version: 66.04
glider: 5
mission: 7
dive: 336
start: 10 20 109 13 25 6
data:
$ID,5
$MISSION,7
$DIVE,336
$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,-106764.66
$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,49
$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
$GPS1,131806,6252.590,-1231.567,29,1.6,29,-11.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-58.7
$GPS2,132415,6252.562,-1231.723,13,1.8,14,-11.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.211,0.126
$KALMAN_X,-43766.7,1273.6,995.0,64056.4,-14003.7
$KALMAN_Y,42829.2,234.7,-188.3,-109041.9,67.8
$MHEAD_RNG_PITCHd_Wd,70.9,42022,-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,-60.88,0.000,2,0.000,0.000,417,2151,2586
$GC,83,-1.22,-146.6,2.8,-3.7,3,130,11.48,2.58,-30.40,0.000,4,0.166,0.067,2471,716,3429
$GC,167,-1.14,-146.6,9.5,-12.7,7,172,0.12,2.47,0.00,0.000,6,0.104,0.047,2495,2116,3429
$GC,494,-1.08,-146.6,55.2,-12.2,23,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2115,3429
$GC,804,-1.01,-146.6,92.5,-12.3,38,809,0.12,2.53,0.00,0.000,4,0.100,0.057,2521,714,3430
$GC,845,-1.01,-146.6,97.7,-12.7,40,849,0.00,2.50,0.00,0.000,6,0.000,0.048,2521,2123,3429
$GC,1171,-1.01,-146.6,136.0,-12.4,56,1176,0.00,2.55,0.00,0.000,4,0.000,0.060,2521,714,3429
$GC,1236,-1.05,-146.6,144.5,-13.1,59,1241,0.00,2.47,0.00,0.000,6,0.000,0.049,2521,2109,3429
$GC,1561,-1.05,-146.6,185.2,-11.6,79,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2110,3429
$GC,1874,-1.05,-146.6,217.6,-9.7,99,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2110,3429
$GC,2185,-1.05,-146.6,246.7,-9.1,119,2189,0.00,2.53,0.00,0.000,4,0.000,0.061,2521,715,3429
$GC,2232,-1.09,-146.6,251.0,-9.1,122,2237,0.00,2.47,0.00,0.000,6,0.000,0.050,2521,2103,3429
$GC,2558,-1.09,-146.6,281.4,-9.5,143,2562,0.00,2.53,0.00,0.000,4,0.000,0.063,2521,710,3429
$GC,2592,-1.09,-146.6,285.0,-10.1,145,2597,0.00,2.45,0.00,0.000,6,0.000,0.051,2521,2089,3429
$GC,2917,-1.09,-146.6,316.9,-9.7,166,2921,0.00,2.50,0.00,0.000,4,0.000,0.061,2521,711,3429
$GC,2952,-1.09,-146.6,320.4,-10.5,168,2956,0.00,2.45,0.00,0.000,6,0.000,0.051,2521,2088,3430
$GC,3271,-1.09,-146.6,353.1,-10.8,188,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2089,3429
$GC,3584,-1.09,-146.6,386.4,-10.6,208,3588,0.00,2.50,0.00,0.000,4,0.000,0.062,2521,711,3429
$GC,3640,-1.13,-146.6,392.8,-11.5,211,3647,0.12,2.42,0.00,0.000,6,0.060,0.051,2487,2070,3429
$GC,3962,-1.07,-146.6,431.5,-12.2,232,3964,0.12,0.00,0.00,0.000,6,0.094,0.000,2513,2070,3429
$GC,4272,-1.07,-146.6,466.5,-11.7,252,4276,0.00,2.47,0.00,0.000,4,0.000,0.063,2513,710,3429
