version: 66.04
glider: 5
mission: 7
dive: 317
start: 10 17 109 5 59 21
data:
$ID,5
$MISSION,7
$DIVE,317
$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,-106383.07
$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,18
$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
$GPS1,055224,6300.871,-1259.030,24,1.4,42,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-55.9
$GPS2,055834,6300.898,-1259.049,10,2.6,29,-12.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FE
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.162,-0.184
$KALMAN_X,10854.6,-1714.0,-686.7,-8373.0,1606.1
$KALMAN_Y,26415.5,-1131.3,-140.0,-75832.7,8806.7
$MHEAD_RNG_PITCHd_Wd,150.5,29556,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,82,0.00,0.00,-61.28,0.000,2,0.000,0.000,421,2114,2686
$GC,86,-1.22,-146.6,2.8,-3.0,3,130,11.20,2.67,-26.88,0.000,4,0.160,0.074,2470,3549,3430
$GC,204,-1.10,-146.6,16.5,-15.4,8,209,0.17,2.55,0.00,0.000,6,0.098,0.048,2507,2119,3430
$GC,526,-1.10,-146.6,58.1,-13.4,24,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2102,3430
$GC,835,-1.10,-146.6,96.0,-12.3,39,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2101,3431
$GC,1145,-1.10,-146.6,138.5,-13.6,54,1149,0.00,2.62,0.00,0.000,4,0.000,0.065,2507,3543,3431
$GC,1185,-1.10,-146.6,143.9,-13.9,56,1189,0.00,2.50,0.00,0.000,6,0.000,0.050,2507,2139,3431
$GC,1510,-1.10,-146.6,181.0,-10.4,76,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2123,3431
$GC,1822,-1.10,-146.6,211.4,-9.4,96,1826,0.00,2.53,0.00,0.000,4,0.000,0.060,2507,713,3431
$GC,1856,-1.10,-146.6,214.5,-9.3,98,1861,0.00,2.58,0.00,0.000,6,0.000,0.050,2507,2171,3431
$GC,2183,-1.10,-146.6,244.9,-9.8,119,2188,0.00,2.65,0.00,0.000,4,0.000,0.061,2507,705,3431
$GC,2235,-1.10,-146.6,250.3,-10.1,122,2239,0.00,2.58,0.00,0.000,6,0.000,0.050,2507,2155,3431
$GC,2559,-1.10,-146.6,283.0,-9.6,143,2563,0.00,2.60,0.00,0.000,4,0.000,0.061,2507,717,3431
$GC,2598,-1.10,-146.6,286.9,-10.4,145,2605,0.00,2.53,0.00,0.000,6,0.000,0.051,2507,2144,3431
$GC,2918,-1.10,-146.6,318.1,-9.5,166,2922,0.00,2.60,0.00,0.000,4,0.000,0.061,2507,706,3431
$GC,2950,-1.10,-146.6,321.6,-10.7,168,2955,0.00,2.50,0.00,0.000,6,0.000,0.051,2507,2115,3431
$GC,3269,-1.10,-146.6,353.3,-9.8,188,3273,0.00,2.53,0.00,0.000,4,0.000,0.061,2507,717,3431
$GC,3308,-1.10,-146.6,357.4,-10.5,190,3313,0.00,2.45,0.00,0.000,6,0.000,0.051,2508,2110,3431
$GC,3628,-1.10,-146.6,388.7,-9.8,210,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2110,3431
$GC,3940,-1.10,-146.6,418.5,-9.2,230,3944,0.00,2.53,0.00,0.000,4,0.000,0.062,2508,715,3431
$GC,3978,-1.10,-146.6,422.3,-9.9,232,3984,0.00,2.45,0.00,0.000,6,0.000,0.051,2507,2094,3431
