version: 66.04
glider: 5
mission: 7
dive: 327
start: 10 18 109 22 20 29
data:
$ID,5
$MISSION,7
$DIVE,327
$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,-106572.25
$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,20
$R_STBD_OVSHOOT,21
$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
$GPS1,221030,6252.579,-1246.698,35,1.7,35,-11.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-59.7
$GPS2,221938,6252.630,-1246.519,18,1.9,18,-11.8
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FE
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.223,-0.102
$KALMAN_X,-11911.1,601.1,1404.3,20234.7,-9787.0
$KALMAN_Y,47188.9,-1274.9,50.8,-111988.4,9565.5
$MHEAD_RNG_PITCHd_Wd,126.4,14001,-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,13,begin dive
$GC,16,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-60.67,0.000,2,0.000,0.000,417,2142,2582
$GC,83,-1.22,-146.6,2.4,-2.4,3,134,11.12,2.60,-33.67,0.000,4,0.156,0.077,2469,3541,3430
$GC,360,-1.11,-146.6,39.0,-13.6,15,365,0.17,2.53,0.00,0.000,6,0.094,0.048,2505,2123,3429
$GC,678,-1.08,-146.6,73.9,-10.7,30,683,0.00,2.53,0.00,0.000,4,0.000,0.061,2505,709,3430
$GC,719,-1.08,-146.6,80.3,-15.6,32,723,0.00,2.53,0.00,0.000,6,0.000,0.048,2505,2136,3430
$GC,1047,-1.04,-146.6,124.2,-13.0,48,1051,0.00,2.58,0.00,0.000,4,0.000,0.059,2505,708,3430
$GC,1074,-1.04,-146.6,127.9,-12.5,49,1079,0.00,2.50,0.00,0.000,6,0.000,0.048,2505,2118,3430
$GC,1393,-1.01,-146.6,164.7,-11.0,66,1397,0.00,2.53,0.00,0.000,4,0.000,0.059,2505,718,3430
$GC,1431,-1.01,-146.6,169.3,-11.2,68,1437,0.00,2.45,0.00,0.000,6,0.000,0.048,2505,2102,3429
$GC,1752,-1.01,-146.6,204.1,-11.2,89,1756,0.00,2.53,0.00,0.000,4,0.000,0.061,2505,711,3430
$GC,1790,-1.01,-146.6,208.6,-11.4,91,1797,0.00,2.45,0.00,0.000,6,0.000,0.049,2505,2090,3430
$GC,2110,-1.01,-146.6,242.9,-10.7,112,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2091,3430
$GC,2422,-1.01,-146.6,275.6,-10.2,132,2426,0.00,2.50,0.00,0.000,4,0.000,0.061,2505,709,3430
$GC,2455,-1.01,-146.6,279.2,-10.5,134,2460,0.00,2.42,0.00,0.000,6,0.000,0.049,2505,2076,3430
$GC,2775,-1.01,-146.6,312.2,-10.6,154,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2077,3430
$GC,3088,-1.01,-146.6,345.8,-10.5,174,3092,0.00,2.47,0.00,0.000,4,0.000,0.064,2505,718,3430
$GC,3140,-1.01,-146.6,351.3,-10.6,177,3144,0.00,2.40,0.00,0.000,6,0.000,0.051,2505,2068,3430
$GC,3459,-1.01,-146.6,385.2,-10.4,197,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2069,3430
$GC,3772,-1.01,-146.6,418.5,-10.8,217,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2068,3430
$GC,4084,-1.01,-146.6,451.7,-10.8,237,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2069,3429
$GC,4396,-1.01,-146.6,483.9,-10.1,257,4400,0.00,2.45,0.00,0.000,4,0.000,0.063,2505,718,3429
$GC,4430,-1.01,-146.6,487.4,-10.1,259,4434,0.00,2.38,0.00,0.000,6,0.000,0.051,2505,2052,3429
