version: 66.04
glider: 5
mission: 7
dive: 316
start: 10 17 109 2 17 6
data:
$ID,5
$MISSION,7
$DIVE,316
$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,-106351.88
$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,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
$GPS1,020036,6302.509,-1255.749,41,1.4,41,-12.0
$_CALLS,4
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-58.1
$GPS2,021614,6302.477,-1256.024,13,1.4,13,-12.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FE
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.080,-0.232
$KALMAN_X,17560.8,-1227.7,-1356.0,-12402.8,10874.5
$KALMAN_Y,25853.9,-1279.5,-1097.9,-71213.3,11194.3
$MHEAD_RNG_PITCHd_Wd,172.9,29319,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.88,0.000,2,0.000,0.000,417,2147,2443
$GC,63,-1.22,-146.6,2.2,-3.2,2,128,11.18,2.53,-47.08,0.000,4,0.153,0.077,2473,3535,3427
$GC,179,-1.12,-146.6,10.8,-17.8,7,184,0.12,2.53,0.00,0.000,6,0.099,0.047,2498,2120,3428
$GC,503,-1.05,-146.6,46.0,-11.7,23,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2104,3428
$GC,810,-1.00,-146.6,81.7,-11.8,38,815,0.12,2.60,0.00,0.000,4,0.100,0.064,2525,3534,3428
$GC,861,-1.00,-146.6,87.6,-11.1,40,865,0.00,2.53,0.00,0.000,6,0.000,0.048,2525,2114,3427
$GC,1177,-1.00,-146.6,123.1,-11.1,55,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2101,3427
$GC,1492,-1.00,-146.6,156.1,-10.3,71,1496,0.00,2.47,0.00,0.000,4,0.000,0.060,2525,722,3428
$GC,1538,-1.06,-146.6,161.0,-10.2,74,1542,0.00,2.47,0.00,0.000,6,0.000,0.048,2525,2122,3428
$GC,1862,-1.06,-146.6,192.1,-9.1,95,1866,0.00,2.55,0.00,0.000,4,0.000,0.061,2525,713,3428
$GC,1897,-1.10,-146.6,195.5,-9.7,97,1901,0.00,2.47,0.00,0.000,6,0.000,0.049,2525,2109,3428
$GC,2217,-1.10,-146.6,224.3,-9.2,117,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2110,3428
$GC,2530,-1.10,-146.6,253.5,-9.5,137,2534,0.00,2.53,0.00,0.000,4,0.000,0.061,2525,713,3428
$GC,2576,-1.15,-146.6,258.2,-10.2,140,2581,0.15,2.45,0.00,0.000,6,0.057,0.051,2485,2095,3428
$GC,2906,-1.08,-146.6,295.5,-11.5,161,2908,0.12,0.00,0.00,0.000,6,0.096,0.000,2511,2095,3428
$GC,3214,-1.08,-146.6,328.6,-10.5,181,3218,0.00,2.50,0.00,0.000,4,0.000,0.062,2511,712,3428
$GC,3277,-1.08,-146.6,335.3,-10.7,185,3281,0.00,2.42,0.00,0.000,6,0.000,0.051,2511,2078,3428
$GC,3602,-1.08,-146.6,370.3,-10.7,206,3606,0.00,2.47,0.00,0.000,4,0.000,0.064,2511,719,3428
$GC,3631,-1.08,-146.6,373.6,-11.2,208,3635,0.00,2.40,0.00,0.000,6,0.000,0.052,2511,2066,3428
$GC,3955,-1.08,-146.6,409.9,-11.2,229,3960,0.00,2.67,0.00,0.000,4,0.000,0.069,2511,3538,3428
$GC,3984,-1.08,-146.6,413.3,-12.1,231,3989,0.00,2.67,0.00,0.000,6,0.000,0.058,2511,2055,3428
