version: 66.04
glider: 5
mission: 7
dive: 313
start: 10 16 109 15 20 27
data:
$ID,5
$MISSION,7
$DIVE,313
$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,-106289.41
$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,34
$R_STBD_OVSHOOT,23
$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
$GPS1,151424,6307.471,-1253.839,41,1.3,41,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-59.8
$GPS2,151938,6307.470,-1253.842,11,1.8,11,-12.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,GE
$TGT_LATLONG,6300.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.105,-0.222
$KALMAN_X,13373.6,-271.1,-1010.2,-7721.8,10057.0
$KALMAN_Y,21281.4,-517.3,-343.7,-58926.7,9551.5
$MHEAD_RNG_PITCHd_Wd,217.3,13869,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.22,-146.6,0.0,0.0,0,54,0.00,0.00,-36.30,0.000,2,0.000,0.000,419,2094,2348
$GC,58,-1.22,-146.6,2.2,-1.8,2,125,11.45,2.65,-50.00,0.000,4,0.164,0.074,2475,3544,3429
$GC,160,-1.09,-146.6,9.1,-13.6,7,165,0.15,2.53,0.00,0.000,6,0.100,0.048,2507,2125,3429
$GC,482,-1.09,-146.6,44.9,-10.9,23,486,0.00,2.60,0.00,0.000,4,0.000,0.064,2507,3537,3429
$GC,504,-1.05,-146.6,47.4,-10.8,24,508,0.00,2.50,0.00,0.000,6,0.000,0.048,2507,2134,3429
$GC,826,-1.05,-146.6,79.8,-10.4,40,830,0.00,2.53,0.00,0.000,4,0.000,0.058,2507,709,3429
$GC,853,-1.05,-146.6,83.0,-10.5,41,858,0.00,2.53,0.00,0.000,6,0.000,0.048,2507,2137,3429
$GC,1170,-1.05,-146.6,116.5,-10.4,56,1174,0.00,2.58,0.00,0.000,4,0.000,0.058,2507,708,3429
$GC,1237,-1.05,-146.6,123.8,-11.2,59,1241,0.00,2.50,0.00,0.000,6,0.000,0.048,2507,2122,3429
$GC,1559,-1.05,-146.6,156.8,-10.2,76,1563,0.00,2.53,0.00,0.000,4,0.000,0.058,2507,717,3429
$GC,1581,-1.05,-146.6,159.3,-10.1,77,1587,0.00,2.45,0.00,0.000,6,0.000,0.048,2507,2101,3429
$GC,1900,-1.05,-146.6,190.4,-9.5,98,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2102,3429
$GC,2213,-1.05,-146.6,221.2,-10.1,118,2217,0.00,2.53,0.00,0.000,4,0.000,0.061,2507,708,3429
$GC,2245,-1.05,-146.6,224.8,-11.2,120,2250,0.00,2.47,0.00,0.000,6,0.000,0.050,2507,2103,3429
$GC,2565,-1.05,-146.6,258.8,-11.2,140,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2102,3429
$GC,2877,-1.05,-146.6,294.0,-10.9,160,2881,0.00,2.53,0.00,0.000,4,0.000,0.062,2507,709,3429
$GC,2905,-1.05,-146.6,297.2,-11.3,162,2909,0.00,2.45,0.00,0.000,6,0.000,0.051,2507,2091,3429
$GC,3230,-1.05,-146.6,334.2,-11.4,183,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2091,3429
$GC,3542,-1.05,-146.6,370.2,-11.6,203,3546,0.00,2.47,0.00,0.000,4,0.000,0.061,2507,721,3429
$GC,3565,-1.05,-146.6,372.9,-11.4,204,3571,0.00,2.42,0.00,0.000,6,0.000,0.051,2507,2090,3429
