version: 66.03
glider: 5
mission: 3
dive: 310
start: 8 10 108 9 33 54
data:
$ID,5
$MISSION,3
$DIVE,310
$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,-82566.938
$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,44
$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
$GPS1,092738,6311.973,-855.111,38,1.2,38,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-45.1
$GPS2,093303,6311.936,-855.212,12,1.8,12,-9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.115,0.189
$KALMAN_X,-131572.5,-222.4,-571.0,234784.3,3018.8
$KALMAN_Y,-68355.6,1353.9,379.5,182668.8,-12195.2
$MHEAD_RNG_PITCHd_Wd,41.1,76125,-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,-116.75,0.000,6,0.000,0.000,420,2117,3098
$GC,153,-1.30,-117.3,2.2,-2.2,6,166,10.52,0.00,0.00,0.000,6,0.140,0.000,2435,2099,3097
$GC,486,-1.05,-117.3,45.2,-11.6,22,491,0.28,2.40,0.00,0.000,4,0.094,0.051,2497,760,3097
$GC,576,-0.95,-117.3,53.6,-8.4,26,581,0.12,2.50,0.00,0.000,6,0.106,0.048,2522,2161,3097
$GC,898,-0.95,-117.3,80.1,-8.3,42,902,0.00,2.50,0.00,0.000,4,0.000,0.058,2521,3560,3097
$GC,1051,-0.95,-117.3,93.6,-9.0,49,1055,0.00,2.45,0.00,0.000,6,0.000,0.043,2521,2165,3097
$GC,1378,-0.95,-117.3,116.1,-6.5,65,1382,0.00,2.50,0.00,0.000,4,0.000,0.054,2521,745,3098
$GC,1585,-0.95,-117.3,130.8,-7.0,74,1589,0.00,2.50,0.00,0.000,6,0.000,0.050,2521,2145,3098
$GC,1901,-0.95,-117.3,152.0,-6.8,89,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2143,3097
$GC,2211,-0.95,-117.3,172.7,-6.8,104,2215,0.00,2.55,0.00,0.000,4,0.000,0.058,2521,744,3098
$GC,2295,-0.95,-117.3,179.0,-7.2,108,2300,0.00,2.50,0.00,0.000,6,0.000,0.051,2521,2139,3098
$GC,2623,-0.95,-117.3,202.2,-7.3,124,2628,0.00,2.55,0.00,0.000,4,0.000,0.061,2521,3560,3098
$GC,2724,-0.95,-117.3,210.6,-8.2,128,2730,0.00,2.55,0.00,0.000,6,0.000,0.047,2521,2126,3097
$GC,3040,-0.95,-117.3,236.2,-8.2,144,3044,0.00,2.47,0.00,0.000,4,0.000,0.061,2521,742,3097
$GC,3112,-0.95,-117.3,242.8,-8.8,147,3117,0.00,2.50,0.00,0.000,6,0.000,0.052,2521,2131,3097
$GC,3428,-0.95,-117.3,271.0,-9.0,162,3432,0.00,2.58,0.00,0.000,4,0.000,0.063,2521,3559,3097
$GC,3554,-0.95,-117.3,281.8,-8.4,167,3560,0.00,2.55,0.00,0.000,6,0.000,0.048,2521,2118,3096
$GC,3870,-0.95,-117.3,305.6,-7.0,183,3874,0.00,2.45,0.00,0.000,4,0.000,0.060,2521,747,3096
$GC,3948,-0.95,-117.3,311.2,-7.4,186,3954,0.00,2.47,0.00,0.000,6,0.000,0.052,2521,2123,3096
$GC,4265,-0.95,-117.3,330.7,-6.2,202,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2123,3096
$GC,4573,-0.95,-117.3,352.1,-6.8,217,4577,0.00,2.50,0.00,0.000,4,0.000,0.063,2521,747,3096
