version: 66.04
glider: 5
mission: 7
dive: 309
start: 10 16 109 0 58 21
data:
$ID,5
$MISSION,7
$DIVE,309
$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,-106230.59
$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,24
$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
$GPS1,005207,6313.658,-1254.036,27,1.1,27,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-59.6
$GPS2,005732,6313.617,-1254.020,15,1.2,15,-12.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,GE
$TGT_LATLONG,6300.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.066,-0.236
$KALMAN_X,9275.2,-42.7,-577.9,-4458.4,9180.8
$KALMAN_Y,15130.7,-1031.9,-1337.3,-39869.1,10268.2
$MHEAD_RNG_PITCHd_Wd,207.7,25231,-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,15,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.58,0.000,2,0.000,0.000,418,2140,2445
$GC,63,-1.22,-146.6,2.3,-2.6,2,127,11.30,2.60,-42.20,0.000,4,0.163,0.077,2472,3536,3430
$GC,226,-1.11,-146.6,20.5,-18.2,9,231,0.15,2.53,0.00,0.000,6,0.102,0.046,2503,2114,3430
$GC,550,-1.07,-146.6,63.8,-13.7,25,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2088,3430
$GC,858,-1.03,-146.6,109.0,-14.7,40,862,0.00,2.62,0.00,0.000,4,0.000,0.064,2503,3541,3430
$GC,898,-0.99,-146.6,114.3,-13.4,42,903,0.12,2.50,0.00,0.000,6,0.095,0.048,2529,2132,3430
$GC,1226,-0.99,-146.6,147.2,-8.7,58,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2116,3430
$GC,1548,-0.99,-146.6,176.6,-8.8,78,1552,0.00,2.58,0.00,0.000,4,0.000,0.064,2529,3534,3430
$GC,1586,-0.99,-146.6,180.2,-8.8,80,1593,0.00,2.53,0.00,0.000,6,0.000,0.051,2529,2115,3430
$GC,1906,-0.99,-146.6,210.5,-9.6,101,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2102,3430
$GC,2219,-0.99,-146.6,239.0,-8.8,121,2223,0.00,2.60,0.00,0.000,4,0.000,0.066,2529,3534,3430
$GC,2240,-0.99,-146.6,241.2,-9.5,122,2246,0.00,2.55,0.00,0.000,6,0.000,0.052,2529,2106,3430
$GC,2559,-0.99,-146.6,272.5,-10.4,143,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2095,3430
$GC,2872,-0.99,-146.6,305.7,-11.0,163,2877,0.00,2.65,0.00,0.000,4,0.000,0.067,2529,3544,3430
$GC,2919,-1.03,-146.6,310.8,-11.0,166,2923,0.00,2.55,0.00,0.000,6,0.000,0.054,2529,2118,3430
$GC,3243,-1.03,-146.6,344.1,-9.6,187,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2106,3430
$GC,3555,-1.03,-146.6,373.0,-8.6,207,3559,0.00,2.60,0.00,0.000,4,0.000,0.068,2529,3535,3430
$GC,3588,-1.03,-146.6,376.1,-9.1,209,3592,0.00,2.53,0.00,0.000,6,0.000,0.055,2529,2130,3431
$GC,3908,-1.06,-146.6,403.9,-8.5,229,3909,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2117,3430
$GC,4220,-1.10,-146.6,430.9,-8.7,249,4225,0.12,2.62,0.00,0.000,4,0.057,0.070,2492,3542,3430
$GC,4267,-1.06,-146.6,435.5,-10.3,252,4272,0.10,2.53,0.00,0.000,6,0.100,0.057,2513,2141,3430
$GC,4593,-1.06,-146.6,465.3,-9.5,273,4598,0.00,2.53,0.00,0.000,4,0.000,0.064,2513,721,3430
$GC,4616,-1.06,-146.6,467.9,-10.2,274,4622,0.00,2.55,0.00,0.000,6,0.000,0.051,2513,2159,3430
$GC,4935,-1.06,-146.6,499.5,-10.2,295,4940,0.00,2.62,0.00,0.000,4,0.000,0.064,2513,712,3430
$GC,5009,-1.10,-146.6,507.3,-10.3,299,5015,0.00,2.53,0.00,0.000,6,0.000,0.051,2513,2135,3430
$GC,5328,-1.10,-146.6,535.2,-7.9,320,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2135,3430
$GC,5640,-1.10,-146.6,561.2,-8.8,340,5644,0.00,2.58,0.00,0.000,4,0.000,0.073,2514,3542,3429
$GC,5679,-1.10,-146.6,565.0,-10.1,342,5685,0.00,2.58,0.00,0.000,6,0.000,0.061,2513,2129,3429
$STATE,5932,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5932,begin apogee
$GC,5941,-0.33,0.0,588.2,8.9,359,6073,0.73,0.00,129.30,1.203,6,0.076,0.000,2670,1835,2831
$STATE,6074,end apogee,CONTROL_FINISHED_OK
$STATE,6074,begin climb
$GC,6077,1.22,146.6,594.2,0.0,368,6212,1.58,0.00,130.45,1.162,6,0.058,0.000,3012,1830,2233
$GC,6521,1.20,179.5,569.2,6.8,397,6556,0.00,2.62,29.98,1.119,4,0.000,0.075,3012,445,2099
