version: 66.04
glider: 5
mission: 7
dive: 330
start: 10 19 109 11 35 34
data:
$ID,5
$MISSION,7
$DIVE,330
$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,-106619.84
$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,27
$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
$GPS1,112837,6250.846,-1240.689,31,2.0,31,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-61.5
$GPS2,113443,6250.855,-1240.779,12,2.0,17,-11.8
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FE
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.241,-0.045
$KALMAN_X,-21848.0,353.7,1124.2,35453.4,-10977.9
$KALMAN_Y,46633.2,-860.1,-417.3,-114664.6,5806.6
$MHEAD_RNG_PITCHd_Wd,112.3,9348,-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,-60.85,0.000,2,0.000,0.000,419,2153,2813
$GC,82,-1.22,-146.6,2.8,-3.0,3,119,11.27,2.60,-19.38,0.000,4,0.156,0.067,2472,712,3430
$GC,316,-1.14,-146.6,39.1,-17.3,12,323,0.10,2.53,0.00,0.000,6,0.118,0.048,2491,2139,3430
$GC,633,-1.08,-146.6,80.9,-13.7,28,637,0.00,2.58,0.00,0.000,4,0.000,0.058,2491,713,3430
$GC,677,-1.05,-146.6,87.9,-16.1,30,682,0.10,2.50,0.00,0.000,6,0.101,0.049,2513,2120,3430
$GC,999,-1.05,-146.6,125.0,-10.1,46,1003,0.00,2.55,0.00,0.000,4,0.000,0.058,2513,705,3430
$GC,1026,-1.05,-146.6,128.0,-10.5,47,1031,0.00,2.50,0.00,0.000,6,0.000,0.048,2513,2118,3430
$GC,1354,-1.05,-146.6,160.1,-10.4,64,1358,0.00,2.53,0.00,0.000,4,0.000,0.058,2513,714,3430
$GC,1393,-1.05,-146.6,164.7,-11.2,66,1397,0.00,2.47,0.00,0.000,6,0.000,0.049,2513,2109,3430
$GC,1713,-1.05,-146.6,200.4,-11.3,86,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2109,3430
$GC,2025,-1.05,-146.6,235.6,-11.1,106,2029,0.00,2.53,0.00,0.000,4,0.000,0.059,2513,711,3430
$GC,2088,-1.05,-146.6,242.7,-11.4,110,2093,0.00,2.47,0.00,0.000,6,0.000,0.049,2513,2108,3430
$GC,2414,-1.05,-146.6,278.1,-10.8,131,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2108,3430
$GC,2726,-1.05,-146.6,312.2,-11.1,151,2730,0.00,2.53,0.00,0.000,4,0.000,0.062,2513,715,3430
$GC,2782,-1.05,-146.6,318.6,-11.2,154,2786,0.00,2.45,0.00,0.000,6,0.000,0.051,2513,2094,3430
$GC,3101,-1.05,-146.6,352.0,-10.2,174,3105,0.00,2.50,0.00,0.000,4,0.000,0.061,2513,710,3430
$GC,3131,-1.05,-146.6,355.0,-10.6,176,3135,0.00,2.45,0.00,0.000,6,0.000,0.051,2513,2090,3430
$GC,3455,-1.05,-146.6,388.7,-10.6,197,3460,0.00,2.50,0.00,0.000,4,0.000,0.061,2513,706,3430
$GC,3489,-1.05,-146.6,392.5,-10.9,199,3493,0.00,2.42,0.00,0.000,6,0.000,0.051,2513,2071,3430
$GC,3808,-1.05,-146.6,427.7,-11.3,219,3812,0.00,2.65,0.00,0.000,4,0.000,0.069,2513,3530,3430
$GC,3837,-1.05,-146.6,430.9,-11.4,221,3842,0.00,2.67,0.00,0.000,6,0.000,0.058,2513,2050,3429
$GC,4163,-1.05,-146.6,466.1,-10.8,242,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2050,3429
$GC,4474,-1.05,-146.6,500.1,-11.1,262,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2050,3430
$GC,4786,-1.05,-146.6,535.3,-11.3,282,4791,0.00,2.75,0.00,0.000,4,0.000,0.071,2513,3533,3429
