version: 66.04
glider: 5
mission: 7
dive: 310
start: 10 16 109 4 43 27
data:
$ID,5
$MISSION,7
$DIVE,310
$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,-106243.99
$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,25
$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
$GPS1,043706,6311.604,-1256.731,33,1.1,33,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-61.8
$GPS2,044238,6311.620,-1256.692,12,1.1,12,-12.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,GE
$TGT_LATLONG,6300.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.044,-0.241
$KALMAN_X,8297.1,-808.1,-627.4,-4852.1,6660.3
$KALMAN_Y,15354.9,-1570.3,48.5,-44665.4,7635.3
$MHEAD_RNG_PITCHd_Wd,202.4,21567,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,61,0.00,0.00,-41.22,0.000,2,0.000,0.000,418,2146,2306
$GC,65,-1.22,-146.6,2.1,-1.2,2,132,11.23,2.58,-48.65,0.000,4,0.161,0.077,2470,3532,3429
$GC,245,-1.11,-146.6,20.5,-12.3,10,250,0.15,2.50,0.00,0.000,6,0.110,0.048,2499,2126,3430
$GC,567,-1.08,-146.6,57.4,-10.4,26,571,0.00,2.50,0.00,0.000,4,0.000,0.058,2499,716,3429
$GC,590,-1.04,-146.6,60.0,-10.9,27,594,0.00,2.50,0.00,0.000,6,0.000,0.049,2499,2123,3430
$GC,912,-1.00,-146.6,95.0,-11.2,43,913,0.12,0.00,0.00,0.000,6,0.103,0.000,2524,2124,3430
$GC,1220,-1.00,-146.6,124.5,-9.5,58,1224,0.00,2.55,0.00,0.000,4,0.000,0.061,2525,719,3430
$GC,1242,-1.00,-146.6,126.8,-9.7,59,1247,0.00,2.50,0.00,0.000,6,0.000,0.050,2525,2128,3430
$GC,1560,-1.00,-146.6,160.3,-11.6,76,1564,0.00,2.55,0.00,0.000,4,0.000,0.066,2525,3536,3430
$GC,1598,-1.00,-146.6,164.7,-11.2,78,1604,0.00,2.53,0.00,0.000,6,0.000,0.051,2524,2121,3430
$GC,1918,-1.00,-146.6,196.6,-10.1,99,1922,0.00,2.50,0.00,0.000,4,0.000,0.059,2525,709,3430
$GC,1985,-1.06,-146.6,203.8,-9.9,103,1989,0.00,2.50,0.00,0.000,6,0.000,0.048,2525,2126,3430
$GC,2305,-1.06,-146.6,235.0,-9.0,123,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2126,3430
$GC,2616,-1.06,-146.6,262.4,-8.9,143,2621,0.00,2.55,0.00,0.000,4,0.000,0.061,2524,713,3430
$GC,2667,-1.12,-146.6,267.0,-9.1,146,2672,0.12,2.47,0.00,0.000,6,0.059,0.050,2490,2114,3430
$GC,2991,-1.07,-146.6,300.8,-10.9,166,2993,0.10,0.00,0.00,0.000,6,0.100,0.000,2511,2114,3430
$GC,3299,-1.07,-146.6,333.0,-10.4,186,3303,0.00,2.53,0.00,0.000,4,0.000,0.060,2511,709,3430
$GC,3345,-1.10,-146.6,337.9,-10.8,189,3350,0.00,2.45,0.00,0.000,6,0.000,0.051,2511,2094,3430
$GC,3672,-1.10,-146.6,373.1,-11.2,210,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2093,3430
$GC,3982,-1.10,-146.6,407.1,-11.6,230,3986,0.00,2.47,0.00,0.000,4,0.000,0.061,2511,721,3430
