version: 66.03
glider: 5
mission: 3
dive: 326
start: 8 13 108 10 28 27
data:
$ID,5
$MISSION,3
$DIVE,326
$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,-82816.477
$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,29
$R_STBD_OVSHOOT,15
$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
$GPS1,102132,6333.929,-817.645,39,1.9,39,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-56.1
$GPS2,102733,6333.874,-817.656,13,1.5,13,-9.6
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.057,0.214
$KALMAN_X,-122613.0,198.2,423.8,256872.6,1122.1
$KALMAN_Y,-95523.2,336.2,266.1,251608.2,-5690.4
$MHEAD_RNG_PITCHd_Wd,354.7,25175,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.30,-117.3,0.0,0.0,0,147,0.00,0.00,-118.20,0.000,6,0.000,0.000,419,2115,3099
$GC,150,-1.30,-117.3,3.0,-3.1,6,166,10.50,2.65,0.00,0.000,4,0.137,0.060,2440,3566,3098
$GC,392,-1.03,-117.3,36.5,-13.3,16,397,0.32,2.53,0.00,0.000,6,0.094,0.045,2507,2147,3098
$GC,721,-0.97,-117.3,65.8,-8.4,32,725,0.00,2.50,0.00,0.000,4,0.000,0.058,2507,751,3099
$GC,891,-0.91,-117.3,81.3,-8.9,39,898,0.12,2.55,0.00,0.000,6,0.104,0.050,2531,2170,3099
$GC,1207,-0.91,-117.3,106.8,-8.1,55,1211,0.00,2.50,0.00,0.000,4,0.000,0.062,2530,3557,3100
$GC,1338,-0.91,-117.3,118.5,-9.8,61,1342,0.00,2.50,0.00,0.000,6,0.000,0.046,2530,2158,3100
$GC,1667,-0.91,-117.3,145.6,-8.1,77,1671,0.00,2.53,0.00,0.000,4,0.000,0.059,2531,746,3100
$GC,1802,-0.91,-117.3,157.0,-7.7,83,1806,0.00,2.55,0.00,0.000,6,0.000,0.052,2530,2158,3100
$GC,2123,-0.91,-117.3,180.1,-7.2,99,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2156,3099
$GC,2434,-0.95,-117.3,203.1,-7.6,114,2438,0.00,2.53,0.00,0.000,4,0.000,0.064,2530,3556,3099
$GC,2523,-0.95,-117.3,210.4,-7.6,118,2527,0.00,2.50,0.00,0.000,6,0.000,0.048,2530,2154,3099
$GC,2844,-1.00,-117.3,230.6,-6.1,134,2849,0.00,2.53,0.00,0.000,4,0.000,0.063,2530,750,3099
$GC,3005,-1.00,-117.3,241.2,-6.5,141,3009,0.00,2.55,0.00,0.000,6,0.000,0.054,2530,2156,3099
$GC,3326,-1.05,-117.3,262.8,-6.9,157,3331,0.15,2.55,0.00,0.000,4,0.053,0.066,2484,3556,3099
$GC,3511,-0.92,-117.3,279.3,-8.5,165,3517,0.20,2.50,0.00,0.000,6,0.093,0.051,2526,2164,3099
$GC,3830,-0.92,-117.3,299.4,-6.4,180,3835,0.00,2.58,0.00,0.000,4,0.000,0.065,2526,740,3099
$GC,3970,-0.92,-117.3,310.2,-7.4,186,3974,0.00,2.58,0.00,0.000,6,0.000,0.059,2526,2149,3099
$GC,4292,-0.97,-117.3,332.1,-6.7,202,4297,0.00,2.60,0.00,0.000,4,0.000,0.073,2526,3561,3098
$GC,4416,-0.97,-117.3,341.5,-8.0,207,4422,0.00,2.58,0.00,0.000,6,0.000,0.058,2526,2146,3098
$GC,4732,-1.02,-117.3,364.4,-7.4,223,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2128,3098
$GC,5042,-1.07,-117.3,385.2,-6.2,238,5047,0.12,2.67,0.00,0.000,4,0.061,0.077,2491,3557,3096
$GC,5168,-0.99,-117.3,394.7,-7.9,243,5175,0.10,2.58,0.00,0.000,6,0.110,0.063,2511,2155,3096
$GC,5485,-0.99,-117.3,415.6,-6.2,259,5489,0.00,2.60,0.00,0.000,4,0.000,0.074,2511,742,3095
$GC,5640,-0.99,-117.3,425.9,-6.9,266,5644,0.00,2.60,0.00,0.000,6,0.000,0.067,2511,2147,3094
$GC,5967,-0.99,-117.3,447.6,-6.7,282,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2148,3092
$GC,6276,-0.99,-117.3,467.2,-6.1,297,6280,0.00,2.65,0.00,0.000,4,0.000,0.078,2511,744,3092
$GC,6354,-0.99,-117.3,472.3,-6.3,300,6360,0.00,2.60,0.00,0.000,6,0.000,0.071,2511,2140,3092
