version: 66.04
glider: 5
mission: 7
dive: 332
start: 10 19 109 20 10 24
data:
$ID,5
$MISSION,7
$DIVE,332
$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,-106688.8
$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,22
$R_STBD_OVSHOOT,26
$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
$GPS1,200006,6250.263,-1237.826,33,1.8,33,-11.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-55.7
$GPS2,200934,6250.297,-1237.909,12,3.4,31,-11.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FE
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.244,0.029
$KALMAN_X,-31405.7,1556.7,1133.0,46193.9,-16183.4
$KALMAN_Y,44433.3,-221.6,178.7,-114729.1,443.1
$MHEAD_RNG_PITCHd_Wd,94.9,7387,-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,15,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-61.28,0.000,2,0.000,0.000,417,2138,2767
$GC,83,-1.22,-146.6,3.1,-4.0,3,120,11.32,2.58,-19.62,0.000,4,0.158,0.066,2470,710,3429
$GC,154,-1.10,-146.6,15.2,-19.7,5,160,0.17,2.53,0.00,0.000,6,0.099,0.048,2506,2129,3430
$GC,473,-1.04,-146.6,53.6,-9.1,20,477,0.00,2.58,0.00,0.000,4,0.000,0.059,2506,707,3430
$GC,528,-1.04,-146.6,58.9,-9.0,22,535,0.00,2.53,0.00,0.000,6,0.000,0.049,2506,2123,3430
$GC,845,-0.99,-146.6,91.9,-9.4,38,847,0.10,0.00,0.00,0.000,6,0.101,0.000,2526,2123,3430
$GC,1155,-0.99,-146.6,117.7,-7.9,53,1159,0.00,2.55,0.00,0.000,4,0.000,0.061,2526,717,3430
$GC,1211,-1.03,-146.6,122.5,-8.7,55,1217,0.00,2.50,0.00,0.000,6,0.000,0.048,2527,2128,3430
$GC,1528,-1.03,-146.6,150.5,-8.6,71,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2128,3430
$GC,1841,-1.03,-146.6,179.2,-9.6,91,1845,0.00,2.58,0.00,0.000,4,0.000,0.062,2527,708,3430
$GC,1925,-1.08,-146.6,188.0,-9.9,96,1929,0.00,2.47,0.00,0.000,6,0.000,0.049,2527,2102,3430
$GC,2246,-1.08,-146.6,220.6,-10.3,116,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2102,3430
$GC,2557,-1.08,-146.6,253.8,-10.6,136,2561,0.00,2.53,0.00,0.000,4,0.000,0.063,2527,716,3430
$GC,2613,-1.13,-146.6,260.2,-11.3,139,2620,0.15,2.45,0.00,0.000,6,0.054,0.050,2486,2096,3430
$GC,2935,-1.06,-146.6,301.2,-12.7,160,2937,0.12,0.00,0.00,0.000,6,0.094,0.000,2512,2097,3430
$GC,3245,-1.06,-146.6,336.9,-11.4,180,3249,0.00,2.50,0.00,0.000,4,0.000,0.061,2512,716,3430
$GC,3290,-1.06,-146.6,342.2,-11.7,183,3294,0.00,2.45,0.00,0.000,6,0.000,0.051,2512,2096,3430
$GC,3620,-1.06,-146.6,378.2,-10.7,204,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2096,3430
$GC,3933,-1.06,-146.6,412.0,-10.6,224,3938,0.00,2.50,0.00,0.000,4,0.000,0.062,2513,717,3430
$GC,3972,-1.06,-146.6,416.4,-11.1,226,3978,0.00,2.42,0.00,0.000,6,0.000,0.051,2512,2081,3430
$GC,4292,-1.06,-146.6,450.0,-11.0,247,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2081,3430
$GC,4604,-1.06,-146.6,484.6,-11.3,267,4609,0.00,2.50,0.00,0.000,4,0.000,0.064,2512,709,3429
$GC,4643,-1.06,-146.6,489.0,-11.5,269,4649,0.00,2.42,0.00,0.000,6,0.000,0.051,2513,2072,3430
