version: 66.04
glider: 5
mission: 7
dive: 331
start: 10 19 109 15 48 48
data:
$ID,5
$MISSION,7
$DIVE,331
$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,-106655.83
$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,22
$R_STBD_OVSHOOT,31
$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
$GPS1,154137,6249.944,-1239.696,38,1.5,38,-11.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-56.7
$GPS2,154758,6249.938,-1239.841,15,2.1,34,-11.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FE
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.245,0.001
$KALMAN_X,-26013.6,1252.6,-169.1,40811.0,-10755.8
$KALMAN_Y,45105.9,-201.0,-795.7,-115097.6,3691.4
$MHEAD_RNG_PITCHd_Wd,101.4,9147,-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,-61.22,0.000,2,0.000,0.000,417,2145,2819
$GC,83,-1.22,-146.6,2.5,-1.9,3,126,11.38,2.53,-24.15,0.000,4,0.162,0.074,2472,3534,3431
$GC,196,-1.09,-146.6,14.2,-14.1,8,201,0.17,2.53,0.00,0.000,6,0.099,0.048,2509,2116,3431
$GC,524,-1.05,-146.6,49.2,-12.5,24,528,0.00,2.50,0.00,0.000,4,0.000,0.058,2509,707,3431
$GC,552,-1.05,-146.6,52.6,-11.8,25,556,0.00,2.53,0.00,0.000,6,0.000,0.048,2509,2131,3431
$GC,870,-1.01,-146.6,81.9,-9.3,40,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2130,3431
$GC,1178,-0.98,-146.6,113.2,-9.9,55,1179,0.10,0.00,0.00,0.000,6,0.104,0.000,2528,2131,3431
$GC,1487,-0.98,-146.6,142.4,-9.6,70,1491,0.00,2.55,0.00,0.000,4,0.000,0.060,2528,719,3432
$GC,1538,-1.03,-146.6,147.8,-10.3,72,1542,0.00,2.50,0.00,0.000,6,0.000,0.049,2529,2131,3431
$GC,1862,-1.03,-146.6,179.7,-9.8,92,1866,0.00,2.58,0.00,0.000,4,0.000,0.062,2528,713,3431
$GC,1908,-1.09,-146.6,184.0,-10.1,95,1913,0.00,2.50,0.00,0.000,6,0.000,0.049,2528,2123,3431
$GC,2233,-1.09,-146.6,215.5,-9.8,116,2238,0.00,2.55,0.00,0.000,4,0.000,0.061,2528,715,3431
$GC,2268,-1.13,-146.6,219.0,-9.6,118,2273,0.15,2.47,0.00,0.000,6,0.054,0.049,2487,2110,3431
$GC,2591,-1.06,-146.6,257.1,-12.1,138,2593,0.12,0.00,0.00,0.000,6,0.097,0.000,2513,2110,3431
$GC,2900,-1.06,-146.6,291.4,-10.7,158,2904,0.00,2.53,0.00,0.000,4,0.000,0.060,2513,713,3431
$GC,2945,-1.06,-146.6,296.3,-10.3,161,2950,0.00,2.47,0.00,0.000,6,0.000,0.051,2513,2108,3431
$GC,3270,-1.06,-146.6,329.8,-10.0,182,3274,0.00,2.53,0.00,0.000,4,0.000,0.061,2513,713,3431
$GC,3301,-1.06,-146.6,332.8,-10.4,184,3306,0.00,2.45,0.00,0.000,6,0.000,0.051,2513,2092,3431
$GC,3626,-1.06,-146.6,366.4,-10.2,205,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2092,3431
$GC,3938,-1.06,-146.6,400.0,-11.1,225,3943,0.00,2.50,0.00,0.000,4,0.000,0.062,2513,711,3430
$GC,4002,-1.06,-146.6,407.2,-11.5,229,4006,0.00,2.42,0.00,0.000,6,0.000,0.051,2513,2071,3430
$GC,4326,-1.06,-146.6,444.7,-11.7,250,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2071,3430
$GC,4639,-1.06,-146.6,481.2,-11.8,270,4643,0.00,2.45,0.00,0.000,4,0.000,0.063,2513,718,3430
$GC,4672,-1.06,-146.6,485.4,-12.1,272,4676,0.00,2.40,0.00,0.000,6,0.000,0.051,2513,2067,3430
