version: 66.03
glider: 5
mission: 3
dive: 313
start: 8 10 108 21 4 42
data:
$ID,5
$MISSION,3
$DIVE,313
$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,-82608.602
$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,30
$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
$GPS1,205808,6314.886,-844.733,34,1.2,34,-9.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-48.5
$GPS2,210351,6314.837,-844.750,12,1.3,12,-9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.108,0.194
$KALMAN_X,-132483.6,299.4,-266.2,243905.4,1381.8
$KALMAN_Y,-73333.6,1252.3,273.5,193228.8,-11268.7
$MHEAD_RNG_PITCHd_Wd,38.8,66815,-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,-116.62,0.000,6,0.000,0.000,424,2104,3098
$GC,153,-1.30,-117.3,2.7,-2.8,6,169,10.52,2.62,0.00,0.000,4,0.140,0.057,2438,3565,3097
$GC,350,-1.01,-117.3,32.4,-12.5,14,355,0.32,2.50,0.00,0.000,6,0.093,0.043,2506,2151,3096
$GC,678,-0.95,-117.3,58.8,-7.9,30,683,0.00,2.50,0.00,0.000,4,0.000,0.054,2506,744,3097
$GC,825,-0.88,-117.3,71.3,-8.2,36,832,0.15,2.50,0.00,0.000,6,0.096,0.048,2537,2145,3097
$GC,1142,-0.92,-117.3,94.0,-7.1,52,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2144,3097
$GC,1452,-0.97,-117.3,115.0,-6.7,67,1456,0.00,2.53,0.00,0.000,4,0.000,0.059,2537,3557,3098
$GC,1547,-0.97,-117.3,121.9,-7.1,71,1552,0.00,2.50,0.00,0.000,6,0.000,0.044,2537,2147,3098
$GC,1866,-1.02,-117.3,141.1,-5.6,86,1871,0.15,2.50,0.00,0.000,4,0.050,0.058,2488,747,3098
$GC,1939,-0.91,-117.3,146.6,-7.3,89,1945,0.20,2.53,0.00,0.000,6,0.088,0.050,2530,2155,3097
$GC,2255,-0.91,-117.3,166.3,-6.4,104,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2153,3098
$GC,2565,-0.91,-117.3,186.9,-6.9,119,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2154,3098
$GC,2874,-0.91,-117.3,208.6,-7.2,134,2878,0.00,2.55,0.00,0.000,4,0.000,0.058,2530,741,3098
$GC,2969,-0.91,-117.3,216.3,-8.0,138,2974,0.00,2.53,0.00,0.000,6,0.000,0.051,2530,2150,3097
$GC,3286,-0.91,-117.3,238.9,-7.0,153,3290,0.00,2.53,0.00,0.000,4,0.000,0.062,2530,3556,3097
$GC,3393,-0.91,-117.3,246.9,-6.9,158,3398,0.00,2.53,0.00,0.000,6,0.000,0.048,2530,2135,3097
$GC,3722,-0.96,-117.3,267.9,-6.3,174,3726,0.00,2.47,0.00,0.000,4,0.000,0.059,2530,746,3097
$GC,3806,-0.96,-117.3,273.9,-7.2,178,3811,0.00,2.50,0.00,0.000,6,0.000,0.051,2530,2139,3097
$GC,4135,-1.00,-117.3,294.8,-6.0,194,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2139,3097
$GC,4443,-1.05,-117.3,312.8,-6.1,209,4448,0.15,2.55,0.00,0.000,4,0.052,0.059,2482,741,3097
$GC,4534,-0.94,-117.3,319.8,-7.8,213,4539,0.20,2.53,0.00,0.000,6,0.089,0.053,2523,2143,3097
$GC,4855,-0.94,-117.3,340.3,-6.2,229,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2143,3096
