version: 66.04
glider: 5
mission: 7
dive: 325
start: 10 18 109 13 49 57
data:
$ID,5
$MISSION,7
$DIVE,325
$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,-106519.16
$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,17
$R_STBD_OVSHOOT,52
$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
$GPS1,134336,6254.041,-1249.838,39,1.9,44,-11.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-54.1
$GPS2,134908,6254.023,-1249.783,11,1.9,11,-11.9
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FE
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.206,-0.133
$KALMAN_X,-7943.8,1424.2,-285.1,14473.5,-7739.5
$KALMAN_Y,43019.9,-355.6,-1320.3,-104750.4,11797.3
$MHEAD_RNG_PITCHd_Wd,134.8,17124,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,121,0.00,0.00,-101.15,0.000,2,0.000,0.000,421,2157,2856
$GC,125,-1.22,-146.6,3.1,-2.0,5,161,11.25,2.50,-17.33,0.000,4,0.157,0.077,2472,3499,3430
$GC,303,-1.11,-146.6,28.9,-13.0,13,308,0.15,2.47,0.00,0.000,6,0.104,0.048,2502,2107,3430
$GC,630,-1.07,-146.6,66.7,-11.8,29,634,0.00,2.47,0.00,0.000,4,0.000,0.058,2502,709,3430
$GC,653,-1.03,-146.6,69.5,-11.6,30,658,0.00,2.47,0.00,0.000,6,0.000,0.048,2502,2107,3430
$GC,976,-0.99,-146.6,105.6,-11.4,46,978,0.12,0.00,0.00,0.000,6,0.098,0.000,2527,2107,3430
$GC,1285,-0.99,-146.6,135.9,-10.2,61,1289,0.00,2.53,0.00,0.000,4,0.000,0.060,2527,711,3430
$GC,1341,-1.04,-146.6,142.1,-10.8,63,1348,0.00,2.47,0.00,0.000,6,0.000,0.049,2527,2105,3430
$GC,1665,-1.04,-146.6,174.5,-10.2,83,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2107,3430
$GC,1978,-1.04,-146.6,206.6,-10.4,103,1982,0.00,2.53,0.00,0.000,4,0.000,0.062,2527,716,3430
$GC,2024,-1.09,-146.6,211.3,-10.5,106,2028,0.00,2.45,0.00,0.000,6,0.000,0.051,2527,2097,3430
$GC,2351,-1.09,-146.6,245.3,-10.7,127,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2097,3430
$GC,2661,-1.09,-146.6,279.8,-11.1,147,2665,0.00,2.50,0.00,0.000,4,0.000,0.060,2527,713,3430
$GC,2716,-1.14,-146.6,286.2,-11.2,150,2723,0.15,2.45,0.00,0.000,6,0.054,0.051,2486,2092,3430
$GC,3041,-1.08,-146.6,327.3,-12.9,171,3046,0.10,2.47,0.00,0.000,4,0.098,0.060,2507,722,3430
$GC,3069,-1.08,-146.6,331.5,-12.2,173,3073,0.00,2.40,0.00,0.000,6,0.000,0.051,2507,2071,3430
$GC,3394,-1.08,-146.6,369.5,-12.1,194,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2071,3430
$GC,3707,-1.08,-146.6,408.2,-12.0,214,3711,0.00,2.45,0.00,0.000,4,0.000,0.061,2507,720,3430
$GC,3740,-1.08,-146.6,412.5,-12.5,216,3744,0.00,2.40,0.00,0.000,6,0.000,0.051,2507,2069,3430
$GC,4061,-1.08,-146.6,450.1,-12.0,236,4065,0.00,2.45,0.00,0.000,4,0.000,0.062,2507,719,3430
$GC,4090,-1.08,-146.6,454.0,-12.6,238,4094,0.00,2.38,0.00,0.000,6,0.000,0.051,2507,2054,3429
$GC,4420,-1.08,-146.6,493.8,-12.7,259,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2054,3429
$GC,4733,-1.08,-146.6,532.1,-11.9,279,4737,0.00,2.70,0.00,0.000,4,0.000,0.071,2507,3534,3429