$GC,3884,-1.05,-146.6,410.3,-11.7,225,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2089,3429
$GC,4196,-1.05,-146.6,444.5,-10.7,245,4204,0.00,2.47,0.00,0.000,4,0.000,0.063,2507,719,3429
$GC,4217,-1.05,-146.6,446.7,-10.5,246,4222,0.00,2.42,0.00,0.000,6,0.000,0.051,2507,2085,3429
$GC,4542,-1.05,-146.6,482.3,-10.3,267,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2085,3428
$GC,4855,-1.05,-146.6,512.5,-9.3,287,4859,0.00,2.62,0.00,0.000,4,0.000,0.070,2507,3530,3429
$GC,4900,-1.05,-146.6,517.0,-9.8,290,4904,0.00,2.65,0.00,0.000,6,0.000,0.057,2507,2057,3428
$GC,5229,-1.05,-146.6,545.8,-7.9,311,5234,0.00,2.40,0.00,0.000,4,0.000,0.066,2507,719,3428
$GC,5303,-1.05,-146.6,553.1,-9.7,315,5309,0.00,2.33,0.00,0.000,6,0.000,0.051,2507,2027,3428
$GC,5623,-1.05,-146.6,580.6,-8.0,336,5627,0.00,2.75,0.00,0.000,4,0.000,0.074,2507,3530,3428
$STATE,5636,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5636,begin apogee
$GC,5647,-0.33,0.0,582.2,8.0,337,5780,0.73,0.00,129.75,1.193,6,0.077,0.000,2667,1849,2831
$STATE,5781,end apogee,CONTROL_FINISHED_OK
$STATE,5781,begin climb
$GC,5784,1.22,146.6,586.8,0.0,346,5925,1.55,2.67,129.68,1.154,4,0.059,0.074,3007,434,2233
$GC,5963,1.11,146.6,578.6,9.6,357,5968,0.00,2.58,0.00,0.000,6,0.000,0.054,3007,1855,2233
$GC,6290,1.13,203.1,554.9,5.9,378,6343,0.00,0.00,50.55,1.132,6,0.000,0.000,3007,1872,2002
$GC,6654,1.14,207.2,525.4,7.9,401,6664,0.00,2.67,5.12,0.832,4,0.000,0.074,3007,442,1985
$GC,6699,1.09,207.2,521.4,8.3,403,6704,0.15,2.58,0.00,0.000,6,0.093,0.057,2979,1855,1985
$GC,7026,1.14,211.8,497.2,7.8,424,7038,0.00,0.00,5.57,0.874,6,0.000,0.000,2979,1870,1967
$GC,7352,1.20,215.7,470.1,7.9,445,7363,0.12,2.58,5.05,0.837,4,0.061,0.066,3012,3261,1950
$GC,7385,1.20,215.7,466.9,10.1,446,7390,0.00,2.60,0.00,0.000,6,0.000,0.060,3012,1849,1950
$GC,7706,1.21,226.9,438.6,7.6,466,7723,0.00,2.65,10.95,1.017,4,0.000,0.063,3012,3258,1905
$GC,7762,1.21,226.9,433.7,8.3,469,7766,0.00,2.53,0.00,0.000,6,0.000,0.059,3012,1882,1905
$GC,8082,1.22,231.6,409.6,7.8,489,8093,0.00,2.55,5.95,0.867,4,0.000,0.062,3012,3257,1886
$GC,8111,1.22,231.6,407.3,8.2,490,8115,0.00,2.50,0.00,0.000,6,0.000,0.058,3012,1889,1886
$GC,8435,1.22,231.6,378.7,9.4,511,8440,0.00,2.53,0.00,0.000,4,0.000,0.062,3012,3263,1886
$GC,8475,1.22,231.6,374.6,10.1,513,8481,0.00,2.45,0.00,0.000,6,0.000,0.056,3012,1910,1886
$GC,8794,1.22,231.6,342.6,10.4,534,8798,0.00,2.65,0.00,0.000,4,0.000,0.066,3012,437,1886
$GC,8810,1.22,231.6,340.7,10.5,535,8814,0.00,2.65,0.00,0.000,6,0.000,0.049,3012,1928,1886
$GC,9130,1.22,231.6,308.3,9.9,555,9134,0.00,2.72,0.00,0.000,4,0.000,0.064,3012,439,1886
