version: 66.04
glider: 5
mission: 7
dive: 322
start: 10 18 109 2 5 19
data:
$ID,5
$MISSION,7
$DIVE,322
$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,-106478.19
$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,23
$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
$GPS1,015706,6256.831,-1255.304,64,1.5,75,-11.9
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-47.5
$GPS2,020431,6256.795,-1255.232,34,1.5,34,-11.9
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FE
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.197,-0.147
$KALMAN_X,-3275.2,1424.5,48.6,4940.1,-8352.4
$KALMAN_Y,39119.2,-1259.3,-1287.6,-94836.7,12945.4
$MHEAD_RNG_PITCHd_Wd,138.7,23088,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.12,0.000,2,0.000,0.000,418,2143,2413
$GC,63,-1.22,-146.6,2.1,-3.5,2,128,11.20,2.60,-47.70,0.000,4,0.156,0.077,2468,3525,3429
$GC,320,-1.12,-146.6,28.5,-12.4,13,325,0.15,2.50,0.00,0.000,6,0.095,0.046,2499,2119,3429
$GC,639,-1.07,-146.6,65.3,-10.4,28,643,0.00,2.50,0.00,0.000,4,0.000,0.059,2499,712,3429
$GC,672,-1.07,-146.6,69.7,-11.6,29,678,0.00,2.47,0.00,0.000,6,0.000,0.048,2500,2111,3429
$GC,989,-1.02,-146.6,106.0,-12.0,45,993,0.10,2.53,0.00,0.000,4,0.101,0.060,2520,717,3429
$GC,1029,-1.02,-146.6,111.0,-12.2,47,1033,0.00,2.47,0.00,0.000,6,0.000,0.048,2520,2122,3429
$GC,1357,-1.02,-146.6,154.4,-15.0,63,1361,0.00,2.58,0.00,0.000,4,0.000,0.064,2520,3545,3429
$GC,1419,-1.02,-146.6,163.8,-14.8,67,1424,0.00,2.55,0.00,0.000,6,0.000,0.051,2520,2122,3430
$GC,1744,-1.02,-146.6,201.0,-9.9,88,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2107,3430
$GC,2056,-1.02,-146.6,229.3,-8.5,108,2060,0.00,2.50,0.00,0.000,4,0.000,0.061,2520,715,3430
$GC,2090,-1.02,-146.6,232.1,-8.5,110,2094,0.00,2.50,0.00,0.000,6,0.000,0.049,2520,2130,3430
$GC,2409,-1.02,-146.6,257.9,-8.2,130,2413,0.00,2.58,0.00,0.000,4,0.000,0.062,2520,708,3430
$GC,2454,-1.06,-146.6,261.7,-8.3,133,2459,0.00,2.47,0.00,0.000,6,0.000,0.050,2520,2107,3430
$GC,2780,-1.06,-146.6,289.9,-9.6,154,2784,0.00,2.53,0.00,0.000,4,0.000,0.062,2520,713,3430
$GC,2809,-1.06,-146.6,292.7,-10.0,156,2813,0.00,2.45,0.00,0.000,6,0.000,0.051,2520,2095,3430
$GC,3134,-1.06,-146.6,323.3,-9.3,177,3138,0.00,2.50,0.00,0.000,4,0.000,0.061,2520,711,3430
$GC,3164,-1.06,-146.6,326.2,-9.5,179,3168,0.00,2.42,0.00,0.000,6,0.000,0.050,2520,2081,3430
$GC,3488,-1.06,-146.6,357.6,-9.9,200,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2081,3430
$GC,3801,-1.06,-146.6,387.1,-9.8,220,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2081,3430
$GC,4113,-1.06,-146.6,417.4,-9.7,240,4117,0.00,2.47,0.00,0.000,4,0.000,0.064,2520,717,3430
$GC,4164,-1.11,-146.6,422.5,-10.4,243,4168,0.00,2.40,0.00,0.000,6,0.000,0.051,2520,2069,3430
$GC,4483,-1.11,-146.6,454.2,-10.1,263,4487,0.00,2.45,0.00,0.000,4,0.000,0.061,2520,715,3430
$GC,4511,-1.11,-146.6,457.0,-10.3,265,4515,0.00,2.40,0.00,0.000,6,0.000,0.051,2520,2064,3430
$GC,4836,-1.11,-146.6,491.3,-10.8,286,4840,0.00,2.67,0.00,0.000,4,0.000,0.069,2520,3539,3429
