version: 66.04
glider: 5
mission: 7
dive: 318
start: 10 17 109 9 51 59
data:
$ID,5
$MISSION,7
$DIVE,318
$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,-106398.49
$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,19
$R_STBD_OVSHOOT,36
$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
$GPS1,094506,6300.722,-1257.455,37,1.3,37,-12.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-59.5
$GPS2,095108,6300.777,-1257.438,14,1.3,14,-12.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FE
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.168,-0.179
$KALMAN_X,6545.5,-1421.6,25.8,-3779.3,-2763.4
$KALMAN_Y,29893.1,-627.7,-403.3,-79790.0,10952.7
$MHEAD_RNG_PITCHd_Wd,148.9,28307,-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,-60.95,0.000,2,0.000,0.000,420,2150,2827
$GC,83,-1.22,-146.6,3.2,-3.8,3,118,11.40,2.53,-18.15,0.000,4,0.163,0.076,2471,3533,3430
$GC,198,-1.12,-146.6,20.4,-11.0,8,203,0.15,2.53,0.00,0.000,6,0.100,0.048,2502,2118,3430
$GC,520,-1.08,-146.6,60.3,-12.6,24,525,0.00,2.50,0.00,0.000,4,0.000,0.060,2502,712,3430
$GC,549,-1.08,-146.6,64.1,-13.4,25,553,0.00,2.53,0.00,0.000,6,0.000,0.049,2502,2135,3430
$GC,867,-1.05,-146.6,102.6,-12.1,40,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2135,3431
$GC,1175,-1.01,-146.6,137.2,-10.8,55,1180,0.10,2.58,0.00,0.000,4,0.100,0.058,2522,706,3430
$GC,1227,-1.08,-146.6,142.7,-10.1,57,1231,0.00,2.53,0.00,0.000,6,0.000,0.048,2523,2133,3431
$GC,1552,-1.08,-146.6,173.5,-8.7,76,1556,0.00,2.58,0.00,0.000,4,0.000,0.060,2523,706,3431
$GC,1598,-1.13,-146.6,177.8,-9.3,79,1603,0.12,2.50,0.00,0.000,6,0.061,0.049,2488,2119,3431
$GC,1926,-1.08,-146.6,212.8,-10.9,100,1931,0.10,2.55,0.00,0.000,4,0.101,0.060,2510,706,3431
$GC,1971,-1.08,-146.6,218.1,-10.0,103,1975,0.00,2.47,0.00,0.000,6,0.000,0.049,2509,2105,3431
$GC,2301,-1.08,-146.6,252.9,-10.5,124,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2105,3431
$GC,2613,-1.08,-146.6,286.4,-11.0,144,2617,0.00,2.53,0.00,0.000,4,0.000,0.064,2510,717,3431
$GC,2679,-1.08,-146.6,294.0,-11.8,148,2684,0.00,2.45,0.00,0.000,6,0.000,0.051,2510,2098,3431
$GC,2999,-1.08,-146.6,329.1,-11.1,168,3003,0.00,2.50,0.00,0.000,4,0.000,0.061,2509,712,3431
$GC,3027,-1.08,-146.6,332.4,-11.5,170,3032,0.00,2.42,0.00,0.000,6,0.000,0.051,2510,2079,3431
$GC,3355,-1.08,-146.6,367.8,-11.0,191,3359,0.00,2.65,0.00,0.000,4,0.000,0.071,2510,3532,3431
$GC,3393,-1.08,-146.6,372.6,-11.0,193,3399,0.00,2.62,0.00,0.000,6,0.000,0.057,2510,2078,3430
$GC,3712,-1.08,-146.6,407.5,-11.0,214,3716,0.00,2.42,0.00,0.000,4,0.000,0.063,2510,715,3431
$GC,3741,-1.08,-146.6,410.8,-11.7,216,3746,0.00,2.45,0.00,0.000,6,0.000,0.051,2510,2097,3431
