version: 66.03
glider: 5
mission: 3
dive: 311
start: 8 10 108 13 20 48
data:
$ID,5
$MISSION,3
$DIVE,311
$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,-82579.406
$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,21
$R_STBD_OVSHOOT,21
$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
$GPS1,131438,6312.845,-853.280,31,1.4,31,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-46.2
$GPS2,131957,6312.862,-853.368,11,1.4,11,-9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.119,0.187
$KALMAN_X,-133549.2,-550.0,-66.3,238182.1,-2.8
$KALMAN_Y,-70269.6,811.1,1023.6,186186.1,-13275.4
$MHEAD_RNG_PITCHd_Wd,42.2,73849,-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,-116.00,0.000,6,0.000,0.000,417,2181,3098
$GC,153,-1.30,-117.3,3.3,-3.4,6,169,10.52,2.50,0.00,0.000,4,0.139,0.055,2439,3567,3098
$GC,360,-1.02,-117.3,34.6,-13.0,14,365,0.32,2.53,0.00,0.000,6,0.092,0.043,2507,2142,3097
$GC,678,-0.97,-117.3,60.1,-6.7,29,683,0.00,2.60,0.00,0.000,4,0.000,0.057,2507,3566,3098
$GC,880,-0.90,-117.3,76.8,-8.8,38,885,0.12,2.47,0.00,0.000,6,0.097,0.043,2531,2157,3099
$GC,1208,-0.90,-117.3,104.2,-9.3,54,1212,0.00,2.50,0.00,0.000,4,0.000,0.055,2531,746,3099
$GC,1320,-0.90,-117.3,115.6,-10.3,59,1325,0.00,2.53,0.00,0.000,6,0.000,0.049,2531,2158,3099
$GC,1644,-0.90,-117.3,143.9,-7.8,75,1648,0.00,2.53,0.00,0.000,4,0.000,0.060,2531,3565,3099
$GC,1767,-0.90,-117.3,153.3,-7.3,80,1774,0.00,2.50,0.00,0.000,6,0.000,0.046,2531,2150,3099
$GC,2084,-0.90,-117.3,171.4,-5.3,96,2088,0.00,2.47,0.00,0.000,4,0.000,0.058,2531,750,3099
$GC,2207,-0.90,-117.3,178.6,-6.2,101,2213,0.00,2.53,0.00,0.000,6,0.000,0.051,2531,2156,3098
$GC,2524,-0.94,-117.3,196.8,-6.5,117,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2154,3098
$GC,2832,-0.99,-117.3,218.5,-7.7,132,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2154,3098
$GC,3142,-1.03,-117.3,243.0,-8.0,147,3147,0.12,2.58,0.00,0.000,4,0.052,0.058,2493,740,3098
$GC,3210,-0.95,-117.3,249.4,-9.4,150,3215,0.10,2.55,0.00,0.000,6,0.107,0.052,2517,2160,3098
$GC,3538,-0.95,-117.3,276.4,-7.9,166,3543,0.00,2.53,0.00,0.000,4,0.000,0.063,2517,3562,3098
$GC,3606,-0.95,-117.3,282.2,-8.7,169,3610,0.00,2.50,0.00,0.000,6,0.000,0.049,2517,2159,3097
$GC,3927,-0.95,-117.3,306.4,-7.3,185,3931,0.00,2.53,0.00,0.000,4,0.000,0.059,2517,744,3097
$GC,4052,-0.95,-117.3,315.1,-7.2,190,4058,0.00,2.53,0.00,0.000,6,0.000,0.053,2517,2150,3097
$GC,4368,-0.95,-117.3,337.3,-7.2,206,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2149,3097
