version: 66.04
glider: 5
mission: 7
dive: 324
start: 10 18 109 10 24 41
data:
$ID,5
$MISSION,7
$DIVE,324
$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,-106506.74
$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,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
$GPS1,101755,6255.164,-1252.308,38,1.6,38,-11.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-56.6
$GPS2,102350,6255.222,-1252.171,13,1.3,13,-11.9
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FE
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.202,-0.140
$KALMAN_X,-5536.2,96.4,1185.8,9914.5,-6707.0
$KALMAN_Y,42608.2,-1078.1,-271.2,-102476.6,11383.8
$MHEAD_RNG_PITCHd_Wd,136.6,19654,-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,-60.90,0.000,2,0.000,0.000,417,2156,2526
$GC,83,-1.22,-146.6,2.1,-1.7,3,139,11.30,2.55,-39.25,0.000,4,0.161,0.080,2471,3538,3430
$GC,285,-1.11,-146.6,25.1,-11.1,12,290,0.15,2.53,0.00,0.000,6,0.099,0.048,2503,2123,3430
$GC,608,-1.05,-146.6,63.9,-13.7,28,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2105,3430
$GC,916,-1.01,-146.6,101.0,-11.4,43,918,0.10,0.00,0.00,0.000,6,0.098,0.000,2523,2105,3430
$GC,1225,-1.01,-146.6,131.3,-9.2,58,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2105,3430
$GC,1541,-1.01,-146.6,161.5,-10.5,75,1545,0.00,2.60,0.00,0.000,4,0.000,0.064,2523,3535,3430
$GC,1597,-1.01,-146.6,167.5,-10.1,78,1603,0.00,2.50,0.00,0.000,6,0.000,0.051,2523,2135,3430
$GC,1916,-1.01,-146.6,196.7,-9.0,99,1920,0.00,2.53,0.00,0.000,4,0.000,0.061,2523,713,3430
$GC,1962,-1.05,-146.6,201.2,-10.5,102,1966,0.00,2.53,0.00,0.000,6,0.000,0.049,2523,2139,3430
$GC,2286,-1.05,-146.6,239.0,-11.7,123,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2139,3430
$GC,2599,-1.05,-146.6,272.7,-10.6,143,2603,0.00,2.58,0.00,0.000,4,0.000,0.061,2523,716,3430
$GC,2678,-1.09,-146.6,281.0,-10.5,148,2683,0.00,2.50,0.00,0.000,6,0.000,0.050,2523,2128,3430
$GC,3003,-1.09,-146.6,314.4,-10.5,169,3007,0.00,2.58,0.00,0.000,4,0.000,0.064,2523,711,3430
$GC,3042,-1.13,-146.6,318.6,-10.9,171,3049,0.12,2.47,0.00,0.000,6,0.061,0.051,2489,2105,3430
$GC,3364,-1.06,-146.6,358.9,-13.0,192,3369,0.12,2.53,0.00,0.000,4,0.096,0.064,2516,717,3430
$GC,3410,-1.06,-146.6,364.6,-12.3,195,3415,0.00,2.42,0.00,0.000,6,0.000,0.051,2516,2085,3430
$GC,3739,-1.06,-146.6,400.6,-10.9,216,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2085,3430
$GC,4049,-1.06,-146.6,433.7,-10.1,236,4053,0.00,2.62,0.00,0.000,4,0.000,0.069,2516,3530,3430
$GC,4078,-1.06,-146.6,436.8,-10.1,238,4082,0.00,2.62,0.00,0.000,6,0.000,0.058,2516,2073,3430
$GC,4402,-1.06,-146.6,467.4,-8.1,259,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2060,3430
$GC,4716,-1.06,-146.6,495.2,-9.6,279,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2059,3430
$GC,5027,-1.06,-146.6,525.8,-10.7,299,5031,0.00,2.42,0.00,0.000,4,0.000,0.065,2516,717,3430
$GC,5048,-1.06,-146.6,528.2,-10.7,300,5055,0.00,2.42,0.00,0.000,6,0.000,0.052,2516,2081,3430
$GC,5368,-1.06,-146.6,557.9,-8.9,321,5373,0.00,2.65,0.00,0.000,4,0.000,0.073,2516,3533,3430
$GC,5419,-1.06,-146.6,563.0,-9.8,324,5423,0.00,2.65,0.00,0.000,6,0.000,0.059,2515,2068,3429
$GC,5738,-1.06,-146.6,594.7,-10.4,344,5743,0.00,2.42,0.00,0.000,4,0.000,0.067,2515,717,3429
$GC,5783,-1.06,-146.6,599.1,-9.2,346,5789,0.00,2.42,0.00,0.000,6,0.000,0.054,2516,2075,3429
$GC,6102,-1.06,-146.6,628.1,-10.6,367,6106,0.00,2.67,0.00,0.000,4,0.000,0.076,2516,3528,3429