$GC,4068,-1.08,-146.6,445.1,-9.6,237,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2096,3431
$GC,4379,-1.08,-146.6,473.4,-9.2,257,4383,0.00,2.50,0.00,0.000,4,0.000,0.062,2510,714,3430
$GC,4447,-1.11,-146.6,480.2,-10.1,261,4452,0.00,2.42,0.00,0.000,6,0.000,0.051,2510,2079,3430
$GC,4767,-1.11,-146.6,508.2,-8.5,281,4771,0.00,2.65,0.00,0.000,4,0.000,0.071,2510,3531,3430
$GC,4800,-1.11,-146.6,511.5,-9.4,283,4805,0.00,2.67,0.00,0.000,6,0.000,0.059,2510,2051,3431
$GC,5121,-1.11,-146.6,540.5,-8.9,303,5125,0.00,2.40,0.00,0.000,4,0.000,0.065,2510,707,3430
$GC,5177,-1.15,-146.6,545.9,-9.6,306,5183,0.00,2.40,0.00,0.000,6,0.000,0.052,2510,2055,3430
$GC,5496,-1.15,-146.6,577.1,-9.9,327,5501,0.00,2.70,0.00,0.000,4,0.000,0.075,2510,3531,3430
$GC,5643,-1.15,-146.6,592.9,-11.1,336,5648,0.00,2.62,0.00,0.000,6,0.000,0.061,2510,2088,3430
$STATE,5918,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5918,begin apogee
$GC,5927,-0.33,0.0,622.5,10.6,354,6058,0.75,0.00,128.35,1.233,6,0.077,0.000,2670,1840,2831
$STATE,6059,end apogee,CONTROL_FINISHED_OK
$STATE,6059,begin climb
$GC,6062,1.22,146.6,627.4,0.0,363,6199,1.58,2.65,128.68,1.196,4,0.062,0.073,3009,452,2233
$GC,6279,1.12,154.6,617.3,7.7,377,6296,0.00,2.55,8.73,0.999,6,0.000,0.056,3009,1854,2200
$GC,6611,1.05,154.6,593.0,8.1,398,6613,0.17,0.00,0.00,0.000,6,0.092,0.000,2977,1869,2199
$GC,6922,1.13,205.1,574.1,6.2,418,6972,0.00,2.65,44.47,1.185,4,0.000,0.072,2976,3252,1995
$GC,6991,1.19,211.7,569.3,7.8,422,7005,0.12,2.67,7.32,0.975,6,0.059,0.068,3007,1831,1968
$GC,7318,1.19,211.7,543.6,8.1,443,7323,0.00,2.67,0.00,0.000,4,0.000,0.071,3007,3258,1967
$GC,7369,1.19,211.7,538.9,8.8,446,7373,0.00,2.62,0.00,0.000,6,0.000,0.066,3007,1846,1967
$GC,7689,1.20,212.7,513.5,8.0,466,7693,0.00,2.62,0.00,0.000,4,0.000,0.068,3008,3253,1966
$GC,7705,1.20,212.7,512.0,8.0,467,7709,0.00,2.62,0.00,0.000,6,0.000,0.064,3008,1831,1965
$GC,8024,1.28,265.4,490.6,6.1,487,8076,0.00,2.72,46.65,1.161,4,0.000,0.066,3008,3260,1749
$GC,8135,1.32,292.2,482.8,7.0,494,8167,0.12,2.58,24.40,1.115,6,0.061,0.060,3039,1862,1639
$GC,8482,1.26,292.2,448.5,10.4,516,8487,0.00,2.60,0.00,0.000,4,0.000,0.066,3039,3260,1639
$GC,8516,1.26,292.2,444.4,11.0,518,8521,0.00,2.55,0.00,0.000,6,0.000,0.059,3039,1868,1640
$GC,8836,1.20,292.2,410.5,11.1,538,8841,0.17,2.58,0.00,0.000,4,0.091,0.064,3002,3260,1640
$GC,8882,1.27,292.2,405.9,9.6,541,8887,0.00,2.50,0.00,0.000,6,0.000,0.058,3003,1888,1640
$GC,9209,1.30,292.2,375.4,10.0,562,9214,0.12,2.53,0.00,0.000,4,0.058,0.063,3035,3257,1640
$GC,9248,1.30,292.2,370.6,12.3,564,9254,0.00,2.47,0.00,0.000,6,0.000,0.057,3035,1893,1640
