version: 66.04
glider: 5
mission: 7
dive: 320
start: 10 17 109 17 40 53
data:
$ID,5
$MISSION,7
$DIVE,320
$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,-106427.2
$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,25
$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
$GPS1,173406,6258.028,-1301.914,28,1.2,28,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-57.1
$GPS2,174002,6258.092,-1301.934,14,1.2,14,-12.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FE
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.129,-0.209
$KALMAN_X,-4048.8,1617.4,530.6,-485.3,-13219.5
$KALMAN_Y,33336.8,-911.8,-165.4,-88146.2,9453.3
$MHEAD_RNG_PITCHd_Wd,160.2,29237,-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,16,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-60.95,0.000,2,0.000,0.000,421,2156,2823
$GC,83,-1.22,-146.6,2.9,-3.3,3,118,11.25,2.58,-18.17,0.000,4,0.158,0.078,2471,3531,3430
$GC,287,-1.13,-146.6,29.6,-13.3,12,292,0.12,2.50,0.00,0.000,6,0.105,0.047,2496,2125,3430
$GC,609,-1.08,-146.6,66.4,-12.3,28,613,0.00,2.50,0.00,0.000,4,0.000,0.059,2496,717,3430
$GC,650,-1.08,-146.6,71.0,-11.5,30,654,0.00,2.50,0.00,0.000,6,0.000,0.048,2496,2128,3430
$GC,978,-1.03,-146.6,104.5,-10.1,46,982,0.10,2.55,0.00,0.000,4,0.104,0.060,2517,720,3430
$GC,1064,-1.07,-146.6,113.0,-9.7,50,1068,0.00,2.42,0.00,0.000,6,0.000,0.048,2518,2089,3430
$GC,1392,-1.07,-146.6,145.1,-9.7,66,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2089,3431
$GC,1702,-1.07,-146.6,175.8,-9.7,85,1706,0.00,2.50,0.00,0.000,4,0.000,0.061,2518,708,3430
$GC,1731,-1.07,-146.6,178.6,-9.9,87,1735,0.00,2.42,0.00,0.000,6,0.000,0.049,2518,2077,3430
$GC,2055,-1.07,-146.6,211.7,-10.3,108,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2077,3430
$GC,2367,-1.07,-146.6,243.7,-10.0,128,2371,0.00,2.47,0.00,0.000,4,0.000,0.064,2517,716,3430
$GC,2401,-1.07,-146.6,247.2,-10.0,130,2405,0.00,2.40,0.00,0.000,6,0.000,0.051,2517,2064,3430
$GC,2720,-1.07,-146.6,278.5,-9.9,150,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2064,3430
$GC,3033,-1.07,-146.6,309.4,-10.0,170,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2065,3430
$GC,3345,-1.07,-146.6,341.7,-10.5,190,3349,0.00,2.45,0.00,0.000,4,0.000,0.062,2517,715,3430
$GC,3391,-1.11,-146.6,346.4,-10.4,193,3395,0.00,2.38,0.00,0.000,6,0.000,0.051,2518,2053,3431
$GC,3716,-1.11,-146.6,380.5,-10.3,214,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2053,3430
$GC,4027,-1.11,-146.6,413.5,-10.9,234,4032,0.00,2.42,0.00,0.000,4,0.000,0.064,2518,719,3430
$GC,4050,-1.11,-146.6,416.0,-10.9,235,4056,0.00,2.35,0.00,0.000,6,0.000,0.051,2517,2042,3430
$GC,4370,-1.11,-146.6,449.5,-10.3,256,4374,0.00,2.70,0.00,0.000,4,0.000,0.068,2517,3533,3430
$GC,4437,-1.11,-146.6,456.7,-10.1,260,4441,0.00,2.65,0.00,0.000,6,0.000,0.056,2517,2060,3430
$GC,4756,-1.11,-146.6,487.3,-9.3,280,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2050,3430