$GC,4858,-1.11,-146.6,493.9,-11.3,287,4864,0.00,2.67,0.00,0.000,6,0.000,0.058,2520,2057,3429
$GC,5178,-1.11,-146.6,529.4,-10.7,308,5182,0.00,2.40,0.00,0.000,4,0.000,0.064,2520,710,3429
$GC,5201,-1.14,-146.6,532.1,-10.8,309,5208,0.12,2.42,0.00,0.000,6,0.059,0.051,2487,2077,3429
$GC,5523,-1.09,-146.6,568.3,-11.6,330,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2078,3429
$GC,5833,-1.06,-146.6,604.7,-11.3,350,5838,0.12,2.67,0.00,0.000,4,0.096,0.073,2513,3538,3429
$GC,5866,-1.06,-146.6,608.5,-11.1,352,5871,0.00,2.70,0.00,0.000,6,0.000,0.061,2513,2054,3428
$GC,6185,-1.06,-146.6,639.0,-9.9,372,6190,0.00,2.42,0.00,0.000,4,0.000,0.071,2513,708,3428
$GC,6232,-1.11,-146.6,643.7,-9.9,375,6237,0.00,2.40,0.00,0.000,6,0.000,0.054,2513,2045,3429
$GC,6557,-1.11,-146.6,674.9,-10.1,396,6562,0.00,2.72,0.00,0.000,4,0.000,0.075,2513,3531,3428
$GC,6591,-1.11,-146.6,678.6,-10.2,398,6595,0.00,2.72,0.00,0.000,6,0.000,0.063,2513,2035,3428
$STATE,6720,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6720,begin apogee
$GC,6728,-0.33,0.0,690.5,9.1,406,6864,0.75,0.00,132.10,1.281,6,0.077,0.000,2674,1849,2831
$STATE,6864,end apogee,CONTROL_FINISHED_OK
$STATE,6864,begin climb
$GC,6867,1.22,146.6,693.7,0.0,415,7009,1.52,2.65,131.75,1.243,4,0.063,0.073,3006,440,2233
$GC,7035,1.17,185.0,688.6,6.6,425,7078,0.00,2.58,35.78,1.190,6,0.000,0.057,3006,1864,2076
$GC,7394,1.13,185.0,654.5,10.5,448,7398,0.00,2.58,0.00,0.000,4,0.000,0.072,3006,3247,2075
$GC,7467,1.13,185.0,647.4,8.6,452,7473,0.00,2.55,0.00,0.000,6,0.000,0.067,3006,1876,2075
$GC,7786,1.09,185.0,616.8,11.0,473,7788,0.12,0.00,0.00,0.000,6,0.097,0.000,2983,1876,2074
$GC,8099,1.15,218.1,592.5,6.8,493,8134,0.00,2.72,30.02,1.199,4,0.000,0.078,2983,441,1940
$GC,8157,1.15,218.5,588.0,8.0,496,8163,0.00,2.60,0.00,0.000,6,0.000,0.058,2983,1858,1940
$GC,8476,1.20,254.4,566.3,6.7,517,8512,0.10,0.00,33.22,1.195,6,0.067,0.000,3010,1874,1793
$GC,8819,1.20,254.4,535.6,9.2,539,8824,0.00,2.55,0.00,0.000,4,0.000,0.069,3010,3255,1792
$GC,8849,1.20,254.4,532.8,9.9,541,8853,0.00,2.53,0.00,0.000,6,0.000,0.064,3010,1880,1792
$GC,9173,1.20,254.4,501.8,10.0,562,9177,0.00,2.55,0.00,0.000,4,0.000,0.067,3010,3257,1792
$GC,9196,1.20,254.4,499.3,10.4,563,9200,0.00,2.50,0.00,0.000,6,0.000,0.060,3010,1889,1792
$GC,9515,1.21,254.9,472.6,8.0,583,9519,0.00,2.53,0.00,0.000,4,0.000,0.064,3010,3258,1792
$GC,9548,1.21,254.9,469.6,8.1,585,9553,0.00,2.47,0.00,0.000,6,0.000,0.058,3010,1899,1792
$GC,9867,1.21,254.9,439.2,9.8,605,9871,0.00,2.50,0.00,0.000,4,0.000,0.064,3010,3258,1792
$GC,9896,1.21,254.9,436.3,10.2,607,9900,0.00,2.42,0.00,0.000,6,0.000,0.057,3010,1913,1792
$GC,10221,1.21,254.9,405.2,9.8,628,10225,0.00,2.47,0.00,0.000,4,0.000,0.064,3010,3262,1792
$GC,10260,1.21,254.9,401.2,10.2,630,10264,0.00,2.42,0.00,0.000,6,0.000,0.056,3010,1917,1792
$GC,10585,1.21,254.9,370.5,9.0,651,10589,0.00,2.47,0.00,0.000,4,0.000,0.063,3010,3265,1792