$GC,6671,-0.99,-117.3,491.7,-6.2,316,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2139,3090
$GC,6980,-0.99,-117.3,511.5,-6.5,331,6984,0.00,2.67,0.00,0.000,4,0.000,0.083,2511,3567,3089
$GC,7075,-0.99,-117.3,518.5,-7.3,335,7080,0.00,2.65,0.00,0.000,6,0.000,0.070,2511,2138,3089
$GC,7391,-0.99,-117.3,538.6,-6.6,350,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2120,3088
$GC,7701,-0.99,-117.3,559.1,-6.8,365,7705,0.00,2.72,0.00,0.000,4,0.000,0.084,2511,3561,3087
$GC,7878,-0.99,-117.3,572.4,-7.8,373,7883,0.00,2.60,0.00,0.000,6,0.000,0.068,2511,2155,3087
$GC,8205,-0.99,-117.3,594.8,-6.4,389,8209,0.00,2.62,0.00,0.000,4,0.000,0.081,2512,743,3086
$GC,8412,-0.99,-117.3,609.3,-7.4,398,8417,0.00,2.62,0.00,0.000,6,0.000,0.075,2511,2136,3085
$GC,8729,-0.99,-117.3,629.9,-6.5,413,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2136,3085
$GC,9039,-0.99,-117.3,649.9,-6.5,428,9048,0.00,2.65,0.00,0.000,4,0.000,0.083,2511,739,3084
$GC,9208,-0.99,-117.3,661.9,-6.8,435,9212,0.00,2.60,0.00,0.000,6,0.000,0.077,2511,2117,3083
$GC,9530,-0.99,-117.3,683.5,-6.8,451,9535,0.00,2.62,0.00,0.000,4,0.000,0.085,2511,745,3082
$GC,9631,-0.99,-117.3,690.7,-7.2,455,9638,0.00,2.55,0.00,0.000,6,0.000,0.077,2511,2097,3082
$GC,9949,-0.99,-117.3,711.0,-6.2,471,9953,0.00,2.60,0.00,0.000,4,0.000,0.088,2511,745,3081
$GC,10027,-0.99,-117.3,716.3,-6.5,474,10033,0.00,2.55,0.00,0.000,6,0.000,0.077,2511,2089,3081
$GC,10343,-0.99,-117.3,736.1,-6.3,490,10344,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2089,3080
$STATE,10484,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10484,begin apogee
$GC,10492,-0.33,0.0,745.3,6.3,497,10596,0.70,0.00,101.20,1.485,6,0.099,0.000,2652,2089,2620
$STATE,10597,end apogee,CONTROL_FINISHED_OK
$STATE,10597,begin climb
$GC,10600,1.30,117.3,747.6,0.0,502,10711,1.70,2.78,103.22,1.434,4,0.084,0.085,3006,3510,2141
$GC,10729,1.19,117.3,739.0,9.2,509,10734,0.00,2.70,0.00,0.000,6,0.000,0.074,3006,2104,2141
$GC,11057,1.12,117.3,708.6,9.3,525,11062,0.15,2.72,0.00,0.000,4,0.104,0.085,2976,3510,2139
$GC,11211,1.12,117.3,695.3,8.4,532,11216,0.00,2.60,0.00,0.000,6,0.000,0.072,2976,2135,2139
$GC,11539,1.14,128.4,670.0,7.5,548,11559,0.00,2.72,11.20,1.287,4,0.000,0.083,2976,3511,2095
$GC,11660,1.14,128.4,659.6,8.9,553,11665,0.00,2.55,0.00,0.000,6,0.000,0.071,2976,2156,2095
$GC,11977,1.14,133.7,634.3,7.8,568,11990,0.00,2.65,6.22,1.141,4,0.000,0.084,2976,3510,2074
$GC,12104,1.16,140.3,623.6,7.7,573,12118,0.00,2.50,7.18,1.183,6,0.000,0.071,2976,2172,2048
$GC,12445,1.20,140.8,597.1,8.0,590,12449,0.00,2.58,0.00,0.000,4,0.000,0.087,2976,3512,2047
$GC,12551,1.20,140.8,587.9,8.6,595,12556,0.00,2.45,0.00,0.000,6,0.000,0.072,2977,2214,2047
$GC,12880,1.20,144.9,562.7,7.8,611,12891,0.00,2.55,5.88,1.109,4,0.000,0.085,2977,3511,2028
$GC,12958,1.20,144.9,555.7,8.7,614,12964,0.00,2.42,0.00,0.000,6,0.000,0.072,2976,2230,2028
$GC,13274,1.25,144.9,529.7,8.3,630,13279,0.12,2.47,0.00,0.000,4,0.066,0.084,3006,3509,2028
$GC,13325,1.19,144.9,524.5,10.6,632,13329,0.00,2.40,0.00,0.000,6,0.000,0.071,3006,2235,2027
$GC,13647,1.19,144.9,492.2,10.3,648,13651,0.00,2.45,0.00,0.000,4,0.000,0.084,3006,3509,2028
$GC,13697,1.14,144.9,486.6,11.2,650,13702,0.15,2.38,0.00,0.000,6,0.108,0.070,2978,2240,2027
$GC,14014,1.19,144.9,456.9,9.5,665,14017,0.00,2.45,0.00,0.000,4,0.000,0.084,2978,3510,2027
