version: 66.04
glider: 5
mission: 7
dive: 315
start: 10 16 109 22 37 9
data:
$ID,5
$MISSION,7
$DIVE,315
$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,-106337.93
$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,20
$R_STBD_OVSHOOT,28
$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
$GPS1,222557,6305.223,-1251.426,35,3.2,54,-12.0
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-56.6
$GPS2,223622,6305.252,-1251.273,14,2.1,33,-12.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,GE
$TGT_LATLONG,6300.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.128,-0.210
$KALMAN_X,18998.4,-1043.4,-508.3,-10978.0,12536.3
$KALMAN_Y,28039.0,-1556.3,-1006.3,-68097.1,15886.2
$MHEAD_RNG_PITCHd_Wd,223.4,10220,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-40.95,0.000,2,0.000,0.000,422,2138,2379
$GC,63,-1.22,-146.6,2.1,-2.8,2,127,11.35,2.65,-43.30,0.000,4,0.163,0.074,2470,709,3429
$GC,181,-1.14,-146.6,11.6,-9.5,7,186,0.12,2.53,0.00,0.000,6,0.095,0.047,2496,2138,3430
$GC,505,-1.08,-146.6,49.6,-11.4,23,509,0.00,2.53,0.00,0.000,4,0.000,0.064,2496,3531,3430
$GC,545,-1.02,-146.6,54.0,-10.8,25,550,0.12,2.50,0.00,0.000,6,0.098,0.048,2521,2126,3430
$GC,873,-1.02,-146.6,86.8,-9.2,41,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2109,3429
$GC,1181,-1.02,-146.6,112.3,-8.4,56,1186,0.00,2.58,0.00,0.000,4,0.000,0.064,2521,3537,3430
$GC,1209,-1.02,-146.6,115.2,-10.2,57,1213,0.00,2.47,0.00,0.000,6,0.000,0.050,2521,2149,3429
$GC,1528,-1.02,-146.6,145.9,-10.4,72,1532,0.00,2.55,0.00,0.000,4,0.000,0.060,2521,709,3429
$GC,1561,-1.06,-146.6,149.8,-10.8,73,1568,0.00,2.55,0.00,0.000,6,0.000,0.048,2521,2154,3430
$GC,1880,-1.06,-146.6,183.2,-10.4,94,1885,0.00,2.60,0.00,0.000,4,0.000,0.060,2521,716,3430
$GC,1915,-1.09,-146.6,186.9,-10.3,96,1919,0.00,2.55,0.00,0.000,6,0.000,0.049,2521,2155,3430
$GC,2234,-1.09,-146.6,217.1,-8.9,116,2239,0.00,2.60,0.00,0.000,4,0.000,0.061,2521,707,3430
$GC,2291,-1.14,-146.6,222.3,-9.3,119,2298,0.12,2.53,0.00,0.000,6,0.059,0.049,2487,2135,3430
$GC,2613,-1.08,-146.6,256.0,-10.9,140,2618,0.10,2.55,0.00,0.000,4,0.100,0.059,2508,720,3430
$GC,2664,-1.08,-146.6,261.4,-9.8,143,2669,0.00,2.47,0.00,0.000,6,0.000,0.049,2508,2118,3430
$GC,2984,-1.08,-146.6,293.0,-10.5,163,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2118,3430
$GC,3297,-1.08,-146.6,324.6,-10.1,183,3301,0.00,2.53,0.00,0.000,4,0.000,0.061,2508,720,3430
$GC,3359,-1.08,-146.6,330.8,-9.8,187,3364,0.00,2.47,0.00,0.000,6,0.000,0.050,2508,2114,3430
$GC,3684,-1.08,-146.6,362.6,-10.0,208,3688,0.00,2.53,0.00,0.000,4,0.000,0.062,2509,715,3430
