version: 66.03
glider: 5
mission: 3
dive: 312
start: 8 10 108 17 12 21
data:
$ID,5
$MISSION,3
$DIVE,312
$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,-82595.195
$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,52
$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
$GPS1,170207,6314.316,-848.736,28,1.5,28,-9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-45.1
$GPS2,171127,6314.323,-848.706,15,1.6,15,-9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.116,0.189
$KALMAN_X,-132723.3,-413.0,180.3,240982.5,979.8
$KALMAN_Y,-70441.7,832.0,686.5,189372.8,-10238.5
$MHEAD_RNG_PITCHd_Wd,41.2,69422,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.30,-117.3,0.0,0.0,0,147,0.00,0.00,-115.65,0.000,6,0.000,0.000,417,2116,3098
$GC,151,-1.30,-117.3,3.4,-3.4,6,167,10.57,2.60,0.00,0.000,4,0.141,0.054,2438,3560,3098
$GC,358,-1.02,-117.3,31.1,-12.5,14,363,0.32,2.45,0.00,0.000,6,0.093,0.042,2506,2172,3097
$GC,676,-0.96,-117.3,58.5,-8.1,29,680,0.00,2.53,0.00,0.000,4,0.000,0.054,2506,750,3097
$GC,777,-0.89,-117.3,67.0,-7.7,33,784,0.15,2.47,0.00,0.000,6,0.094,0.047,2536,2142,3097
$GC,1094,-0.89,-117.3,86.8,-6.3,49,1098,0.00,2.53,0.00,0.000,4,0.000,0.055,2536,748,3098
$GC,1161,-0.89,-117.3,91.2,-6.2,52,1165,0.00,2.47,0.00,0.000,6,0.000,0.048,2536,2132,3098
$GC,1485,-0.94,-117.3,111.4,-6.5,68,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2132,3098
$GC,1792,-0.99,-117.3,133.3,-7.2,83,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2131,3098
$GC,2101,-1.04,-117.3,155.5,-6.9,98,2103,0.15,0.00,0.00,0.000,6,0.051,0.000,2493,2131,3098
$GC,2411,-0.96,-117.3,180.8,-8.2,113,2416,0.12,2.53,0.00,0.000,4,0.096,0.058,2518,745,3098
$GC,2496,-0.96,-117.3,187.4,-7.1,117,2500,0.00,2.47,0.00,0.000,6,0.000,0.051,2518,2128,3098
$GC,2824,-0.96,-117.3,211.2,-7.0,133,2828,0.00,2.58,0.00,0.000,4,0.000,0.061,2518,3563,3097
$GC,2924,-0.96,-117.3,218.5,-7.9,137,2930,0.00,2.58,0.00,0.000,6,0.000,0.048,2518,2114,3097
$GC,3240,-0.96,-117.3,239.1,-6.1,153,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2114,3097
$GC,3550,-0.96,-117.3,258.3,-6.4,168,3555,0.00,2.45,0.00,0.000,4,0.000,0.059,2518,740,3097
$GC,3636,-0.96,-117.3,264.1,-6.7,172,3640,0.00,2.45,0.00,0.000,6,0.000,0.051,2518,2109,3097
$GC,3963,-0.96,-117.3,286.9,-7.6,188,3967,0.00,2.60,0.00,0.000,4,0.000,0.063,2518,3554,3096
$GC,4164,-0.96,-117.3,306.0,-9.7,197,4169,0.00,2.60,0.00,0.000,6,0.000,0.048,2518,2097,3096
$GC,4486,-0.96,-117.3,337.6,-9.8,213,4491,0.00,2.65,0.00,0.000,4,0.000,0.064,2518,3553,3095
$GC,4626,-0.96,-117.3,351.8,-9.7,219,4631,0.00,2.55,0.00,0.000,6,0.000,0.050,2518,2128,3095
