version: 66.04
glider: 5
mission: 7
dive: 321
start: 10 17 109 22 1 35
data:
$ID,5
$MISSION,7
$DIVE,321
$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,-106443.2
$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,21
$R_STBD_OVSHOOT,32
$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
$GPS1,215436,6258.041,-1257.858,36,0.9,41,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-54.4
$GPS2,220044,6258.093,-1257.640,15,0.9,15,-12.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FE
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.200,-0.141
$KALMAN_X,-3073.2,2037.2,1147.7,1016.0,-11544.2
$KALMAN_Y,38541.3,-1244.3,-422.6,-92771.4,13009.9
$MHEAD_RNG_PITCHd_Wd,137.2,25930,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.35,0.000,2,0.000,0.000,422,2147,2418
$GC,63,-1.22,-146.6,2.1,-3.3,2,132,11.23,2.53,-51.55,0.000,4,0.156,0.079,2472,3534,3428
$GC,362,-1.12,-146.6,30.7,-12.7,15,369,0.15,2.53,0.00,0.000,6,0.100,0.048,2503,2112,3428
$GC,679,-1.07,-146.6,64.9,-10.6,31,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2096,3428
$GC,988,-1.03,-146.6,99.4,-11.4,46,992,0.00,2.47,0.00,0.000,4,0.000,0.060,2503,718,3428
$GC,1009,-1.03,-146.6,102.2,-11.9,47,1014,0.00,2.50,0.00,0.000,6,0.000,0.048,2503,2133,3428
$GC,1332,-0.98,-146.6,136.1,-10.8,63,1337,0.12,2.55,0.00,0.000,4,0.097,0.065,2530,3538,3428
$GC,1420,-0.98,-146.6,144.4,-8.6,67,1425,0.00,2.45,0.00,0.000,6,0.000,0.050,2530,2163,3428
$GC,1750,-0.98,-146.6,176.2,-10.5,87,1754,0.00,2.58,0.00,0.000,4,0.000,0.059,2530,709,3428
$GC,1817,-1.04,-146.6,183.2,-10.1,91,1822,0.00,2.55,0.00,0.000,6,0.000,0.048,2529,2154,3428
$GC,2137,-1.04,-146.6,213.9,-9.4,111,2141,0.00,2.60,0.00,0.000,4,0.000,0.059,2530,714,3428
$GC,2188,-1.10,-146.6,218.9,-9.7,114,2193,0.12,2.53,0.00,0.000,6,0.059,0.048,2495,2140,3428
$GC,2509,-1.05,-146.6,255.7,-11.7,134,2514,0.00,2.58,0.00,0.000,4,0.000,0.058,2494,708,3428
$GC,2566,-1.05,-146.6,262.8,-11.7,137,2573,0.10,2.50,0.00,0.000,6,0.099,0.050,2516,2120,3428
$GC,2887,-1.05,-146.6,297.3,-10.4,158,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2120,3428
$GC,3197,-1.05,-146.6,330.8,-11.1,178,3202,0.00,2.53,0.00,0.000,4,0.000,0.059,2515,716,3428
$GC,3261,-1.09,-146.6,337.6,-10.6,182,3266,0.00,2.50,0.00,0.000,6,0.000,0.050,2515,2126,3428
$GC,3588,-1.09,-146.6,370.8,-9.7,203,3593,0.00,2.55,0.00,0.000,4,0.000,0.062,2516,716,3428
$GC,3618,-1.09,-146.6,374.1,-10.0,205,3622,0.00,2.47,0.00,0.000,6,0.000,0.051,2516,2112,3428
$GC,3944,-1.09,-146.6,405.7,-9.5,226,3948,0.00,2.53,0.00,0.000,4,0.000,0.062,2516,713,3428
$GC,3979,-1.12,-146.6,409.2,-9.6,228,3983,0.00,2.45,0.00,0.000,6,0.000,0.051,2515,2094,3428
$GC,4298,-1.12,-146.6,439.8,-9.3,248,4303,0.00,2.50,0.00,0.000,4,0.000,0.061,2516,709,3428
$GC,4327,-1.12,-146.6,442.7,-10.0,250,4331,0.00,2.42,0.00,0.000,6,0.000,0.051,2515,2074,3428
