version: 66.04
glider: 5
mission: 7
dive: 323
start: 10 18 109 6 27 57
data:
$ID,5
$MISSION,7
$DIVE,323
$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,-106492.26
$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,34
$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
$GPS1,061354,6255.599,-1255.263,44,1.1,62,-11.9
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-56.5
$GPS2,062708,6255.638,-1255.273,13,1.4,13,-11.9
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FE
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.071,-0.235
$KALMAN_X,-6906.0,30.6,628.5,9375.4,-9854.7
$KALMAN_Y,38582.0,-1528.6,-399.3,-97063.6,8435.2
$MHEAD_RNG_PITCHd_Wd,175.0,22384,-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,-146.6,0.0,0.0,0,69,0.00,0.00,-51.55,0.000,2,0.000,0.000,418,2154,2570
$GC,74,-1.22,-146.6,2.7,-2.8,3,120,11.05,2.53,-29.77,0.000,4,0.153,0.077,2470,3527,3430
$GC,238,-1.11,-146.6,24.0,-12.2,10,243,0.17,2.53,0.00,0.000,6,0.096,0.048,2507,2113,3430
$GC,555,-1.07,-146.6,60.8,-11.7,25,559,0.00,2.50,0.00,0.000,4,0.000,0.059,2507,709,3430
$GC,588,-1.07,-146.6,65.1,-12.3,26,594,0.00,2.50,0.00,0.000,6,0.000,0.048,2507,2119,3430
$GC,906,-1.04,-146.6,109.0,-15.1,42,910,0.00,2.55,0.00,0.000,4,0.000,0.058,2507,706,3430
$GC,979,-1.04,-146.6,120.0,-14.2,45,984,0.00,2.47,0.00,0.000,6,0.000,0.053,2507,2101,3430
$GC,1307,-1.01,-146.6,156.4,-10.1,62,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2101,3430
$GC,1620,-0.97,-146.6,187.8,-10.3,82,1625,0.12,2.53,0.00,0.000,4,0.093,0.061,2534,708,3430
$GC,1676,-1.03,-146.6,193.2,-9.4,85,1682,0.00,2.42,0.00,0.000,6,0.000,0.049,2533,2079,3430
$GC,1997,-1.03,-146.6,224.4,-9.8,106,2001,0.00,2.47,0.00,0.000,4,0.000,0.061,2533,716,3430
$GC,2026,-1.07,-146.6,227.5,-10.2,108,2030,0.00,2.40,0.00,0.000,6,0.000,0.050,2534,2070,3431
$GC,2356,-1.07,-146.6,260.8,-10.0,129,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2070,3430
$GC,2669,-1.07,-146.6,286.6,-7.6,149,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2070,3430
$GC,2981,-1.07,-146.6,311.1,-7.9,169,2985,0.00,2.45,0.00,0.000,4,0.000,0.061,2534,716,3430
$GC,3020,-1.14,-146.6,314.3,-8.3,171,3026,0.17,2.40,0.00,0.000,6,0.053,0.050,2486,2067,3430
$GC,3342,-1.07,-146.6,347.0,-10.4,192,3344,0.12,0.00,0.00,0.000,6,0.094,0.000,2513,2067,3430
$GC,3651,-1.07,-146.6,377.4,-10.2,212,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2067,3430
$GC,3964,-1.07,-146.6,407.5,-9.4,232,3968,0.00,2.45,0.00,0.000,4,0.000,0.062,2512,716,3430
$GC,3997,-1.07,-146.6,410.7,-9.4,234,4001,0.00,2.38,0.00,0.000,6,0.000,0.052,2512,2049,3429
$GC,4316,-1.07,-146.6,440.8,-9.2,254,4320,0.00,2.70,0.00,0.000,4,0.000,0.070,2513,3538,3429