$GC,4677,-0.95,-117.3,360.2,-7.4,221,4681,0.00,2.55,0.00,0.000,4,0.000,0.062,2517,746,3097
$GC,4790,-0.95,-117.3,368.6,-7.7,226,4795,0.00,2.50,0.00,0.000,6,0.000,0.054,2517,2130,3097
$GC,5112,-0.95,-117.3,391.3,-7.2,242,5116,0.00,2.60,0.00,0.000,4,0.000,0.066,2517,3565,3097
$GC,5370,-0.95,-117.3,412.7,-8.3,253,5376,0.00,2.53,0.00,0.000,6,0.000,0.052,2517,2152,3096
$GC,5686,-0.95,-117.3,433.8,-6.2,269,5690,0.00,2.55,0.00,0.000,4,0.000,0.067,2517,742,3096
$GC,5821,-0.95,-117.3,442.7,-6.4,275,5825,0.00,2.58,0.00,0.000,6,0.000,0.058,2517,2160,3096
$GC,6143,-0.95,-117.3,461.1,-6.4,291,6147,0.00,2.60,0.00,0.000,4,0.000,0.067,2517,742,3095
$GC,6233,-0.95,-117.3,467.9,-7.6,295,6237,0.00,2.55,0.00,0.000,6,0.000,0.061,2517,2139,3095
$GC,6555,-0.95,-117.3,487.1,-5.9,311,6559,0.00,2.60,0.00,0.000,4,0.000,0.073,2517,3556,3094
$GC,6814,-0.95,-117.3,505.7,-7.4,322,6820,0.00,2.55,0.00,0.000,6,0.000,0.061,2517,2153,3094
$GC,7130,-0.95,-117.3,528.4,-7.2,338,7135,0.00,2.60,0.00,0.000,4,0.000,0.076,2517,742,3093
$STATE,7183,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7184,begin apogee
$GC,7194,-0.33,0.0,532.6,7.7,340,7300,0.62,0.00,99.00,1.213,6,0.089,0.000,2649,2101,2619
$STATE,7301,end apogee,CONTROL_FINISHED_OK
$STATE,7301,begin climb
$GC,7304,1.30,117.3,535.7,0.0,346,7407,1.73,0.00,98.22,1.183,6,0.073,0.000,3014,2100,2141
$GC,7715,1.24,117.3,499.7,10.1,366,7719,0.00,2.65,0.00,0.000,4,0.000,0.080,3014,3505,2139
$GC,7781,1.15,117.3,492.1,11.1,369,7787,0.17,2.60,0.00,0.000,6,0.100,0.067,2982,2114,2139
$GC,8103,1.18,138.6,467.2,7.0,385,8128,0.00,2.72,18.73,1.124,4,0.000,0.078,2981,3501,2054
$GC,8180,1.18,138.6,461.2,8.1,388,8184,0.00,2.58,0.00,0.000,6,0.000,0.066,2982,2122,2053
$GC,8496,1.27,165.6,438.4,6.8,403,8526,0.10,2.70,23.62,1.145,4,0.067,0.078,3008,3505,1944
$GC,8533,1.23,165.6,435.3,9.1,404,8539,0.00,2.60,0.00,0.000,6,0.000,0.067,3008,2130,1943
$GC,8849,1.23,165.6,403.8,10.5,420,8853,0.00,2.60,0.00,0.000,4,0.000,0.076,3008,3505,1941
$GC,8911,1.23,165.6,396.8,11.2,423,8915,0.00,2.53,0.00,0.000,6,0.000,0.063,3008,2139,1941
$GC,9238,1.23,165.6,361.8,10.6,439,9242,0.00,2.58,0.00,0.000,4,0.000,0.073,3008,3505,1940
$GC,9300,1.23,165.6,354.1,12.5,442,9304,0.00,2.47,0.00,0.000,6,0.000,0.058,3008,2153,1940
$GC,9626,1.23,165.6,312.2,12.8,458,9630,0.00,2.55,0.00,0.000,4,0.000,0.070,3008,3512,1940
$GC,9699,1.23,165.6,302.9,13.1,461,9703,0.00,2.45,0.00,0.000,6,0.000,0.056,3008,2173,1939
$GC,10015,1.23,165.6,270.1,9.7,476,10019,0.00,2.47,0.00,0.000,4,0.000,0.067,3008,3508,1939
