version: 66.04
glider: 5
mission: 7
dive: 326
start: 10 18 109 17 58 9
data:
$ID,5
$MISSION,7
$DIVE,326
$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,-106553.34
$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,48
$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
$GPS1,175055,6253.041,-1249.787,38,2.0,38,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-61.7
$GPS2,175719,6253.048,-1249.760,33,1.3,33,-11.9
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FE
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.104,-0.222
$KALMAN_X,-13360.7,1352.3,466.8,19235.6,-13237.2
$KALMAN_Y,42561.4,-679.6,-360.2,-106739.1,6790.8
$MHEAD_RNG_PITCHd_Wd,166.8,16802,-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,-61.17,0.000,2,0.000,0.000,417,2150,2840
$GC,83,-1.22,-146.6,3.2,-4.2,3,118,11.35,2.53,-17.42,0.000,4,0.160,0.076,2471,3514,3430
$GC,198,-1.12,-146.6,19.5,-14.2,8,203,0.15,2.50,0.00,0.000,6,0.100,0.047,2501,2111,3430
$GC,520,-1.08,-146.6,58.3,-11.0,24,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2095,3430
$GC,832,-1.04,-146.6,98.8,-12.9,39,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2095,3430
$GC,1139,-1.00,-146.6,138.3,-12.1,54,1144,0.12,2.47,0.00,0.000,4,0.094,0.060,2528,719,3430
$GC,1179,-1.05,-146.6,143.0,-10.8,56,1184,0.00,2.47,0.00,0.000,6,0.000,0.048,2528,2118,3430
$GC,1512,-1.05,-146.6,177.4,-10.0,76,1516,0.00,2.53,0.00,0.000,4,0.000,0.061,2528,723,3430
$GC,1551,-1.11,-146.6,181.6,-9.9,78,1558,0.12,2.47,0.00,0.000,6,0.057,0.049,2492,2118,3430
$GC,1871,-1.05,-146.6,217.7,-11.2,99,1873,0.10,0.00,0.00,0.000,6,0.099,0.000,2514,2120,3430
$GC,2182,-1.05,-146.6,249.4,-10.2,119,2187,0.00,2.53,0.00,0.000,4,0.000,0.062,2514,723,3430
$GC,2233,-1.05,-146.6,254.7,-10.3,122,2237,0.00,2.45,0.00,0.000,6,0.000,0.050,2514,2103,3430
$GC,2553,-1.05,-146.6,286.7,-10.0,142,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2103,3430
$GC,2864,-1.05,-146.6,318.9,-10.6,162,2868,0.00,2.53,0.00,0.000,4,0.000,0.065,2514,716,3430
$GC,2911,-1.08,-146.6,324.0,-11.0,165,2915,0.00,2.45,0.00,0.000,6,0.000,0.051,2514,2092,3430
$GC,3236,-1.08,-146.6,358.7,-10.7,186,3240,0.00,2.47,0.00,0.000,4,0.000,0.062,2514,723,3430
$GC,3270,-1.08,-146.6,362.4,-11.0,188,3274,0.00,2.40,0.00,0.000,6,0.000,0.051,2514,2071,3430
$GC,3595,-1.08,-146.6,398.2,-11.3,209,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2071,3430
$GC,3906,-1.08,-146.6,433.9,-11.3,229,3911,0.00,2.45,0.00,0.000,4,0.000,0.063,2514,724,3430
$GC,3940,-1.08,-146.6,437.9,-11.9,231,3944,0.00,2.40,0.00,0.000,6,0.000,0.051,2514,2070,3430
$GC,4260,-1.08,-146.6,473.1,-11.0,251,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2070,3430
$GC,4573,-1.08,-146.6,504.4,-9.5,271,4577,0.00,2.45,0.00,0.000,4,0.000,0.064,2514,724,3430
$GC,4595,-1.08,-146.6,506.8,-9.7,272,4601,0.00,2.38,0.00,0.000,6,0.000,0.051,2514,2056,3429
