version: 66.04
glider: 5
mission: 7
dive: 319
start: 10 17 109 13 32 39
data:
$ID,5
$MISSION,7
$DIVE,319
$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,-106412.3
$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,29
$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
$GPS1,132601,6259.483,-1257.624,72,1.0,72,-12.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-57.8
$GPS2,133150,6259.494,-1257.686,13,1.1,13,-12.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FE
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.017,-0.245
$KALMAN_X,735.0,204.9,-356.7,571.5,-8106.1
$KALMAN_Y,31174.2,-364.7,-1001.3,-83092.6,11237.1
$MHEAD_RNG_PITCHd_Wd,195.9,27193,-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,-41.30,0.000,2,0.000,0.000,417,2141,2427
$GC,65,-1.22,-146.6,2.1,-2.7,2,132,11.30,2.58,-49.33,0.000,4,0.159,0.077,2473,3524,3430
$GC,179,-1.10,-146.6,10.7,-16.7,7,184,0.15,2.50,0.00,0.000,6,0.097,0.048,2505,2121,3430
$GC,501,-1.06,-146.6,45.1,-11.2,23,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2104,3430
$GC,812,-1.02,-146.6,79.6,-11.7,38,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2104,3430
$GC,1120,-0.99,-146.6,119.9,-13.2,53,1121,0.12,0.00,0.00,0.000,6,0.091,0.000,2531,2104,3430
$GC,1434,-0.99,-146.6,156.5,-11.5,69,1438,0.00,2.60,0.00,0.000,4,0.000,0.065,2530,3534,3430
$GC,1513,-0.99,-146.6,165.7,-11.3,74,1518,0.00,2.47,0.00,0.000,6,0.000,0.050,2530,2145,3430
$GC,1838,-0.99,-146.6,203.9,-12.3,95,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2129,3430
$GC,2151,-0.99,-146.6,241.2,-11.4,115,2155,0.00,2.55,0.00,0.000,4,0.000,0.061,2530,708,3430
$GC,2173,-1.02,-146.6,243.7,-10.9,116,2179,0.00,2.55,0.00,0.000,6,0.000,0.048,2531,2149,3431
$GC,2492,-1.02,-146.6,276.3,-9.8,137,2496,0.00,2.60,0.00,0.000,4,0.000,0.061,2531,716,3431
$GC,2560,-1.08,-146.6,283.0,-9.4,141,2564,0.00,2.50,0.00,0.000,6,0.000,0.049,2530,2129,3430
$GC,2879,-1.08,-146.6,313.5,-9.8,161,2883,0.00,2.58,0.00,0.000,4,0.000,0.063,2530,710,3430
$GC,2909,-1.13,-146.6,316.4,-10.3,163,2914,0.15,2.50,0.00,0.000,6,0.057,0.051,2489,2121,3431
$GC,3237,-1.08,-146.6,354.7,-11.7,184,3242,0.10,2.55,0.00,0.000,4,0.100,0.061,2510,711,3430
$GC,3259,-1.08,-146.6,357.7,-11.2,185,3265,0.00,2.47,0.00,0.000,6,0.000,0.050,2510,2109,3430
$GC,3579,-1.08,-146.6,390.7,-10.2,206,3583,0.00,2.53,0.00,0.000,4,0.000,0.062,2510,715,3430
$GC,3611,-1.08,-146.6,394.6,-11.2,208,3616,0.00,2.45,0.00,0.000,6,0.000,0.051,2510,2094,3430
$GC,3937,-1.08,-146.6,429.1,-10.9,229,3941,0.00,2.50,0.00,0.000,4,0.000,0.061,2510,710,3430
$GC,3971,-1.08,-146.6,433.1,-12.2,231,3975,0.00,2.42,0.00,0.000,6,0.000,0.051,2510,2076,3430
$GC,4291,-1.08,-146.6,470.7,-12.0,251,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2077,3430
$GC,4603,-1.08,-146.6,505.6,-10.6,271,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2078,3430