$GC,4309,-1.08,-146.6,449.1,-10.9,252,4314,0.00,2.72,0.00,0.000,4,0.000,0.069,2511,3533,3428
$GC,4348,-1.08,-146.6,453.5,-11.1,254,4354,0.00,2.62,0.00,0.000,6,0.000,0.057,2511,2074,3427
$GC,4667,-1.08,-146.6,486.2,-10.5,275,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2063,3427
$GC,4981,-1.08,-146.6,521.2,-13.2,295,4985,0.00,2.42,0.00,0.000,4,0.000,0.064,2511,714,3428
$GC,5078,-1.12,-146.6,531.3,-9.3,301,5082,0.00,2.45,0.00,0.000,6,0.000,0.051,2511,2091,3427
$GC,5409,-1.12,-146.6,566.4,-12.2,322,5413,0.00,2.62,0.00,0.000,4,0.000,0.074,2511,3533,3427
$GC,5439,-1.12,-146.6,570.1,-13.4,324,5444,0.00,2.62,0.00,0.000,6,0.000,0.063,2511,2085,3427
$GC,5765,-1.12,-146.6,610.7,-11.3,345,5769,0.00,2.45,0.00,0.000,4,0.000,0.067,2511,721,3427
$GC,5866,-1.16,-146.6,622.6,-11.6,351,5870,0.00,2.45,0.00,0.000,6,0.000,0.054,2511,2094,3427
$STATE,5932,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5932,begin apogee
$GC,5940,-0.33,0.0,629.8,10.4,355,6074,0.75,0.00,130.80,1.218,6,0.075,0.000,2671,1835,2831
$STATE,6075,end apogee,CONTROL_FINISHED_OK
$STATE,6075,begin climb
$GC,6079,1.22,146.6,635.6,0.0,364,6221,1.55,2.62,131.73,1.184,4,0.061,0.074,3010,460,2233
$GC,6361,1.10,146.6,615.7,13.0,381,6366,0.15,2.53,0.00,0.000,6,0.095,0.055,2982,1853,2233
$GC,6686,1.10,146.6,577.6,11.6,402,6690,0.00,2.65,0.00,0.000,4,0.000,0.075,2982,445,2232
$GC,6719,1.05,146.6,573.8,11.7,404,6723,0.00,2.50,0.00,0.000,6,0.000,0.058,2982,1822,2231
$GC,7038,1.11,179.5,548.1,6.8,424,7074,0.00,2.67,29.65,1.151,4,0.000,0.077,2982,456,2099
$GC,7108,1.15,204.9,543.6,7.1,428,7138,0.00,2.45,23.77,1.134,6,0.000,0.058,2982,1811,1995
$GC,7469,1.27,260.8,523.6,6.0,451,7525,0.17,2.75,49.03,1.162,4,0.057,0.068,3029,3241,1767
$GC,7559,1.27,260.8,515.8,9.3,456,7565,0.00,2.67,0.00,0.000,6,0.000,0.066,3029,1811,1767
$GC,7879,1.21,260.8,486.3,9.4,477,7883,0.00,2.50,0.00,0.000,4,0.000,0.073,3029,440,1767
$GC,7909,1.12,260.8,483.2,11.1,479,7914,0.20,2.42,0.00,0.000,6,0.090,0.054,2991,1786,1767
$GC,8236,1.22,294.5,459.2,6.8,500,8271,0.00,2.70,30.33,1.114,4,0.000,0.063,2991,3238,1630
$GC,8342,1.33,311.2,451.8,7.4,506,8363,0.20,2.62,15.88,1.060,6,0.053,0.059,3040,1810,1562
$GC,8677,1.27,311.2,419.0,10.0,527,8681,0.00,2.62,0.00,0.000,4,0.000,0.063,3040,3237,1562
$GC,8749,1.27,311.2,411.2,10.6,531,8755,0.00,2.53,0.00,0.000,6,0.000,0.056,3040,1848,1562
$GC,9069,1.21,311.2,376.0,11.8,552,9074,0.17,2.58,0.00,0.000,4,0.092,0.061,3002,3246,1562
$GC,9120,1.28,311.2,370.6,10.2,555,9124,0.00,2.50,0.00,0.000,6,0.000,0.056,3003,1865,1563
$GC,9439,1.31,311.2,341.0,9.5,575,9444,0.12,2.53,0.00,0.000,4,0.057,0.061,3036,3242,1563
$GC,9484,1.31,311.2,336.0,11.4,578,9489,0.00,2.45,0.00,0.000,6,0.000,0.054,3035,1882,1563