$GC,4991,-1.06,-146.6,522.6,-11.5,292,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2067,3430
$GC,5304,-1.06,-146.6,558.8,-11.3,312,5308,0.00,2.45,0.00,0.000,4,0.000,0.064,2513,720,3430
$GC,5342,-1.06,-146.6,563.2,-10.9,314,5348,0.00,2.40,0.00,0.000,6,0.000,0.051,2513,2067,3430
$GC,5661,-1.06,-146.6,594.6,-9.2,335,5669,0.00,2.67,0.00,0.000,4,0.000,0.069,2513,3538,3430
$GC,5701,-1.06,-146.6,598.1,-10.0,337,5705,0.00,2.67,0.00,0.000,6,0.000,0.059,2513,2061,3430
$GC,6025,-1.06,-146.6,630.1,-10.5,358,6029,0.00,2.40,0.00,0.000,4,0.000,0.067,2513,721,3429
$GC,6082,-1.11,-146.6,636.4,-10.9,361,6088,0.00,2.42,0.00,0.000,6,0.000,0.054,2513,2081,3429
$GC,6401,-1.11,-146.6,669.3,-9.1,382,6405,0.00,2.53,0.00,0.000,4,0.000,0.072,2513,714,3429
$GC,6425,-1.14,-146.6,671.9,-10.5,383,6431,0.00,2.45,0.00,0.000,6,0.000,0.057,2513,2078,3430
$GC,6744,-1.14,-146.6,703.1,-11.0,404,6749,0.00,2.67,0.00,0.000,4,0.000,0.080,2513,3531,3429
$STATE,6775,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6775,begin apogee
$GC,6786,-0.33,0.0,706.3,8.1,406,6923,0.70,0.00,134.43,1.289,6,0.082,0.000,2665,1853,2831
$STATE,6924,end apogee,CONTROL_FINISHED_OK
$STATE,6924,begin climb
$GC,6927,1.22,146.6,711.8,0.0,415,7074,1.58,2.70,135.98,1.242,4,0.068,0.077,3005,435,2233
$GC,7265,1.11,146.6,691.8,9.4,436,7269,0.00,2.58,0.00,0.000,6,0.000,0.057,3005,1854,2233
$GC,7590,1.04,146.6,663.1,9.1,457,7592,0.17,0.00,0.00,0.000,6,0.097,0.000,2973,1869,2232
$GC,7901,1.04,146.6,637.6,8.2,477,7906,0.00,2.58,0.00,0.000,4,0.000,0.071,2973,3259,2231
$GC,7953,1.07,146.6,633.5,8.5,480,7957,0.00,2.62,0.00,0.000,6,0.000,0.067,2973,1845,2231
$GC,8272,1.20,225.0,615.5,5.2,500,8351,0.15,2.70,69.12,1.245,4,0.059,0.076,3010,435,1913
$GC,8358,1.18,238.1,609.7,7.5,505,8378,0.00,2.60,13.60,1.126,6,0.000,0.058,3009,1861,1860
$GC,8701,1.21,258.4,585.5,7.3,527,8722,0.00,0.00,19.35,1.167,6,0.000,0.000,3009,1862,1777
$GC,9025,1.21,258.4,558.3,8.8,548,9029,0.00,2.55,0.00,0.000,4,0.000,0.069,3010,3242,1777
$GC,9093,1.21,258.4,551.8,9.9,552,9098,0.00,2.62,0.00,0.000,6,0.000,0.063,3009,1821,1776
$GC,9412,1.21,258.4,520.0,9.7,572,9417,0.00,2.65,0.00,0.000,4,0.000,0.066,3010,3250,1776
$GC,9468,1.21,258.4,514.5,9.5,575,9475,0.00,2.58,0.00,0.000,6,0.000,0.061,3010,1845,1776
$GC,9788,1.22,264.1,487.5,7.8,596,9804,0.00,2.65,6.50,0.940,4,0.000,0.064,3009,3245,1754
$GC,9838,1.22,264.1,483.5,8.4,599,9843,0.00,2.53,0.00,0.000,6,0.000,0.058,3010,1863,1754
$GC,10164,1.26,287.8,460.0,7.1,620,10191,0.00,2.60,21.75,1.101,4,0.000,0.062,3010,3241,1657
$GC,10237,1.33,305.7,454.4,7.3,623,10260,0.10,2.50,16.83,1.073,6,0.061,0.058,3038,1874,1584
$GC,10575,1.28,305.7,421.9,10.0,645,10580,0.00,2.53,0.00,0.000,4,0.000,0.063,3038,3251,1585
$GC,10614,1.28,305.7,417.2,10.2,647,10620,0.00,2.47,0.00,0.000,6,0.000,0.057,3038,1889,1585
$GC,10934,1.23,305.7,383.3,11.1,668,10939,0.12,2.50,0.00,0.000,4,0.094,0.062,3014,3247,1586