$GC,5068,-1.11,-146.6,516.3,-9.6,300,5072,0.00,2.72,0.00,0.000,4,0.000,0.070,2517,3533,3429
$GC,5123,-1.11,-146.6,521.9,-9.9,303,5129,0.00,2.62,0.00,0.000,6,0.000,0.057,2517,2076,3430
$GC,5444,-1.11,-146.6,553.5,-9.9,324,5449,0.00,2.72,0.00,0.000,4,0.000,0.071,2517,3542,3429
$GC,5528,-1.11,-146.6,562.3,-10.0,329,5532,0.00,2.60,0.00,0.000,6,0.000,0.058,2517,2102,3429
$GC,5848,-1.11,-146.6,593.0,-8.9,349,5852,0.00,2.47,0.00,0.000,4,0.000,0.065,2517,716,3429
$GC,5982,-1.18,-146.6,605.9,-10.6,357,5987,0.15,2.42,0.00,0.000,6,0.058,0.052,2477,2079,3429
$GC,6305,-1.12,-146.6,641.8,-11.3,377,6310,0.12,2.67,0.00,0.000,4,0.099,0.074,2502,3537,3429
$GC,6372,-1.12,-146.6,649.1,-9.8,381,6376,0.00,2.67,0.00,0.000,6,0.000,0.063,2502,2069,3429
$STATE,6674,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6674,begin apogee
$GC,6682,-0.33,0.0,679.6,9.5,400,6816,0.77,0.00,131.02,1.282,6,0.076,0.000,2669,1850,2831
$STATE,6817,end apogee,CONTROL_FINISHED_OK
$STATE,6817,begin climb
$GC,6820,1.22,146.6,684.6,0.0,409,6961,1.55,0.00,131.68,1.242,6,0.060,0.000,3008,1850,2232
$GC,7274,1.18,149.2,660.2,7.9,438,7283,0.00,2.65,3.92,0.745,4,0.000,0.073,3008,3257,2222
$GC,7370,1.21,204.4,652.5,6.0,443,7426,0.00,2.60,50.08,1.216,6,0.000,0.066,3008,1858,1997
$GC,7752,1.21,204.4,625.0,8.2,468,7753,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1858,1995
$GC,8065,1.21,204.4,600.6,8.5,488,8069,0.00,2.62,0.00,0.000,4,0.000,0.071,3008,3257,1994
$GC,8103,1.21,204.4,596.9,9.5,490,8110,0.00,2.62,0.00,0.000,6,0.000,0.067,3008,1849,1994
$GC,8424,1.21,204.4,568.7,8.9,511,8428,0.00,2.60,0.00,0.000,4,0.000,0.077,3008,433,1993
$GC,8452,1.15,204.4,565.9,10.2,513,8457,0.00,2.55,0.00,0.000,6,0.000,0.058,3007,1842,1993
$GC,8778,1.15,204.4,535.8,9.1,534,8782,0.00,2.58,0.00,0.000,4,0.000,0.068,3008,3257,1993
$GC,8823,1.15,204.4,531.7,8.6,537,8827,0.00,2.58,0.00,0.000,6,0.000,0.063,3008,1852,1993
$GC,9147,1.15,204.4,504.1,8.4,558,9151,0.00,2.60,0.00,0.000,4,0.000,0.066,3007,3258,1993
$GC,9203,1.15,204.4,499.2,9.3,561,9209,0.00,2.55,0.00,0.000,6,0.000,0.059,3008,1860,1993
$GC,9522,1.15,204.4,471.4,8.8,582,9526,0.00,2.58,0.00,0.000,4,0.000,0.064,3007,3258,1992
$GC,9567,1.15,204.4,467.4,8.7,585,9571,0.00,2.53,0.00,0.000,6,0.000,0.058,3008,1866,1993
$GC,9891,1.15,204.4,441.0,8.3,606,9895,0.00,2.55,0.00,0.000,4,0.000,0.063,3008,3256,1993
$GC,9926,1.15,204.4,438.1,8.2,608,9930,0.00,2.47,0.00,0.000,6,0.000,0.058,3008,1883,1993
$GC,10250,1.15,204.4,409.3,8.9,629,10254,0.00,2.53,0.00,0.000,4,0.000,0.063,3008,3260,1993
$GC,10278,1.15,204.4,406.5,9.8,630,10285,0.00,2.45,0.00,0.000,6,0.000,0.056,3008,1899,1993
$GC,10599,1.15,204.4,379.5,8.6,651,10604,0.00,2.62,0.00,0.000,4,0.000,0.066,3008,438,1993
$GC,10629,1.11,204.4,376.9,9.7,653,10634,0.12,2.60,0.00,0.000,6,0.091,0.050,2984,1902,1993
$GC,10957,1.21,243.6,354.8,6.6,674,10997,0.10,2.78,33.80,1.037,4,0.062,0.064,3013,446,1838
