version: 66.04
glider: 5
mission: 7
dive: 334
start: 10 20 109 4 52 33
data:
$ID,5
$MISSION,7
$DIVE,334
$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,-106716.36
$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
$GPS1,044206,6249.570,-1233.847,27,1.5,27,-11.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-53.0
$GPS2,045144,6249.533,-1234.241,15,1.5,15,-11.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.241,0.044
$KALMAN_X,-36761.5,1186.3,9.4,56078.0,-13009.8
$KALMAN_Y,43234.1,-339.3,-429.6,-114213.0,374.4
$MHEAD_RNG_PITCHd_Wd,91.5,42591,-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,14,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-58.97,0.000,2,0.000,0.000,419,2135,2498
$GC,82,-1.22,-146.6,2.3,-2.6,3,139,11.18,2.65,-36.62,0.000,4,0.155,0.072,2469,717,3430
$GC,249,-1.13,-146.6,27.4,-20.9,10,254,0.15,2.50,0.00,0.000,6,0.110,0.046,2498,2132,3429
$GC,566,-1.07,-146.6,63.8,-12.6,25,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2132,3430
$GC,876,-1.01,-146.6,102.0,-12.3,40,881,0.12,2.58,0.00,0.000,4,0.103,0.059,2523,709,3430
$GC,926,-1.04,-146.6,108.1,-10.7,42,931,0.00,2.53,0.00,0.000,6,0.000,0.048,2523,2131,3430
$GC,1243,-1.04,-146.6,140.4,-9.2,57,1247,0.00,2.55,0.00,0.000,4,0.000,0.065,2523,3538,3429
$GC,1288,-1.04,-146.6,144.7,-9.9,59,1293,0.00,2.55,0.00,0.000,6,0.000,0.051,2523,2113,3430
$GC,1612,-1.04,-146.6,176.5,-9.9,79,1616,0.00,2.50,0.00,0.000,4,0.000,0.061,2523,709,3430
$GC,1658,-1.08,-146.6,181.2,-10.5,82,1662,0.00,2.53,0.00,0.000,6,0.000,0.049,2523,2133,3430
$GC,1983,-1.08,-146.6,213.4,-9.6,103,1987,0.00,2.58,0.00,0.000,4,0.000,0.061,2523,710,3430
$GC,2022,-1.12,-146.6,217.3,-9.9,105,2028,0.00,2.50,0.00,0.000,6,0.000,0.050,2523,2121,3429
$GC,2342,-1.12,-146.6,246.7,-8.9,126,2346,0.00,2.55,0.00,0.000,4,0.000,0.061,2523,716,3430
$GC,2370,-1.12,-146.6,249.4,-9.0,128,2375,0.00,2.47,0.00,0.000,6,0.000,0.050,2523,2109,3430
$GC,2695,-1.12,-146.6,278.3,-9.0,149,2699,0.00,2.53,0.00,0.000,4,0.000,0.061,2523,714,3430
$GC,2741,-1.16,-146.6,282.6,-9.2,151,2747,0.15,2.47,0.00,0.000,6,0.056,0.051,2483,2107,3430
$GC,3060,-1.08,-146.6,319.1,-11.8,172,3062,0.12,0.00,0.00,0.000,6,0.096,0.000,2509,2107,3429
$GC,3373,-1.08,-146.6,351.9,-10.2,192,3377,0.00,2.53,0.00,0.000,4,0.000,0.065,2508,718,3430
$GC,3429,-1.08,-146.6,358.0,-10.5,195,3433,0.00,2.45,0.00,0.000,6,0.000,0.051,2509,2096,3429
$GC,3748,-1.08,-146.6,389.8,-10.0,215,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2096,3429
$GC,4061,-1.08,-146.6,420.5,-9.8,235,4066,0.00,2.50,0.00,0.000,4,0.000,0.064,2509,721,3430
$GC,4107,-1.08,-146.6,425.4,-10.0,238,4111,0.00,2.42,0.00,0.000,6,0.000,0.051,2509,2090,3430
$GC,4437,-1.08,-146.6,458.9,-10.3,259,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2089,3430
$GC,4750,-1.08,-146.6,491.6,-10.2,279,4754,0.00,2.50,0.00,0.000,4,0.000,0.064,2509,714,3429
