version: 66.03
glider: 5
mission: 3
dive: 309
start: 8 10 108 5 34 57
data:
$ID,5
$MISSION,3
$DIVE,309
$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,-82553.781
$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,22
$R_STBD_OVSHOOT,18
$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
$GPS1,052838,6311.760,-858.043,27,2.0,27,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-44.8
$GPS2,053407,6311.753,-858.017,15,1.4,31,-9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.121,0.186
$KALMAN_X,-131148.7,-173.5,-34.0,231331.4,3071.7
$KALMAN_Y,-65309.0,1421.4,610.3,178961.9,-11163.2
$MHEAD_RNG_PITCHd_Wd,42.7,77779,-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,-117.3,0.0,0.0,0,149,0.00,0.00,-116.10,0.000,6,0.000,0.000,420,2195,3098
$GC,153,-1.30,-117.3,2.4,-2.5,6,166,10.50,0.00,0.00,0.000,6,0.139,0.000,2437,2177,3097
$GC,486,-1.05,-117.3,42.5,-11.7,22,488,0.30,0.00,0.00,0.000,6,0.093,0.000,2500,2177,3096
$GC,794,-0.99,-117.3,68.8,-8.6,37,799,0.00,2.58,0.00,0.000,4,0.000,0.053,2500,738,3097
$GC,1037,-0.92,-117.3,90.8,-9.4,48,1042,0.12,2.53,0.00,0.000,6,0.098,0.048,2526,2157,3097
$GC,1365,-0.92,-117.3,116.7,-7.9,64,1369,0.00,2.50,0.00,0.000,4,0.000,0.059,2526,3556,3098
$GC,1488,-0.92,-117.3,127.7,-8.9,69,1495,0.00,2.53,0.00,0.000,6,0.000,0.044,2526,2124,3097
$GC,1804,-0.92,-117.3,154.5,-8.6,85,1808,0.00,2.45,0.00,0.000,4,0.000,0.058,2526,740,3097
$GC,1934,-0.92,-117.3,165.6,-8.9,91,1939,0.00,2.50,0.00,0.000,6,0.000,0.051,2526,2137,3097
$GC,2261,-0.92,-117.3,191.8,-7.9,107,2266,0.00,2.55,0.00,0.000,4,0.000,0.061,2526,3560,3097
$GC,2363,-0.92,-117.3,200.0,-7.7,111,2370,0.00,2.53,0.00,0.000,6,0.000,0.046,2526,2137,3097
$GC,2680,-0.92,-117.3,220.2,-5.8,127,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2136,3097
$GC,2988,-0.92,-117.3,237.3,-5.6,142,2992,0.00,2.47,0.00,0.000,4,0.000,0.058,2526,739,3097
$GC,3095,-0.92,-117.3,244.1,-6.7,147,3099,0.00,2.53,0.00,0.000,6,0.000,0.051,2526,2149,3097
$GC,3423,-0.92,-117.3,267.0,-7.4,163,3427,0.00,2.55,0.00,0.000,4,0.000,0.064,2526,3564,3097
$GC,3552,-0.92,-117.3,277.7,-8.4,169,3557,0.00,2.53,0.00,0.000,6,0.000,0.048,2526,2142,3096
$GC,3881,-0.92,-117.3,300.4,-6.7,185,3886,0.00,2.50,0.00,0.000,4,0.000,0.059,2526,738,3096
$GC,3971,-0.92,-117.3,307.0,-7.5,189,3976,0.00,2.53,0.00,0.000,6,0.000,0.052,2526,2149,3096
$GC,4294,-0.97,-117.3,327.9,-6.5,205,4299,0.00,2.55,0.00,0.000,4,0.000,0.065,2526,3561,3097
$GC,4402,-0.97,-117.3,335.2,-6.8,210,4406,0.00,2.55,0.00,0.000,6,0.000,0.050,2526,2127,3096