$GC,6135,-1.11,-146.6,631.8,-9.8,369,6139,0.00,2.67,0.00,0.000,6,0.000,0.066,2516,2070,3428
$GC,6455,-1.11,-146.6,669.9,-11.7,389,6459,0.00,2.72,0.00,0.000,4,0.000,0.074,2516,3530,3428
$STATE,6575,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6575,begin apogee
$GC,6585,-0.33,0.0,684.8,12.8,396,6727,0.70,0.00,135.85,1.264,6,0.077,0.000,2669,1847,2831
$STATE,6728,end apogee,CONTROL_FINISHED_OK
$STATE,6728,begin climb
$GC,6732,1.22,146.6,687.1,0.0,406,6872,1.55,2.72,127.80,1.247,4,0.065,0.067,3006,3256,2233
$GC,7125,1.77,487.7,656.3,-4.4,429,7429,0.55,2.60,295.50,1.203,6,0.049,0.063,3134,1837,842
$GC,7741,1.51,487.7,533.7,24.4,469,7746,0.28,2.62,0.00,0.000,4,0.100,0.069,3077,3249,844
$GC,7764,1.32,487.7,528.4,22.1,470,7771,0.22,2.55,0.00,0.000,6,0.097,0.064,3032,1873,844
$GC,8085,1.32,487.7,481.6,15.5,491,8089,0.00,2.58,0.00,0.000,4,0.000,0.066,3032,3259,844
$GC,8107,1.32,487.7,477.5,15.8,492,8113,0.00,2.58,0.00,0.000,6,0.000,0.062,3032,1862,844
$GC,8426,1.32,487.7,431.7,13.9,513,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1862,843
$GC,8740,1.32,487.7,387.9,14.2,533,8745,0.00,2.58,0.00,0.000,4,0.000,0.063,3032,3261,844
$GC,8787,1.40,487.7,381.5,13.1,536,8791,0.00,2.50,0.00,0.000,6,0.000,0.058,3032,1880,844
$GC,9112,1.40,487.7,339.1,12.9,557,9113,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1880,844
$GC,9423,1.40,487.7,298.9,12.7,577,9428,0.00,2.50,0.00,0.000,4,0.000,0.061,3032,3254,844
$GC,9453,1.46,487.7,295.4,12.2,579,9458,0.15,2.47,0.00,0.000,6,0.055,0.055,3071,1888,844
$GC,9780,1.37,487.7,245.3,15.4,600,9785,0.15,2.50,0.00,0.000,4,0.093,0.061,3042,3257,845
$GC,9797,1.32,487.7,242.2,14.9,601,9801,0.00,2.42,0.00,0.000,6,0.000,0.053,3042,1909,845
$GC,10116,1.32,487.7,201.9,12.9,621,10118,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1909,845
$GC,10429,1.32,487.7,162.6,12.5,641,10431,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1909,845
$GC,10744,1.32,487.7,122.2,13.5,658,10745,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1909,845
$GC,11053,1.32,487.7,82.7,12.0,673,11058,0.00,2.45,0.00,0.000,4,0.000,0.058,3041,3258,845
$GC,11088,1.40,487.7,78.6,11.9,674,11094,0.00,2.40,0.00,0.000,6,0.000,0.050,3041,1909,846
$GC,11404,1.40,487.7,42.3,12.7,690,11408,0.00,2.65,0.00,0.000,4,0.000,0.065,3041,433,845
$GC,11421,1.40,487.7,40.1,11.8,691,11426,0.00,2.65,0.00,0.000,6,0.000,0.048,3041,1931,846
$STATE,11747,end climb,SURFACE_DEPTH_REACHED
$STATE,11747,begin surface coast
$FINISH,0.7,1.027258
$STATE,11770,end surface coast,CONTROL_FINISHED_OK
$STATE,11770,begin surface
$SM_CCo,11854,0.00,0.000,0,0,845,487.17
$SM_GC,1.38,11.35,0.00,0.00,0.035,0.000,0.000,422,2146,845,-10.59,0.45,487.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1825
$TCM_TEMP,17.20
$XPDR_PINGS,41
$ALTIM_BOTTOM_PING,621.6,72.6
$24V_AH,23.7,53.024
$10V_AH,10.1,23.809
$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,26.750,102.825,559.150,0.000,0.000,37.761,26.267,157.776,15.750,0.000,0.000,13.853,1223.115,8382.951,605.152,1500.384,494.018,33.351,1406.343,0.000,1461.347,0.000,38.254,0.000
$DEVICE_MAMPS,161.070,79.768,1264.016,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.484,515.570,419.784,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34872,708
$CAP_FILE_SIZE,96892,0
$CFSIZE,254472192,234516480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,181009,134336,6254.041,-1249.838,39,1.9,44,-11.9