version: 66.04
glider: 5
mission: 7
dive: 329
start: 10 19 109 7 10 14
data:
$ID,5
$MISSION,7
$DIVE,329
$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,-106601.3
$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,23
$R_STBD_OVSHOOT,30
$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
$GPS1,070007,6250.016,-1245.372,25,1.3,25,-11.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-66.4
$GPS2,070925,6250.021,-1245.432,12,1.4,12,-11.8
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FE
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.245,-0.004
$KALMAN_X,-20481.5,639.9,572.0,30555.5,-12620.6
$KALMAN_Y,45128.2,-1068.7,-43.7,-114835.4,4067.0
$MHEAD_RNG_PITCHd_Wd,102.8,13540,-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,-61.15,0.000,2,0.000,0.000,422,2152,2816
$GC,83,-1.22,-146.6,2.9,-3.1,3,121,11.15,2.60,-19.73,0.000,4,0.153,0.071,2471,717,3428
$GC,267,-1.15,-146.6,25.9,-12.5,10,272,0.10,2.50,0.00,0.000,6,0.104,0.048,2491,2128,3428
$GC,586,-1.08,-146.6,62.9,-11.3,25,590,0.00,2.58,0.00,0.000,4,0.000,0.061,2491,710,3429
$GC,619,-1.04,-146.6,67.2,-11.1,26,626,0.12,2.53,0.00,0.000,6,0.095,0.049,2518,2134,3429
$GC,936,-1.04,-146.6,100.7,-10.2,42,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2134,3429
$GC,1246,-1.04,-146.6,131.3,-9.8,57,1250,0.00,2.58,0.00,0.000,4,0.000,0.059,2518,709,3429
$GC,1309,-1.04,-146.6,137.8,-10.8,60,1313,0.00,2.50,0.00,0.000,6,0.000,0.048,2518,2123,3429
$GC,1638,-1.04,-146.6,171.0,-10.4,79,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2123,3429
$GC,1950,-1.04,-146.6,203.8,-10.8,99,1955,0.00,2.55,0.00,0.000,4,0.000,0.061,2518,714,3429
$GC,1980,-1.04,-146.6,206.9,-11.1,101,1984,0.00,2.47,0.00,0.000,6,0.000,0.050,2518,2110,3428
$GC,2304,-1.04,-146.6,241.1,-10.3,122,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2110,3429
$GC,2617,-1.04,-146.6,273.7,-10.6,142,2621,0.00,2.53,0.00,0.000,4,0.000,0.061,2518,714,3429
$GC,2646,-1.04,-146.6,276.7,-10.8,144,2651,0.00,2.47,0.00,0.000,6,0.000,0.050,2518,2107,3429
$GC,2972,-1.04,-146.6,311.9,-10.7,165,2976,0.00,2.60,0.00,0.000,4,0.000,0.070,2518,3533,3429
$GC,3005,-1.04,-146.6,315.7,-11.0,167,3009,0.00,2.60,0.00,0.000,6,0.000,0.057,2518,2090,3429
$GC,3323,-1.04,-146.6,350.1,-10.9,187,3328,0.00,2.45,0.00,0.000,4,0.000,0.064,2518,716,3428
$GC,3353,-1.04,-146.6,353.4,-11.9,189,3357,0.00,2.47,0.00,0.000,6,0.000,0.051,2518,2107,3428
$GC,3683,-1.04,-146.6,389.4,-10.8,210,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2107,3428
$GC,3995,-1.04,-146.6,422.3,-10.4,230,3999,0.00,2.53,0.00,0.000,4,0.000,0.064,2518,717,3428
$GC,4028,-1.04,-146.6,425.9,-10.6,232,4033,0.00,2.45,0.00,0.000,6,0.000,0.051,2518,2096,3428
$GC,4347,-1.04,-146.6,459.5,-10.6,252,4352,0.00,2.62,0.00,0.000,4,0.000,0.070,2518,3540,3427
$GC,4376,-1.04,-146.6,462.6,-11.7,254,4381,0.00,2.62,0.00,0.000,6,0.000,0.059,2518,2089,3428
$GC,4702,-1.04,-146.6,497.9,-11.1,275,4706,0.00,2.45,0.00,0.000,4,0.000,0.064,2519,716,3428