$GC,4915,-1.08,-146.6,539.0,-10.6,291,4919,0.00,2.47,0.00,0.000,4,0.000,0.064,2509,717,3430
$GC,5001,-1.08,-146.6,547.9,-10.0,296,5005,0.00,2.40,0.00,0.000,6,0.000,0.052,2510,2065,3430
$GC,5326,-1.08,-146.6,579.1,-9.8,317,5330,0.00,2.45,0.00,0.000,4,0.000,0.064,2510,719,3430
$GC,5347,-1.08,-146.6,581.5,-10.1,318,5353,0.00,2.40,0.00,0.000,6,0.000,0.053,2510,2065,3429
$GC,5666,-1.08,-146.6,609.3,-8.7,339,5671,0.00,2.67,0.00,0.000,4,0.000,0.072,2510,3531,3430
$GC,5740,-1.08,-146.6,616.8,-10.7,343,5746,0.00,2.65,0.00,0.000,6,0.000,0.061,2510,2072,3430
$GC,6059,-1.08,-146.6,649.3,-10.2,364,6063,0.00,2.72,0.00,0.000,4,0.000,0.076,2510,3527,3429
$GC,6098,-1.08,-146.6,653.2,-9.7,366,6105,0.00,2.60,0.00,0.000,6,0.000,0.064,2510,2097,3429
$STATE,6211,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6211,begin apogee
$GC,6219,-0.33,0.0,663.7,9.6,374,6352,0.75,0.00,130.40,1.268,6,0.076,0.000,2671,1837,2831
$STATE,6353,end apogee,CONTROL_FINISHED_OK
$STATE,6353,begin climb
$GC,6356,1.22,146.6,668.1,0.0,383,6491,1.55,0.00,130.70,1.230,6,0.063,0.000,3007,1838,2233
$GC,6798,1.16,146.6,642.0,8.3,412,6800,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1838,2233
$GC,7111,1.12,165.2,617.4,7.3,432,7135,0.00,2.72,17.62,1.158,4,0.000,0.069,3007,3251,2157
$GC,7162,1.13,194.8,613.9,6.9,435,7195,0.00,2.62,27.35,1.185,6,0.000,0.067,3007,1851,2036
$GC,7509,1.14,199.8,588.8,7.8,457,7524,0.00,2.67,6.18,0.961,4,0.000,0.071,3007,3259,2016
$GC,7536,1.14,199.8,586.4,8.1,458,7542,0.00,2.65,0.00,0.000,6,0.000,0.067,3007,1843,2016
$GC,7856,1.14,204.0,562.2,7.8,479,7866,0.00,2.67,5.47,0.921,4,0.000,0.069,3007,3258,1998
$GC,7906,1.14,204.0,558.1,8.2,481,7910,0.00,2.60,0.00,0.000,6,0.000,0.064,3007,1854,1998
$GC,8226,1.16,212.0,534.6,7.7,501,8236,0.00,0.00,8.50,1.045,6,0.000,0.000,3007,1855,1966
$GC,8550,1.16,212.0,507.3,8.6,521,8551,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1855,1965
$GC,8863,1.16,212.0,478.5,9.0,541,8867,0.00,2.58,0.00,0.000,4,0.000,0.064,3007,3249,1965
$GC,8880,1.16,212.0,476.8,8.7,542,8884,0.00,2.53,0.00,0.000,6,0.000,0.059,3007,1865,1965
$GC,9199,1.16,212.0,449.0,8.7,562,9203,0.00,2.55,0.00,0.000,4,0.000,0.064,3007,3249,1965
$GC,9238,1.16,212.0,445.5,9.2,564,9244,0.00,2.47,0.00,0.000,6,0.000,0.058,3007,1887,1965
$GC,9557,1.16,212.0,419.4,8.5,585,9558,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1887,1965
$GC,9869,1.16,212.0,393.6,8.3,605,9873,0.00,2.50,0.00,0.000,4,0.000,0.063,3007,3250,1965
$GC,9908,1.16,212.0,390.3,8.7,607,9914,0.00,2.42,0.00,0.000,6,0.000,0.056,3007,1904,1965
$GC,10227,1.16,212.0,363.5,8.5,628,10231,0.00,2.47,0.00,0.000,4,0.000,0.062,3007,3256,1966
$GC,10257,1.16,212.0,360.9,9.6,630,10261,0.00,2.40,0.00,0.000,6,0.000,0.055,3007,1917,1966