$GC,4943,-0.96,-117.3,377.2,-7.2,234,4947,0.00,2.47,0.00,0.000,4,0.000,0.062,2518,745,3095
$GC,5151,-0.96,-117.3,391.0,-5.9,243,5155,0.00,2.47,0.00,0.000,6,0.000,0.054,2518,2118,3095
$GC,5468,-0.96,-117.3,407.4,-4.8,258,5472,0.00,2.62,0.00,0.000,4,0.000,0.067,2518,3560,3095
$GC,5638,-0.96,-117.3,418.1,-7.0,265,5644,0.00,2.58,0.00,0.000,6,0.000,0.053,2518,2110,3094
$GC,5955,-0.96,-117.3,437.7,-5.6,281,5959,0.00,2.45,0.00,0.000,4,0.000,0.067,2518,760,3094
$GC,6132,-0.96,-117.3,447.7,-5.6,289,6136,0.00,2.47,0.00,0.000,6,0.000,0.059,2518,2122,3094
$GC,6460,-0.96,-117.3,469.2,-7.8,305,6464,0.00,2.53,0.00,0.000,4,0.000,0.071,2518,760,3093
$GC,6539,-0.96,-117.3,476.0,-9.1,308,6545,0.00,2.50,0.00,0.000,6,0.000,0.064,2518,2119,3094
$GC,6855,-0.96,-117.3,501.2,-7.8,324,6859,0.00,2.67,0.00,0.000,4,0.000,0.078,2518,3558,3093
$GC,6956,-0.96,-117.3,509.1,-7.5,328,6962,0.00,2.62,0.00,0.000,6,0.000,0.064,2518,2128,3092
$GC,7273,-1.00,-117.3,530.0,-6.8,344,7277,0.00,2.53,0.00,0.000,4,0.000,0.078,2518,745,3091
$GC,7351,-1.00,-117.3,535.6,-7.5,347,7357,0.00,2.55,0.00,0.000,6,0.000,0.068,2518,2116,3091
$STATE,7395,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7396,begin apogee
$GC,7403,-0.33,0.0,538.9,6.9,350,7505,0.65,0.00,98.50,1.224,6,0.091,0.000,2652,2116,2620
$STATE,7505,end apogee,CONTROL_FINISHED_OK
$STATE,7505,begin climb
$GC,7508,1.30,117.3,540.7,0.0,355,7612,1.70,0.00,98.18,1.195,6,0.074,0.000,3010,2116,2140
$GC,7930,1.25,117.3,504.5,9.1,376,7935,0.00,2.62,0.00,0.000,4,0.000,0.078,3010,3512,2139
$GC,7981,1.15,117.3,499.6,10.0,378,7986,0.15,2.62,0.00,0.000,6,0.104,0.067,2983,2107,2138
$GC,8297,1.15,117.3,474.7,8.2,393,8301,0.00,2.67,0.00,0.000,4,0.000,0.079,2983,3514,2137
$GC,8353,1.17,123.9,470.0,7.7,395,8365,0.00,2.60,6.57,0.972,6,0.000,0.067,2983,2120,2114
$GC,8686,1.21,152.7,447.6,6.7,412,8717,0.00,2.72,25.35,1.164,4,0.000,0.078,2983,3510,1997
$GC,8725,1.27,187.8,445.3,6.4,414,8761,0.10,2.62,30.35,1.157,6,0.064,0.067,3009,2116,1854
$GC,9074,1.27,187.8,409.9,11.5,430,9079,0.00,2.65,0.00,0.000,4,0.000,0.077,3009,3513,1852
$GC,9147,1.27,187.8,401.1,11.1,433,9151,0.00,2.58,0.00,0.000,6,0.000,0.064,3009,2133,1851
$GC,9463,1.27,187.8,369.1,9.6,448,9468,0.00,2.60,0.00,0.000,4,0.000,0.074,3009,3512,1850
$GC,9513,1.27,187.8,363.8,9.7,450,9518,0.00,2.55,0.00,0.000,6,0.000,0.059,3009,2128,1850
$GC,9829,1.27,187.8,332.8,10.1,465,9834,0.00,2.58,0.00,0.000,4,0.000,0.071,3009,3518,1849
$GC,9892,1.27,187.8,326.3,11.0,468,9896,0.00,2.50,0.00,0.000,6,0.000,0.057,3009,2150,1849