$GC,4749,-1.01,-146.6,518.1,-9.6,279,4753,0.00,2.70,0.00,0.000,4,0.000,0.071,2505,3533,3429
$GC,4828,-1.01,-146.6,525.7,-9.1,284,4833,0.00,2.65,0.00,0.000,6,0.000,0.058,2505,2062,3429
$GC,5153,-1.01,-146.6,554.8,-9.1,305,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2062,3428
$GC,5465,-1.01,-146.6,585.1,-10.0,325,5470,0.00,2.72,0.00,0.000,4,0.000,0.071,2505,3531,3428
$GC,5512,-1.01,-146.6,589.4,-8.8,328,5516,0.00,2.62,0.00,0.000,6,0.000,0.059,2505,2078,3428
$GC,5836,-1.01,-146.6,619.3,-9.5,349,5841,0.00,2.72,0.00,0.000,4,0.000,0.073,2505,3540,3428
$GC,6089,-1.01,-146.6,646.9,-10.6,364,6093,0.00,2.53,0.00,0.000,6,0.000,0.060,2505,2150,3427
$GC,6413,-1.01,-146.6,680.3,-10.1,385,6417,0.00,2.60,0.00,0.000,4,0.000,0.073,2505,718,3427
$GC,6453,-1.05,-146.6,684.2,-10.8,387,6459,0.00,2.58,0.00,0.000,6,0.000,0.059,2505,2147,3427
$STATE,6582,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6582,begin apogee
$GC,6589,-0.33,0.0,696.5,9.5,396,6724,0.77,0.00,131.32,1.295,6,0.081,0.000,2670,1829,2831
$STATE,6725,end apogee,CONTROL_FINISHED_OK
$STATE,6725,begin climb
$GC,6728,1.22,146.6,702.3,0.0,405,6873,1.55,2.75,132.45,1.253,4,0.063,0.071,3008,3265,2233
$GC,6883,1.24,216.7,697.9,5.5,415,6956,0.00,2.65,64.22,1.216,6,0.000,0.067,3008,1858,1947
$GC,7269,1.20,216.7,665.4,9.7,440,7273,0.00,2.62,0.00,0.000,4,0.000,0.071,3008,3261,1946
$GC,7285,1.20,216.7,663.7,9.9,441,7290,0.00,2.62,0.00,0.000,6,0.000,0.067,3008,1855,1945
$GC,7605,1.17,216.7,633.2,9.7,461,7609,0.00,2.62,0.00,0.000,4,0.000,0.079,3008,436,1945
$GC,7639,1.09,216.7,629.6,10.0,463,7644,0.12,2.58,0.00,0.000,6,0.098,0.058,2984,1853,1945
$GC,7958,1.13,237.9,605.5,7.2,483,7983,0.00,2.65,19.60,1.176,4,0.000,0.071,2984,3260,1861
$GC,8036,1.20,249.8,599.6,7.6,487,8054,0.10,2.62,11.95,1.122,6,0.064,0.067,3010,1855,1812
$GC,8368,1.20,249.8,569.6,8.8,508,8372,0.00,2.60,0.00,0.000,4,0.000,0.070,3010,3255,1812
$GC,8430,1.20,249.8,563.8,8.8,512,8434,0.00,2.53,0.00,0.000,6,0.000,0.064,3010,1879,1812
$GC,8754,1.20,249.8,535.7,9.4,533,8759,0.00,2.58,0.00,0.000,4,0.000,0.067,3010,3264,1811
$GC,8793,1.20,249.8,531.8,9.6,535,8800,0.00,2.53,0.00,0.000,6,0.000,0.061,3010,1886,1811
$GC,9114,1.20,249.8,502.7,9.3,556,9118,0.00,2.53,0.00,0.000,4,0.000,0.066,3010,3258,1811
$GC,9178,1.20,249.8,496.3,10.1,560,9182,0.00,2.45,0.00,0.000,6,0.000,0.059,3010,1912,1811
$GC,9503,1.20,249.8,463.7,10.0,581,9507,0.00,2.47,0.00,0.000,4,0.000,0.064,3010,3257,1811
$GC,9525,1.20,249.8,461.3,10.8,582,9531,0.00,2.42,0.00,0.000,6,0.000,0.058,3010,1922,1811
$GC,9844,1.20,249.8,430.4,9.5,603,9848,0.00,2.45,0.00,0.000,4,0.000,0.064,3010,3262,1811
$GC,9877,1.20,249.8,427.2,9.4,605,9881,0.00,2.40,0.00,0.000,6,0.000,0.057,3010,1936,1811
$GC,10196,1.20,249.8,398.4,9.0,625,10201,0.00,2.42,0.00,0.000,4,0.000,0.064,3010,3264,1811
$GC,10230,1.20,249.8,395.0,9.3,627,10234,0.00,2.38,0.00,0.000,6,0.000,0.056,3010,1946,1812