$GC,11009,1.21,244.9,350.5,8.0,677,11014,0.00,2.60,0.00,0.000,6,0.000,0.049,3013,1890,1838
$GC,11329,1.21,244.9,323.7,8.6,697,11333,0.00,2.45,0.00,0.000,4,0.000,0.061,3013,3255,1837
$GC,11357,1.21,244.9,321.2,9.1,699,11361,0.00,2.45,0.00,0.000,6,0.000,0.054,3013,1897,1838
$GC,11681,1.22,249.7,295.0,7.8,720,11698,0.00,2.55,6.90,0.836,4,0.000,0.060,3013,3258,1813
$GC,11717,1.22,251.1,292.2,7.9,722,11722,0.00,2.45,0.00,0.000,6,0.000,0.053,3013,1903,1813
$GC,12042,1.22,251.1,265.2,8.5,743,12046,0.00,2.47,0.00,0.000,4,0.000,0.061,3013,3258,1813
$GC,12076,1.22,251.1,262.1,8.2,745,12080,0.00,2.40,0.00,0.000,6,0.000,0.052,3013,1919,1813
$GC,12395,1.22,251.1,234.8,8.5,765,12399,0.00,2.45,0.00,0.000,4,0.000,0.061,3013,3263,1813
$GC,12417,1.22,251.1,232.8,8.4,766,12423,0.00,2.40,0.00,0.000,6,0.000,0.051,3013,1920,1813
$GC,12736,1.22,251.1,207.4,8.2,787,12740,0.00,2.42,0.00,0.000,4,0.000,0.060,3013,3254,1813
$GC,12776,1.25,251.1,204.0,8.3,789,12782,0.00,2.35,0.00,0.000,6,0.000,0.051,3013,1940,1813
$GC,13095,1.25,251.1,177.6,8.5,810,13099,0.00,2.40,0.00,0.000,4,0.000,0.060,3013,3258,1813
$GC,13111,1.25,251.1,176.0,8.7,811,13116,0.00,2.33,0.00,0.000,6,0.000,0.049,3013,1954,1814
$GC,13431,1.25,251.1,150.2,8.3,831,13432,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1955,1814
$GC,13757,1.29,270.0,125.8,7.3,847,13781,0.00,2.45,18.48,0.853,4,0.000,0.058,3013,3256,1730
$GC,13851,1.36,287.0,118.7,7.4,851,13874,0.12,2.33,15.45,0.841,6,0.056,0.048,3047,1955,1660
$GC,14187,1.31,287.0,87.8,10.3,867,14188,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1955,1660
$GC,14493,1.26,287.0,57.5,10.6,882,14498,0.15,2.38,0.00,0.000,4,0.087,0.058,3019,3261,1660
$GC,14526,1.30,287.0,54.1,9.1,883,14532,0.00,2.30,0.00,0.000,6,0.000,0.048,3019,1966,1660
$GC,14844,1.30,287.0,28.5,8.9,899,14845,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1966,1660
$STATE,15087,end climb,SURFACE_DEPTH_REACHED
$STATE,15087,begin surface coast
$FINISH,1.3,1.027240
$STATE,15109,end surface coast,CONTROL_FINISHED_OK
$STATE,15109,begin surface
$SM_CCo,15133,7.55,0.687,0,0,1608,300.00
$SM_GC,2.71,0.00,0.00,7.55,0.000,0.000,0.687,422,2148,1608,-10.68,0.51,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1827
$TCM_TEMP,17.30
$XPDR_PINGS,55
$ALTIM_BOTTOM_PING,620.7,68.1
$24V_AH,23.7,52.320
$10V_AH,10.1,23.505
$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,25.950,151.650,391.325,7.550,0.000,37.762,28.974,154.228,19.250,0.000,0.000,14.262,1606.438,10959.267,516.228,1866.675,548.015,33.380,1466.960,0.000,1824.442,0.000,38.230,0.000
$DEVICE_MAMPS,158.002,78.234,1282.424,687.232,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,624.604,668.044,519.230,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47533,912
$CAP_FILE_SIZE,125576,0
$CFSIZE,254472192,234729472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,171009,215436,6258.041,-1257.858,36,0.9,41,-12.0