$GC,4841,-1.05,-146.6,541.7,-11.6,285,4848,0.00,2.65,0.00,0.000,6,0.000,0.057,2513,2059,3429
$GC,5163,-1.05,-146.6,575.0,-10.0,306,5167,0.00,2.40,0.00,0.000,4,0.000,0.064,2513,712,3429
$GC,5202,-1.08,-146.6,579.2,-10.0,308,5208,0.00,2.42,0.00,0.000,6,0.000,0.051,2513,2078,3429
$GC,5521,-1.08,-146.6,613.0,-11.0,329,5525,0.00,2.67,0.00,0.000,4,0.000,0.074,2513,3537,3429
$GC,5686,-1.08,-146.6,629.8,-10.3,339,5691,0.00,2.62,0.00,0.000,6,0.000,0.060,2513,2086,3429
$GC,6010,-1.08,-146.6,659.2,-8.2,360,6012,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2070,3429
$GC,6324,-1.08,-146.6,686.2,-8.7,380,6325,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2059,3428
$STATE,6446,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6447,begin apogee
$GC,6454,-0.33,0.0,699.6,11.4,388,6592,0.75,0.00,134.57,1.285,6,0.078,0.000,2674,1829,2832
$STATE,6593,end apogee,CONTROL_FINISHED_OK
$STATE,6593,begin climb
$GC,6597,1.22,146.6,706.0,0.0,397,6744,1.55,2.72,137.75,1.239,4,0.061,0.069,3010,3256,2233
$GC,6762,1.19,174.6,702.4,7.0,407,6798,0.00,2.62,27.17,1.170,6,0.000,0.067,3010,1864,2119
$GC,7114,1.14,177.1,673.0,7.9,430,7123,0.00,2.62,4.05,0.758,4,0.000,0.070,3010,3244,2109
$GC,7165,1.10,180.2,668.8,7.9,433,7175,0.15,2.60,4.68,0.837,6,0.100,0.067,2982,1850,2096
$GC,7492,1.18,230.6,648.6,6.2,453,7540,0.00,0.00,45.95,1.226,6,0.000,0.000,2982,1850,1891
$GC,7847,1.22,235.6,623.3,7.8,476,7864,0.12,2.70,6.68,0.994,4,0.062,0.070,3015,3257,1869
$GC,7900,1.22,235.6,618.4,9.7,479,7904,0.00,2.62,0.00,0.000,6,0.000,0.066,3015,1848,1869
$GC,8225,1.19,235.6,587.8,9.1,500,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1848,1868
$GC,8536,1.19,235.6,557.0,10.2,520,8540,0.00,2.62,0.00,0.000,4,0.000,0.068,3015,3255,1868
$GC,8609,1.19,235.6,549.6,9.6,524,8615,0.00,2.55,0.00,0.000,6,0.000,0.062,3015,1868,1868
$GC,8928,1.19,235.6,518.9,10.2,545,8932,0.00,2.55,0.00,0.000,4,0.000,0.067,3015,3250,1867
$GC,8979,1.19,235.6,513.5,10.9,548,8983,0.00,2.47,0.00,0.000,6,0.000,0.059,3015,1892,1867
$GC,9299,1.19,235.6,480.4,10.5,568,9303,0.00,2.50,0.00,0.000,4,0.000,0.065,3015,3249,1867
$GC,9337,1.19,235.6,476.3,11.3,570,9343,0.00,2.42,0.00,0.000,6,0.000,0.058,3015,1912,1867
$GC,9657,1.19,235.6,445.9,9.2,591,9661,0.00,2.47,0.00,0.000,4,0.000,0.064,3015,3257,1868
$GC,9691,1.19,235.6,442.5,9.4,593,9695,0.00,2.42,0.00,0.000,6,0.000,0.057,3015,1916,1867
$GC,10010,1.19,235.6,414.7,8.7,613,10014,0.00,2.42,0.00,0.000,4,0.000,0.063,3015,3250,1867
$GC,10049,1.19,235.6,411.0,9.0,615,10053,0.00,2.38,0.00,0.000,6,0.000,0.055,3015,1933,1867
$GC,10374,1.19,235.6,383.2,8.8,636,10378,0.00,2.40,0.00,0.000,4,0.000,0.063,3015,3254,1867
$GC,10407,1.19,235.6,380.0,9.3,638,10411,0.00,2.38,0.00,0.000,6,0.000,0.055,3015,1935,1867
$GC,10726,1.19,235.6,352.2,8.7,658,10731,0.00,2.40,0.00,0.000,4,0.000,0.062,3015,3255,1868
$GC,10760,1.19,235.6,349.1,8.8,660,10764,0.00,2.35,0.00,0.000,6,0.000,0.054,3015,1945,1868