$GC,6574,1.15,194.5,565.3,7.5,400,6594,0.00,2.58,14.45,1.057,6,0.000,0.055,3012,1862,2038
$GC,6919,1.11,194.5,536.8,9.2,422,6924,0.15,2.55,0.00,0.000,4,0.094,0.068,2983,3252,2037
$GC,6982,1.14,194.5,530.9,8.3,426,6987,0.00,2.55,0.00,0.000,6,0.000,0.064,2983,1864,2036
$GC,7307,1.14,194.5,505.5,8.3,447,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1864,2036
$GC,7619,1.18,194.5,479.6,9.0,467,7623,0.00,2.60,0.00,0.000,4,0.000,0.073,2983,437,2035
$GC,7698,1.18,194.5,471.8,9.5,472,7702,0.00,2.58,0.00,0.000,6,0.000,0.055,2983,1869,2035
$GC,8022,1.18,194.5,443.8,8.2,493,8026,0.00,2.50,0.00,0.000,4,0.000,0.067,2984,3258,2035
$GC,8045,1.22,194.5,441.7,8.7,494,8050,0.12,2.55,0.00,0.000,6,0.059,0.061,3017,1862,2035
$GC,8365,1.17,194.5,411.2,9.4,514,8369,0.00,2.58,0.00,0.000,4,0.000,0.069,3017,438,2035
$GC,8394,1.10,194.5,408.1,11.2,516,8399,0.17,2.58,0.00,0.000,6,0.088,0.052,2982,1876,2034
$GC,8721,1.18,219.0,382.8,7.1,537,8748,0.00,2.55,21.48,1.045,4,0.000,0.062,2983,3261,1938
$GC,8767,1.28,248.3,379.3,6.9,539,8801,0.20,2.55,26.38,1.048,6,0.051,0.058,3032,1865,1818
$GC,9115,1.23,248.3,344.8,9.4,561,9119,0.00,2.53,0.00,0.000,4,0.000,0.062,3032,3255,1819
$GC,9178,1.23,248.3,338.6,9.4,565,9182,0.00,2.47,0.00,0.000,6,0.000,0.056,3032,1880,1818
$GC,9503,1.19,248.3,308.7,9.0,586,9508,0.15,2.53,0.00,0.000,4,0.091,0.061,3003,3257,1819
$GC,9543,1.23,248.3,305.3,8.6,588,9549,0.00,2.45,0.00,0.000,6,0.000,0.054,3003,1899,1819
$GC,9862,1.27,270.6,280.8,7.2,609,9884,0.00,0.00,20.35,0.966,6,0.000,0.000,3003,1899,1727
$GC,10189,1.30,293.2,256.6,7.2,630,10214,0.12,2.53,20.17,0.947,4,0.058,0.061,3037,3255,1635
$GC,10260,1.30,293.2,250.2,9.1,633,10266,0.00,2.42,0.00,0.000,6,0.000,0.052,3037,1915,1635
$GC,10580,1.27,293.2,222.2,8.2,654,10584,0.00,2.45,0.00,0.000,4,0.000,0.061,3037,3255,1636
$GC,10614,1.27,293.2,219.1,8.6,656,10618,0.00,2.40,0.00,0.000,6,0.000,0.053,3037,1919,1636
$GC,10933,1.23,293.2,189.6,9.8,676,10938,0.12,2.45,0.00,0.000,4,0.092,0.059,3012,3261,1636
$GC,10979,1.30,293.2,185.3,8.9,679,10983,0.00,2.35,0.00,0.000,6,0.000,0.052,3012,1950,1636
$GC,11305,1.30,293.2,158.5,8.2,700,11309,0.00,2.70,0.00,0.000,4,0.000,0.064,3012,440,1636
$GC,11326,1.30,293.2,156.6,8.4,701,11332,0.00,2.67,0.00,0.000,6,0.000,0.048,3012,1949,1636
$GC,11655,1.36,314.3,132.6,7.2,719,11681,0.15,2.40,18.98,0.861,4,0.054,0.058,3051,3249,1549
$GC,11703,1.36,314.3,127.5,10.9,721,11707,0.00,2.35,0.00,0.000,6,0.000,0.051,3051,1946,1549
$GC,12026,1.35,336.0,98.4,7.2,737,12047,0.00,0.00,19.00,0.837,6,0.000,0.000,3051,1946,1460
$GC,12357,1.31,336.0,65.2,10.7,753,12358,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1946,1461
$GC,12664,1.27,336.0,33.1,10.3,768,12669,0.17,2.40,0.00,0.000,4,0.087,0.058,3012,3264,1461
$GC,12698,1.34,336.0,29.6,9.3,769,12704,0.12,2.35,0.00,0.000,6,0.056,0.049,3047,1941,1462
$STATE,12950,end climb,SURFACE_DEPTH_REACHED
$STATE,12950,begin surface coast
$FINISH,0.9,1.013744
$STATE,12971,end surface coast,CONTROL_FINISHED_OK
$STATE,12971,begin surface
$SM_CCo,13055,0.00,0.000,0,0,1462,335.57
$SM_GC,1.67,11.38,0.00,0.00,0.036,0.000,0.000,419,2136,1462,-10.60,0.14,335.57
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1821
$TCM_TEMP,17.30
$XPDR_PINGS,66
$ALTIM_BOTTOM_PING,571.1,26.5
$24V_AH,23.8,50.721
$10V_AH,10.1,22.716
$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,26.975,122.425,430.525,0.000,0.000,37.760,27.541,135.792,21.750,0.000,0.000,15.355,1377.720,9432.376,533.286,1553.353,480.093,33.353,1337.296,0.000,1516.215,0.000,37.828,0.000
$DEVICE_MAMPS,162.604,76.700,1203.423,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,534.963,575.556,455.759,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41089,783
$CAP_FILE_SIZE,109402,0
$CFSIZE,254472192,235356160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,161009,043706,6311.604,-1256.731,33,1.1,33,-12.1