$GC,5166,-0.94,-117.3,362.8,-7.4,244,5170,0.00,2.55,0.00,0.000,4,0.000,0.063,2523,742,3097
$GC,5256,-0.94,-117.3,369.8,-7.1,248,5260,0.00,2.50,0.00,0.000,6,0.000,0.054,2523,2128,3096
$GC,5577,-0.94,-117.3,392.1,-7.0,264,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2128,3096
$GC,5888,-0.98,-117.3,413.9,-6.9,279,5892,0.00,2.53,0.00,0.000,4,0.000,0.064,2523,746,3095
$GC,5988,-0.98,-117.3,421.1,-7.3,283,5994,0.00,2.47,0.00,0.000,6,0.000,0.056,2523,2111,3095
$GC,6304,-0.98,-117.3,440.9,-6.4,299,6309,0.00,2.50,0.00,0.000,4,0.000,0.066,2523,747,3095
$GC,6368,-1.03,-117.3,445.5,-7.6,302,6373,0.00,2.42,0.00,0.000,6,0.000,0.058,2523,2084,3095
$GC,6696,-1.08,-117.3,464.5,-5.4,318,6701,0.12,2.67,0.00,0.000,4,0.058,0.071,2487,3556,3094
$GC,6958,-0.99,-117.3,482.6,-6.9,329,6964,0.12,2.67,0.00,0.000,6,0.100,0.059,2512,2085,3094
$GC,7274,-0.99,-117.3,502.8,-6.8,345,7278,0.00,2.78,0.00,0.000,4,0.000,0.075,2512,3559,3093
$GC,7369,-0.99,-117.3,509.8,-7.5,349,7374,0.00,2.67,0.00,0.000,6,0.000,0.063,2512,2100,3092
$GC,7687,-0.99,-117.3,531.0,-6.5,364,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2086,3091
$STATE,7785,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7785,begin apogee
$GC,7793,-0.33,0.0,537.8,6.6,369,7895,0.68,0.00,98.78,1.225,6,0.088,0.000,2652,2084,2620
$STATE,7895,end apogee,CONTROL_FINISHED_OK
$STATE,7896,begin climb
$GC,7899,1.30,117.3,540.1,0.0,374,8009,1.70,2.75,98.40,1.193,4,0.071,0.077,3013,3509,2140
$GC,8015,1.19,117.3,532.8,9.1,380,8020,0.12,2.67,0.00,0.000,6,0.099,0.067,2991,2100,2140
$GC,8338,1.19,117.3,505.1,8.9,396,8342,0.00,2.65,0.00,0.000,4,0.000,0.077,2991,3503,2139
$GC,8415,1.19,117.3,497.2,10.0,399,8421,0.00,2.60,0.00,0.000,6,0.000,0.066,2991,2109,2138
$GC,8732,1.19,117.3,467.9,9.1,415,8736,0.00,2.62,0.00,0.000,4,0.000,0.078,2991,3503,2137
$GC,8804,1.19,117.3,460.8,9.3,418,8808,0.00,2.58,0.00,0.000,6,0.000,0.065,2991,2122,2136
$GC,9120,1.24,146.0,437.6,6.7,433,9150,0.00,2.70,24.73,1.157,4,0.000,0.078,2991,3504,2024
$GC,9241,1.25,155.1,428.8,7.6,438,9255,0.00,2.55,9.15,1.050,6,0.000,0.069,2991,2142,1987
$GC,9578,1.26,160.4,402.8,7.8,455,9589,0.00,2.62,5.90,0.940,4,0.000,0.076,2991,3504,1965
$GC,9634,1.26,160.4,397.8,8.6,457,9640,0.00,2.53,0.00,0.000,6,0.000,0.064,2991,2153,1965
$GC,9950,1.26,160.4,371.7,8.7,473,9954,0.00,2.58,0.00,0.000,4,0.000,0.074,2991,3509,1964
$GC,9989,1.26,160.4,368.2,9.3,475,9994,0.00,2.47,0.00,0.000,6,0.000,0.060,2991,2168,1964
$GC,10318,1.26,160.4,337.6,10.1,491,10322,0.00,2.50,0.00,0.000,4,0.000,0.070,2991,3504,1964
$GC,10328,1.26,160.4,336.3,10.2,491,10334,0.00,2.42,0.00,0.000,6,0.000,0.056,2991,2172,1964
$GC,10644,1.26,160.4,304.5,10.1,507,10648,0.00,2.47,0.00,0.000,4,0.000,0.068,2991,3508,1963