$GC,4658,-0.95,-117.3,358.0,-6.8,221,4663,0.00,2.42,0.00,0.000,6,0.000,0.054,2521,2096,3096
$GC,4986,-0.95,-117.3,377.4,-5.9,237,4991,0.00,2.65,0.00,0.000,4,0.000,0.067,2521,3564,3096
$GC,5072,-0.95,-117.3,383.5,-7.4,241,5077,0.00,2.65,0.00,0.000,6,0.000,0.053,2521,2071,3095
$GC,5400,-0.95,-117.3,404.6,-7.5,257,5404,0.00,2.40,0.00,0.000,4,0.000,0.063,2521,737,3095
$GC,5456,-0.95,-117.3,409.6,-9.4,259,5462,0.00,2.42,0.00,0.000,6,0.000,0.056,2521,2072,3095
$GC,5772,-0.95,-117.3,437.2,-8.2,275,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2072,3095
$GC,6082,-0.99,-117.3,458.7,-5.8,290,6087,0.00,2.72,0.00,0.000,4,0.000,0.071,2521,3561,3094
$GC,6296,-0.99,-117.3,470.7,-5.3,299,6302,0.00,2.72,0.00,0.000,6,0.000,0.058,2521,2059,3093
$GC,6613,-0.99,-117.3,486.5,-6.0,315,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2043,3093
$GC,6921,-0.99,-117.3,504.5,-5.9,330,6926,0.00,2.80,0.00,0.000,4,0.000,0.077,2521,3557,3092
$GC,7022,-0.99,-117.3,510.6,-5.5,334,7028,0.00,2.72,0.00,0.000,6,0.000,0.064,2521,2074,3092
$STATE,7088,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7088,begin apogee
$GC,7095,-0.33,0.0,515.1,6.6,338,7197,0.62,0.00,98.65,1.196,6,0.088,0.000,2653,2099,2620
$STATE,7198,end apogee,CONTROL_FINISHED_OK
$STATE,7198,begin climb
$GC,7201,1.30,117.3,517.8,0.0,343,7307,1.67,2.70,97.97,1.164,4,0.074,0.076,3011,3505,2142
$GC,7371,1.21,117.3,505.7,9.1,351,7375,0.00,2.62,0.00,0.000,6,0.000,0.064,3011,2100,2140
$GC,7697,1.15,117.3,477.7,8.5,367,7703,0.15,2.67,0.00,0.000,4,0.100,0.077,2979,3505,2139
$GC,7799,1.17,128.7,469.2,7.5,371,7815,0.00,2.58,10.75,1.047,6,0.000,0.065,2979,2120,2095
$GC,8131,1.17,128.7,443.9,8.0,388,8135,0.00,2.65,0.00,0.000,4,0.000,0.079,2979,3504,2093
$GC,8203,1.17,128.7,437.6,9.1,391,8207,0.00,2.55,0.00,0.000,6,0.000,0.065,2979,2128,2093
$GC,8520,1.26,155.3,415.5,6.8,406,8550,0.10,2.70,23.02,1.131,4,0.064,0.076,3006,3501,1985
$GC,8590,1.26,155.3,408.8,10.2,409,8594,0.00,2.55,0.00,0.000,6,0.000,0.064,3006,2139,1985
$GC,8911,1.26,155.3,377.5,9.3,425,8915,0.00,2.60,0.00,0.000,4,0.000,0.073,3006,3514,1984
$GC,9019,1.26,155.3,366.9,9.8,430,9023,0.00,2.47,0.00,0.000,6,0.000,0.058,3006,2166,1984
$GC,9346,1.26,155.3,337.9,9.5,446,9350,0.00,2.50,0.00,0.000,4,0.000,0.069,3006,3507,1983
$GC,9357,1.26,155.3,336.7,9.6,446,9363,0.00,2.45,0.00,0.000,6,0.000,0.056,3006,2168,1983
$GC,9673,1.26,155.3,300.1,12.2,462,9677,0.00,2.47,0.00,0.000,4,0.000,0.067,3006,3507,1982
$GC,9690,1.26,155.3,297.9,12.4,463,9694,0.00,2.42,0.00,0.000,6,0.000,0.054,3006,2169,1982