$GC,4801,-1.08,-146.6,497.0,-10.6,282,4805,0.00,2.42,0.00,0.000,6,0.000,0.051,2509,2074,3429
$GC,5121,-1.08,-146.6,529.3,-9.8,302,5125,0.00,2.47,0.00,0.000,4,0.000,0.064,2509,717,3429
$GC,5154,-1.08,-146.6,532.8,-10.2,304,5158,0.00,2.40,0.00,0.000,6,0.000,0.052,2509,2064,3429
$GC,5473,-1.08,-146.6,564.7,-10.1,324,5477,0.00,2.67,0.00,0.000,4,0.000,0.070,2509,3534,3428
$GC,5518,-1.08,-146.6,569.4,-10.2,327,5523,0.00,2.70,0.00,0.000,6,0.000,0.059,2509,2039,3428
$GC,5843,-1.08,-146.6,598.9,-8.8,348,5847,0.00,2.38,0.00,0.000,4,0.000,0.066,2509,714,3428
$GC,5943,-1.08,-146.6,607.9,-8.9,354,5947,0.00,2.35,0.00,0.000,6,0.000,0.051,2509,2030,3429
$GC,6263,-1.08,-146.6,637.2,-9.8,374,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2030,3428
$GC,6576,-1.08,-146.6,666.9,-11.1,394,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2030,3428
$GC,6888,-1.08,-146.6,697.3,-9.8,414,6892,0.00,2.78,0.00,0.000,4,0.000,0.081,2509,3531,3427
$STATE,6914,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6914,begin apogee
$GC,6924,-0.33,0.0,700.5,10.9,416,7059,0.73,0.00,131.02,1.299,6,0.082,0.000,2665,1851,2831
$STATE,7060,end apogee,CONTROL_FINISHED_OK
$STATE,7060,begin climb
$GC,7063,1.22,146.6,707.0,0.0,425,7205,1.58,2.72,131.38,1.258,4,0.058,0.080,3011,436,2233
$GC,7304,1.12,146.6,694.1,11.4,439,7311,0.12,2.58,0.00,0.000,6,0.098,0.057,2989,1849,2233
$GC,7624,1.19,192.3,672.4,6.3,460,7671,0.00,0.00,41.58,1.229,6,0.000,0.000,2989,1866,2047
$GC,7984,1.19,192.3,641.4,8.9,483,7988,0.00,2.60,0.00,0.000,4,0.000,0.074,2989,3258,2045
$GC,8067,1.19,192.3,632.9,10.1,488,8071,0.00,2.60,0.00,0.000,6,0.000,0.069,2989,1865,2045
$GC,8387,1.19,192.3,603.3,9.5,508,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1865,2043
$GC,8698,1.19,192.3,576.2,8.3,528,8702,0.00,2.60,0.00,0.000,4,0.000,0.071,2989,3257,2042
$GC,8720,1.19,192.3,574.1,9.5,529,8727,0.00,2.58,0.00,0.000,6,0.000,0.066,2989,1866,2043
$GC,9039,1.24,226.7,548.8,6.7,550,9076,0.12,2.70,30.40,1.205,4,0.063,0.074,3020,435,1906
$GC,9105,1.17,226.7,543.6,8.3,554,9110,0.00,2.62,0.00,0.000,6,0.000,0.057,3020,1869,1906
$GC,9431,1.13,226.7,516.4,8.4,575,9436,0.17,2.53,0.00,0.000,4,0.094,0.067,2982,3256,1905
$GC,9498,1.23,249.4,511.2,7.2,579,9526,0.12,2.53,21.08,1.154,6,0.062,0.061,3014,1880,1814
$GC,9841,1.23,249.4,479.6,9.8,601,9846,0.00,2.55,0.00,0.000,4,0.000,0.064,3014,3257,1814
$GC,9892,1.23,249.4,474.2,9.7,604,9896,0.00,2.50,0.00,0.000,6,0.000,0.059,3014,1888,1814
$GC,10212,1.23,249.4,444.1,9.2,624,10216,0.00,2.53,0.00,0.000,4,0.000,0.064,3015,3258,1814
$GC,10262,1.23,249.4,439.3,9.9,627,10266,0.00,2.45,0.00,0.000,6,0.000,0.058,3015,1911,1814
$GC,10581,1.23,249.4,410.9,9.0,647,10585,0.00,2.47,0.00,0.000,4,0.000,0.063,3015,3258,1815
$GC,10615,1.23,249.4,407.8,9.2,649,10619,0.00,2.42,0.00,0.000,6,0.000,0.057,3014,1919,1814