$GC,10218,1.27,187.8,293.3,9.7,484,10223,0.00,2.53,0.00,0.000,4,0.000,0.068,3009,3509,1849
$GC,10240,1.27,187.8,291.1,9.8,485,10244,0.00,2.45,0.00,0.000,6,0.000,0.055,3009,2156,1849
$GC,10563,1.27,187.8,263.3,9.0,501,10567,0.00,2.50,0.00,0.000,4,0.000,0.066,3009,3510,1849
$GC,10607,1.27,187.8,258.7,9.7,503,10611,0.00,2.45,0.00,0.000,6,0.000,0.053,3009,2159,1849
$GC,10928,1.27,187.8,225.9,10.4,519,10933,0.00,2.50,0.00,0.000,4,0.000,0.064,3009,3518,1849
$GC,10956,1.27,187.8,222.8,11.6,520,10960,0.00,2.42,0.00,0.000,6,0.000,0.051,3009,2174,1850
$GC,11272,1.27,187.8,191.4,9.8,535,11276,0.00,2.45,0.00,0.000,4,0.000,0.064,3009,3511,1851
$GC,11311,1.27,187.8,187.3,10.7,537,11315,0.00,2.38,0.00,0.000,6,0.000,0.050,3009,2184,1851
$GC,11638,1.27,187.8,154.8,10.0,553,11642,0.00,2.42,0.00,0.000,4,0.000,0.061,3009,3512,1851
$GC,11660,1.27,187.8,152.3,10.4,554,11664,0.00,2.38,0.00,0.000,6,0.000,0.049,3009,2189,1851
$GC,11988,1.27,187.8,120.1,9.7,570,11992,0.00,2.42,0.00,0.000,4,0.000,0.061,3009,3514,1852
$GC,12032,1.27,187.8,115.6,9.4,572,12036,0.00,2.35,0.00,0.000,6,0.000,0.048,3009,2203,1852
$GC,12360,1.27,187.8,87.3,8.7,588,12364,0.00,2.40,0.00,0.000,4,0.000,0.060,3009,3515,1852
$GC,12392,1.27,187.8,83.9,9.8,589,12400,0.00,2.33,0.00,0.000,6,0.000,0.048,3009,2213,1853
$GC,12711,1.27,187.8,51.9,9.8,605,12715,0.00,2.72,0.00,0.000,4,0.000,0.058,3009,682,1854
$GC,12721,1.27,187.8,50.6,9.4,605,12727,0.00,2.72,0.00,0.000,6,0.000,0.051,3009,2211,1854
$GC,13039,1.27,187.8,20.7,8.3,621,13040,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2211,1854
$STATE,13220,end climb,SURFACE_DEPTH_REACHED
$STATE,13220,begin surface coast
$FINISH,-0.3,1.002213
$STATE,13242,end surface coast,CONTROL_FINISHED_OK
$STATE,13242,begin surface
$SM_CCo,13266,207.18,0.787,0,0,390,547.02
$SM_GC,0.18,0.00,0.00,207.18,0.000,0.000,0.787,424,2119,390,-10.61,-0.88,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1727
$TCM_TEMP,17.40
$XPDR_PINGS,336
$ALTIM_TOP_PING,18.9,999.0
$ALTIM_BOTTOM_PING,451.1,96.9
$24V_AH,23.7,57.370
$10V_AH,10.1,27.456
$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,25.100,141.875,258.950,207.175,0.000,75.523,65.821,227.145,87.750,0.000,0.000,15.162,1249.210,9868.247,640.680,1617.482,662.625,33.361,1458.420,0.000,1582.239,0.000,26.656
$DEVICE_MAMPS,141.128,79.001,1224.132,786.942,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.194,469.306,452.390,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31660,631
$CAP_FILE_SIZE,113824,0
$CFSIZE,254472192,232194048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,100808,205808,6314.886,-844.733,34,1.2,34,-9.7