$GC,4653,-1.12,-146.6,474.4,-9.9,271,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2074,3428
$GC,4965,-1.12,-146.6,504.2,-9.6,291,4969,0.00,2.65,0.00,0.000,4,0.000,0.071,2516,3531,3427
$GC,5003,-1.12,-146.6,508.1,-10.1,293,5009,0.00,2.65,0.00,0.000,6,0.000,0.058,2516,2064,3427
$GC,5323,-1.12,-146.6,537.0,-8.8,314,5327,0.00,2.40,0.00,0.000,4,0.000,0.064,2516,717,3427
$GC,5357,-1.15,-146.6,540.5,-10.2,316,5361,0.00,2.42,0.00,0.000,6,0.000,0.052,2515,2079,3427
$GC,5678,-1.15,-146.6,571.1,-10.0,336,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2080,3427
$GC,5990,-1.15,-146.6,600.6,-10.0,356,5995,0.00,2.67,0.00,0.000,4,0.000,0.076,2515,3534,3427
$GC,6041,-1.15,-146.6,606.2,-9.4,359,6045,0.00,2.65,0.00,0.000,6,0.000,0.064,2516,2081,3427
$GC,6360,-1.15,-146.6,633.9,-8.2,379,6365,0.00,2.72,0.00,0.000,4,0.000,0.076,2516,3535,3427
$GC,6395,-1.15,-146.6,637.3,-9.5,381,6400,0.00,2.65,0.00,0.000,6,0.000,0.065,2515,2087,3427
$STATE,6461,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6462,begin apogee
$GC,6469,-0.33,0.0,643.4,8.7,385,6603,0.73,0.00,130.62,1.253,6,0.074,0.000,2672,1845,2831
$STATE,6604,end apogee,CONTROL_FINISHED_OK
$STATE,6604,begin climb
$GC,6608,1.22,146.6,648.3,0.0,394,6752,1.52,2.70,130.60,1.214,4,0.060,0.069,3006,3244,2233
$GC,6831,1.16,146.6,634.9,11.0,407,6837,0.00,2.60,0.00,0.000,6,0.000,0.066,3005,1852,2233
$GC,7151,1.10,146.6,609.4,8.1,428,7153,0.12,0.00,0.00,0.000,6,0.097,0.000,2983,1852,2232
$GC,7462,1.16,187.6,587.8,6.5,448,7509,0.00,2.72,37.00,1.187,4,0.000,0.070,2983,3255,2066
$GC,7562,1.25,241.2,581.1,6.1,454,7618,0.15,2.60,48.12,1.186,6,0.061,0.067,3020,1859,1847
$GC,7938,1.21,241.2,550.9,8.6,478,7942,0.00,2.62,0.00,0.000,4,0.000,0.071,3020,3257,1847
$GC,7967,1.21,241.2,548.3,9.2,480,7971,0.00,2.58,0.00,0.000,6,0.000,0.066,3020,1869,1846
$GC,8293,1.17,241.2,519.0,9.1,501,8298,0.00,2.62,0.00,0.000,4,0.000,0.074,3020,436,1846
$GC,8310,1.12,241.2,517.0,9.5,502,8316,0.17,2.60,0.00,0.000,6,0.094,0.055,2987,1874,1846
$GC,8633,1.21,271.2,494.2,6.9,522,8665,0.00,2.62,26.77,1.144,4,0.000,0.067,2987,3253,1725
$GC,8677,1.26,271.2,490.5,8.2,524,8684,0.15,2.60,0.00,0.000,6,0.058,0.062,3024,1858,1725
$GC,8997,1.23,271.2,459.5,10.0,545,9002,0.00,2.60,0.00,0.000,4,0.000,0.066,3024,3258,1725
$GC,9043,1.23,271.2,454.6,10.4,548,9048,0.00,2.55,0.00,0.000,6,0.000,0.061,3024,1867,1725
$GC,9367,1.23,271.2,420.0,10.7,569,9371,0.00,2.58,0.00,0.000,4,0.000,0.064,3024,3261,1725
$GC,9413,1.23,271.2,415.1,10.2,572,9417,0.00,2.50,0.00,0.000,6,0.000,0.058,3024,1886,1725
$GC,9737,1.23,271.2,383.9,9.2,593,9741,0.00,2.53,0.00,0.000,4,0.000,0.064,3024,3257,1725
$GC,9783,1.23,271.2,379.7,9.2,596,9787,0.00,2.42,0.00,0.000,6,0.000,0.057,3024,1913,1725
$GC,10114,1.23,271.2,350.9,8.7,617,10118,0.00,2.47,0.00,0.000,4,0.000,0.063,3024,3259,1725