$GC,4344,-1.07,-146.6,475.2,-12.0,256,4348,0.00,2.42,0.00,0.000,6,0.000,0.051,2513,2069,3429
$GC,4664,-1.07,-146.6,511.9,-11.4,276,4669,0.00,2.47,0.00,0.000,4,0.000,0.064,2513,711,3429
$GC,4704,-1.10,-146.6,516.5,-10.9,278,4710,0.00,2.40,0.00,0.000,6,0.000,0.051,2513,2055,3429
$GC,5023,-1.10,-146.6,548.7,-9.4,299,5027,0.00,2.70,0.00,0.000,4,0.000,0.073,2513,3531,3429
$GC,5069,-1.10,-146.6,553.0,-9.6,302,5073,0.00,2.72,0.00,0.000,6,0.000,0.061,2512,2033,3429
$GC,5395,-1.10,-146.6,577.5,-7.8,323,5399,0.00,2.38,0.00,0.000,4,0.000,0.070,2513,716,3429
$GC,5462,-1.15,-146.6,583.6,-8.3,327,5466,0.00,2.35,0.00,0.000,6,0.000,0.054,2513,2030,3429
$GC,5787,-1.15,-146.6,610.9,-10.0,348,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2030,3428
$GC,6099,-1.15,-146.6,640.6,-9.1,368,6104,0.00,2.80,0.00,0.000,4,0.000,0.082,2513,3537,3428
$GC,6156,-1.15,-146.6,646.5,-10.1,371,6162,0.00,2.78,0.00,0.000,6,0.000,0.070,2513,2037,3427
$STATE,6378,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6378,begin apogee
$GC,6386,-0.33,0.0,665.5,5.6,386,6519,0.75,0.00,129.95,1.285,6,0.077,0.000,2674,1847,2831
$STATE,6520,end apogee,CONTROL_FINISHED_OK
$STATE,6520,begin climb
$GC,6523,1.22,146.6,669.6,0.0,395,6665,1.55,2.67,132.60,1.236,4,0.064,0.077,3008,441,2232
$GC,6927,1.23,216.6,644.5,5.5,419,6998,0.00,2.58,63.78,1.204,6,0.000,0.057,3008,1873,1948
$GC,7319,1.18,216.6,608.9,9.4,444,7324,0.00,2.55,0.00,0.000,4,0.000,0.073,3009,3240,1947
$GC,7383,1.18,216.6,603.0,8.9,448,7387,0.00,2.58,0.00,0.000,6,0.000,0.071,3008,1865,1947
$GC,7707,1.15,216.6,571.5,10.0,469,7708,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1865,1946
$GC,8019,1.15,216.6,544.4,8.3,489,8023,0.00,2.58,0.00,0.000,4,0.000,0.071,3009,3239,1945
$GC,8048,1.15,216.6,541.9,9.0,491,8053,0.00,2.58,0.00,0.000,6,0.000,0.067,3009,1853,1945
$GC,8374,1.16,245.3,517.4,7.0,512,8403,0.00,0.00,26.50,1.171,6,0.000,0.000,3010,1852,1830
$GC,8716,1.16,245.3,488.0,9.7,534,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1852,1830
$GC,9028,1.16,245.3,457.3,8.9,554,9032,0.00,2.58,0.00,0.000,4,0.000,0.067,3009,3239,1830
$GC,9141,1.20,268.8,449.1,7.1,561,9172,0.00,2.55,21.65,1.111,6,0.000,0.061,3009,1841,1735
$GC,9488,1.20,268.8,422.6,9.0,583,9492,0.00,2.60,0.00,0.000,4,0.000,0.064,3008,3247,1735
$GC,9520,1.20,268.8,419.0,10.5,585,9525,0.00,2.55,0.00,0.000,6,0.000,0.060,3009,1855,1735
$GC,9839,1.20,268.8,390.5,8.8,605,9844,0.00,2.58,0.00,0.000,4,0.000,0.064,3009,3250,1735
$GC,9907,1.20,268.8,384.6,8.8,609,9912,0.00,2.50,0.00,0.000,6,0.000,0.057,3009,1875,1735
$GC,10226,1.24,294.8,360.3,7.1,629,10258,0.00,2.58,24.08,1.048,4,0.000,0.062,3009,3235,1629
