version: 66.03
glider: 5
mission: 3
dive: 333
start: 8 15 108 2 32 52
data:
$ID,5
$MISSION,3
$DIVE,333
$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,-82937.227
$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,32
$R_STBD_OVSHOOT,17
$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
$GPS1,022125,6336.202,-815.069,24,1.2,42,-9.6
$_CALLS,2
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-53.5
$GPS2,023202,6336.104,-815.150,15,1.2,32,-9.6
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.091,0.202
$KALMAN_X,-116277.8,-455.5,-635.9,254442.2,2881.4
$KALMAN_Y,-124544.4,898.0,-100.3,284543.6,-6312.1
$MHEAD_RNG_PITCHd_Wd,33.7,20626,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.30,-117.3,0.0,0.0,0,148,0.00,0.00,-116.75,0.000,6,0.000,0.000,424,2137,3099
$GC,152,-1.30,-117.3,3.0,-3.0,6,168,10.50,2.53,0.00,0.000,4,0.138,0.052,2440,742,3098
$GC,421,-1.04,-117.3,40.3,-13.1,17,426,0.30,2.55,0.00,0.000,6,0.098,0.049,2500,2160,3097
$GC,744,-0.97,-117.3,70.2,-8.8,33,749,0.00,2.58,0.00,0.000,4,0.000,0.055,2501,741,3097
$GC,1002,-0.89,-117.3,94.2,-9.4,44,1009,0.17,2.53,0.00,0.000,6,0.100,0.050,2536,2150,3098
$GC,1321,-0.94,-117.3,120.0,-8.4,60,1325,0.00,2.53,0.00,0.000,4,0.000,0.061,2536,3554,3098
$GC,1438,-0.94,-117.3,131.0,-9.1,65,1442,0.00,2.47,0.00,0.000,6,0.000,0.045,2536,2162,3098
$GC,1755,-0.99,-117.3,157.2,-7.9,80,1759,0.00,2.53,0.00,0.000,4,0.000,0.058,2536,747,3099
$GC,1887,-1.03,-117.3,167.3,-7.8,86,1892,0.15,2.53,0.00,0.000,6,0.050,0.052,2494,2153,3099
$GC,2216,-0.96,-117.3,190.7,-6.0,102,2221,0.12,2.53,0.00,0.000,4,0.097,0.062,2519,3561,3098
$GC,2376,-0.96,-117.3,199.5,-5.2,109,2381,0.00,2.47,0.00,0.000,6,0.000,0.048,2519,2171,3098
$GC,2698,-0.96,-117.3,216.2,-5.8,125,2703,0.00,2.58,0.00,0.000,4,0.000,0.063,2519,741,3098
$GC,2795,-0.96,-117.3,223.0,-7.9,129,2799,0.00,2.60,0.00,0.000,6,0.000,0.054,2519,2175,3098
$GC,3111,-0.96,-117.3,246.6,-7.9,144,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2174,3098
$GC,3420,-0.96,-117.3,274.8,-9.9,159,3425,0.00,2.53,0.00,0.000,4,0.000,0.068,2519,3557,3098
$GC,3590,-0.96,-117.3,294.0,-11.0,166,3595,0.00,2.47,0.00,0.000,6,0.000,0.054,2519,2187,3097
$GC,3906,-0.96,-117.3,323.7,-9.1,181,3911,0.00,2.62,0.00,0.000,4,0.000,0.067,2519,742,3097
$GC,4047,-0.96,-117.3,336.2,-8.7,187,4052,0.00,2.67,0.00,0.000,6,0.000,0.063,2519,2192,3097
$GC,4363,-0.96,-117.3,360.2,-7.7,202,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2192,3096
$GC,4673,-0.96,-117.3,383.1,-7.0,217,4678,0.00,2.70,0.00,0.000,4,0.000,0.074,2519,748,3095
$GC,4769,-0.96,-117.3,390.1,-7.0,221,4773,0.00,2.65,0.00,0.000,6,0.000,0.067,2520,2176,3095