$GC,10147,1.23,271.2,347.8,8.9,619,10151,0.00,2.42,0.00,0.000,6,0.000,0.055,3024,1915,1725
$GC,10466,1.23,271.2,319.5,9.1,639,10470,0.00,2.47,0.00,0.000,4,0.000,0.063,3024,3263,1726
$GC,10512,1.23,271.2,315.2,8.9,642,10516,0.00,2.38,0.00,0.000,6,0.000,0.054,3024,1943,1726
$GC,10836,1.23,271.2,286.5,8.7,663,10840,0.00,2.40,0.00,0.000,4,0.000,0.063,3024,3256,1726
$GC,10864,1.23,271.2,283.9,9.1,664,10870,0.00,2.35,0.00,0.000,6,0.000,0.053,3024,1947,1727
$GC,11184,1.23,271.2,255.2,9.2,685,11188,0.00,2.40,0.00,0.000,4,0.000,0.062,3024,3258,1726
$GC,11205,1.23,271.2,253.0,10.0,686,11211,0.00,2.33,0.00,0.000,6,0.000,0.052,3024,1964,1727
$GC,11525,1.23,271.2,222.8,9.3,707,11529,0.00,2.38,0.00,0.000,4,0.000,0.061,3024,3261,1727
$GC,11547,1.23,271.2,220.4,10.0,708,11553,0.00,2.30,0.00,0.000,6,0.000,0.051,3024,1976,1727
$GC,11866,1.23,271.2,190.8,9.0,729,11867,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1976,1727
$GC,12179,1.23,271.2,161.2,9.4,749,12180,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1976,1728
$GC,12489,1.23,271.2,131.1,9.2,766,12493,0.00,2.35,0.00,0.000,4,0.000,0.061,3024,3263,1728
$GC,12522,1.23,271.2,127.7,9.6,767,12528,0.00,2.28,0.00,0.000,6,0.000,0.049,3024,1982,1728
$GC,12839,1.23,274.0,100.8,7.9,783,12846,0.00,0.00,4.80,0.647,6,0.000,0.000,3023,1981,1713
$GC,13149,1.23,274.0,72.9,8.9,798,13153,0.00,2.33,0.00,0.000,4,0.000,0.058,3024,3262,1713
$GC,13182,1.23,274.0,68.5,11.5,799,13188,0.00,2.28,0.00,0.000,6,0.000,0.048,3024,1975,1713
$GC,13499,1.23,274.0,44.6,8.2,815,13503,0.00,2.75,0.00,0.000,4,0.000,0.062,3024,432,1713
$GC,13526,1.25,286.5,42.4,7.5,816,13543,0.00,2.75,11.68,0.772,6,0.000,0.046,3024,1994,1663
$GC,13865,1.25,286.5,11.9,8.0,833,13870,0.00,2.83,0.00,0.000,4,0.000,0.062,3024,441,1663
$GC,13884,1.25,286.5,9.5,11.2,834,13889,0.00,2.70,0.00,0.000,6,0.000,0.048,3024,1970,1663
$STATE,13962,end climb,SURFACE_DEPTH_REACHED
$STATE,13962,begin surface coast
$FINISH,1.6,1.027248
$STATE,13983,end surface coast,CONTROL_FINISHED_OK
$STATE,13984,begin surface
$SM_CCo,14007,7.65,0.693,0,0,1608,300.00
$SM_GC,2.36,0.00,0.00,7.65,0.000,0.000,0.693,419,2144,1608,-10.70,0.40,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1821
$TCM_TEMP,17.30
$XPDR_PINGS,57
$ALTIM_BOTTOM_PING,621.0,31.7
$24V_AH,23.7,52.469
$10V_AH,10.1,23.582
$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,26.000,157.375,389.600,7.650,0.000,37.761,37.349,156.678,19.750,0.000,0.000,15.368,1494.552,10045.938,519.355,1765.421,556.722,33.356,1434.951,0.000,1719.630,0.000,40.389,0.000
$DEVICE_MAMPS,156.468,79.001,1252.511,692.601,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,573.771,606.121,498.708,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44194,839
$CAP_FILE_SIZE,121896,0
$CFSIZE,254472192,234672128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,181009,015706,6256.831,-1255.304,64,1.5,75,-11.9