$GC,10025,1.23,165.6,268.9,9.7,476,10031,0.00,2.42,0.00,0.000,6,0.000,0.054,3008,2174,1939
$GC,10342,1.23,165.6,238.3,9.8,492,10346,0.00,2.47,0.00,0.000,4,0.000,0.065,3008,3514,1939
$GC,10386,1.23,165.6,233.4,11.7,494,10390,0.00,2.40,0.00,0.000,6,0.000,0.052,3008,2184,1939
$GC,10707,1.23,165.6,201.5,9.8,510,10711,0.00,2.42,0.00,0.000,4,0.000,0.063,3008,3508,1940
$GC,10740,1.23,165.6,197.9,10.3,511,10746,0.00,2.38,0.00,0.000,6,0.000,0.050,3008,2189,1940
$GC,11056,1.23,165.6,168.6,9.2,527,11060,0.00,2.42,0.00,0.000,4,0.000,0.062,3008,3514,1940
$GC,11095,1.23,165.6,164.8,9.8,529,11099,0.00,2.35,0.00,0.000,6,0.000,0.048,3008,2196,1940
$GC,11424,1.23,165.6,135.8,8.6,545,11428,0.00,2.40,0.00,0.000,4,0.000,0.062,3008,3507,1941
$GC,11441,1.23,165.6,134.2,8.6,546,11445,0.00,2.33,0.00,0.000,6,0.000,0.049,3008,2200,1942
$GC,11774,1.24,170.6,107.0,7.8,562,11784,0.00,2.40,5.32,0.703,4,0.000,0.060,3008,3508,1924
$GC,11792,1.25,181.0,105.7,7.5,563,11807,0.00,2.33,10.23,0.809,6,0.000,0.048,3009,2207,1882
$GC,12120,1.25,181.0,79.1,8.5,578,12124,0.00,2.38,0.00,0.000,4,0.000,0.060,3008,3508,1882
$GC,12130,1.25,181.0,77.9,8.7,578,12136,0.00,2.33,0.00,0.000,6,0.000,0.047,3008,2206,1882
$GC,12448,1.25,181.0,47.9,9.8,594,12449,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2204,1882
$GC,12756,1.26,182.7,20.7,7.9,609,12760,0.00,2.38,0.00,0.000,4,0.000,0.055,3008,3510,1883
$GC,12800,1.26,182.7,16.3,9.9,611,12804,0.00,2.30,0.00,0.000,6,0.000,0.045,3008,2219,1883
$STATE,12954,end climb,SURFACE_DEPTH_REACHED
$STATE,12954,begin surface coast
$FINISH,-0.2,1.025884
$STATE,12976,end surface coast,CONTROL_FINISHED_OK
$STATE,12976,begin surface
$SM_CCo,13000,210.32,0.779,0,0,390,547.02
$SM_GC,0.22,0.00,0.00,210.32,0.000,0.000,0.779,416,2104,390,-10.64,-1.22,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1695
$TCM_TEMP,17.60
$XPDR_PINGS,337
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,525.3,16.9
$24V_AH,23.8,57.207
$10V_AH,10.1,27.384
$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,24.975,140.425,255.125,210.325,0.000,37.763,32.578,128.477,88.750,0.000,0.000,11.846,1233.232,9563.092,654.253,1607.515,474.475,33.355,1459.485,0.000,1571.897,0.000,31.310
$DEVICE_MAMPS,138.827,79.768,1212.627,778.505,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.115,462.117,435.398,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31676,620
$CAP_FILE_SIZE,109387,0
$CFSIZE,254472192,232251392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,100808,170207,6314.316,-848.736,28,1.5,28,-9.7