$GC,10607,1.21,254.9,368.3,9.5,652,10613,0.00,2.42,0.00,0.000,6,0.000,0.055,3010,1920,1793
$GC,10926,1.21,254.9,340.2,8.4,673,10931,0.00,2.45,0.00,0.000,4,0.000,0.063,3010,3258,1793
$GC,10966,1.21,255.6,336.9,8.0,675,10972,0.00,2.35,0.00,0.000,6,0.000,0.054,3010,1953,1793
$GC,11286,1.21,255.6,311.2,8.3,696,11290,0.00,2.40,0.00,0.000,4,0.000,0.062,3010,3262,1793
$GC,11307,1.21,255.6,309.2,8.5,697,11313,0.00,2.35,0.00,0.000,6,0.000,0.054,3010,1954,1793
$GC,11626,1.21,255.6,281.2,8.6,718,11631,0.00,2.40,0.00,0.000,4,0.000,0.061,3010,3265,1794
$GC,11649,1.21,255.6,279.1,9.1,719,11655,0.00,2.33,0.00,0.000,6,0.000,0.053,3010,1970,1794
$GC,11968,1.21,255.6,250.3,8.7,740,11969,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1970,1794
$GC,12281,1.21,255.6,221.8,9.3,760,12285,0.00,2.35,0.00,0.000,4,0.000,0.061,3010,3257,1795
$GC,12303,1.21,255.6,219.5,10.0,761,12309,0.00,2.30,0.00,0.000,6,0.000,0.051,3010,1970,1795
$GC,12622,1.21,255.6,191.0,9.1,782,12623,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1970,1795
$GC,12935,1.21,255.6,162.3,9.5,802,12936,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1970,1795
$GC,13264,1.21,255.6,131.9,9.8,820,13265,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1970,1795
$GC,13570,1.21,255.6,99.7,10.6,835,13575,0.00,2.72,0.00,0.000,4,0.000,0.063,3010,440,1795
$GC,13611,1.21,255.6,95.4,10.3,837,13615,0.00,2.75,0.00,0.000,6,0.000,0.048,3010,1997,1796
$GC,13938,1.21,255.6,64.4,10.2,853,13943,0.00,2.83,0.00,0.000,4,0.000,0.061,3010,438,1796
$GC,13966,1.21,255.6,61.8,8.2,854,13970,0.00,2.72,0.00,0.000,6,0.000,0.048,3010,1981,1796
$GC,14282,1.21,255.6,34.2,8.1,869,14286,0.00,2.83,0.00,0.000,4,0.000,0.064,3010,432,1796
$GC,14300,1.22,261.3,32.9,7.8,870,14314,0.00,2.72,8.32,0.720,6,0.000,0.047,3010,1979,1764
$GC,14633,1.31,280.4,9.6,7.3,886,14656,0.00,2.85,16.48,0.769,4,0.000,0.062,3010,441,1686
$GC,14673,1.39,330.4,6.6,6.2,887,14710,0.17,2.70,30.77,0.789,2,0.048,0.046,3058,1972,1529
$STATE,14711,end climb,SURFACE_DEPTH_REACHED
$STATE,14711,begin surface coast
$FINISH,0.8,1.027249
$STATE,14731,end surface coast,CONTROL_FINISHED_OK
$STATE,14731,begin surface
$SM_CCo,14816,0.00,0.000,0,0,1528,319.63
$SM_GC,1.49,11.55,0.00,0.00,0.037,0.000,0.000,420,2143,1528,-10.60,0.34,319.63
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1833
$TCM_TEMP,19.10
$XPDR_PINGS,49
$ALTIM_BOTTOM_PING,620.1,79.7
$24V_AH,23.7,52.628
$10V_AH,10.1,23.663
$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,25.925,162.875,418.450,0.000,0.000,37.763,44.192,209.674,17.750,0.000,0.000,34.363,1560.402,10725.328,539.862,1812.289,616.315,33.354,1471.957,0.000,1748.892,0.000,38.262,0.000
$DEVICE_MAMPS,155.701,78.234,1280.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,608.720,649.544,500.350,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44367,890
$CAP_FILE_SIZE,125779,0
$CFSIZE,254472192,234606592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,181009,061354,6255.599,-1255.263,44,1.1,62,-11.9