$GC,4730,-1.02,-117.3,354.3,-5.3,226,4734,0.00,2.47,0.00,0.000,4,0.000,0.063,2526,747,3096
$GC,4901,-1.06,-117.3,364.5,-6.8,233,4907,0.12,2.47,0.00,0.000,6,0.053,0.053,2489,2123,3095
$GC,5218,-1.01,-117.3,388.1,-8.0,249,5222,0.00,2.50,0.00,0.000,4,0.000,0.063,2489,748,3095
$GC,5258,-0.95,-117.3,391.4,-8.6,251,5263,0.15,2.47,0.00,0.000,6,0.096,0.055,2520,2122,3095
$GC,5585,-0.95,-117.3,418.5,-8.9,267,5589,0.00,2.62,0.00,0.000,4,0.000,0.070,2520,3559,3095
$GC,5725,-0.95,-117.3,431.7,-9.4,273,5730,0.00,2.60,0.00,0.000,6,0.000,0.055,2520,2118,3095
$GC,6042,-1.00,-117.3,453.9,-6.7,288,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2100,3094
$GC,6351,-1.04,-117.3,473.5,-6.2,303,6356,0.00,2.70,0.00,0.000,4,0.000,0.072,2520,3561,3094
$GC,6464,-1.04,-117.3,481.4,-7.3,308,6468,0.00,2.60,0.00,0.000,6,0.000,0.060,2520,2125,3093
$GC,6785,-1.08,-117.3,499.0,-5.2,324,6790,0.12,2.53,0.00,0.000,4,0.059,0.073,2486,746,3092
$GC,6961,-1.01,-117.3,511.1,-6.3,332,6967,0.10,2.53,0.00,0.000,6,0.111,0.065,2505,2116,3092
$GC,7292,-1.39,-117.3,523.1,-0.1,348,7297,0.32,2.58,0.00,0.000,4,0.048,0.074,2418,744,3091
$GC,7551,-1.63,-117.3,523.1,-0.0,359,7557,0.20,2.47,0.00,0.000,6,0.055,0.069,2370,2072,3090
$STATE,7843,end dive,NO_VERTICAL_VELOCITY
$STATE,7843,begin apogee
$GC,7850,-0.33,0.0,523.0,0.0,374,7953,1.35,0.00,98.53,1.224,6,0.084,0.000,2655,2072,2620
$STATE,7953,end apogee,CONTROL_FINISHED_OK
$STATE,7953,begin climb
$GC,7956,1.30,117.3,522.9,0.0,379,8063,1.65,2.78,98.22,1.187,4,0.074,0.080,3007,3507,2141
$GC,8315,1.24,117.3,492.1,9.7,395,8322,0.00,2.62,0.00,0.000,6,0.000,0.066,3007,2101,2140
$GC,8633,1.20,117.3,464.2,9.2,411,8637,0.00,2.67,0.00,0.000,4,0.000,0.080,3007,3507,2138
$GC,8673,1.14,117.3,460.1,10.2,413,8678,0.15,2.60,0.00,0.000,6,0.101,0.066,2979,2108,2138
$GC,9000,1.17,137.6,435.4,7.1,429,9024,0.00,2.75,17.62,1.124,4,0.000,0.077,2979,3508,2058
$GC,9133,1.17,137.6,424.5,8.6,435,9137,0.00,2.55,0.00,0.000,6,0.000,0.064,2978,2136,2057
$GC,9461,1.26,167.6,400.8,6.6,451,9494,0.12,2.67,26.12,1.134,4,0.061,0.074,3011,3513,1935
$GC,9570,1.26,167.6,391.5,9.3,456,9574,0.00,2.50,0.00,0.000,6,0.000,0.061,3011,2162,1934
$GC,9896,1.26,167.6,359.9,10.4,472,9900,0.00,2.55,0.00,0.000,4,0.000,0.073,3011,3512,1933
$GC,9906,1.26,167.6,358.6,10.7,472,9912,0.00,2.50,0.00,0.000,6,0.000,0.059,3012,2157,1933
$GC,10223,1.26,167.6,321.5,12.0,488,10224,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2142,1933
$GC,10531,1.26,167.6,289.5,9.6,503,10535,0.00,2.53,0.00,0.000,4,0.000,0.067,3011,3516,1933