$GC,9151,1.22,231.6,305.8,10.7,556,9157,0.00,2.62,0.00,0.000,6,0.000,0.048,3012,1917,1886
$GC,9470,1.22,231.6,275.2,9.6,577,9471,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1933,1886
$GC,9783,1.22,231.6,245.1,9.7,597,9787,0.00,2.70,0.00,0.000,4,0.000,0.064,3012,440,1886
$GC,9822,1.22,231.6,240.7,11.0,599,9828,0.00,2.60,0.00,0.000,6,0.000,0.049,3012,1905,1886
$GC,10141,1.22,231.6,209.5,9.7,620,10142,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1920,1886
$GC,10454,1.22,231.6,179.0,9.8,640,10458,0.00,2.40,0.00,0.000,4,0.000,0.059,3012,3258,1886
$GC,10475,1.22,231.6,176.6,10.8,641,10482,0.00,2.42,0.00,0.000,6,0.000,0.050,3012,1895,1886
$GC,10805,1.22,231.6,145.6,9.3,662,10809,0.00,2.47,0.00,0.000,4,0.000,0.059,3012,3259,1887
$GC,10833,1.22,231.6,142.8,10.0,663,10837,0.00,2.42,0.00,0.000,6,0.000,0.050,3012,1898,1886
$GC,11151,1.27,261.7,119.3,6.9,678,11182,0.00,2.53,26.30,0.862,4,0.000,0.057,3012,3258,1763
$GC,11212,1.32,261.7,114.0,8.3,681,11216,0.00,2.42,0.00,0.000,6,0.000,0.049,3012,1905,1763
$GC,11546,1.32,261.7,83.7,9.1,697,11550,0.00,2.47,0.00,0.000,4,0.000,0.058,3012,3266,1764
$GC,11574,1.36,261.7,80.9,9.7,698,11579,0.12,2.38,0.00,0.000,6,0.056,0.048,3046,1932,1764
$GC,11893,1.30,261.7,46.1,10.8,713,11897,0.00,2.67,0.00,0.000,4,0.000,0.061,3046,433,1763
$GC,11915,1.23,261.7,43.3,10.5,714,11920,0.17,2.67,0.00,0.000,6,0.087,0.046,3012,1950,1764
$GC,12237,1.24,268.5,14.7,7.8,730,12251,0.00,2.40,7.22,0.700,4,0.000,0.058,3012,3258,1736
$GC,12275,1.31,268.5,11.2,8.2,731,12282,0.00,2.35,0.00,0.000,6,0.000,0.049,3012,1936,1736
$STATE,12404,end climb,SURFACE_DEPTH_REACHED
$STATE,12404,begin surface coast
$FINISH,0.6,1.027250
$STATE,12425,end surface coast,CONTROL_FINISHED_OK
$STATE,12425,begin surface
$SM_CCo,12449,16.88,0.765,0,0,1608,300.00
$SM_GC,1.53,0.00,0.00,16.88,0.000,0.000,0.765,418,2150,1608,-10.70,0.57,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1825
$TCM_TEMP,17.10
$XPDR_PINGS,54
$ALTIM_BOTTOM_PING,570.2,21.5
$24V_AH,23.8,51.266
$10V_AH,10.1,22.987
$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,25.700,137.825,376.150,16.875,0.000,37.761,28.813,129.980,18.500,0.000,0.000,11.727,1308.970,9001.295,510.463,1484.421,475.499,33.353,1291.616,0.000,1452.501,0.000,34.945,0.000
$DEVICE_MAMPS,164.138,74.399,1192.685,765.466,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,505.213,541.638,460.764,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38000,739
$CAP_FILE_SIZE,105654,0
$CFSIZE,254472192,235151360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,161009,184931,6306.549,-1253.421,38,1.1,38,-12.0