$GC,10582,1.16,212.0,330.6,9.4,651,10583,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1917,1966
$GC,10894,1.16,212.0,300.9,9.3,671,10895,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1917,1966
$GC,11206,1.16,212.0,273.1,9.0,691,11210,0.00,2.45,0.00,0.000,4,0.000,0.061,3007,3259,1966
$GC,11245,1.16,212.0,269.4,9.3,693,11251,0.00,2.40,0.00,0.000,6,0.000,0.053,3007,1920,1966
$GC,11564,1.16,212.0,241.9,8.4,714,11568,0.00,2.65,0.00,0.000,4,0.000,0.064,3007,438,1967
$GC,11586,1.16,212.0,239.8,9.5,715,11592,0.00,2.65,0.00,0.000,6,0.000,0.048,3007,1935,1967
$GC,11906,1.16,212.0,212.4,8.5,736,11907,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1944,1967
$GC,12217,1.16,212.0,184.4,9.2,756,12222,0.00,2.72,0.00,0.000,4,0.000,0.064,3008,441,1967
$GC,12234,1.16,212.0,182.8,8.8,757,12238,0.00,2.62,0.00,0.000,6,0.000,0.049,3007,1923,1968
$GC,12554,1.17,222.8,156.2,7.6,777,12571,0.00,2.75,10.62,0.831,4,0.000,0.061,3007,433,1921
$GC,12582,1.17,222.8,153.8,8.7,778,12589,0.00,2.62,0.00,0.000,6,0.000,0.048,3007,1914,1921
$GC,12905,1.17,222.8,128.9,8.4,795,12906,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1922,1921
$GC,13214,1.20,238.8,104.6,7.4,810,13234,0.00,2.80,14.73,0.834,4,0.000,0.062,3007,439,1857
$GC,13251,1.21,243.9,101.6,7.8,811,13262,0.00,2.62,6.00,0.705,6,0.000,0.048,3007,1905,1836
$GC,13585,1.27,281.7,77.8,6.6,828,13622,0.00,2.75,31.42,0.851,4,0.000,0.061,3007,435,1681
$GC,13639,1.27,281.7,73.5,9.3,829,13645,0.00,2.65,0.00,0.000,6,0.000,0.048,3007,1914,1681
$GC,13957,1.31,281.7,45.1,9.8,845,13962,0.10,2.38,0.00,0.000,4,0.056,0.058,3038,3253,1682
$GC,13986,1.31,281.7,42.4,9.3,846,13990,0.00,2.40,0.00,0.000,6,0.000,0.048,3038,1909,1682
$GC,14302,1.31,281.7,7.5,13.2,861,14303,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1896,1682
$STATE,14360,end climb,SURFACE_DEPTH_REACHED
$STATE,14361,begin surface coast
$FINISH,0.8,1.027237
$STATE,14384,end surface coast,CONTROL_FINISHED_OK
$STATE,14384,begin surface
$SM_CCo,14408,9.60,0.719,0,0,1608,300.00
$SM_GC,1.80,0.00,0.00,9.60,0.000,0.000,0.719,421,2140,1608,-10.69,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1814
$TCM_TEMP,17.30
$XPDR_PINGS,50
$ALTIM_BOTTOM_PING,620.5,52.0
$24V_AH,23.7,52.172
$10V_AH,10.1,23.424
$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,25.625,133.925,389.000,9.600,0.000,37.761,28.476,155.233,18.000,0.000,0.000,13.188,1498.867,10538.468,537.261,1666.065,526.123,33.351,1389.851,0.000,1630.875,0.000,38.194,0.000
$DEVICE_MAMPS,158.769,76.700,1267.851,719.446,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,591.779,630.172,502.205,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44186,865
$CAP_FILE_SIZE,115513,0
$CFSIZE,254472192,234803200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,171009,173406,6258.028,-1301.914,28,1.2,28,-12.0