$GC,4345,-1.07,-146.6,443.4,-9.2,256,4350,0.00,2.70,0.00,0.000,6,0.000,0.058,2513,2046,3430
$GC,4670,-1.07,-146.6,474.6,-10.2,277,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2044,3430
$GC,4982,-1.07,-146.6,506.0,-10.6,297,4987,0.00,2.72,0.00,0.000,4,0.000,0.069,2513,3532,3429
$GC,5095,-1.07,-146.6,518.7,-10.8,304,5100,0.00,2.65,0.00,0.000,6,0.000,0.058,2513,2060,3429
$GC,5420,-1.07,-146.6,549.3,-9.6,325,5424,0.00,2.72,0.00,0.000,4,0.000,0.071,2513,3531,3429
$GC,5442,-1.07,-146.6,551.4,-8.9,326,5448,0.00,2.62,0.00,0.000,6,0.000,0.058,2513,2077,3429
$GC,5761,-1.07,-146.6,582.2,-9.6,347,5762,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2053,3429
$GC,6074,-1.07,-146.6,611.5,-8.6,367,6079,0.00,2.70,0.00,0.000,4,0.000,0.073,2513,3531,3429
$GC,6104,-1.07,-146.6,614.1,-8.6,369,6108,0.00,2.62,0.00,0.000,6,0.000,0.059,2513,2074,3428
$GC,6433,-1.07,-146.6,645.7,-9.3,390,6437,0.00,2.45,0.00,0.000,4,0.000,0.070,2513,717,3428
$GC,6466,-1.13,-146.6,649.7,-10.3,392,6471,0.00,2.45,0.00,0.000,6,0.000,0.055,2513,2088,3427
$GC,6786,-1.13,-146.6,678.7,-7.2,412,6791,0.00,2.65,0.00,0.000,4,0.000,0.075,2513,3529,3427
$GC,6808,-1.13,-146.6,681.2,-10.4,413,6815,0.00,2.70,0.00,0.000,6,0.000,0.068,2513,2061,3427
$STATE,6953,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6953,begin apogee
$GC,6961,-0.33,0.0,689.9,5.5,423,7097,0.75,0.00,132.75,1.285,6,0.081,0.000,2671,1839,2831
$STATE,7098,end apogee,CONTROL_FINISHED_OK
$STATE,7098,begin climb
$GC,7101,1.22,146.6,694.4,0.0,432,7244,1.55,2.72,133.40,1.239,4,0.063,0.077,3008,439,2232
$GC,7504,1.10,146.6,662.9,14.5,456,7509,0.12,2.58,0.00,0.000,6,0.095,0.057,2985,1858,2232
$GC,7829,1.10,146.6,620.0,9.8,477,7833,0.00,2.58,0.00,0.000,4,0.000,0.071,2985,3261,2231
$GC,7852,1.06,146.6,617.4,11.2,478,7858,0.00,2.65,0.00,0.000,6,0.000,0.066,2985,1834,2231
$GC,8171,1.06,146.6,584.6,11.6,499,8175,0.00,2.65,0.00,0.000,4,0.000,0.071,2985,3253,2230
$GC,8192,1.06,146.6,582.1,11.2,500,8199,0.00,2.62,0.00,0.000,6,0.000,0.066,2985,1834,2230
$GC,8512,1.06,146.6,549.5,8.7,521,8514,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1834,2229
$GC,8824,1.28,278.4,533.2,3.2,541,8950,0.17,2.72,117.65,1.190,4,0.055,0.067,3032,3261,1694
$GC,8995,1.41,363.7,525.7,4.9,551,9079,0.00,2.62,76.25,1.149,6,0.000,0.061,3032,1847,1348
$GC,9391,1.41,363.7,497.0,8.5,577,9396,0.00,2.62,0.00,0.000,4,0.000,0.064,3032,3258,1350
$GC,9459,1.41,363.7,490.7,9.2,581,9463,0.00,2.55,0.00,0.000,6,0.000,0.061,3032,1872,1350
$GC,9778,1.41,363.7,460.8,9.6,601,9783,0.00,2.55,0.00,0.000,4,0.000,0.064,3032,3254,1351
$GC,9813,1.44,363.7,456.7,11.2,603,9818,0.12,2.50,0.00,0.000,6,0.059,0.059,3066,1886,1351