$GC,10299,1.31,313.2,355.2,7.3,633,10326,0.10,2.47,17.23,1.015,6,0.064,0.057,3036,1881,1554
$GC,10639,1.27,313.2,323.3,10.0,655,10643,0.00,2.50,0.00,0.000,4,0.000,0.061,3037,3241,1554
$GC,10668,1.27,313.2,320.3,10.6,657,10672,0.00,2.42,0.00,0.000,6,0.000,0.055,3037,1897,1554
$GC,10992,1.22,313.2,286.7,10.4,678,10997,0.15,2.47,0.00,0.000,4,0.091,0.061,3007,3244,1554
$GC,11021,1.25,313.2,283.8,9.5,680,11026,0.00,2.40,0.00,0.000,6,0.000,0.054,3008,1912,1554
$GC,11347,1.25,313.2,255.6,8.9,701,11348,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1912,1554
$GC,11659,1.25,313.2,226.5,9.2,721,11663,0.00,2.42,0.00,0.000,4,0.000,0.061,3008,3240,1555
$GC,11710,1.33,313.2,221.8,9.0,724,11714,0.12,2.38,0.00,0.000,6,0.058,0.052,3040,1915,1555
$GC,12036,1.28,313.2,185.6,11.2,745,12041,0.00,2.42,0.00,0.000,4,0.000,0.060,3041,3245,1555
$GC,12065,1.28,313.2,181.9,11.5,747,12069,0.00,2.35,0.00,0.000,6,0.000,0.051,3041,1932,1556
$GC,12386,1.24,313.2,143.6,13.1,767,12391,0.15,2.40,0.00,0.000,4,0.090,0.058,3011,3251,1556
$GC,12419,1.30,313.2,138.5,12.8,768,12426,0.00,2.35,0.00,0.000,6,0.000,0.051,3011,1932,1556
$GC,12736,1.34,313.2,104.2,9.8,784,12738,0.12,0.00,0.00,0.000,6,0.059,0.000,3045,1932,1556
$GC,13046,1.30,313.2,65.2,12.8,799,13050,0.00,2.38,0.00,0.000,4,0.000,0.058,3045,3240,1556
$GC,13086,1.30,313.2,60.3,12.4,801,13090,0.00,2.30,0.00,0.000,6,0.000,0.050,3045,1944,1556
$GC,13420,1.25,313.2,17.5,13.8,817,13425,0.15,2.38,0.00,0.000,4,0.092,0.059,3015,3251,1557
$GC,13438,1.25,313.2,15.6,12.1,818,13442,0.00,2.30,0.00,0.000,6,0.000,0.048,3015,1956,1557
$STATE,13576,end climb,SURFACE_DEPTH_REACHED
$STATE,13576,begin surface coast
$FINISH,0.6,1.002035
$STATE,13598,end surface coast,CONTROL_FINISHED_OK
$STATE,13598,begin surface
$SM_CCo,13682,0.00,0.000,0,0,1556,312.76
$SM_GC,1.52,11.30,0.00,0.00,0.041,0.000,0.000,424,2137,1556,-10.58,0.23,312.76
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1824
$TCM_TEMP,17.30
$XPDR_PINGS,53
$ALTIM_BOTTOM_PING,595.4,79.1
$24V_AH,23.7,54.960
$10V_AH,10.1,24.772
$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,26.375,130.450,415.775,0.000,0.000,37.761,34.108,160.245,18.500,0.000,0.000,14.715,1450.066,9831.210,515.724,1711.689,537.972,33.351,1397.911,0.000,1671.773,0.000,36.692,0.000
$DEVICE_MAMPS,165.672,82.069,1284.725,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,565.809,603.319,450.379,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41115,826
$CAP_FILE_SIZE,114767,0
$CFSIZE,254472192,233738240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,201009,171427,6253.208,-1232.854,41,1.9,41,-11.7