$GC,4298,-1.10,-146.6,455.7,-11.1,253,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2094,3431
$GC,4609,-1.10,-146.6,492.4,-12.1,273,4614,0.00,2.65,0.00,0.000,4,0.000,0.072,2507,3540,3431
$GC,4632,-1.10,-146.6,495.2,-11.9,274,4639,0.00,2.62,0.00,0.000,6,0.000,0.058,2507,2086,3431
$GC,4952,-1.10,-146.6,531.7,-11.1,295,4956,0.00,2.45,0.00,0.000,4,0.000,0.064,2507,710,3431
$GC,4991,-1.15,-146.6,536.2,-10.9,297,4997,0.00,2.45,0.00,0.000,6,0.000,0.051,2507,2091,3431
$GC,5311,-1.15,-146.6,565.8,-8.3,318,5315,0.00,2.50,0.00,0.000,4,0.000,0.064,2507,708,3430
$GC,5346,-1.18,-146.6,568.8,-8.7,320,5350,0.00,2.42,0.00,0.000,6,0.000,0.052,2507,2070,3431
$GC,5671,-1.18,-146.6,595.1,-8.5,341,5675,0.00,2.70,0.00,0.000,4,0.000,0.074,2507,3539,3431
$GC,5901,-1.18,-146.6,618.7,-10.2,355,5905,0.00,2.65,0.00,0.000,6,0.000,0.061,2507,2083,3430
$STATE,6034,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6034,begin apogee
$GC,6042,-0.33,0.0,632.7,10.1,364,6177,0.77,0.00,131.20,1.238,6,0.077,0.000,2674,1831,2831
$STATE,6177,end apogee,CONTROL_FINISHED_OK
$STATE,6177,begin climb
$GC,6181,1.22,146.6,637.1,0.0,373,6323,1.52,2.72,132.30,1.192,4,0.058,0.070,3010,3254,2232
$GC,6362,1.19,172.8,629.8,7.0,384,6393,0.00,2.62,24.27,1.134,6,0.000,0.064,3010,1848,2125
$GC,6723,1.18,206.9,603.5,6.8,407,6759,0.00,2.70,30.50,1.160,4,0.000,0.069,3010,3255,1987
$GC,6806,1.18,206.9,597.1,8.5,412,6810,0.00,2.62,0.00,0.000,6,0.000,0.067,3010,1855,1986
$GC,7126,1.19,234.0,572.7,7.0,432,7156,0.00,2.72,24.23,1.160,4,0.000,0.070,3010,3257,1876
$GC,7167,1.20,242.0,569.4,7.7,434,7182,0.00,2.60,8.55,1.016,6,0.000,0.066,3010,1872,1844
$GC,7506,1.23,263.0,543.9,7.2,456,7530,0.00,2.62,19.45,1.143,4,0.000,0.070,3011,3252,1758
$GC,7548,1.23,263.0,540.4,8.4,458,7554,0.00,2.55,0.00,0.000,6,0.000,0.064,3010,1885,1758
$GC,7867,1.23,263.0,512.2,9.8,479,7872,0.00,2.55,0.00,0.000,4,0.000,0.067,3010,3254,1758
$GC,7914,1.23,263.0,507.7,9.6,482,7918,0.00,2.45,0.00,0.000,6,0.000,0.061,3010,1903,1758
$GC,8244,1.23,263.0,475.6,9.6,503,8248,0.00,2.50,0.00,0.000,4,0.000,0.066,3010,3253,1758
$GC,8290,1.23,263.0,471.4,9.2,506,8294,0.00,2.40,0.00,0.000,6,0.000,0.059,3010,1929,1758
$GC,8615,1.23,263.0,440.9,10.0,527,8619,0.00,2.70,0.00,0.000,4,0.000,0.069,3010,439,1757
$GC,8631,1.23,263.0,438.9,10.4,528,8635,0.00,2.70,0.00,0.000,6,0.000,0.052,3010,1946,1757
$GC,8950,1.23,263.0,404.1,11.2,548,8951,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1962,1757
$GC,9262,1.23,263.0,370.5,10.6,568,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1962,1757
$GC,9576,1.23,263.0,339.5,9.9,588,9580,0.00,2.78,0.00,0.000,4,0.000,0.067,3010,435,1757
$GC,9592,1.23,263.0,337.5,10.4,589,9596,0.00,2.67,0.00,0.000,6,0.000,0.050,3010,1938,1757