$GC,4004,-1.10,-146.6,409.8,-11.7,231,4010,0.00,2.42,0.00,0.000,6,0.000,0.051,2511,2089,3430
$GC,4324,-1.10,-146.6,446.1,-11.2,252,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2089,3430
$GC,4636,-1.10,-146.6,479.8,-10.9,272,4640,0.00,2.47,0.00,0.000,4,0.000,0.062,2510,721,3430
$GC,4658,-1.10,-146.6,482.6,-11.3,273,4664,0.00,2.40,0.00,0.000,6,0.000,0.051,2511,2074,3430
$GC,4977,-1.10,-146.6,517.7,-11.6,294,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2074,3430
$GC,5290,-1.10,-146.6,554.0,-11.3,314,5295,0.00,2.67,0.00,0.000,4,0.000,0.072,2511,3540,3430
$GC,5353,-1.10,-146.6,561.3,-11.1,318,5357,0.00,2.67,0.00,0.000,6,0.000,0.060,2511,2058,3429
$STATE,5580,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5580,begin apogee
$GC,5589,-0.33,0.0,584.7,10.0,333,5722,0.75,0.00,129.65,1.189,6,0.076,0.000,2673,1838,2831
$STATE,5722,end apogee,CONTROL_FINISHED_OK
$STATE,5722,begin climb
$GC,5726,1.22,146.6,590.2,0.0,342,5867,1.52,2.62,129.90,1.147,4,0.059,0.070,3007,455,2233
$GC,5939,1.14,167.1,581.9,7.3,355,5964,0.00,2.53,19.62,1.070,6,0.000,0.052,3007,1869,2149
$GC,6287,1.18,213.1,560.8,6.3,377,6335,0.00,2.58,41.08,1.120,4,0.000,0.066,3007,3236,1961
$GC,6354,1.19,223.0,555.9,7.6,381,6371,0.00,2.62,10.18,0.992,6,0.000,0.065,3007,1830,1920
$GC,6683,1.19,223.0,530.4,8.1,402,6688,0.00,2.62,0.00,0.000,4,0.000,0.066,3007,3242,1920
$GC,6739,1.19,223.0,525.3,9.6,405,6746,0.00,2.60,0.00,0.000,6,0.000,0.063,3007,1830,1920
$GC,7059,1.19,223.0,493.4,10.2,426,7064,0.00,2.62,0.00,0.000,4,0.000,0.065,3007,3248,1919
$GC,7093,1.19,223.0,489.5,11.1,428,7097,0.00,2.60,0.00,0.000,6,0.000,0.061,3007,1832,1918
$GC,7412,1.19,223.0,457.4,10.4,448,7416,0.00,2.60,0.00,0.000,4,0.000,0.064,3007,3240,1918
$GC,7458,1.19,223.0,452.6,10.8,451,7462,0.00,2.50,0.00,0.000,6,0.000,0.060,3007,1862,1918
$GC,7782,1.19,223.0,423.1,8.5,472,7786,0.00,2.53,0.00,0.000,4,0.000,0.064,3007,3242,1918
$GC,7810,1.19,223.0,420.7,8.7,474,7815,0.00,2.50,0.00,0.000,6,0.000,0.059,3007,1867,1918
$GC,8136,1.22,239.1,395.1,7.4,495,8156,0.00,2.58,14.73,1.009,4,0.000,0.062,3007,3247,1857
$GC,8186,1.22,239.1,391.1,8.2,498,8190,0.00,2.47,0.00,0.000,6,0.000,0.057,3007,1884,1857
$GC,8511,1.23,247.5,365.7,7.7,519,8527,0.00,2.53,9.00,0.930,4,0.000,0.062,3007,3245,1821
$GC,8562,1.24,249.9,361.5,7.9,522,8571,0.00,2.45,3.92,0.669,6,0.000,0.056,3007,1896,1811
$GC,8892,1.25,258.2,335.5,7.7,543,8909,0.00,2.53,8.82,0.905,4,0.000,0.062,3007,3242,1778
$GC,8927,1.25,258.2,332.6,8.7,545,8931,0.00,2.40,0.00,0.000,6,0.000,0.054,3007,1914,1778
$GC,9252,1.25,258.2,306.3,8.3,566,9253,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1914,1778