$GC,9568,1.26,292.2,334.1,10.9,585,9572,0.00,2.50,0.00,0.000,4,0.000,0.063,3035,3254,1641
$GC,9607,1.26,292.2,329.6,11.0,587,9613,0.00,2.42,0.00,0.000,6,0.000,0.054,3035,1912,1641
$GC,9927,1.22,292.2,294.2,11.5,608,9932,0.12,2.47,0.00,0.000,4,0.094,0.062,3010,3260,1641
$GC,9961,1.26,292.2,290.5,10.1,610,9965,0.00,2.40,0.00,0.000,6,0.000,0.054,3010,1926,1641
$GC,10286,1.26,292.2,259.4,9.5,631,10290,0.00,2.45,0.00,0.000,4,0.000,0.063,3010,3261,1641
$GC,10302,1.29,292.2,257.6,9.6,632,10306,0.00,2.38,0.00,0.000,6,0.000,0.054,3010,1930,1641
$GC,10628,1.29,292.2,227.5,9.0,653,10632,0.00,2.42,0.00,0.000,4,0.000,0.061,3010,3258,1641
$GC,10662,1.34,292.2,224.0,10.1,655,10666,0.12,2.35,0.00,0.000,6,0.058,0.052,3044,1947,1642
$GC,10984,1.29,292.2,188.5,11.6,675,10985,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1947,1642
$GC,11293,1.24,292.2,151.8,11.8,695,11298,0.15,2.40,0.00,0.000,4,0.089,0.061,3014,3262,1643
$GC,11315,1.24,292.2,149.1,12.3,696,11321,0.00,2.33,0.00,0.000,6,0.000,0.051,3014,1959,1643
$GC,11632,1.24,292.2,115.1,11.2,712,11636,0.00,2.38,0.00,0.000,4,0.000,0.060,3014,3261,1643
$GC,11672,1.30,292.2,110.2,11.8,714,11676,0.00,2.33,0.00,0.000,6,0.000,0.050,3014,1955,1643
$GC,12006,1.33,292.2,73.3,9.4,730,12007,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1955,1643
$GC,12317,1.33,292.2,46.0,9.1,745,12321,0.00,2.38,0.00,0.000,4,0.000,0.059,3014,3261,1643
$GC,12341,1.39,292.2,43.4,10.4,746,12345,0.15,2.33,0.00,0.000,6,0.054,0.048,3055,1948,1643
$GC,12662,1.35,292.2,5.5,9.9,762,12666,0.00,2.38,0.00,0.000,4,0.000,0.058,3055,3258,1643
$GC,12685,1.35,292.2,3.1,10.3,763,12689,0.00,2.22,0.00,0.000,3,0.000,0.046,3055,1996,1643
$STATE,12690,end climb,SURFACE_DEPTH_REACHED
$STATE,12690,begin surface coast
$FINISH,1.7,1.027240
$STATE,12701,end surface coast,CONTROL_FINISHED_OK
$STATE,12701,begin surface
$SM_CCo,12725,4.75,0.588,0,0,1608,300.00
$SM_GC,2.32,0.00,0.00,4.75,0.000,0.000,0.588,418,2131,1608,-10.70,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1825
$TCM_TEMP,17.20
$XPDR_PINGS,43
$ALTIM_BOTTOM_PING,571.0,61.1
$24V_AH,23.8,52.028
$10V_AH,10.1,23.348
$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,26.875,146.050,388.600,4.750,0.000,37.761,49.157,147.962,15.750,0.000,0.000,14.798,1381.080,9092.022,497.217,1591.396,531.317,33.353,1328.134,0.000,1551.497,0.000,35.039,0.000
$DEVICE_MAMPS,163.371,75.933,1232.569,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,522.866,553.549,438.605,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38076,764
$CAP_FILE_SIZE,114094,0
$CFSIZE,254472192,234868736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,171009,132601,6259.483,-1257.624,72,1.0,72,-12.0