$GC,10017,1.26,155.3,262.1,9.9,479,10021,0.00,2.47,0.00,0.000,4,0.000,0.065,3006,3509,1983
$GC,10050,1.26,155.3,258.5,10.2,480,10057,0.00,2.40,0.00,0.000,6,0.000,0.052,3006,2183,1983
$GC,10367,1.26,155.3,229.8,9.1,496,10371,0.00,2.42,0.00,0.000,4,0.000,0.064,3006,3512,1983
$GC,10384,1.26,155.3,228.2,9.1,497,10388,0.00,2.40,0.00,0.000,6,0.000,0.051,3006,2178,1983
$GC,10711,1.26,155.3,200.4,8.1,513,10716,0.00,2.45,0.00,0.000,4,0.000,0.063,3006,3514,1984
$GC,10745,1.26,155.3,197.4,9.1,514,10751,0.00,2.40,0.00,0.000,6,0.000,0.051,3006,2183,1984
$GC,11060,1.26,155.3,169.7,9.4,530,11065,0.00,2.42,0.00,0.000,4,0.000,0.061,3006,3508,1985
$GC,11106,1.26,155.3,165.1,10.3,532,11110,0.00,2.38,0.00,0.000,6,0.000,0.048,3006,2186,1985
$GC,11428,1.26,155.3,134.1,9.8,548,11432,0.00,2.42,0.00,0.000,4,0.000,0.061,3006,3510,1985
$GC,11451,1.26,155.3,131.8,10.3,549,11455,0.00,2.38,0.00,0.000,6,0.000,0.048,3006,2187,1985
$GC,11773,1.26,155.3,102.3,8.7,565,11777,0.00,2.42,0.00,0.000,4,0.000,0.061,3006,3515,1986
$GC,11806,1.26,155.3,98.9,9.5,566,11813,0.00,2.35,0.00,0.000,6,0.000,0.048,3006,2202,1986
$GC,12124,1.26,155.3,71.8,8.6,582,12125,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2199,1987
$GC,12433,1.26,155.3,42.0,10.1,597,12437,0.00,2.38,0.00,0.000,4,0.000,0.059,3006,3508,1987
$GC,12443,1.26,155.3,40.6,10.4,597,12449,0.00,2.33,0.00,0.000,6,0.000,0.047,3006,2200,1987
$GC,12760,1.32,170.0,15.2,7.3,613,12782,0.00,2.45,13.07,0.770,4,0.000,0.058,3006,3506,1927
$GC,12861,1.32,170.0,6.3,11.0,617,12865,0.00,2.33,0.00,0.000,6,0.000,0.046,3006,2206,1926
$STATE,12912,end climb,SURFACE_DEPTH_REACHED
$STATE,12912,begin surface coast
$FINISH,-0.0,1.026893
$STATE,12934,end surface coast,CONTROL_FINISHED_OK
$STATE,12934,begin surface
$SM_CCo,12957,216.00,0.778,0,0,390,547.02
$SM_GC,0.18,0.00,0.00,216.00,0.000,0.000,0.778,417,2184,390,-10.64,0.96,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1690
$TCM_TEMP,17.40
$XPDR_PINGS,338
$ALTIM_TOP_PING,19.5,19.4
$ALTIM_BOTTOM_PING,450.0,73.7
$24V_AH,23.8,57.055
$10V_AH,10.1,27.315
$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,24.700,140.500,243.475,216.000,0.000,39.017,30.289,134.464,88.250,0.000,0.000,12.531,1214.618,9603.775,643.199,1559.524,479.803,33.357,1434.495,0.000,1527.641,0.000,26.896
$DEVICE_MAMPS,140.361,88.972,1195.753,777.738,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.530,458.638,445.485,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31646,621
$CAP_FILE_SIZE,107348,0
$CFSIZE,254472192,232304640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,100808,131438,6312.845,-853.280,31,1.4,31,-9.8