$GC,9564,1.25,258.2,281.1,8.2,586,9569,0.00,2.42,0.00,0.000,4,0.000,0.062,3007,3238,1778
$GC,9594,1.28,258.2,278.5,9.5,588,9598,0.00,2.38,0.00,0.000,6,0.000,0.054,3007,1915,1778
$GC,9918,1.28,258.2,251.9,8.5,609,9919,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1915,1778
$GC,10231,1.28,258.2,224.7,9.0,629,10235,0.00,2.42,0.00,0.000,4,0.000,0.061,3007,3242,1777
$GC,10282,1.32,258.2,220.2,9.2,632,10287,0.12,2.35,0.00,0.000,6,0.054,0.052,3043,1929,1778
$GC,10605,1.26,258.2,186.3,10.8,652,10607,0.12,0.00,0.00,0.000,6,0.091,0.000,3019,1928,1778
$GC,10913,1.26,258.2,159.6,8.3,672,10918,0.00,2.40,0.00,0.000,4,0.000,0.061,3019,3247,1778
$GC,10977,1.26,258.2,154.5,8.2,676,10981,0.00,2.35,0.00,0.000,6,0.000,0.051,3020,1927,1778
$GC,11306,1.26,258.2,129.6,8.2,693,11307,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1927,1778
$GC,11614,1.26,258.8,104.7,8.0,708,11618,0.00,2.40,0.00,0.000,4,0.000,0.060,3019,3249,1778
$GC,11641,1.26,258.8,102.1,9.2,709,11646,0.00,2.33,0.00,0.000,6,0.000,0.049,3019,1937,1778
$GC,11958,1.26,258.8,74.0,9.8,724,11963,0.00,2.38,0.00,0.000,4,0.000,0.059,3019,3247,1778
$GC,11999,1.29,258.8,69.8,10.4,726,12003,0.00,2.30,0.00,0.000,6,0.000,0.049,3019,1945,1778
$GC,12333,1.29,258.8,39.4,8.5,742,12337,0.00,2.35,0.00,0.000,4,0.000,0.059,3019,3242,1778
$GC,12355,1.29,258.8,37.3,9.2,743,12359,0.00,2.28,0.00,0.000,6,0.000,0.048,3019,1958,1778
$GC,12678,1.29,258.8,6.6,9.0,759,12682,0.00,2.33,0.00,0.000,4,0.000,0.059,3019,3238,1779
$GC,12696,1.29,258.8,5.0,9.0,760,12700,0.00,2.25,0.00,0.000,6,0.000,0.050,3019,1965,1779
$STATE,12738,end climb,SURFACE_DEPTH_REACHED
$STATE,12739,begin surface coast
$FINISH,0.7,1.013891
$STATE,12759,end surface coast,CONTROL_FINISHED_OK
$STATE,12759,begin surface
$SM_CCo,12784,22.65,0.767,0,0,1607,300.00
$SM_GC,1.25,0.00,0.00,22.65,0.000,0.000,0.767,422,2136,1607,-10.69,-0.20,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1826
$TCM_TEMP,17.30
$XPDR_PINGS,51
$ALTIM_BOTTOM_PING,545.4,48.7
$24V_AH,23.8,50.856
$10V_AH,10.1,22.786
$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,25.475,129.775,366.900,22.650,0.000,37.765,28.265,140.634,17.500,0.000,0.000,12.775,1351.515,9233.009,493.552,1563.313,497.075,33.348,1306.452,0.000,1530.141,0.000,33.426,0.000
$DEVICE_MAMPS,161.070,76.700,1188.850,767.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,521.804,557.212,473.086,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37952,763
$CAP_FILE_SIZE,108271,0
$CFSIZE,254472192,235302912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,161009,081807,6311.062,-1253.933,33,1.5,33,-12.0