$GC,4730,-1.04,-146.6,501.3,-11.4,277,4735,0.00,2.45,0.00,0.000,6,0.000,0.051,2518,2097,3428
$GC,5056,-1.04,-146.6,538.1,-11.3,298,5060,0.00,2.62,0.00,0.000,4,0.000,0.069,2518,3538,3427
$GC,5094,-1.04,-146.6,542.6,-11.3,300,5101,0.00,2.60,0.00,0.000,6,0.000,0.058,2518,2099,3427
$GC,5415,-1.04,-146.6,575.7,-9.9,321,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2086,3427
$GC,5728,-1.04,-146.6,605.4,-8.9,341,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2086,3427
$GC,6040,-1.04,-146.6,631.3,-7.9,361,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2086,3427
$GC,6352,-1.04,-146.6,656.7,-7.9,381,6356,0.00,2.67,0.00,0.000,4,0.000,0.074,2518,3531,3427
$GC,6505,-1.07,-146.6,670.2,-9.1,390,6510,0.00,2.60,0.00,0.000,6,0.000,0.061,2518,2102,3427
$GC,6825,-1.07,-146.6,696.4,-8.0,410,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2088,3427
$STATE,6962,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6962,begin apogee
$GC,6970,-0.33,0.0,708.3,8.6,419,7107,0.70,0.00,134.05,1.294,6,0.074,0.000,2670,1844,2831
$STATE,7108,end apogee,CONTROL_FINISHED_OK
$STATE,7108,begin climb
$GC,7111,1.22,146.6,713.6,0.0,428,7259,1.55,2.67,136.25,1.246,4,0.059,0.077,3009,451,2233
$GC,7339,1.10,146.6,703.1,8.9,442,7345,0.12,2.55,0.00,0.000,6,0.097,0.056,2986,1853,2233
$GC,7665,1.14,171.6,680.4,7.1,463,7693,0.00,0.00,24.02,1.189,6,0.000,0.000,2986,1868,2131
$GC,8006,1.18,196.1,656.3,7.1,485,8037,0.00,2.62,23.30,1.193,4,0.000,0.071,2986,3257,2031
$GC,8055,1.18,196.1,652.4,8.1,488,8060,0.00,2.65,0.00,0.000,6,0.000,0.069,2986,1849,2031
$GC,8380,1.25,242.2,628.4,6.3,509,8429,0.15,2.75,42.62,1.223,4,0.058,0.071,3023,3262,1844
$GC,8481,1.25,242.2,620.6,8.2,515,8485,0.00,2.62,0.00,0.000,6,0.000,0.068,3022,1856,1843
$GC,8806,1.21,242.2,591.8,9.5,536,8811,0.00,2.62,0.00,0.000,4,0.000,0.070,3023,3258,1843
$GC,8869,1.21,242.2,585.2,10.4,540,8874,0.00,2.55,0.00,0.000,6,0.000,0.064,3023,1878,1843
$GC,9194,1.16,242.2,549.9,10.4,561,9196,0.15,0.00,0.00,0.000,6,0.094,0.000,2995,1878,1842
$GC,9507,1.16,242.2,523.5,8.2,581,9511,0.00,2.55,0.00,0.000,4,0.000,0.067,2995,3262,1842
$GC,9571,1.21,242.2,518.2,8.0,585,9575,0.00,2.47,0.00,0.000,6,0.000,0.061,2995,1900,1842
$GC,9895,1.21,242.2,490.8,8.2,606,9899,0.00,2.50,0.00,0.000,4,0.000,0.065,2995,3257,1842
$GC,9928,1.26,242.2,487.7,9.3,608,9933,0.10,2.45,0.00,0.000,6,0.064,0.058,3021,1910,1842
$GC,10250,1.22,242.2,458.0,9.2,628,10251,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1909,1842
$GC,10561,1.19,242.2,429.6,9.0,648,10565,0.00,2.47,0.00,0.000,4,0.000,0.064,3021,3255,1842
$GC,10623,1.19,242.2,424.0,8.9,652,10627,0.00,2.42,0.00,0.000,6,0.000,0.057,3021,1914,1842
$GC,10948,1.19,242.2,396.0,8.6,673,10952,0.00,2.45,0.00,0.000,4,0.000,0.063,3021,3258,1842
$GC,10976,1.19,242.2,393.4,9.7,675,10980,0.00,2.42,0.00,0.000,6,0.000,0.056,3021,1915,1843
$GC,11300,1.19,242.2,364.9,9.0,696,11305,0.00,2.45,0.00,0.000,4,0.000,0.064,3021,3259,1843