$GC,11079,1.19,235.6,321.0,9.1,680,11083,0.00,2.40,0.00,0.000,4,0.000,0.061,3015,3258,1868
$GC,11101,1.19,235.6,318.9,9.2,681,11107,0.00,2.33,0.00,0.000,6,0.000,0.053,3015,1963,1868
$GC,11420,1.19,235.6,289.9,9.3,702,11424,0.00,2.35,0.00,0.000,4,0.000,0.061,3015,3250,1869
$GC,11442,1.19,235.6,287.6,9.8,703,11448,0.00,2.30,0.00,0.000,6,0.000,0.052,3015,1965,1869
$GC,11761,1.19,235.6,257.0,9.6,724,11765,0.00,2.35,0.00,0.000,4,0.000,0.061,3015,3251,1869
$GC,11800,1.19,235.6,253.2,9.1,726,11806,0.00,2.28,0.00,0.000,6,0.000,0.051,3015,1977,1869
$GC,12119,1.19,235.6,224.5,9.2,747,12121,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1977,1869
$GC,12432,1.19,235.6,195.7,9.1,767,12436,0.00,2.33,0.00,0.000,4,0.000,0.061,3015,3253,1870
$GC,12466,1.19,235.6,192.4,9.6,769,12470,0.00,2.25,0.00,0.000,6,0.000,0.050,3015,1990,1870
$GC,12785,1.19,235.6,163.8,8.5,789,12786,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1990,1870
$GC,13103,1.19,235.6,137.8,8.0,807,13107,0.00,2.30,0.00,0.000,4,0.000,0.059,3015,3257,1870
$GC,13122,1.20,243.1,136.2,7.7,808,13136,0.00,2.22,8.18,0.779,6,0.000,0.048,3015,1998,1839
$GC,13455,1.22,256.7,109.7,7.5,824,13477,0.00,2.35,12.62,0.822,4,0.000,0.058,3015,3251,1784
$GC,13511,1.26,256.7,104.7,8.8,826,13515,0.00,2.22,0.00,0.000,6,0.000,0.048,3015,2009,1783
$GC,13829,1.26,256.7,76.5,9.3,841,13834,0.00,2.80,0.00,0.000,4,0.000,0.061,3015,440,1784
$GC,13852,1.26,256.7,74.1,9.4,842,13857,0.00,2.80,0.00,0.000,6,0.000,0.048,3015,2021,1783
$GC,14174,1.26,256.7,42.3,10.8,858,14179,0.00,2.88,0.00,0.000,4,0.000,0.061,3015,436,1784
$GC,14201,1.26,256.7,39.2,11.1,859,14206,0.00,2.78,0.00,0.000,6,0.000,0.047,3015,2007,1784
$GC,14518,1.26,256.7,9.2,10.7,874,14522,0.00,2.22,0.00,0.000,4,0.000,0.059,3015,3258,1784
$GC,14537,1.32,256.7,7.5,9.8,875,14541,0.00,2.25,0.00,0.000,6,0.000,0.051,3015,2004,1784
$STATE,14614,end climb,SURFACE_DEPTH_REACHED
$STATE,14614,begin surface coast
$FINISH,0.7,1.027502
$STATE,14636,end surface coast,CONTROL_FINISHED_OK
$STATE,14636,begin surface
$SM_CCo,14660,22.40,0.775,0,0,1607,300.00
$SM_GC,0.98,0.00,0.00,22.40,0.000,0.000,0.775,417,2138,1607,-10.71,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1824
$TCM_TEMP,17.30
$XPDR_PINGS,52
$ALTIM_BOTTOM_PING,671.0,38.4
$24V_AH,23.7,53.970
$10V_AH,10.1,24.291
$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,25.275,155.250,381.650,22.400,0.000,37.761,30.533,156.632,19.250,0.000,0.000,17.910,1567.000,10586.529,539.160,1800.464,555.531,33.349,1455.965,0.000,1750.580,0.000,46.528,0.000
$DEVICE_MAMPS,156.468,74.399,1285.492,774.670,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,602.376,642.113,491.745,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44327,880
$CAP_FILE_SIZE,123056,0
$CFSIZE,254472192,234110976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,191009,154137,6249.944,-1239.696,38,1.5,38,-11.7