.7,-7.2,266,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2104,3095
$GC,5938,-0.98,-117.3,434.5,-7.8,281,5943,0.00,2.53,0.00,0.000,4,0.000,0.078,2513,754,3094
$GC,5989,-0.98,-117.3,438.4,-7.8,283,5993,0.00,2.55,0.00,0.000,6,0.000,0.068,2513,2123,3094
$GC,6306,-0.98,-117.3,461.3,-7.5,298,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2123,3092
$GC,6614,-0.98,-117.3,483.7,-7.5,313,6618,0.00,2.60,0.00,0.000,4,0.000,0.081,2513,754,3092
$GC,6692,-0.98,-117.3,489.9,-7.7,316,6698,0.00,2.55,0.00,0.000,6,0.000,0.071,2513,2116,3091
$GC,7009,-0.98,-117.3,512.3,-6.9,332,7013,0.00,2.70,0.00,0.000,4,0.000,0.084,2513,3560,3090
$GC,7098,-0.98,-117.3,519.4,-8.3,336,7102,0.00,2.65,0.00,0.000,6,0.000,0.069,2513,2120,3089
$GC,7420,-0.98,-117.3,541.0,-6.6,352,7424,0.00,2.58,0.00,0.000,4,0.000,0.084,2513,741,3089
$GC,7520,-0.98,-117.3,548.4,-8.2,356,7526,0.00,2.58,0.00,0.000,6,0.000,0.074,2513,2114,3088
$GC,7836,-0.98,-117.3,570.4,-7.0,372,7840,0.00,2.72,0.00,0.000,4,0.000,0.086,2513,3560,3088
$GC,7916,-0.98,-117.3,576.6,-8.4,375,7922,0.00,2.70,0.00,0.000,6,0.000,0.072,2513,2115,3087
$GC,8233,-0.98,-117.3,599.7,-7.3,391,8234,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2097,3086
$GC,8543,-0.98,-117.3,623.1,-7.6,406,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2097,3085
$GC,8851,-0.98,-117.3,646.7,-7.5,421,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2097,3085
$GC,9160,-0.98,-117.3,670.0,-7.7,436,9161,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2097,3084
$GC,9470,-0.98,-117.3,691.5,-6.5,451,9472,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2097,3083
$GC,9779,-0.98,-117.3,713.0,-7.1,466,9780,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2097,3082
$GC,10088,-0.98,-117.3,734.7,-7.1,481,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2097,3081
$GC,10398,-0.98,-117.3,756.6,-7.1,496,10399,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2097,3080
$GC,10706,-0.98,-117.3,777.6,-6.6,511,10708,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2097,3079
$STATE,10950,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10950,begin apogee
$GC,10958,-0.33,0.0,792.4,6.0,523,11063,0.70,0.00,101.68,1.509,6,0.098,0.000,2654,2096,2620
$STATE,11064,end apogee,CONTROL_FINISHED_OK
$STATE,11064,begin climb
$GC,11067,1.30,117.3,794.6,0.0,528,11178,1.70,2.78,103.47,1.459,4,0.081,0.085,3009,3506,2141
$GC,11201,1.20,117.3,785.3,10.0,534,11207,0.00,2.70,0.00,0.000,6,0.000,0.074,3009,2101,2140
$GC,11518,1.12,117.3,755.5,9.3,550,11523,0.17,2.70,0.00,0.000,4,0.104,0.087,2975,3507,2139
$GC,11591,1.12,117.3,749.0,9.2,553,11595,0.00,2.65,0.00,0.000,6,0.000,0.074,2975,2111,2138
$GC,11908,1.14,127.0,724.7,7.6,568,11923,0.00,2.75,9.77,1.280,4,0.000,0.085,2975,3506,2102
$GC,11979,1.14,127.0,718.5,8.4,570,11983,0.00,2.62,0.00,0.000,6,0.000,0.074,2974,2121,2101
$GC,12295,1.17,148.7,695.5,7.0,585,12321,0.00,2.75,20.58,1.380,4,0.000,0.086,2975,3506,2013
$GC,12367,1.21,168.5,690.2,7.1,588,12391,0.00,2.62,18.58,1.358,6,0.000,0.073,2975,2130,1933
$GC,12710,1.27,173.0,663.9,7.8,605,12722,0.15,2.70,5.68,1.104,4,0.064,0.084,3014,3507,1914
$GC,12797,1.21,173.0,655.0,10.9,609,12802,0.00,2.58,0.00,0.000,6,0.000,0.071,3013,2146,1913
$GC,13125,1.16,173.0,621.0,10.0,625,13130,0.15,2.65,0.00,0.000,4,0.107,0.085,2982,3508,1913
$GC,13215,1.16,173.0,612.5,9.0,629,13219,0.00,2.53,0.00,0.000,6,0.000,0.071,2982,2168,1913
$GC,13536,1.21,173.0,585.6,8.2,645,13540,0.00,2.60,0.00,0.000,4,0.000,0.086,2982,3507,1913
$GC,13608,1.21,173.0,579.2,8.7,648,13612,0.00,2.50,0.00,0.000,6,0.000,0.071,2982,2183,1913
$GC,13925,1.26,173.0,553.6,8.4,663,13930,0.10,2.58,0.00,0.000,4,0.071,0.085,3008,3509,1913
$GC,13981,1.26,173.0,548.0,9.9,665,13987,0.00,2.47,0.00,0.000,6,0.000,0.069,3007,2192,1912