$GC,10683,1.26,160.4,300.3,11.0,509,10688,0.00,2.40,0.00,0.000,6,0.000,0.055,2991,2188,1963
$GC,11011,1.31,160.4,268.8,9.4,525,11016,0.10,2.45,0.00,0.000,4,0.061,0.066,3019,3511,1963
$GC,11067,1.25,160.4,262.6,11.5,527,11073,0.00,2.38,0.00,0.000,6,0.000,0.052,3019,2194,1963
$GC,11383,1.25,160.4,232.6,8.8,543,11388,0.00,2.42,0.00,0.000,4,0.000,0.065,3019,3509,1964
$GC,11406,1.20,160.4,230.3,9.1,544,11411,0.15,2.35,0.00,0.000,6,0.094,0.051,2990,2204,1964
$GC,11728,1.28,172.6,207.1,7.4,560,11741,0.00,0.00,11.12,0.912,6,0.000,0.000,2990,2204,1916
$GC,12037,1.34,172.6,182.5,8.6,575,12042,0.15,2.40,0.00,0.000,4,0.051,0.064,3035,3509,1916
$GC,12048,1.34,172.6,181.4,8.6,575,12054,0.00,2.35,0.00,0.000,6,0.000,0.049,3035,2203,1916
$GC,12364,1.26,172.6,147.7,10.5,591,12369,0.15,2.38,0.00,0.000,4,0.092,0.061,3003,3509,1916
$GC,12385,1.26,172.6,145.3,9.8,592,12389,0.00,2.33,0.00,0.000,6,0.000,0.048,3003,2213,1917
$GC,12707,1.26,172.6,116.4,8.7,608,12711,0.00,2.38,0.00,0.000,4,0.000,0.061,3003,3507,1917
$GC,12735,1.26,172.6,113.6,10.5,609,12739,0.00,2.30,0.00,0.000,6,0.000,0.048,3003,2221,1918
$GC,13052,1.26,172.6,84.8,9.3,624,13056,0.00,2.35,0.00,0.000,4,0.000,0.061,3003,3507,1919
$GC,13074,1.26,172.6,82.4,9.7,625,13078,0.00,2.30,0.00,0.000,6,0.000,0.048,3003,2224,1919
$GC,13396,1.26,172.6,52.6,9.3,641,13400,0.00,2.35,0.00,0.000,4,0.000,0.060,3003,3508,1919
$GC,13414,1.26,172.6,50.9,9.0,642,13418,0.00,2.28,0.00,0.000,6,0.000,0.046,3003,2227,1920
$GC,13748,1.36,199.6,26.1,6.8,658,13778,0.12,2.40,23.50,0.805,4,0.052,0.057,3038,3498,1806
$GC,13791,1.38,210.0,22.9,7.5,660,13806,0.00,2.25,10.25,0.750,6,0.000,0.044,3038,2238,1763
$STATE,13991,end climb,SURFACE_DEPTH_REACHED
$STATE,13991,begin surface coast
$FINISH,-0.2,1.026974
$STATE,14012,end surface coast,CONTROL_FINISHED_OK
$STATE,14016,begin surface
$SM_CCo,14039,192.90,0.781,0,0,390,547.02
$SM_GC,0.26,0.00,0.00,192.90,0.000,0.000,0.781,419,2104,390,-10.63,-1.30,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1697
$TCM_TEMP,17.60
$XPDR_PINGS,370
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,525.6,21.5
$24V_AH,23.7,57.527
$10V_AH,10.1,27.528
$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,26.475,145.050,281.825,192.900,0.000,37.759,26.983,155.906,97.000,0.000,0.000,12.781,1312.923,10465.510,662.725,1624.946,511.609,33.361,1481.414,0.000,1591.066,0.000,34.200
$DEVICE_MAMPS,140.361,78.234,1224.899,780.806,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.937,495.124,466.196,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34836,670
$CAP_FILE_SIZE,118872,0
$CFSIZE,254472192,232124416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,110808,010308,6315.801,-841.846,33,1.1,33,-9.7