$GC,4914,-1.08,-146.6,536.1,-9.4,293,4919,0.00,2.70,0.00,0.000,4,0.000,0.072,2514,3538,3429
$GC,4936,-1.08,-146.6,538.3,-9.8,294,4942,0.00,2.72,0.00,0.000,6,0.000,0.060,2514,2034,3429
$GC,5256,-1.08,-146.6,568.0,-9.6,315,5260,0.00,2.78,0.00,0.000,4,0.000,0.071,2514,3531,3430
$GC,5339,-1.08,-146.6,576.5,-10.0,320,5344,0.00,2.67,0.00,0.000,6,0.000,0.058,2514,2050,3429
$GC,5658,-1.08,-146.6,605.6,-9.1,340,5663,0.00,2.78,0.00,0.000,4,0.000,0.072,2514,3540,3429
$GC,5721,-1.08,-146.6,611.3,-9.1,344,5725,0.00,2.67,0.00,0.000,6,0.000,0.059,2514,2064,3429
$GC,6045,-1.08,-146.6,636.8,-7.2,365,6050,0.00,2.75,0.00,0.000,4,0.000,0.074,2514,3540,3429
$GC,6148,-1.08,-146.6,645.3,-8.3,371,6152,0.00,2.60,0.00,0.000,6,0.000,0.061,2513,2109,3428
$GC,6471,-1.08,-146.6,672.8,-9.5,391,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2096,3429
$GC,6780,-1.08,-146.6,701.6,-9.2,411,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2090,3427
$STATE,6792,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6792,begin apogee
$GC,6799,-0.33,0.0,703.1,9.6,412,6934,0.73,0.00,131.25,1.305,6,0.074,0.000,2671,1850,2831
$STATE,6935,end apogee,CONTROL_FINISHED_OK
$STATE,6935,begin climb
$GC,6938,1.22,146.6,707.6,0.0,421,7080,1.55,2.67,131.88,1.262,4,0.064,0.079,3007,444,2233
$GC,7128,1.11,146.6,698.9,8.5,432,7134,0.00,2.58,0.00,0.000,6,0.000,0.057,3007,1853,2233
$GC,7448,1.05,146.6,673.8,8.0,453,7453,0.17,2.58,0.00,0.000,4,0.093,0.071,2971,3252,2232
$GC,7499,1.19,205.2,670.7,5.9,456,7558,0.15,2.58,53.03,1.233,6,0.059,0.064,3007,1862,1994
$GC,7870,1.15,205.2,641.2,8.7,480,7874,0.00,2.62,0.00,0.000,4,0.000,0.071,3007,3259,1993
$GC,7921,1.15,205.2,636.6,9.4,483,7926,0.00,2.58,0.00,0.000,6,0.000,0.065,3007,1872,1993
$GC,8240,1.15,205.2,606.8,9.3,503,8245,0.00,2.60,0.00,0.000,4,0.000,0.071,3007,3258,1992
$GC,8287,1.15,205.2,602.3,10.2,506,8291,0.00,2.53,0.00,0.000,6,0.000,0.065,3007,1886,1991
$GC,8612,1.15,205.2,572.7,8.8,527,8616,0.00,2.55,0.00,0.000,4,0.000,0.069,3007,3253,1991
$GC,8645,1.15,205.2,569.7,9.1,529,8649,0.00,2.50,0.00,0.000,6,0.000,0.063,3007,1895,1991
$GC,8964,1.19,233.2,545.7,7.0,549,8996,0.00,2.60,25.05,1.187,4,0.000,0.067,3007,3257,1880
$GC,9015,1.20,239.3,542.0,7.8,552,9031,0.00,2.50,7.20,0.998,6,0.000,0.061,3007,1907,1855
$GC,9344,1.23,255.2,517.3,7.4,573,9365,0.00,2.55,15.40,1.123,4,0.000,0.064,3007,3255,1790
$GC,9390,1.23,255.2,513.7,8.6,576,9394,0.00,2.47,0.00,0.000,6,0.000,0.059,3007,1912,1790
$GC,9714,1.23,255.2,484.7,9.0,597,9718,0.00,2.50,0.00,0.000,4,0.000,0.065,3007,3262,1790
$GC,9767,1.26,255.2,480.0,9.1,600,9771,0.00,2.42,0.00,0.000,6,0.000,0.058,3007,1927,1790
$GC,10092,1.26,255.2,448.8,9.7,621,10096,0.00,2.45,0.00,0.000,4,0.000,0.064,3007,3257,1790
$GC,10114,1.26,255.2,446.3,10.4,622,10120,0.00,2.38,0.00,0.000,6,0.000,0.057,3007,1946,1790
$GC,10433,1.26,255.2,413.9,10.5,643,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1946,1790