$GC,14298,1.26,173.0,517.8,9.7,681,14302,0.00,2.55,0.00,0.000,4,0.000,0.084,3008,3510,1912
$GC,14364,1.26,173.0,510.8,10.8,684,14368,0.00,2.45,0.00,0.000,6,0.000,0.071,3007,2209,1913
$GC,14685,1.26,173.0,480.8,9.2,700,14689,0.00,2.50,0.00,0.000,4,0.000,0.084,3007,3510,1912
$GC,14747,1.26,173.0,474.7,9.8,703,14752,0.00,2.42,0.00,0.000,6,0.000,0.067,3007,2214,1912
$GC,15075,1.27,176.3,446.0,7.8,719,15084,0.00,2.53,4.45,0.943,4,0.000,0.084,3008,3513,1901
$GC,15131,1.27,176.3,440.9,9.3,721,15137,0.00,2.42,0.00,0.000,6,0.000,0.070,3008,2228,1901
$GC,15447,1.27,176.3,412.3,9.2,737,15452,0.00,2.47,0.00,0.000,4,0.000,0.083,3008,3511,1901
$GC,15498,1.27,176.3,407.3,9.6,739,15502,0.00,2.38,0.00,0.000,6,0.000,0.067,3008,2240,1901
$GC,15813,1.27,176.3,380.0,8.6,754,15818,0.00,2.42,0.00,0.000,4,0.000,0.084,3008,3511,1901
$GC,15825,1.27,176.3,379.0,8.5,754,15831,0.00,2.35,0.00,0.000,6,0.000,0.067,3007,2248,1901
$GC,16141,1.27,176.3,352.6,8.2,770,16144,0.00,2.40,0.00,0.000,4,0.000,0.081,3008,3509,1901
$GC,16168,1.27,176.3,350.2,8.6,771,16172,0.00,2.33,0.00,0.000,6,0.000,0.065,3007,2248,1901
$GC,16496,1.27,178.6,324.1,7.9,787,16505,0.00,2.42,4.10,0.844,4,0.000,0.080,3008,3511,1891
$GC,16513,1.29,189.2,322.6,7.5,787,16528,0.00,2.35,10.73,1.107,6,0.000,0.064,3007,2234,1848
$GC,16844,1.29,189.2,295.4,8.8,804,16848,0.00,2.40,0.00,0.000,4,0.000,0.079,3007,3510,1847
$GC,16856,1.29,189.2,294.4,9.1,804,16862,0.00,2.33,0.00,0.000,6,0.000,0.063,3007,2257,1847
$GC,17172,1.29,189.2,264.4,9.7,820,17175,0.00,2.38,0.00,0.000,4,0.000,0.077,3008,3511,1847
$GC,17227,1.29,189.2,258.5,11.2,822,17231,0.00,2.30,0.00,0.000,6,0.000,0.061,3007,2264,1847
$GC,17544,1.29,189.2,225.4,10.8,837,17548,0.00,2.38,0.00,0.000,4,0.000,0.075,3008,3514,1847
$GC,17554,1.29,189.2,224.1,10.9,837,17560,0.00,2.30,0.00,0.000,6,0.000,0.061,3008,2270,1847
$GC,17870,1.29,189.2,189.2,10.9,853,17871,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2253,1847
$GC,18180,1.29,189.2,155.8,10.5,868,18184,0.00,2.33,0.00,0.000,4,0.000,0.070,3008,3510,1847
$GC,18213,1.29,189.2,151.9,10.7,869,18219,0.00,2.25,0.00,0.000,6,0.000,0.054,3008,2267,1847
$GC,18529,1.29,189.2,118.4,10.7,885,18530,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2251,1848
$GC,18840,1.29,189.2,86.7,9.6,900,18844,0.00,2.33,0.00,0.000,4,0.000,0.066,3008,3515,1850
$GC,18858,1.29,189.2,85.0,9.4,901,18862,0.00,2.25,0.00,0.000,6,0.000,0.051,3007,2265,1850
$GC,19191,1.29,189.2,53.9,8.6,917,19193,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2247,1851
$GC,19501,1.33,189.2,27.0,8.7,932,19502,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2247,1852
$STATE,19786,end climb,SURFACE_DEPTH_REACHED
$STATE,19786,begin surface coast
$FINISH,-0.1,1.026950
$STATE,19809,end surface coast,CONTROL_FINISHED_OK
$STATE,19809,begin surface
$SM_CCo,19833,217.40,0.821,0,0,390,547.02
$SM_GC,0.25,0.00,0.00,217.40,0.000,0.000,0.821,424,2146,390,-10.61,-0.54,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1702
$TCM_TEMP,16.00
$XPDR_PINGS,182
$ALTIM_TOP_PING,19.8,19.4
$ALTIM_BOTTOM_PING,776.2,25.9
$24V_AH,23.5,60.809
$10V_AH,10.1,29.179
$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,25.500,176.425,279.025,217.400,0.000,37.760,29.382,153.970,52.750,0.000,0.000,13.071,1789.755,15138.559,698.667,2188.341,589.793,33.393,1786.150,0.000,2137.323,0.000,50.831
$DEVICE_MAMPS,140.361,86.671,1508.689,821.457,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,666.856,695.993,562.859,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47492,947
$CAP_FILE_SIZE,151497,0
$CFSIZE,254472192,230821888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,150808,022125,6336.202,-815.069,24,1.2,42,-9.6