$GC,4963,-1.06,-146.6,522.9,-10.6,290,4967,0.00,2.67,0.00,0.000,4,0.000,0.071,2513,3540,3429
$GC,5014,-1.06,-146.6,528.5,-10.7,293,5019,0.00,2.65,0.00,0.000,6,0.000,0.060,2512,2076,3429
$GC,5333,-1.06,-146.6,559.7,-8.5,313,5338,0.00,2.70,0.00,0.000,4,0.000,0.071,2513,3540,3429
$GC,5390,-1.06,-146.6,564.6,-8.8,316,5396,0.00,2.65,0.00,0.000,6,0.000,0.059,2513,2074,3429
$GC,5709,-1.06,-146.6,590.1,-8.5,337,5713,0.00,2.45,0.00,0.000,4,0.000,0.067,2513,710,3429
$GC,5759,-1.06,-146.6,594.6,-8.7,340,5764,0.00,2.47,0.00,0.000,6,0.000,0.052,2513,2102,3429
$GC,6084,-1.06,-146.6,621.7,-8.1,361,6089,0.00,2.65,0.00,0.000,4,0.000,0.077,2513,3537,3429
$GC,6267,-1.06,-146.6,637.8,-8.4,372,6272,0.00,2.55,0.00,0.000,6,0.000,0.063,2513,2140,3428
$GC,6592,-1.06,-146.6,666.6,-8.4,393,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2125,3427
$STATE,6854,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6854,begin apogee
$GC,6861,-0.33,0.0,691.4,10.4,410,6996,0.75,0.00,131.00,1.296,6,0.077,0.000,2673,1839,2831
$STATE,6996,end apogee,CONTROL_FINISHED_OK
$STATE,6996,begin climb
$GC,7000,1.22,146.6,696.3,0.0,419,7143,1.52,2.62,132.25,1.252,4,0.061,0.077,3006,445,2233
$GC,7164,1.16,180.1,691.1,6.8,429,7201,0.00,2.60,31.30,1.190,6,0.000,0.058,3007,1874,2096
$GC,7525,1.12,180.1,659.7,9.3,452,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1874,2095
$GC,7834,1.07,180.1,631.1,8.6,472,7839,0.15,2.55,0.00,0.000,4,0.097,0.071,2979,3247,2094
$GC,7865,1.09,192.6,628.8,7.5,474,7883,0.00,2.60,12.18,1.122,6,0.000,0.067,2978,1847,2046
$GC,8197,1.15,229.4,605.9,6.7,495,8237,0.00,2.72,33.42,1.221,4,0.000,0.070,2978,3247,1895
$GC,8256,1.21,233.7,601.4,7.8,498,8268,0.12,2.62,5.70,0.930,6,0.063,0.067,3011,1849,1878
$GC,8592,1.18,233.7,569.2,10.5,520,8596,0.00,2.60,0.00,0.000,4,0.000,0.070,3011,3240,1877
$GC,8732,1.18,233.7,554.2,9.7,528,8738,0.00,2.50,0.00,0.000,6,0.000,0.064,3012,1885,1877
$GC,9051,1.18,233.7,525.7,8.1,549,9052,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1885,1877
$GC,9364,1.21,250.7,503.1,7.4,569,9385,0.00,2.58,15.95,1.130,4,0.000,0.065,3012,3242,1809
$GC,9448,1.23,263.2,496.4,7.5,574,9467,0.00,2.47,12.68,1.095,6,0.000,0.060,3012,1895,1757
$GC,9788,1.23,263.2,468.3,8.4,596,9791,0.00,2.47,0.00,0.000,4,0.000,0.064,3012,3242,1757
$GC,9827,1.23,263.2,464.8,8.9,598,9830,0.00,2.42,0.00,0.000,6,0.000,0.058,3011,1911,1757
$GC,10152,1.23,263.2,437.5,8.7,619,10156,0.00,2.45,0.00,0.000,4,0.000,0.063,3012,3245,1757
$GC,10181,1.23,263.2,435.0,8.6,621,10185,0.00,2.40,0.00,0.000,6,0.000,0.058,3011,1923,1758
$GC,10506,1.23,263.2,406.4,8.6,642,10510,0.00,2.42,0.00,0.000,4,0.000,0.063,3012,3251,1758
$GC,10527,1.23,263.2,404.2,9.2,643,10533,0.00,2.40,0.00,0.000,6,0.000,0.057,3012,1926,1758
$GC,10846,1.23,263.2,376.4,8.7,664,10851,0.00,2.42,0.00,0.000,4,0.000,0.063,3012,3247,1758
$GC,10869,1.23,263.2,374.3,9.0,665,10876,0.00,2.38,0.00,0.000,6,0.000,0.055,3011,1929,1758