$GC,3717,-1.08,-146.6,366.3,-10.9,210,3721,0.00,2.45,0.00,0.000,6,0.000,0.051,2508,2099,3429
$GC,4037,-1.08,-146.6,401.0,-11.4,230,4041,0.00,2.50,0.00,0.000,4,0.000,0.061,2508,715,3429
$GC,4070,-1.08,-146.6,405.3,-12.0,232,4074,0.00,2.45,0.00,0.000,6,0.000,0.051,2509,2096,3430
$GC,4390,-1.08,-146.6,443.9,-12.3,252,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2097,3430
$GC,4703,-1.08,-146.6,478.8,-10.5,272,4707,0.00,2.50,0.00,0.000,4,0.000,0.063,2509,714,3429
$GC,4798,-1.08,-146.6,489.2,-9.9,278,4803,0.00,2.42,0.00,0.000,6,0.000,0.051,2509,2082,3430
$GC,5124,-1.08,-146.6,519.0,-9.2,299,5128,0.00,2.65,0.00,0.000,4,0.000,0.071,2509,3534,3429
$GC,5179,-1.08,-146.6,524.1,-9.3,302,5185,0.00,2.62,0.00,0.000,6,0.000,0.058,2509,2080,3429
$GC,5499,-1.08,-146.6,555.4,-10.1,323,5503,0.00,2.70,0.00,0.000,4,0.000,0.071,2508,3533,3429
$GC,5578,-1.08,-146.6,563.6,-10.6,328,5582,0.00,2.60,0.00,0.000,6,0.000,0.059,2509,2101,3429
$STATE,5664,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5664,begin apogee
$GC,5672,-0.33,0.0,571.9,9.0,334,5805,0.75,0.00,129.35,1.188,6,0.077,0.000,2669,1834,2831
$STATE,5806,end apogee,CONTROL_FINISHED_OK
$STATE,5806,begin climb
$GC,5809,1.22,146.6,577.5,0.0,343,5950,1.55,2.62,129.27,1.152,4,0.065,0.073,3005,456,2233
$GC,6134,1.12,146.6,562.9,8.5,362,6141,0.00,2.53,0.00,0.000,6,0.000,0.054,3005,1863,2232
$GC,6453,1.15,200.3,541.3,6.1,383,6508,0.00,2.67,47.67,1.143,4,0.000,0.071,3005,3254,2013
$GC,6533,1.17,208.7,535.6,7.7,388,6550,0.00,2.62,8.82,0.983,6,0.000,0.068,3005,1855,1980
$GC,6865,1.22,244.0,511.8,6.7,409,6902,0.00,2.67,31.50,1.133,4,0.000,0.069,3005,3253,1836
$GC,6943,1.26,267.2,506.2,7.2,414,6969,0.00,2.55,21.40,1.101,6,0.000,0.067,3005,1880,1741
$GC,7285,1.31,299.0,481.4,6.8,435,7321,0.12,2.65,28.48,1.114,4,0.060,0.067,3037,3253,1612
$GC,7351,1.31,299.0,475.5,9.0,439,7355,0.00,2.50,0.00,0.000,6,0.000,0.062,3038,1899,1612
$GC,7676,1.26,299.0,443.9,10.2,460,7681,0.00,2.53,0.00,0.000,4,0.000,0.065,3037,3258,1612
$GC,7705,1.26,299.0,440.7,11.3,462,7710,0.00,2.45,0.00,0.000,6,0.000,0.060,3038,1914,1613
$GC,8031,1.21,299.0,405.6,10.9,483,8033,0.17,0.00,0.00,0.000,6,0.093,0.000,3004,1914,1613
$GC,8342,1.21,299.0,379.0,8.2,503,8346,0.00,2.47,0.00,0.000,4,0.000,0.064,3004,3264,1612
$GC,8381,1.27,299.0,375.6,8.7,505,8387,0.00,2.42,0.00,0.000,6,0.000,0.057,3005,1927,1612
$GC,8701,1.30,299.0,349.3,8.3,526,8706,0.12,2.45,0.00,0.000,4,0.058,0.062,3037,3258,1613
$GC,8723,1.30,299.0,346.9,10.3,527,8729,0.00,2.40,0.00,0.000,6,0.000,0.055,3037,1932,1613