$GC,10968,1.27,305.7,379.9,9.5,670,10972,0.00,2.42,0.00,0.000,6,0.000,0.057,3014,1908,1586
$GC,11287,1.27,305.7,349.7,9.4,690,11291,0.00,2.45,0.00,0.000,4,0.000,0.063,3014,3250,1586
$GC,11317,1.30,305.7,347.0,9.3,692,11321,0.00,2.42,0.00,0.000,6,0.000,0.055,3014,1908,1587
$GC,11641,1.30,305.7,317.1,8.9,713,11645,0.00,2.42,0.00,0.000,4,0.000,0.062,3014,3248,1586
$GC,11669,1.34,305.7,314.4,9.9,714,11675,0.10,2.40,0.00,0.000,6,0.061,0.054,3042,1917,1587
$GC,11989,1.29,305.7,280.9,10.8,735,11993,0.00,2.42,0.00,0.000,4,0.000,0.062,3042,3241,1587
$GC,12017,1.29,305.7,277.7,11.0,737,12021,0.00,2.35,0.00,0.000,6,0.000,0.054,3042,1933,1587
$GC,12343,1.25,305.7,243.7,10.2,758,12345,0.12,0.00,0.00,0.000,6,0.091,0.000,3017,1933,1588
$GC,12654,1.25,305.7,215.6,8.7,778,12658,0.00,2.40,0.00,0.000,4,0.000,0.061,3018,3245,1588
$GC,12693,1.30,305.7,212.0,9.1,780,12700,0.00,2.35,0.00,0.000,6,0.000,0.053,3018,1930,1588
$GC,13013,1.30,305.7,186.3,8.0,801,13017,0.00,2.40,0.00,0.000,4,0.000,0.061,3018,3249,1588
$GC,13031,1.30,307.4,184.7,7.9,802,13040,0.00,2.33,4.07,0.630,6,0.000,0.051,3018,1946,1577
$GC,13361,1.30,307.4,158.6,8.1,823,13362,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1945,1577
$GC,13678,1.30,307.4,131.1,9.2,840,13682,0.00,2.38,0.00,0.000,4,0.000,0.061,3018,3249,1577
$GC,13700,1.34,307.4,128.9,9.1,841,13704,0.00,2.30,0.00,0.000,6,0.000,0.050,3018,1959,1577
$GC,14023,1.35,312.4,101.6,7.8,857,14030,0.00,0.00,5.85,0.706,6,0.000,0.000,3018,1960,1557
$GC,14334,1.39,312.4,73.2,9.6,872,14339,0.12,2.35,0.00,0.000,4,0.057,0.058,3052,3253,1557
$GC,14351,1.39,312.4,70.8,11.1,873,14355,0.00,2.28,0.00,0.000,6,0.000,0.047,3052,1965,1557
$GC,14686,1.34,312.4,28.9,12.2,889,14690,0.00,2.33,0.00,0.000,4,0.000,0.059,3052,3242,1557
$GC,14707,1.34,312.4,25.7,13.9,890,14711,0.00,2.28,0.00,0.000,6,0.000,0.048,3052,1964,1557
$STATE,14903,end climb,SURFACE_DEPTH_REACHED
$STATE,14903,begin surface coast
$FINISH,0.7,1.027245
$STATE,14925,end surface coast,CONTROL_FINISHED_OK
$STATE,14925,begin surface
$SM_CCo,15008,0.00,0.000,0,0,1557,312.51
$SM_GC,1.32,11.50,0.00,0.00,0.040,0.000,0.000,418,2142,1557,-10.61,0.40,312.51
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1820
$TCM_TEMP,17.30
$XPDR_PINGS,48
$ALTIM_BOTTOM_PING,670.5,45.4
$24V_AH,23.7,54.132
$10V_AH,10.1,24.372
$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,26.600,155.300,427.475,0.000,0.000,37.762,29.696,156.303,18.000,0.000,0.000,35.368,1582.067,10860.288,546.043,1844.952,549.492,33.344,1487.690,0.000,1780.870,0.000,41.353,0.000
$DEVICE_MAMPS,161.837,79.768,1289.327,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,616.289,657.559,507.142,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47393,901
$CAP_FILE_SIZE,126811,0
$CFSIZE,254472192,234045440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,191009,200006,6250.263,-1237.826,33,1.8,33,-11.7