$GC,4766,-1.08,-146.6,536.5,-12.6,281,4770,0.00,2.70,0.00,0.000,6,0.000,0.059,2507,2044,3429
$GC,5087,-1.08,-146.6,571.5,-10.8,301,5092,0.00,2.75,0.00,0.000,4,0.000,0.071,2507,3532,3429
$GC,5155,-1.08,-146.6,579.3,-10.7,305,5160,0.00,2.65,0.00,0.000,6,0.000,0.059,2507,2066,3429
$GC,5474,-1.08,-146.6,611.8,-9.9,325,5479,0.00,2.72,0.00,0.000,4,0.000,0.073,2507,3528,3429
$GC,5563,-1.08,-146.6,620.2,-9.2,330,5568,0.00,2.60,0.00,0.000,6,0.000,0.060,2507,2097,3429
$GC,5882,-1.08,-146.6,649.0,-8.1,350,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2087,3428
$GC,6194,-1.08,-146.6,674.3,-8.4,370,6199,0.00,2.70,0.00,0.000,4,0.000,0.077,2507,3533,3428
$GC,6245,-1.08,-146.6,678.8,-9.8,373,6249,0.00,2.62,0.00,0.000,6,0.000,0.064,2507,2101,3427
$STATE,6327,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6327,begin apogee
$GC,6334,-0.33,0.0,686.1,8.7,378,6468,0.77,0.00,130.57,1.285,6,0.075,0.000,2674,1833,2831
$STATE,6469,end apogee,CONTROL_FINISHED_OK
$STATE,6469,begin climb
$GC,6472,1.22,146.6,689.3,0.0,387,6612,1.52,2.70,130.45,1.249,4,0.062,0.070,3005,3244,2233
$GC,6762,1.17,146.6,668.6,11.1,405,6766,0.00,2.60,0.00,0.000,6,0.000,0.066,3005,1849,2232
$GC,7082,1.14,165.9,644.9,7.3,425,7108,0.00,2.72,18.12,1.167,4,0.000,0.070,3005,3252,2153
$GC,7138,1.11,165.9,640.3,8.0,428,7142,0.00,2.62,0.00,0.000,6,0.000,0.067,3005,1851,2153
$GC,7458,1.07,170.1,615.6,7.8,448,7469,0.15,2.65,5.12,0.904,4,0.097,0.071,2978,3252,2137
$GC,7492,1.17,211.8,613.2,6.5,449,7536,0.10,2.60,37.72,1.225,6,0.066,0.067,3003,1861,1967
$GC,7847,1.21,234.2,588.2,7.2,472,7873,0.00,2.67,20.73,1.184,4,0.000,0.070,3003,3255,1875
$GC,7892,1.21,236.2,584.9,7.9,474,7896,0.00,2.58,0.00,0.000,6,0.000,0.066,3003,1879,1875
$GC,8216,1.22,237.9,559.4,7.9,495,8226,0.00,2.58,4.80,0.873,4,0.000,0.070,3004,3253,1861
$GC,8272,1.22,237.9,554.9,8.1,497,8278,0.00,2.53,0.00,0.000,6,0.000,0.064,3004,1891,1861
$GC,8591,1.22,237.9,527.9,8.8,518,8595,0.00,2.55,0.00,0.000,4,0.000,0.068,3004,3259,1860
$GC,8621,1.22,237.9,525.1,10.3,520,8625,0.00,2.50,0.00,0.000,6,0.000,0.063,3004,1899,1861
$GC,8946,1.22,237.9,497.9,8.0,541,8950,0.00,2.50,0.00,0.000,4,0.000,0.067,3004,3250,1860
$GC,8962,1.22,240.8,496.6,7.9,542,8974,0.00,2.47,4.30,0.798,6,0.000,0.059,3004,1892,1849
$GC,9287,1.23,246.9,471.9,7.8,563,9303,0.00,2.58,6.90,0.956,4,0.000,0.064,3004,3254,1824
$GC,9326,1.25,257.2,468.9,7.6,565,9341,0.00,2.45,10.52,1.042,6,0.000,0.058,3004,1914,1782
$GC,9661,1.25,257.2,441.4,8.6,587,9662,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1914,1782
$GC,9974,1.25,257.2,415.7,8.4,607,9978,0.00,2.47,0.00,0.000,4,0.000,0.064,3004,3258,1782
$GC,10030,1.29,257.2,410.6,9.2,610,10036,0.00,2.42,0.00,0.000,6,0.000,0.057,3004,1919,1782
$GC,10350,1.29,257.2,383.0,8.9,631,10354,0.00,2.45,0.00,0.000,4,0.000,0.063,3004,3255,1782