$GC,11189,1.23,263.2,347.6,8.1,686,11193,0.00,2.40,0.00,0.000,4,0.000,0.062,3012,3241,1759
$GC,11217,1.23,263.2,345.0,9.0,688,11222,0.00,2.33,0.00,0.000,6,0.000,0.054,3011,1949,1759
$GC,11543,1.23,263.2,318.1,8.7,709,11547,0.00,2.38,0.00,0.000,4,0.000,0.062,3012,3246,1759
$GC,11572,1.23,263.2,315.5,9.6,711,11576,0.00,2.33,0.00,0.000,6,0.000,0.054,3011,1951,1759
$GC,11898,1.23,263.2,286.6,9.0,732,11899,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1951,1759
$GC,12209,1.23,263.2,257.7,9.3,752,12213,0.00,2.35,0.00,0.000,4,0.000,0.061,3011,3242,1760
$GC,12231,1.23,263.2,255.4,10.0,753,12235,0.00,2.30,0.00,0.000,6,0.000,0.051,3011,1957,1760
$GC,12550,1.23,263.2,225.0,9.7,773,12554,0.00,2.35,0.00,0.000,4,0.000,0.060,3011,3247,1760
$GC,12572,1.23,263.2,222.6,9.9,774,12578,0.00,2.30,0.00,0.000,6,0.000,0.051,3012,1963,1760
$GC,12891,1.23,263.2,191.0,9.8,795,12896,0.00,2.35,0.00,0.000,4,0.000,0.059,3012,3254,1760
$GC,12914,1.23,263.2,188.6,9.9,796,12920,0.00,2.30,0.00,0.000,6,0.000,0.051,3012,1964,1760
$GC,13233,1.23,263.2,156.9,9.8,817,13234,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1965,1760
$GC,13558,1.23,263.2,124.9,9.8,834,13562,0.00,2.33,0.00,0.000,4,0.000,0.058,3012,3245,1761
$GC,13592,1.26,263.2,121.5,9.7,835,13599,0.00,2.28,0.00,0.000,6,0.000,0.049,3011,1981,1761
$GC,13909,1.26,263.2,91.3,9.5,851,13914,0.00,2.75,0.00,0.000,4,0.000,0.063,3012,439,1761
$GC,13949,1.26,263.2,87.0,10.6,853,13954,0.00,2.72,0.00,0.000,6,0.000,0.048,3012,1982,1761
$GC,14276,1.26,263.2,58.9,9.4,869,14281,0.00,2.83,0.00,0.000,4,0.000,0.063,3012,430,1761
$GC,14294,1.26,263.2,57.0,10.3,870,14299,0.00,2.72,0.00,0.000,6,0.000,0.048,3012,1974,1761
$GC,14622,1.26,263.2,25.2,12.3,886,14627,0.00,2.80,0.00,0.000,4,0.000,0.061,3012,430,1762
$GC,14640,1.26,263.2,23.4,10.5,887,14645,0.00,2.67,0.00,0.000,6,0.000,0.047,3012,1948,1762
$STATE,14903,end climb,SURFACE_DEPTH_REACHED
$STATE,14903,begin surface coast
$FINISH,0.6,1.014722
$STATE,14928,end surface coast,CONTROL_FINISHED_OK
$STATE,14928,begin surface
$SM_CCo,14952,19.65,0.762,0,0,1607,300.00
$SM_GC,1.15,0.00,0.00,19.65,0.000,0.000,0.762,421,2138,1607,-10.69,0.54,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1846
$TCM_TEMP,17.20
$XPDR_PINGS,62
$ALTIM_BOTTOM_PING,670.8,30.3
$24V_AH,23.7,54.289
$10V_AH,10.1,24.453
$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,25.600,151.400,374.475,19.650,0.000,75.525,54.262,217.701,21.500,0.000,0.000,32.342,1577.467,10916.703,515.955,1846.757,680.455,33.352,1449.239,0.000,1785.137,0.000,41.906,0.000
$DEVICE_MAMPS,158.002,77.467,1296.230,762.398,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,616.805,655.749,515.878,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47433,901
$CAP_FILE_SIZE,125163,0
$CFSIZE,254472192,233984000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,201009,002107,6250.989,-1233.015,30,1.2,30,-11.7