$GC,10581,1.26,167.6,284.6,9.8,505,10585,0.00,2.47,0.00,0.000,6,0.000,0.055,3011,2157,1933
$GC,10897,1.26,167.6,257.5,8.8,520,10902,0.00,2.50,0.00,0.000,4,0.000,0.066,3011,3510,1933
$GC,10942,1.26,167.6,253.0,10.1,522,10946,0.00,2.42,0.00,0.000,6,0.000,0.052,3011,2172,1933
$GC,11263,1.26,167.6,221.3,10.4,538,11267,0.00,2.47,0.00,0.000,4,0.000,0.064,3011,3515,1933
$GC,11303,1.26,167.6,216.9,12.0,540,11307,0.00,2.40,0.00,0.000,6,0.000,0.051,3011,2181,1933
$GC,11630,1.26,167.6,181.9,10.4,556,11634,0.00,2.42,0.00,0.000,4,0.000,0.063,3011,3514,1934
$GC,11674,1.26,167.6,176.9,10.8,558,11678,0.00,2.38,0.00,0.000,6,0.000,0.050,3011,2186,1934
$GC,11996,1.26,167.6,144.2,10.0,574,12000,0.00,2.42,0.00,0.000,4,0.000,0.061,3012,3511,1934
$GC,12018,1.26,167.6,141.7,10.2,575,12022,0.00,2.35,0.00,0.000,6,0.000,0.049,3011,2196,1935
$GC,12341,1.26,167.6,111.9,8.9,591,12345,0.00,2.42,0.00,0.000,4,0.000,0.061,3011,3518,1935
$GC,12381,1.26,167.6,108.2,8.8,593,12385,0.00,2.35,0.00,0.000,6,0.000,0.048,3011,2203,1935
$GC,12709,1.26,167.6,80.9,8.4,609,12713,0.00,2.40,0.00,0.000,4,0.000,0.060,3011,3517,1936
$GC,12731,1.26,167.6,78.8,8.8,610,12735,0.00,2.33,0.00,0.000,6,0.000,0.048,3011,2215,1936
$GC,13053,1.26,167.6,50.7,8.7,626,13058,0.00,2.38,0.00,0.000,4,0.000,0.061,3011,3517,1937
$GC,13064,1.26,167.6,49.4,8.7,626,13070,0.00,2.33,0.00,0.000,6,0.000,0.048,3011,2215,1937
$GC,13382,1.27,175.0,23.6,7.7,642,13392,0.00,0.00,7.97,0.723,6,0.000,0.000,3012,2197,1906
$STATE,13625,end climb,SURFACE_DEPTH_REACHED
$STATE,13625,begin surface coast
$FINISH,-0.2,1.026667
$STATE,13647,end surface coast,CONTROL_FINISHED_OK
$STATE,13647,begin surface
$SM_CCo,13671,213.07,0.775,0,0,390,547.02
$SM_GC,0.25,0.00,0.00,213.07,0.000,0.000,0.775,419,2112,390,-10.63,-1.07,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1705
$TCM_TEMP,17.50
$XPDR_PINGS,348
$ALTIM_TOP_PING,18.7,999.0
$24V_AH,23.7,56.907
$10V_AH,10.1,27.247
$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,26.425,135.800,248.475,213.075,0.000,37.761,25.269,125.942,91.000,0.000,0.000,31.082,1294.732,10069.606,638.287,1740.759,470.333,33.357,1491.662,0.000,1686.226,0.000,26.833
$DEVICE_MAMPS,138.827,79.768,1224.132,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.013,484.132,454.369,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34867,655
$CAP_FILE_SIZE,114007,0
$CFSIZE,254472192,232353792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,100808,092738,6311.973,-855.111,38,1.2,38,-9.8