$GC,10746,1.26,255.2,381.8,10.2,663,10750,0.00,2.40,0.00,0.000,4,0.000,0.063,3007,3254,1790
$GC,10780,1.29,255.2,378.3,10.1,665,10784,0.00,2.35,0.00,0.000,6,0.000,0.055,3007,1951,1791
$GC,11100,1.29,255.2,347.9,9.4,685,11104,0.00,2.40,0.00,0.000,4,0.000,0.062,3007,3261,1790
$GC,11129,1.32,255.2,345.2,9.3,687,11134,0.12,2.33,0.00,0.000,6,0.057,0.054,3041,1962,1791
$GC,11456,1.26,255.2,310.5,10.3,708,11457,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1963,1791
$GC,11766,1.21,255.2,278.6,9.8,728,11768,0.17,0.00,0.00,0.000,6,0.090,0.000,3007,1963,1791
$GC,12078,1.22,262.2,253.3,7.7,748,12094,0.00,2.40,8.15,0.854,4,0.000,0.061,3007,3248,1761
$GC,12118,1.27,268.3,250.1,7.8,750,12130,0.00,2.30,6.53,0.804,6,0.000,0.051,3007,1970,1737
$GC,12443,1.31,291.5,226.2,7.2,771,12469,0.12,2.40,20.77,0.937,4,0.056,0.059,3041,3255,1641
$GC,12482,1.28,291.5,222.6,9.1,772,12488,0.00,2.33,0.00,0.000,6,0.000,0.051,3041,1973,1641
$GC,12801,1.24,291.5,193.3,8.8,793,12803,0.15,0.00,0.00,0.000,6,0.087,0.000,3011,1973,1642
$GC,13113,1.30,331.4,170.8,6.6,813,13149,0.00,0.00,33.67,0.916,6,0.000,0.000,3011,1973,1480
$GC,13473,1.37,351.6,145.4,7.3,835,13493,0.15,0.00,18.10,0.869,6,0.054,0.000,3050,1973,1397
$GC,13802,1.34,351.6,112.8,9.8,851,13807,0.00,2.78,0.00,0.000,4,0.000,0.064,3050,434,1397
$GC,13821,1.28,351.6,110.6,10.5,852,13826,0.15,2.78,0.00,0.000,6,0.087,0.048,3021,1998,1397
$GC,14149,1.32,351.6,81.2,9.1,868,14150,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2013,1397
$GC,14458,1.36,351.6,52.0,9.2,883,14463,0.00,2.85,0.00,0.000,4,0.000,0.064,3021,439,1397
$GC,14480,1.36,351.6,49.6,9.8,884,14485,0.00,2.75,0.00,0.000,6,0.000,0.048,3021,1993,1397
$GC,14804,1.40,351.6,21.8,10.0,900,14809,0.12,2.83,0.00,0.000,4,0.055,0.061,3056,439,1397
$GC,14845,1.35,351.6,16.5,13.5,902,14849,0.00,2.72,0.00,0.000,6,0.000,0.047,3056,1978,1397
$STATE,14963,end climb,SURFACE_DEPTH_REACHED
$STATE,14963,begin surface coast
$FINISH,0.6,1.020365
$STATE,14985,end surface coast,CONTROL_FINISHED_OK
$STATE,14985,begin surface
$SM_CCo,15069,0.00,0.000,0,0,1397,351.76
$SM_GC,1.48,11.48,0.00,0.00,0.038,0.000,0.000,418,2135,1397,-10.61,0.11,351.76
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1819
$TCM_TEMP,17.40
$XPDR_PINGS,66
$ALTIM_BOTTOM_PING,671.4,40.7
$24V_AH,23.7,53.338
$10V_AH,10.1,23.966
$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,26.925,143.100,451.025,0.000,0.000,37.758,41.791,148.741,22.500,0.000,0.000,33.561,1592.130,10931.137,554.417,1818.483,551.243,33.384,1477.013,0.000,1758.950,0.000,41.330,0.000
$DEVICE_MAMPS,159.536,79.001,1305.434,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,622.091,661.122,502.004,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47361,909
$CAP_FILE_SIZE,125620,0
$CFSIZE,254472192,234364928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,181009,221030,6252.579,-1246.698,35,1.7,35,-11.8