$GC,5087,-0.96,-117.3,410.5,-6.3,236,5091,0.00,2.70,0.00,0.000,4,0.000,0.076,2519,742,3093
$GC,5198,-0.96,-117.3,418.3,-7.1,241,5203,0.00,2.65,0.00,0.000,6,0.000,0.068,2519,2166,3093
$GC,5520,-0.96,-117.3,440.4,-7.1,257,5525,0.00,2.60,0.00,0.000,4,0.000,0.082,2519,3557,3092
$GC,5778,-0.96,-117.3,459.8,-7.1,268,5784,0.00,2.55,0.00,0.000,6,0.000,0.066,2519,2177,3090
$GC,6095,-0.96,-117.3,480.3,-6.4,284,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2160,3090
$GC,6403,-0.96,-117.3,499.7,-6.3,299,6411,0.00,2.67,0.00,0.000,4,0.000,0.083,2519,741,3088
$GC,6519,-0.96,-117.3,507.7,-7.1,304,6524,0.00,2.70,0.00,0.000,6,0.000,0.073,2520,2180,3088
$GC,6847,-1.01,-117.3,529.7,-6.8,320,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2181,3087
$GC,7156,-1.05,-117.3,551.3,-6.9,335,7161,0.00,2.72,0.00,0.000,4,0.000,0.081,2519,744,3086
$GC,7225,-1.05,-117.3,556.4,-7.4,338,7229,0.00,2.70,0.00,0.000,6,0.000,0.074,2520,2177,3085
$GC,7546,-1.10,-117.3,577.9,-6.4,354,7548,0.15,0.00,0.00,0.000,6,0.067,0.000,2482,2177,3084
$GC,7858,-1.04,-117.3,601.4,-7.9,369,7863,0.10,2.72,0.00,0.000,4,0.120,0.082,2500,745,3083
$GC,7921,-1.04,-117.3,606.6,-8.2,372,7925,0.00,2.67,0.00,0.000,6,0.000,0.074,2500,2166,3083
$GC,8248,-1.04,-117.3,630.3,-7.4,388,8249,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2166,3082
$GC,8557,-1.04,-117.3,652.6,-6.8,403,8562,0.00,2.72,0.00,0.000,4,0.000,0.087,2500,744,3081
$GC,8675,-1.04,-117.3,661.1,-7.1,408,8680,0.00,2.67,0.00,0.000,6,0.000,0.076,2500,2160,3080
$GC,8991,-1.04,-117.3,682.0,-6.7,423,8992,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2160,3079
$GC,9301,-1.04,-117.3,702.7,-6.7,438,9306,0.00,2.70,0.00,0.000,4,0.000,0.085,2500,745,3078
$GC,9374,-1.04,-117.3,707.9,-7.0,441,9378,0.00,2.65,0.00,0.000,6,0.000,0.077,2500,2145,3078
$GC,9691,-1.04,-117.3,727.4,-6.4,456,9696,0.00,2.70,0.00,0.000,4,0.000,0.088,2500,744,3078
$GC,9764,-1.04,-117.3,732.2,-6.2,459,9768,0.00,2.62,0.00,0.000,6,0.000,0.077,2500,2131,3078
$GC,10080,-1.04,-117.3,752.2,-6.3,474,10084,0.00,2.70,0.00,0.000,4,0.000,0.089,2500,3560,3077
$GC,10175,-1.04,-117.3,759.2,-7.9,478,10180,0.00,2.67,0.00,0.000,6,0.000,0.074,2500,2131,3077
$GC,10491,-1.04,-117.3,781.0,-6.8,493,10496,0.00,2.62,0.00,0.000,4,0.000,0.089,2500,741,3077
$GC,10565,-1.04,-117.3,786.2,-6.9,496,10570,0.00,2.62,0.00,0.000,6,0.000,0.077,2500,2126,3077
$STATE,10780,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10780,begin apogee
$GC,10787,-0.33,0.0,800.7,6.8,506,10891,0.75,0.00,101.55,1.519,6,0.099,0.000,2651,2126,2620
$STATE,10892,end apogee,CONTROL_FINISHED_OK
$STATE,10892,begin climb
