version: 66.04
glider: 5
mission: 7
dive: 337
start: 10 20 109 17 22 24
data:
$ID,5
$MISSION,7
$DIVE,337
$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,1
$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,-106798.7
$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,41
$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
$GPS1,171427,6253.208,-1232.854,41,1.9,41,-11.7
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,2
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-54.3
$GPS2,172136,6253.250,-1233.126,16,1.3,33,-11.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.240,-0.053
$KALMAN_X,-49408.6,2162.1,246.5,68427.8,-17221.9
$KALMAN_Y,40603.6,386.2,-141.7,-105724.3,-2737.3
$MHEAD_RNG_PITCHd_Wd,114.1,43577,-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,-61.42,0.000,2,0.000,0.000,424,2124,2764
$GC,83,-1.22,-146.6,2.5,-3.0,3,127,11.20,2.58,-24.55,0.000,4,0.155,0.072,2472,706,3429
$GC,236,-1.14,-146.6,18.3,-10.9,9,243,0.12,2.50,0.00,0.000,6,0.110,0.047,2496,2120,3429
$GC,555,-1.08,-146.6,52.3,-9.9,25,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2120,3429
$GC,862,-1.02,-146.6,87.8,-10.9,40,867,0.12,2.55,0.00,0.000,4,0.099,0.058,2521,708,3429
$GC,912,-1.02,-146.6,92.6,-8.9,42,916,0.00,2.50,0.00,0.000,6,0.000,0.048,2521,2120,3429
$GC,1229,-1.02,-146.6,119.5,-8.7,57,1234,0.00,2.58,0.00,0.000,4,0.000,0.064,2521,3540,3429
$GC,1257,-1.02,-146.6,122.7,-10.3,58,1261,0.00,2.55,0.00,0.000,6,0.000,0.049,2521,2109,3429
$GC,1579,-1.02,-146.6,151.2,-7.7,74,1583,0.00,2.62,0.00,0.000,4,0.000,0.065,2521,3534,3429
$GC,1629,-1.02,-146.6,155.5,-8.4,77,1633,0.00,2.47,0.00,0.000,6,0.000,0.051,2521,2145,3429
$GC,1954,-1.02,-146.6,181.6,-7.3,98,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2131,3429
$GC,2265,-1.02,-146.6,207.4,-8.5,118,2270,0.00,2.58,0.00,0.000,4,0.000,0.067,2521,3537,3429
$GC,2322,-1.02,-146.6,212.4,-8.3,121,2328,0.00,2.47,0.00,0.000,6,0.000,0.052,2521,2151,3429
$GC,2641,-1.02,-146.6,238.6,-9.6,142,2645,0.00,2.55,0.00,0.000,4,0.000,0.061,2521,714,3429
$GC,2687,-1.05,-146.6,243.3,-10.4,145,2692,0.00,2.55,0.00,0.000,6,0.000,0.049,2521,2153,3429
$GC,3016,-1.05,-146.6,274.6,-9.3,166,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2153,3429
$GC,3325,-1.05,-146.6,304.3,-10.3,186,3329,0.00,2.60,0.00,0.000,4,0.000,0.061,2521,717,3429
$GC,3365,-1.09,-146.6,308.5,-10.8,188,3371,0.00,2.55,0.00,0.000,6,0.000,0.050,2521,2154,3429
$GC,3684,-1.09,-146.6,342.1,-9.9,209,3688,0.00,2.60,0.00,0.000,4,0.000,0.061,2521,717,3429
$GC,3717,-1.09,-146.6,345.3,-9.8,211,3722,0.00,2.53,0.00,0.000,6,0.000,0.051,2521,2139,3429
$GC,4037,-1.09,-146.6,371.4,-8.2,231,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2138,3429
$GC,4349,-1.09,-146.6,400.6,-10.1,251,4353,0.00,2.58,0.00,0.000,4,0.000,0.061,2521,717,3429
$GC,4406,-1.13,-146.6,406.3,-9.6,254,4411,0.12,2.50,0.00,0.000,6,0.058,0.051,2486,2126,3429
$GC,4728,-1.07,-146.6,445.2,-14.5,274,4733,0.12,2.60,0.00,0.000,4,0.096,0.072,2512,3542,3429
$GC,4750,-1.07,-146.6,448.9,-14.1,275,4757,0.00,2.60,0.00,0.000,6,0.000,0.059,2512,2107,3428
$GC,5070,-1.07,-146.6,493.9,-13.4,296,5075,0.00,2.65,0.00,0.000,4,0.000,0.070,2512,3535,3428
$GC,5110,-1.07,-146.6,499.3,-13.3,298,5116,0.00,2.53,0.00,0.000,6,0.000,0.059,2512,2145,3428
$GC,5429,-1.07,-146.6,539.7,-10.7,319,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2127,3428
$GC,5741,-1.07,-146.6,574.0,-10.5,339,5745,0.00,2.60,0.00,0.000,4,0.000,0.074,2513,3534,3428
$GC,5779,-1.07,-146.6,578.2,-10.6,341,5786,0.00,2.50,0.00,0.000,6,0.000,0.060,2512,2155,3428