$GC,10934,1.23,249.4,378.3,9.6,669,10938,0.00,2.45,0.00,0.000,4,0.000,0.063,3014,3257,1816
$GC,10962,1.23,249.4,375.5,10.3,671,10967,0.00,2.40,0.00,0.000,6,0.000,0.056,3014,1920,1815
$GC,11288,1.23,249.4,344.6,9.4,692,11292,0.00,2.45,0.00,0.000,4,0.000,0.062,3015,3261,1816
$GC,11332,1.23,249.4,340.1,9.2,694,11338,0.00,2.38,0.00,0.000,6,0.000,0.054,3014,1941,1815
$GC,11651,1.23,249.4,311.0,9.2,715,11656,0.00,2.40,0.00,0.000,4,0.000,0.062,3015,3261,1816
$GC,11681,1.23,249.4,308.2,9.7,717,11685,0.00,2.35,0.00,0.000,6,0.000,0.053,3014,1944,1816
$GC,12005,1.23,249.4,277.7,9.3,738,12009,0.00,2.40,0.00,0.000,4,0.000,0.061,3014,3257,1816
$GC,12038,1.23,249.4,274.3,9.6,740,12042,0.00,2.33,0.00,0.000,6,0.000,0.052,3014,1962,1816
$GC,12358,1.23,249.4,244.4,9.4,760,12359,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1962,1817
$GC,12669,1.23,249.4,216.2,8.8,780,12673,0.00,2.38,0.00,0.000,4,0.000,0.061,3015,3261,1817
$GC,12702,1.23,249.4,213.1,8.6,782,12706,0.00,2.30,0.00,0.000,6,0.000,0.051,3014,1975,1817
$GC,13022,1.23,249.4,184.9,8.9,802,13023,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1974,1817
$GC,13333,1.23,249.4,155.8,9.6,822,13337,0.00,2.35,0.00,0.000,4,0.000,0.060,3014,3264,1818
$GC,13362,1.23,249.4,152.9,10.4,824,13366,0.00,2.28,0.00,0.000,6,0.000,0.050,3014,1978,1818
$GC,13695,1.25,263.5,125.0,7.5,841,13716,0.00,0.00,13.85,0.842,6,0.000,0.000,3014,1979,1756
$GC,14028,1.29,291.3,102.2,7.0,857,14058,0.00,2.42,23.48,0.862,4,0.000,0.058,3015,3261,1643
$GC,14077,1.34,291.3,97.8,9.6,859,14081,0.00,2.28,0.00,0.000,6,0.000,0.048,3014,2000,1643
$GC,14399,1.37,291.3,68.7,9.0,875,14401,0.12,0.00,0.00,0.000,6,0.054,0.000,3049,2000,1643
$GC,14708,1.32,291.3,36.1,8.6,890,14713,0.00,2.83,0.00,0.000,4,0.000,0.066,3049,432,1643
$GC,14749,1.22,291.3,31.7,11.6,892,14754,0.20,2.83,0.00,0.000,6,0.082,0.046,3010,2035,1643
$STATE,15074,end climb,SURFACE_DEPTH_REACHED
$STATE,15074,begin surface coast
$FINISH,0.5,1.027262
$STATE,15098,end surface coast,CONTROL_FINISHED_OK
$STATE,15098,begin surface
$SM_CCo,15122,4.95,0.606,0,0,1608,300.00
$SM_GC,1.69,0.00,0.00,4.95,0.000,0.000,0.606,418,2149,1608,-10.70,0.68,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1824
$TCM_TEMP,17.30
$XPDR_PINGS,51
$ALTIM_BOTTOM_PING,671.4,38.7
$24V_AH,23.7,54.637
$10V_AH,10.1,24.619
$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,26.125,151.125,392.775,4.950,0.000,75.523,61.912,236.591,18.750,0.000,0.000,15.589,1595.974,11023.132,516.266,1861.221,705.288,33.351,1470.020,0.000,1813.752,0.000,42.270,0.000
$DEVICE_MAMPS,154.934,80.535,1298.531,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,622.906,662.917,510.566,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47406,909
$CAP_FILE_SIZE,127725,0
$CFSIZE,254472192,233848832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,201009,090600,6250.216,-1233.685,39,2.0,39,-11.7