$GC,10383,1.33,257.2,379.8,8.9,633,10388,0.15,2.38,0.00,0.000,6,0.055,0.056,3043,1940,1782
$GC,10705,1.26,257.2,344.1,11.3,653,10709,0.12,2.42,0.00,0.000,4,0.093,0.062,3019,3261,1783
$GC,10727,1.22,257.2,341.3,11.1,654,10733,0.00,2.35,0.00,0.000,6,0.000,0.054,3019,1958,1783
$GC,11047,1.22,257.2,308.8,10.1,675,11051,0.00,2.38,0.00,0.000,4,0.000,0.062,3019,3251,1783
$GC,11063,1.22,257.2,307.1,9.9,676,11067,0.00,2.33,0.00,0.000,6,0.000,0.053,3019,1956,1783
$GC,11383,1.22,257.2,274.2,10.3,696,11387,0.00,2.38,0.00,0.000,4,0.000,0.062,3019,3252,1784
$GC,11406,1.22,257.2,271.8,10.4,697,11412,0.00,2.30,0.00,0.000,6,0.000,0.053,3019,1969,1784
$GC,11726,1.22,257.2,239.3,10.2,718,11730,0.00,2.35,0.00,0.000,4,0.000,0.061,3019,3254,1784
$GC,11743,1.22,257.2,237.3,10.3,719,11747,0.00,2.30,0.00,0.000,6,0.000,0.051,3019,1971,1784
$GC,12068,1.22,257.2,207.5,8.8,740,12072,0.00,2.35,0.00,0.000,4,0.000,0.061,3019,3256,1784
$GC,12096,1.22,257.2,204.9,9.5,742,12100,0.00,2.28,0.00,0.000,6,0.000,0.051,3019,1981,1784
$GC,12422,1.22,257.2,177.2,8.5,763,12423,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1982,1784
$GC,12739,1.22,257.2,147.3,9.8,783,12743,0.00,2.33,0.00,0.000,4,0.000,0.060,3019,3258,1784
$GC,12761,1.22,257.2,144.9,10.3,784,12765,0.00,2.25,0.00,0.000,6,0.000,0.050,3019,1994,1785
$GC,13084,1.22,257.2,114.4,9.4,800,13085,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1994,1785
$GC,13392,1.22,257.2,84.6,9.4,815,13396,0.00,2.78,0.00,0.000,4,0.000,0.064,3019,440,1785
$GC,13413,1.22,257.2,82.2,10.0,816,13418,0.00,2.75,0.00,0.000,6,0.000,0.048,3019,1997,1786
$GC,13737,1.22,257.2,50.5,10.1,832,13742,0.00,2.83,0.00,0.000,4,0.000,0.062,3019,441,1786
$GC,13770,1.19,257.2,46.6,11.0,833,13777,0.00,2.72,0.00,0.000,6,0.000,0.048,3019,1984,1786
$GC,14088,1.19,257.2,19.1,8.0,849,14089,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2002,1786
$STATE,14312,end climb,SURFACE_DEPTH_REACHED
$STATE,14312,begin surface coast
$FINISH,0.8,1.027248
$STATE,14332,end surface coast,CONTROL_FINISHED_OK
$STATE,14332,begin surface
$SM_CCo,14357,23.12,0.773,0,0,1608,300.00
$SM_GC,1.15,0.00,0.00,23.12,0.000,0.000,0.773,417,2163,1608,-10.71,0.59,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1821
$TCM_TEMP,17.20
$XPDR_PINGS,50
$ALTIM_BOTTOM_PING,620.2,74.5
$24V_AH,23.7,53.172
$10V_AH,10.1,23.886
$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,25.925,151.625,369.250,23.125,0.000,37.759,30.187,146.783,18.000,0.000,0.000,11.785,1531.460,10361.658,544.248,1747.892,526.989,33.351,1446.994,0.000,1709.298,0.000,38.254,0.000
$DEVICE_MAMPS,157.235,77.467,1285.492,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,589.382,628.442,498.762,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44268,861
$CAP_FILE_SIZE,121755,0
$CFSIZE,254472192,234434560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,181009,175055,6253.041,-1249.787,38,2.0,38,-11.9