$GC,10895,1.30,117.3,803.2,0.0,511,11004,1.70,0.00,104.25,1.470,6,0.082,0.000,3007,2125,2142
$GC,11308,1.24,117.3,769.9,8.9,531,11312,0.00,2.65,0.00,0.000,4,0.000,0.088,3007,3511,2140
$GC,11348,1.15,117.3,766.0,10.0,533,11353,0.15,2.65,0.00,0.000,6,0.110,0.075,2981,2113,2139
$GC,11676,1.15,117.7,739.7,8.0,549,11681,0.00,2.70,0.00,0.000,4,0.000,0.086,2981,3518,2139
$GC,11743,1.15,117.7,733.7,8.2,552,11747,0.00,2.65,0.00,0.000,6,0.000,0.074,2981,2120,2138
$GC,12064,1.15,117.7,707.7,8.1,568,12068,0.00,2.67,0.00,0.000,4,0.000,0.087,2981,3512,2138
$GC,12127,1.15,117.7,702.6,8.6,571,12131,0.00,2.62,0.00,0.000,6,0.000,0.073,2981,2122,2138
$GC,12453,1.15,117.7,675.6,8.5,587,12458,0.00,2.67,0.00,0.000,4,0.000,0.087,2981,3511,2138
$GC,12520,1.15,117.7,669.7,8.7,590,12525,0.00,2.60,0.00,0.000,6,0.000,0.073,2981,2136,2138
$GC,12842,1.15,117.7,642.5,8.6,606,12846,0.00,2.67,0.00,0.000,4,0.000,0.085,2981,3519,2137
$GC,12904,1.15,117.7,636.8,9.2,609,12908,0.00,2.58,0.00,0.000,6,0.000,0.071,2981,2146,2137
$GC,13231,1.15,117.7,608.5,8.5,625,13235,0.00,2.65,0.00,0.000,4,0.000,0.085,2981,3517,2137
$GC,13297,1.15,117.7,602.2,9.3,628,13301,0.00,2.55,0.00,0.000,6,0.000,0.071,2981,2165,2137
$GC,13618,1.15,117.7,575.2,8.3,644,13622,0.00,2.60,0.00,0.000,4,0.000,0.085,2981,3511,2137
$GC,13681,1.15,117.7,569.6,8.6,647,13685,0.00,2.53,0.00,0.000,6,0.000,0.070,2981,2165,2137
$GC,14008,1.17,132.6,544.4,7.3,663,14030,0.00,2.67,14.18,1.302,4,0.000,0.084,2981,3517,2079
$GC,14064,1.18,138.5,539.8,7.7,665,14076,0.00,2.55,6.85,1.146,6,0.000,0.068,2981,2156,2055
$GC,14386,1.19,146.6,515.4,7.6,681,14400,0.00,2.65,8.75,1.203,4,0.000,0.084,2981,3516,2022
$GC,14446,1.19,146.6,510.0,8.9,683,14452,0.00,2.53,0.00,0.000,6,0.000,0.070,2981,2183,2022
$GC,14763,1.23,146.6,484.6,8.0,699,14768,0.00,2.58,0.00,0.000,4,0.000,0.084,2981,3512,2022
$GC,14836,1.23,146.6,477.7,10.1,702,14840,0.00,2.47,0.00,0.000,6,0.000,0.068,2981,2195,2022
$GC,15152,1.28,151.4,452.1,7.8,717,15166,0.12,2.58,6.18,1.083,4,0.064,0.083,3012,3512,2002
$GC,15201,1.21,151.4,447.5,9.1,719,15205,0.00,2.47,0.00,0.000,6,0.000,0.069,3012,2204,2001
$GC,15522,1.17,151.4,419.9,8.2,735,15527,0.15,2.53,0.00,0.000,4,0.106,0.082,2980,3512,2001
$GC,15578,1.17,151.4,415.4,8.1,737,15584,0.00,2.42,0.00,0.000,6,0.000,0.068,2980,2214,2001
$GC,15895,1.26,170.3,392.9,7.1,753,15920,0.10,2.60,17.23,1.216,4,0.069,0.081,3006,3512,1925
$GC,15949,1.26,170.3,388.1,9.0,755,15953,0.00,2.45,0.00,0.000,6,0.000,0.068,3005,2220,1925
$GC,16265,1.26,170.3,360.6,8.5,770,16269,0.00,2.50,0.00,0.000,4,0.000,0.083,3006,3514,1924
$GC,16360,1.26,170.3,351.3,9.3,774,16364,0.00,2.38,0.00,0.000,6,0.000,0.066,3006,2242,1924