$GC,10549,1.20,249.8,365.9,9.2,647,10550,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1946,1812
$GC,10862,1.20,249.8,337.3,9.2,667,10866,0.00,2.40,0.00,0.000,4,0.000,0.063,3010,3255,1812
$GC,10895,1.20,249.8,334.1,9.3,669,10899,0.00,2.35,0.00,0.000,6,0.000,0.055,3010,1952,1812
$GC,11214,1.20,249.8,305.1,9.3,689,11218,0.00,2.40,0.00,0.000,4,0.000,0.062,3010,3261,1813
$GC,11236,1.20,249.8,303.0,9.1,690,11243,0.00,2.35,0.00,0.000,6,0.000,0.054,3010,1954,1813
$GC,11556,1.20,249.8,275.0,8.7,711,11560,0.00,2.40,0.00,0.000,4,0.000,0.061,3011,3265,1813
$GC,11577,1.20,249.8,273.0,8.4,712,11583,0.00,2.33,0.00,0.000,6,0.000,0.052,3010,1969,1813
$GC,11897,1.20,249.8,246.4,8.3,733,11898,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1969,1813
$GC,12209,1.20,249.8,220.5,8.2,753,12213,0.00,2.35,0.00,0.000,4,0.000,0.061,3010,3255,1813
$GC,12242,1.20,249.8,217.4,8.8,755,12246,0.00,2.30,0.00,0.000,6,0.000,0.051,3010,1969,1814
$GC,12562,1.20,249.8,190.1,8.6,775,12566,0.00,2.35,0.00,0.000,4,0.000,0.061,3010,3258,1814
$GC,12590,1.20,249.8,187.6,9.1,777,12594,0.00,2.28,0.00,0.000,6,0.000,0.051,3010,1982,1814
$GC,12915,1.20,249.8,159.9,8.3,798,12919,0.00,2.33,0.00,0.000,4,0.000,0.060,3010,3260,1814
$GC,12936,1.20,249.8,157.8,8.8,799,12942,0.00,2.25,0.00,0.000,6,0.000,0.050,3010,1996,1814
$GC,13264,1.20,249.8,129.8,8.3,817,13265,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1997,1814
$GC,13574,1.20,249.8,103.6,8.2,832,13575,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1997,1815
$GC,13884,1.20,249.8,78.1,8.2,847,13885,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1996,1815
$GC,14192,1.25,280.0,53.1,6.9,862,14220,0.00,0.00,26.40,0.815,6,0.000,0.000,3010,1996,1689
$GC,14524,1.36,325.8,32.0,6.3,878,14568,0.15,2.92,37.92,0.815,4,0.051,0.062,3051,433,1502
$GC,14580,1.32,325.8,27.4,8.4,880,14585,0.00,2.83,0.00,0.000,6,0.000,0.047,3051,2008,1502
$STATE,14811,end climb,SURFACE_DEPTH_REACHED
$STATE,14811,begin surface coast
$FINISH,0.6,1.013445
$STATE,14833,end surface coast,CONTROL_FINISHED_OK
$STATE,14833,begin surface
$SM_CCo,14918,0.00,0.000,0,0,1501,326.25
$SM_GC,1.51,11.50,0.00,0.00,0.038,0.000,0.000,419,2163,1501,-10.60,1.02,326.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1818
$TCM_TEMP,17.30
$XPDR_PINGS,64
$ALTIM_BOTTOM_PING,695.0,10.8
$24V_AH,23.7,53.501
$10V_AH,10.1,24.047
$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,25.500,146.400,423.875,0.000,0.000,77.066,64.384,201.221,22.500,0.000,0.000,18.271,1565.353,10852.458,543.755,1830.541,669.191,33.354,1477.961,0.000,1781.503,0.000,46.336,0.000
$DEVICE_MAMPS,155.701,79.001,1295.463,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,610.278,654.985,505.557,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44336,892
$CAP_FILE_SIZE,123864,0
$CFSIZE,254472192,234303488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,191009,023024,6251.138,-1244.570,40,1.3,40,-11.8