$GC,11330,1.19,242.2,362.3,9.1,698,11334,0.00,2.40,0.00,0.000,6,0.000,0.056,3021,1926,1843
$GC,11654,1.19,242.2,333.9,8.9,719,11658,0.00,2.45,0.00,0.000,4,0.000,0.063,3021,3262,1843
$GC,11676,1.19,242.2,331.8,9.1,720,11682,0.00,2.40,0.00,0.000,6,0.000,0.054,3021,1927,1843
$GC,11996,1.19,242.2,303.8,9.0,741,12000,0.00,2.45,0.00,0.000,4,0.000,0.063,3021,3264,1844
$GC,12034,1.19,242.2,300.1,9.0,743,12040,0.00,2.38,0.00,0.000,6,0.000,0.054,3021,1940,1844
$GC,12353,1.19,242.2,271.5,9.0,764,12357,0.00,2.40,0.00,0.000,4,0.000,0.062,3021,3255,1844
$GC,12375,1.19,242.2,269.4,9.4,765,12382,0.00,2.33,0.00,0.000,6,0.000,0.053,3021,1958,1844
$GC,12695,1.19,242.2,239.9,9.6,786,12696,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1958,1844
$GC,13007,1.19,242.2,210.6,9.3,806,13011,0.00,2.38,0.00,0.000,4,0.000,0.061,3021,3258,1844
$GC,13046,1.19,242.2,206.7,9.6,808,13052,0.00,2.33,0.00,0.000,6,0.000,0.051,3021,1957,1844
$GC,13365,1.19,242.2,176.1,9.9,829,13369,0.00,2.38,0.00,0.000,4,0.000,0.061,3021,3259,1844
$GC,13394,1.19,242.2,173.2,10.0,831,13398,0.00,2.28,0.00,0.000,6,0.000,0.051,3021,1982,1844
$GC,13723,1.19,242.2,141.5,9.7,851,13727,0.00,2.33,0.00,0.000,4,0.000,0.061,3021,3258,1845
$GC,13757,1.19,242.2,137.9,9.7,852,13763,0.00,2.28,0.00,0.000,6,0.000,0.050,3021,1982,1845
$GC,14075,1.19,242.2,110.2,8.8,868,14079,0.00,2.75,0.00,0.000,4,0.000,0.064,3021,440,1846
$GC,14131,1.16,242.2,105.0,8.9,870,14138,0.12,2.72,0.00,0.000,6,0.094,0.048,2998,1985,1845
$GC,14448,1.26,269.2,82.9,7.0,886,14474,0.00,0.00,24.35,0.831,6,0.000,0.000,2998,1996,1733
$GC,14780,1.35,287.7,60.3,7.3,902,14803,0.17,2.88,16.45,0.806,4,0.051,0.062,3048,436,1657
$GC,14820,1.28,287.7,55.6,12.1,903,14828,0.15,2.75,0.00,0.000,6,0.087,0.048,3019,1973,1657
$GC,15138,1.28,287.7,24.4,10.0,919,15143,0.00,2.83,0.00,0.000,4,0.000,0.063,3018,430,1658
$GC,15163,1.28,287.7,21.5,11.4,920,15167,0.00,2.70,0.00,0.000,6,0.000,0.048,3019,1954,1657
$STATE,15378,end climb,SURFACE_DEPTH_REACHED
$STATE,15378,begin surface coast
$FINISH,0.6,1.027256
$STATE,15400,end surface coast,CONTROL_FINISHED_OK
$STATE,15400,begin surface
$SM_CCo,15424,7.12,0.675,0,0,1608,300.00
$SM_GC,1.46,0.00,0.00,7.12,0.000,0.000,0.675,419,2148,1608,-10.70,0.51,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1826
$TCM_TEMP,17.20
$XPDR_PINGS,70
$ALTIM_BOTTOM_PING,645.5,72.4
$24V_AH,23.7,53.819
$10V_AH,10.1,24.213
$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,25.925,152.400,401.050,7.125,0.000,75.524,131.181,153.162,23.250,0.000,0.000,12.955,1633.959,11267.573,534.490,1858.680,690.776,33.349,1481.585,0.000,1821.509,0.000,39.833,0.000
$DEVICE_MAMPS,152.633,76.700,1293.929,674.960,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,637.963,683.807,529.548,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47396,932
$CAP_FILE_SIZE,127041,0
$CFSIZE,254472192,234168320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,191009,112837,6250.846,-1240.689,31,2.0,31,-11.8