$GC,9043,1.25,299.0,314.3,9.9,548,9047,0.00,2.42,0.00,0.000,4,0.000,0.062,3038,3255,1613
$GC,9060,1.22,299.0,312.5,9.9,549,9065,0.15,2.35,0.00,0.000,6,0.091,0.054,3008,1949,1613
$GC,9379,1.22,299.0,285.5,8.7,569,9383,0.00,2.40,0.00,0.000,4,0.000,0.061,3008,3261,1613
$GC,9403,1.26,299.0,283.1,10.2,570,9410,0.00,2.35,0.00,0.000,6,0.000,0.054,3008,1951,1614
$GC,9724,1.29,299.0,249.9,10.9,591,9728,0.00,2.40,0.00,0.000,4,0.000,0.061,3008,3263,1614
$GC,9746,1.33,299.0,247.2,11.1,592,9753,0.12,2.33,0.00,0.000,6,0.056,0.053,3043,1970,1614
$GC,10066,1.29,299.0,207.3,12.7,613,10070,0.00,2.75,0.00,0.000,4,0.000,0.064,3043,435,1615
$GC,10082,1.22,299.0,204.9,12.7,614,10088,0.17,2.75,0.00,0.000,6,0.087,0.049,3008,1987,1615
$GC,10404,1.26,299.0,172.1,9.2,634,10405,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1987,1615
$GC,10715,1.30,299.0,144.2,9.1,653,10719,0.00,2.83,0.00,0.000,4,0.000,0.064,3008,439,1615
$GC,10742,1.30,299.0,141.4,10.1,654,10746,0.00,2.72,0.00,0.000,6,0.000,0.049,3008,1976,1614
$GC,11060,1.34,299.0,113.5,9.6,669,11062,0.12,0.00,0.00,0.000,6,0.057,0.000,3042,1992,1615
$GC,11368,1.34,299.0,80.2,10.8,684,11372,0.00,2.80,0.00,0.000,4,0.000,0.063,3042,438,1615
$GC,11390,1.29,299.0,77.3,12.7,685,11394,0.00,2.72,0.00,0.000,6,0.000,0.048,3042,1977,1615
$GC,11713,1.29,299.0,42.9,10.2,701,11715,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1993,1615
$GC,12022,1.25,299.0,9.3,12.5,716,12027,0.12,2.80,0.00,0.000,4,0.092,0.061,3017,435,1616
$GC,12062,1.25,299.0,4.5,12.1,718,12067,0.00,2.70,0.00,0.000,6,0.000,0.048,3017,1963,1616
$STATE,12070,end climb,SURFACE_DEPTH_REACHED
$STATE,12070,begin surface coast
$FINISH,0.8,1.027226
$STATE,12099,end surface coast,CONTROL_FINISHED_OK
$STATE,12099,begin surface
$SM_CCo,12123,1.38,0.123,0,0,1608,300.00
$SM_GC,2.21,0.00,0.00,1.38,0.000,0.000,0.123,417,2146,1608,-10.71,0.31,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1828
$TCM_TEMP,17.20
$XPDR_PINGS,56
$ALTIM_BOTTOM_PING,545.9,35.7
$24V_AH,23.8,51.561
$10V_AH,10.1,23.127
$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,26.500,138.675,396.500,1.375,0.000,75.521,83.644,251.711,18.750,0.000,0.000,34.396,1296.513,8709.399,501.925,1537.362,703.209,33.351,1306.078,0.000,1481.022,0.000,34.322,0.000
$DEVICE_MAMPS,162.604,73.632,1188.083,122.720,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,491.995,527.961,445.381,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37964,720
$CAP_FILE_SIZE,112110,0
$CFSIZE,254472192,235036672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,171009,020036,6302.509,-1255.749,41,1.4,41,-12.0