$GC,9810,1.27,311.2,297.6,12.0,599,9814,0.00,2.50,0.00,0.000,4,0.000,0.061,3035,3247,1563
$GC,9843,1.27,311.2,293.3,12.0,601,9847,0.00,2.42,0.00,0.000,6,0.000,0.053,3035,1898,1563
$GC,10164,1.24,311.2,255.2,12.2,621,10168,0.12,2.45,0.00,0.000,4,0.091,0.060,3011,3241,1564
$GC,10203,1.29,311.2,250.4,11.5,623,10209,0.00,2.38,0.00,0.000,6,0.000,0.052,3012,1918,1564
$GC,10522,1.29,311.2,218.1,9.9,644,10526,0.00,2.42,0.00,0.000,4,0.000,0.061,3012,3248,1564
$GC,10544,1.34,311.2,215.9,9.9,645,10551,0.12,2.35,0.00,0.000,6,0.058,0.051,3045,1932,1564
$GC,10867,1.28,311.2,178.9,11.2,666,10871,0.12,2.38,0.00,0.000,4,0.090,0.059,3021,3237,1564
$GC,10888,1.28,311.2,176.3,9.9,667,10892,0.00,2.33,0.00,0.000,6,0.000,0.050,3021,1934,1564
$GC,11208,1.28,311.2,149.5,8.2,687,11212,0.00,2.38,0.00,0.000,4,0.000,0.059,3021,3244,1564
$GC,11235,1.28,311.2,146.9,9.2,688,11239,0.00,2.30,0.00,0.000,6,0.000,0.049,3021,1951,1564
$GC,11554,1.28,311.2,118.1,9.2,703,11558,0.00,2.70,0.00,0.000,4,0.000,0.063,3021,439,1565
$GC,11581,1.28,311.2,115.2,10.0,704,11585,0.00,2.65,0.00,0.000,6,0.000,0.048,3021,1934,1565
$GC,11897,1.28,311.2,86.0,9.8,719,11901,0.00,2.30,0.00,0.000,4,0.000,0.059,3021,3241,1565
$GC,11915,1.32,311.2,84.3,10.2,720,11919,0.00,2.30,0.00,0.000,6,0.000,0.048,3021,1944,1565
$GC,12243,1.35,311.2,55.1,9.1,736,12247,0.00,2.35,0.00,0.000,4,0.000,0.058,3021,3243,1565
$GC,12267,1.43,336.2,53.3,7.1,737,12296,0.15,2.28,22.42,0.811,6,0.054,0.048,3063,1962,1459
$GC,12617,1.37,336.2,13.7,13.5,754,12621,0.00,2.72,0.00,0.000,4,0.000,0.062,3063,437,1459
$GC,12634,1.31,336.2,11.2,12.8,755,12640,0.17,2.70,0.00,0.000,6,0.086,0.047,3028,1963,1459
$STATE,12732,end climb,SURFACE_DEPTH_REACHED
$STATE,12732,begin surface coast
$FINISH,0.6,1.026885
$STATE,12754,end surface coast,CONTROL_FINISHED_OK
$STATE,12754,begin surface
$SM_CCo,12839,0.00,0.000,0,0,1459,336.55
$SM_GC,1.50,11.35,0.00,0.00,0.038,0.000,0.000,421,2118,1459,-10.59,-0.59,336.55
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1814
$TCM_TEMP,17.30
$XPDR_PINGS,56
$ALTIM_BOTTOM_PING,620.1,19.6
$24V_AH,23.8,51.736
$10V_AH,10.1,23.204
$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,27.075,151.525,433.600,0.000,0.000,152.409,170.280,299.273,19.500,0.000,0.000,13.309,1380.905,9312.266,522.080,1630.287,930.870,33.345,1387.314,0.000,1585.094,0.000,40.492,0.000
$DEVICE_MAMPS,153.400,76.700,1217.996,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,520.398,554.810,457.472,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38050,761
$CAP_FILE_SIZE,123592,0
$CFSIZE,254472192,234971136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171009,055224,6300.871,-1259.030,24,1.4,42,-12.0