version: 66.04
glider: 5
mission: 7
dive: 311
start: 10 16 109 8 24 21
data:
$ID,5
$MISSION,7
$DIVE,311
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,0
$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,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,-106258.3
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2831
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.674383
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,9
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,081807,6311.062,-1253.933,33,1.5,33,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-62.0
$GPS2,082332,6311.095,-1253.818,13,1.5,13,-12.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,GE
$TGT_LATLONG,6300.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.070,-0.235
$KALMAN_X,11114.5,-1421.9,188.0,-5520.0,8595.7
$KALMAN_Y,19663.1,-949.0,-241.8,-50297.4,11824.5
$MHEAD_RNG_PITCHd_Wd,208.5,20572,-14.8,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,61,0.00,0.00,-41.17,0.000,2,0.000,0.000,421,2128,2437
$GC,65,-1.22,-146.6,2.3,-2.7,2,129,11.20,2.58,-45.58,0.000,4,0.160,0.078,2469,3537,3428
$GC,170,-1.08,-146.6,8.5,-11.7,6,177,0.20,2.53,0.00,0.000,6,0.095,0.050,2511,2124,3429
$GC,487,-1.04,-146.6,44.4,-12.6,22,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2100,3429
$GC,795,-1.04,-146.6,79.9,-10.7,37,800,0.00,2.50,0.00,0.000,4,0.000,0.058,2511,712,3429
$GC,824,-1.04,-146.6,83.2,-11.4,38,828,0.00,2.50,0.00,0.000,6,0.000,0.048,2511,2125,3429
$GC,1142,-1.04,-146.6,116.8,-10.3,53,1146,0.00,2.55,0.00,0.000,4,0.000,0.060,2511,715,3429
$GC,1169,-1.04,-146.6,120.0,-10.8,54,1174,0.00,2.47,0.00,0.000,6,0.000,0.049,2510,2112,3429
$GC,1492,-1.04,-146.6,151.8,-9.8,70,1496,0.00,2.50,0.00,0.000,4,0.000,0.059,2511,720,3429
$GC,1530,-1.04,-146.6,156.0,-10.1,72,1536,0.00,2.45,0.00,0.000,6,0.000,0.048,2511,2105,3429
$GC,1849,-1.04,-146.6,187.0,-9.5,93,1854,0.00,2.60,0.00,0.000,4,0.000,0.067,2510,3538,3429
$GC,1872,-1.04,-146.6,189.1,-9.4,94,1878,0.00,2.58,0.00,0.000,6,0.000,0.053,2511,2101,3429
$GC,2191,-1.04,-146.6,219.0,-9.3,115,2195,0.00,2.47,0.00,0.000,4,0.000,0.061,2511,705,3429
$GC,2213,-1.04,-146.6,221.1,-9.4,116,2219,0.00,2.50,0.00,0.000,6,0.000,0.049,2511,2117,3429
$GC,2532,-1.04,-146.6,249.6,-9.0,137,2536,0.00,2.53,0.00,0.000,4,0.000,0.061,2510,714,3429
$GC,2560,-1.04,-146.6,252.5,-9.4,138,2566,0.00,2.47,0.00,0.000,6,0.000,0.050,2511,2112,3429
$GC,2879,-1.04,-146.6,281.0,-9.1,159,2883,0.00,2.53,0.00,0.000,4,0.000,0.061,2510,711,3429
$GC,2907,-1.04,-146.6,283.8,-9.4,160,2913,0.00,2.42,0.00,0.000,6,0.000,0.050,2511,2085,3429
$GC,3226,-1.04,-146.6,314.8,-9.8,181,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2085,3429
$GC,3539,-1.04,-146.6,347.4,-10.7,201,3543,0.00,2.47,0.00,0.000,4,0.000,0.061,2511,716,3428
$GC,3586,-1.08,-146.6,352.5,-10.9,204,3590,0.00,2.42,0.00,0.000,6,0.000,0.051,2511,2085,3429
$GC,3910,-1.08,-146.6,387.9,-10.5,225,3915,0.00,2.62,0.00,0.000,4,0.000,0.070,2510,3530,3429
$GC,3940,-1.08,-146.6,391.0,-11.0,227,3944,0.00,2.65,0.00,0.000,6,0.000,0.058,2511,2063,3428
$GC,4264,-1.08,-146.6,422.5,-9.8,248,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2062,3428
$GC,4576,-1.08,-146.6,456.1,-11.3,268,4580,0.00,2.72,0.00,0.000,4,0.000,0.070,2511,3534,3429
$GC,4649,-1.08,-146.6,464.6,-12.3,272,4655,0.00,2.62,0.00,0.000,6,0.000,0.058,2511,2077,3428
$GC,4968,-1.08,-146.6,498.6,-10.1,293,4972,0.00,2.70,0.00,0.000,4,0.000,0.071,2511,3533,3428
$GC,5001,-1.08,-146.6,502.1,-10.2,295,5006,0.00,2.60,0.00,0.000,6,0.000,0.058,2511,2082,3428
$GC,5323,-1.08,-146.6,537.3,-10.8,315,5327,0.00,2.42,0.00,0.000,4,0.000,0.064,2511,724,3428
$GC,5375,-1.12,-146.6,543.1,-10.0,318,5379,0.00,2.40,0.00,0.000,6,0.000,0.051,2511,2075,3428
$STATE,5566,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5566,begin apogee
$GC,5574,-0.33,0.0,560.9,9.0,330,5706,0.75,0.00,128.62,1.170,6,0.080,0.000,2671,1845,2831