$GC,14075,1.19,144.9,450.2,10.4,667,14081,0.00,2.35,0.00,0.000,6,0.000,0.069,2978,2257,2027
$GC,14392,1.24,144.9,422.4,8.5,683,14396,0.00,2.42,0.00,0.000,4,0.000,0.083,2978,3516,2027
$GC,14461,1.24,144.9,416.3,8.8,686,14465,0.00,2.30,0.00,0.000,6,0.000,0.066,2978,2277,2027
$GC,14788,1.32,160.3,391.8,7.3,702,14810,0.17,2.42,14.70,1.209,4,0.061,0.081,3023,3512,1965
$GC,14858,1.24,160.3,385.5,10.8,705,14862,0.12,2.30,0.00,0.000,6,0.110,0.064,3002,2285,1965
$GC,15185,1.25,168.7,359.8,7.6,721,15199,0.00,2.42,8.40,1.102,4,0.000,0.081,3002,3513,1932
$GC,15262,1.25,168.7,353.6,8.0,724,15266,0.00,2.28,0.00,0.000,6,0.000,0.065,3002,2299,1931
$GC,15578,1.26,177.2,329.9,7.6,739,15593,0.00,2.38,9.23,1.101,4,0.000,0.079,3002,3505,1897
$GC,15645,1.26,177.2,324.3,8.5,742,15649,0.00,2.22,0.00,0.000,6,0.000,0.061,3002,2307,1897
$GC,15972,1.26,177.2,296.4,8.4,758,15976,0.00,2.33,0.00,0.000,4,0.000,0.080,3002,3517,1897
$GC,15983,1.26,177.2,295.0,8.7,758,15987,0.00,2.25,0.00,0.000,6,0.000,0.064,3002,2308,1897
$GC,16299,1.26,177.2,266.3,9.1,773,16303,0.00,2.30,0.00,0.000,4,0.000,0.078,3001,3511,1897
$GC,16310,1.26,177.2,265.0,9.7,773,16314,0.00,2.22,0.00,0.000,6,0.000,0.064,3002,2312,1897
$GC,16626,1.26,177.2,231.9,11.1,788,16630,0.00,2.30,0.00,0.000,4,0.000,0.076,3002,3519,1897
$GC,16643,1.26,177.2,230.1,10.7,789,16647,0.00,2.20,0.00,0.000,6,0.000,0.060,3002,2321,1897
$GC,16970,1.26,177.2,194.6,11.3,805,16971,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2304,1897
$GC,17279,1.26,177.2,159.6,11.2,820,17282,0.00,2.22,0.00,0.000,4,0.000,0.070,3002,3516,1897
$GC,17289,1.26,177.2,158.2,10.7,820,17293,0.00,2.17,0.00,0.000,6,0.000,0.055,3002,2319,1897
$GC,17606,1.26,177.2,121.6,12.0,835,17607,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2301,1897
$GC,17915,1.26,177.2,86.8,10.3,850,17919,0.00,2.95,0.00,0.000,4,0.000,0.065,3002,682,1898
$GC,17926,1.26,177.2,85.4,10.2,850,17933,0.00,2.97,0.00,0.000,6,0.000,0.057,3002,2329,1898
$GC,18243,1.31,177.2,52.4,10.3,866,18248,0.00,3.03,0.00,0.000,4,0.000,0.064,3002,682,1899
$GC,18276,1.31,177.2,48.6,9.9,867,18283,0.00,2.92,0.00,0.000,6,0.000,0.056,3002,2312,1899
$GC,18593,1.38,177.2,21.1,8.1,883,18595,0.12,0.00,0.00,0.000,6,0.053,0.000,3036,2312,1901
$STATE,18796,end climb,SURFACE_DEPTH_REACHED
$STATE,18796,begin surface coast
$FINISH,-0.3,1.014653
$STATE,18818,end surface coast,CONTROL_FINISHED_OK
$STATE,18818,begin surface
$SM_CCo,18842,222.60,0.828,0,0,390,547.02
$SM_GC,0.34,0.00,0.00,222.60,0.000,0.000,0.828,421,2127,390,-10.62,-0.65,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1722
$TCM_TEMP,16.80
$XPDR_PINGS,204
$ALTIM_TOP_PING,19.2,19.2
$ALTIM_BOTTOM_PING,725.8,29.4
$24V_AH,23.5,59.718
$10V_AH,10.1,28.612
$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,26.150,187.600,267.225,222.600,0.000,37.759,36.513,150.979,57.750,0.000,0.000,13.444,1761.325,14055.629,724.504,2282.882,598.409,33.364,1840.869,0.000,2224.160,0.000,49.417
$DEVICE_MAMPS,137.293,88.205,1484.912,828.360,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,628.450,652.906,514.888,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47396,894
$CAP_FILE_SIZE,154314,0
$CFSIZE,254472192,231247872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,130808,154732,6334.120,-819.174,40,1.2,40,-9.6