$GC,9912,1.23,263.0,307.4,9.6,609,9916,0.00,2.75,0.00,0.000,4,0.000,0.067,3010,438,1757
$GC,9928,1.23,263.0,305.4,10.0,610,9932,0.00,2.65,0.00,0.000,6,0.000,0.050,3010,1926,1758
$GC,10247,1.23,263.0,276.5,9.0,630,10249,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1926,1758
$GC,10559,1.23,263.0,249.5,8.2,650,10560,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1927,1758
$GC,10871,1.23,263.0,223.4,8.4,670,10876,0.00,2.72,0.00,0.000,4,0.000,0.066,3011,438,1759
$GC,10888,1.23,263.0,221.8,8.6,671,10893,0.00,2.65,0.00,0.000,6,0.000,0.049,3010,1932,1759
$GC,11208,1.23,263.0,195.4,8.1,691,11212,0.00,2.35,0.00,0.000,4,0.000,0.061,3010,3253,1759
$GC,11224,1.23,263.0,193.9,8.4,692,11228,0.00,2.38,0.00,0.000,6,0.000,0.051,3010,1922,1759
$GC,11544,1.24,267.1,168.4,7.9,712,11554,0.00,2.45,5.30,0.711,4,0.000,0.059,3010,3260,1741
$GC,11573,1.27,267.1,165.9,9.0,713,11577,0.00,2.40,0.00,0.000,6,0.000,0.051,3010,1921,1741
$GC,11896,1.27,267.1,138.8,8.5,732,11901,0.00,2.42,0.00,0.000,4,0.000,0.060,3010,3256,1741
$GC,11919,1.27,267.1,136.7,9.3,733,11923,0.00,2.35,0.00,0.000,6,0.000,0.049,3010,1936,1741
$GC,12243,1.27,267.1,109.5,8.7,749,12247,0.00,2.40,0.00,0.000,4,0.000,0.059,3010,3258,1741
$GC,12265,1.31,267.1,107.3,8.5,750,12269,0.00,2.33,0.00,0.000,6,0.000,0.048,3010,1948,1741
$GC,12593,1.31,267.1,80.1,8.2,766,12594,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1948,1741
$GC,12902,1.33,278.1,55.8,7.6,781,12918,0.10,2.40,10.45,0.770,4,0.061,0.058,3040,3255,1697
$GC,12946,1.33,278.1,50.8,11.6,782,12950,0.00,2.33,0.00,0.000,6,0.000,0.049,3040,1960,1697
$GC,13268,1.33,278.1,14.4,11.7,798,13269,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1960,1697
$STATE,13408,end climb,SURFACE_DEPTH_REACHED
$STATE,13409,begin surface coast
$FINISH,0.8,1.014290
$STATE,13431,end surface coast,CONTROL_FINISHED_OK
$STATE,13431,begin surface
$SM_CCo,13455,11.85,0.742,0,0,1608,300.00
$SM_GC,1.84,0.00,0.00,11.85,0.000,0.000,0.742,420,2162,1608,-10.69,0.90,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1831
$TCM_TEMP,16.20
$XPDR_PINGS,55
$ALTIM_BOTTOM_PING,571.2,71.0
$24V_AH,23.8,51.882
$10V_AH,10.1,23.277
$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,25.125,138.550,386.250,11.850,0.000,37.759,42.986,143.152,18.750,0.000,0.000,30.568,1415.785,9752.720,506.034,1637.132,522.103,33.350,1343.688,0.000,1583.396,0.000,35.082,0.000
$DEVICE_MAMPS,159.536,74.399,1237.938,742.456,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,551.717,589.547,469.567,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41073,806
$CAP_FILE_SIZE,110796,0
$CFSIZE,254472192,234921984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,171009,094506,6300.722,-1257.455,37,1.3,37,-12.0