$STATE,5707,end apogee,CONTROL_FINISHED_OK
$STATE,5707,begin climb
$GC,5710,1.22,146.6,566.8,0.0,339,5851,1.55,2.65,128.90,1.132,4,0.062,0.067,3011,455,2233
$GC,5984,1.12,146.6,550.0,9.4,355,5991,0.12,2.53,0.00,0.000,6,0.095,0.051,2988,1858,2233
$GC,6304,1.16,172.8,526.1,7.1,376,6336,0.00,2.62,23.83,1.080,4,0.000,0.065,2988,3251,2126
$GC,6410,1.25,230.1,519.0,5.9,382,6468,0.15,2.58,50.03,1.110,6,0.056,0.061,3026,1853,1893
$GC,6781,1.21,230.1,490.6,8.0,406,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1853,1893
$GC,7093,1.16,230.1,461.2,10.0,426,7098,0.15,2.60,0.00,0.000,4,0.091,0.064,2997,3258,1893
$GC,7149,1.21,230.1,455.8,8.9,429,7155,0.00,2.58,0.00,0.000,6,0.000,0.059,2998,1848,1892
$GC,7469,1.23,243.8,429.9,7.5,450,7489,0.00,2.65,13.40,1.016,4,0.000,0.062,2997,3249,1836
$GC,7536,1.30,254.0,424.9,7.6,454,7554,0.15,2.53,10.23,0.973,6,0.056,0.058,3035,1870,1795
$GC,7869,1.24,254.0,393.9,9.7,475,7873,0.00,2.55,0.00,0.000,4,0.000,0.063,3035,3254,1795
$GC,7902,1.24,254.0,390.2,9.7,477,7906,0.00,2.47,0.00,0.000,6,0.000,0.058,3035,1891,1795
$GC,8221,1.19,254.0,359.5,9.6,497,8226,0.15,2.53,0.00,0.000,4,0.091,0.063,3006,3262,1795
$GC,8255,1.23,254.0,356.3,8.3,499,8259,0.00,2.45,0.00,0.000,6,0.000,0.056,3006,1908,1795
$GC,8574,1.23,254.0,329.7,8.7,519,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1908,1795
$GC,8887,1.23,254.0,300.7,9.4,539,8892,0.00,2.45,0.00,0.000,4,0.000,0.062,3005,3253,1795
$GC,8921,1.28,254.0,297.3,9.6,541,8925,0.00,2.42,0.00,0.000,6,0.000,0.054,3006,1908,1795
$GC,9240,1.28,254.0,267.0,9.9,561,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1908,1795
$GC,9554,1.28,254.0,237.7,9.2,581,9558,0.00,2.47,0.00,0.000,4,0.000,0.061,3006,3263,1795
$GC,9587,1.32,254.0,234.3,10.2,583,9592,0.12,2.42,0.00,0.000,6,0.057,0.053,3039,1911,1795
$GC,9910,1.27,254.0,199.8,11.2,603,9914,0.00,2.45,0.00,0.000,4,0.000,0.061,3039,3256,1795
$GC,9928,1.22,254.0,197.4,11.6,604,9933,0.15,2.38,0.00,0.000,6,0.091,0.051,3009,1924,1795
$GC,10252,1.22,254.0,163.9,11.3,625,10253,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1924,1795
$GC,10563,1.22,254.0,126.6,12.5,642,10568,0.00,2.42,0.00,0.000,4,0.000,0.060,3010,3258,1795
$GC,10614,1.27,254.0,120.1,11.9,644,10618,0.00,2.35,0.00,0.000,6,0.000,0.050,3010,1934,1795
$GC,10936,1.27,254.0,87.6,10.0,660,10940,0.00,2.40,0.00,0.000,4,0.000,0.059,3009,3258,1795
$GC,10970,1.31,254.0,83.9,10.6,661,10976,0.00,2.33,0.00,0.000,6,0.000,0.049,3009,1944,1795
$GC,11288,1.31,254.0,55.5,8.8,677,11292,0.00,2.38,0.00,0.000,4,0.000,0.059,3010,3255,1795
$GC,11306,1.35,254.0,53.8,8.8,678,11310,0.12,2.30,0.00,0.000,6,0.057,0.048,3044,1950,1795
$GC,11640,1.29,254.0,20.3,9.9,694,11644,0.00,2.38,0.00,0.000,4,0.000,0.059,3044,3258,1796
$GC,11658,1.24,254.0,18.2,10.0,695,11663,0.15,2.30,0.00,0.000,6,0.087,0.048,3014,1962,1796
$STATE,11838,end climb,SURFACE_DEPTH_REACHED
$STATE,11838,begin surface coast
$FINISH,0.9,1.017048
$STATE,11880,end surface coast,CONTROL_FINISHED_OK
$STATE,11880,begin surface
$SM_CCo,11905,24.45,0.770,0,0,1608,300.00
$SM_GC,1.42,0.00,0.00,24.45,0.000,0.000,0.770,419,2155,1608,-10.70,0.74,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1824
$TCM_TEMP,17.20
$XPDR_PINGS,57
$ALTIM_BOTTOM_PING,520.0,50.4
$24V_AH,23.8,50.989
$10V_AH,10.1,22.852
$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,Compass2
$DEVICE_SECS,26.200,130.750,355.000,24.450,0.000,37.765,27.200,133.835,18.750,0.000,0.000,13.688,1255.358,8567.722,493.021,1461.022,477.280,33.349,1263.768,0.000,1426.173,0.000,31.849,0.000
$DEVICE_MAMPS,160.303,78.234,1170.442,770.068,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,481.725,516.875,440.219,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34837,706
$CAP_FILE_SIZE,103701,0
$CFSIZE,254472192,235257856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,161009,114436,6309.509,-1251.853,39,1.1,45,-12.0