$GC,10135,1.35,363.7,407.7,16.1,623,10137,0.15,0.00,0.00,0.000,6,0.095,0.000,3036,1886,1351
$GC,10445,1.32,363.7,365.8,13.6,643,10449,0.00,2.53,0.00,0.000,4,0.000,0.063,3036,3259,1351
$GC,10491,1.32,363.7,359.5,13.3,646,10495,0.00,2.47,0.00,0.000,6,0.000,0.056,3036,1893,1351
$GC,10821,1.32,363.7,315.2,12.8,667,10825,0.00,2.50,0.00,0.000,4,0.000,0.061,3036,3259,1351
$GC,10849,1.32,363.7,311.6,13.1,669,10853,0.00,2.42,0.00,0.000,6,0.000,0.054,3036,1913,1351
$GC,11174,1.32,363.7,273.0,11.2,690,11175,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1914,1352
$GC,11485,1.32,363.7,237.7,12.0,710,11490,0.00,2.45,0.00,0.000,4,0.000,0.061,3036,3255,1352
$GC,11515,1.32,363.7,234.3,12.6,712,11519,0.00,2.40,0.00,0.000,6,0.000,0.052,3036,1916,1352
$GC,11840,1.32,363.7,197.4,11.4,733,11844,0.00,2.45,0.00,0.000,4,0.000,0.060,3036,3262,1352
$GC,11856,1.32,363.7,195.6,11.1,734,11860,0.00,2.38,0.00,0.000,6,0.000,0.051,3036,1933,1352
$GC,12176,1.32,363.7,159.1,11.2,754,12177,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1933,1353
$GC,12496,1.32,363.7,123.0,11.6,771,12501,0.00,2.40,0.00,0.000,4,0.000,0.058,3036,3256,1353
$GC,12547,1.36,363.7,116.7,11.6,773,12551,0.00,2.35,0.00,0.000,6,0.000,0.051,3036,1935,1353
$GC,12869,1.36,363.7,82.4,10.9,789,12874,0.00,2.67,0.00,0.000,4,0.000,0.063,3036,439,1353
$GC,12896,1.36,363.7,78.6,12.0,790,12901,0.00,2.67,0.00,0.000,6,0.000,0.048,3035,1951,1353
$GC,13213,1.36,363.7,43.4,12.0,805,13217,0.00,2.75,0.00,0.000,4,0.000,0.063,3036,441,1353
$GC,13231,1.36,363.7,41.2,13.0,806,13235,0.00,2.65,0.00,0.000,6,0.000,0.048,3036,1941,1353
$GC,13558,1.36,363.7,7.9,11.6,822,13559,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1958,1354
$STATE,13616,end climb,SURFACE_DEPTH_REACHED
$STATE,13617,begin surface coast
$FINISH,0.7,1.005558
$STATE,13638,end surface coast,CONTROL_FINISHED_OK
$STATE,13639,begin surface
$SM_CCo,13722,0.00,0.000,0,0,1353,362.31
$SM_GC,1.43,11.35,0.00,0.00,0.037,0.000,0.000,418,2145,1353,-10.60,0.40,362.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1830
$TCM_TEMP,17.20
$XPDR_PINGS,57
$ALTIM_BOTTOM_PING,645.7,53.5
$24V_AH,23.7,52.817
$10V_AH,10.1,23.742
$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,25.875,133.450,460.050,0.000,0.000,113.282,85.469,330.823,20.000,0.000,0.000,13.434,1441.098,9984.108,531.857,1708.041,844.059,33.351,1419.520,0.000,1662.795,0.000,41.919,0.000
$DEVICE_MAMPS,153.400,76.700,1285.492,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,564.877,601.405,455.731,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41074,826
$CAP_FILE_SIZE,118903,0
$CFSIZE,254472192,234545152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181009,101755,6255.164,-1252.308,38,1.6,38,-11.9