$GC,16677,1.26,170.3,321.6,9.5,789,16681,0.00,2.45,0.00,0.000,4,0.000,0.081,3006,3516,1924
$GC,16704,1.26,170.3,318.5,11.1,790,16709,0.00,2.38,0.00,0.000,6,0.000,0.066,3006,2244,1924
$GC,17026,1.26,170.3,285.6,10.5,806,17030,0.00,2.42,0.00,0.000,4,0.000,0.081,3006,3514,1924
$GC,17037,1.26,170.3,284.2,10.5,806,17043,0.00,2.35,0.00,0.000,6,0.000,0.065,3006,2251,1924
$GC,17354,1.26,170.3,250.4,10.1,822,17358,0.00,2.40,0.00,0.000,4,0.000,0.077,3006,3512,1924
$GC,17426,1.26,170.3,242.4,11.3,825,17430,0.00,2.30,0.00,0.000,6,0.000,0.061,3006,2262,1924
$GC,17748,1.26,170.3,209.5,10.7,841,17749,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2245,1924
$GC,18058,1.26,170.3,177.9,9.9,856,18059,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2245,1924
$GC,18366,1.26,170.3,148.8,9.2,871,18368,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2245,1925
$GC,18677,1.26,170.3,119.7,9.4,886,18681,0.00,2.35,0.00,0.000,4,0.000,0.067,3006,3522,1926
$GC,18688,1.26,170.3,118.5,9.4,886,18694,0.00,2.28,0.00,0.000,6,0.000,0.052,3006,2255,1926
$GC,19006,1.26,170.3,89.4,9.0,902,19007,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2238,1926
$GC,19313,1.26,170.3,61.3,9.3,917,19315,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2238,1928
$GC,19624,1.30,170.3,35.1,8.2,932,19628,0.00,2.33,0.00,0.000,4,0.000,0.062,3006,3518,1930
$GC,19664,1.30,170.3,31.6,8.1,934,19668,0.00,2.22,0.00,0.000,6,0.000,0.048,3006,2268,1930
$GC,19997,1.30,170.7,4.9,8.0,950,19998,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2250,1931
$STATE,20057,end climb,SURFACE_DEPTH_REACHED
$STATE,20057,begin surface coast
$FINISH,-0.2,1.013379
$STATE,20078,end surface coast,CONTROL_FINISHED_OK
$STATE,20078,begin surface
$SM_CCo,20102,229.93,0.815,0,0,390,547.02
$SM_GC,0.32,0.00,0.00,229.93,0.000,0.000,0.815,420,2139,390,-10.63,-0.06,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1710
$TCM_TEMP,17.10
$XPDR_PINGS,180
$ALTIM_TOP_PING,19.7,19.1
$ALTIM_BOTTOM_PING,800.7,9.9
$24V_AH,23.5,60.997
$10V_AH,10.1,29.278
$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,25.725,195.250,258.975,229.925,0.000,75.512,62.955,274.140,53.250,0.000,0.000,32.642,1853.807,15212.089,714.257,2377.414,805.537,33.368,1869.099,0.000,2295.635,0.000,60.759
$DEVICE_MAMPS,138.060,88.972,1518.660,814.554,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,670.578,703.735,547.504,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50585,954
$CAP_FILE_SIZE,162923,0
$CFSIZE,254472192,230735872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,150808,081327,6338.001,-812.317,42,2.3,61,-9.5