$GC,6099,-1.07,-146.6,611.0,-8.5,362,6100,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2139,3427
$GC,6411,-1.07,-146.6,644.9,-11.7,382,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2138,3427
$STATE,6486,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6486,begin apogee
$GC,6494,-0.33,0.0,653.6,11.4,387,6631,0.75,0.00,133.35,1.257,6,0.079,0.000,2673,1851,2831
$STATE,6632,end apogee,CONTROL_FINISHED_OK
$STATE,6632,begin climb
$GC,6635,1.22,146.6,658.6,0.0,396,6779,1.55,2.70,135.05,1.213,4,0.062,0.076,3009,445,2233
$GC,6974,1.18,200.0,639.3,6.1,416,7030,0.00,2.55,49.20,1.184,6,0.000,0.055,3009,1868,2015
$GC,7356,1.14,202.1,609.5,7.9,441,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1868,2014
$GC,7669,1.13,224.0,584.4,7.2,461,7700,0.00,2.65,21.85,1.165,4,0.000,0.071,3008,3241,1916
$GC,7740,1.19,264.6,579.3,6.5,465,7783,0.00,2.60,37.28,1.188,6,0.000,0.067,3009,1852,1752
$GC,8098,1.19,264.6,547.8,11.2,488,8103,0.00,2.60,0.00,0.000,4,0.000,0.071,3008,3237,1752
$GC,8178,1.19,264.6,538.0,12.3,493,8182,0.00,2.53,0.00,0.000,6,0.000,0.067,3009,1870,1752
$GC,8503,1.19,264.6,499.8,11.0,514,8507,0.00,2.55,0.00,0.000,4,0.000,0.070,3009,3245,1751
$GC,8537,1.19,264.6,496.0,11.1,516,8541,0.00,2.53,0.00,0.000,6,0.000,0.064,3009,1876,1751
$GC,8856,1.19,264.6,462.1,11.6,536,8861,0.00,2.53,0.00,0.000,4,0.000,0.067,3009,3244,1751
$GC,8907,1.19,264.6,455.4,12.8,539,8912,0.00,2.45,0.00,0.000,6,0.000,0.061,3009,1906,1750
$GC,9226,1.19,264.6,422.0,9.0,559,9231,0.00,2.47,0.00,0.000,4,0.000,0.066,3008,3242,1750
$GC,9248,1.19,264.6,419.9,9.4,560,9255,0.00,2.42,0.00,0.000,6,0.000,0.061,3009,1914,1750
$GC,9569,1.19,264.6,394.6,8.7,581,9573,0.00,2.45,0.00,0.000,4,0.000,0.066,3008,3241,1750
$GC,9615,1.22,264.6,390.2,9.6,584,9619,0.00,2.40,0.00,0.000,6,0.000,0.058,3009,1913,1750
$GC,9939,1.22,264.6,359.2,9.8,605,9943,0.00,2.45,0.00,0.000,4,0.000,0.064,3009,3248,1750
$GC,9967,1.22,264.6,356.5,9.4,606,9973,0.00,2.38,0.00,0.000,6,0.000,0.058,3009,1938,1751
$GC,10288,1.22,264.6,326.6,9.1,627,10292,0.00,2.40,0.00,0.000,4,0.000,0.064,3009,3245,1751
$GC,10322,1.22,264.6,323.2,9.2,629,10326,0.00,2.35,0.00,0.000,6,0.000,0.056,3009,1945,1751
$GC,10642,1.22,264.6,292.6,10.2,649,10646,0.00,2.38,0.00,0.000,4,0.000,0.063,3009,3240,1751
$GC,10665,1.22,264.6,290.0,11.0,650,10671,0.00,2.33,0.00,0.000,6,0.000,0.054,3009,1946,1751
$GC,10984,1.22,264.6,256.8,10.4,671,10989,0.00,2.38,0.00,0.000,4,0.000,0.063,3009,3242,1752
$GC,11007,1.22,264.6,254.2,10.7,672,11013,0.00,2.30,0.00,0.000,6,0.000,0.054,3009,1963,1751
$GC,11326,1.22,264.6,222.7,10.1,693,11327,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1962,1752
$GC,11638,1.22,264.6,190.5,10.7,713,11643,0.00,2.35,0.00,0.000,4,0.000,0.061,3008,3245,1752
$GC,11690,1.27,264.6,184.8,10.7,716,11694,0.00,2.30,0.00,0.000,6,0.000,0.051,3009,1960,1753
$GC,12009,1.27,264.6,152.1,9.3,736,12011,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1960,1753
$GC,12331,1.27,264.6,120.8,10.6,752,12335,0.00,2.35,0.00,0.000,4,0.000,0.061,3008,3245,1753
$GC,12365,1.31,264.6,116.8,10.8,753,12371,0.00,2.28,0.00,0.000,6,0.000,0.049,3009,1967,1753
$GC,12682,1.31,264.6,87.2,8.7,769,12686,0.00,2.75,0.00,0.000,4,0.000,0.064,3009,430,1753
$GC,12709,1.31,264.6,84.3,10.3,770,12713,0.00,2.72,0.00,0.000,6,0.000,0.047,3009,1972,1753
$GC,13027,1.31,264.6,55.5,9.8,785,13031,0.00,2.25,0.00,0.000,4,0.000,0.059,3009,3239,1753
$GC,13061,1.37,264.6,52.3,8.6,786,13068,0.15,2.28,0.00,0.000,6,0.052,0.049,3051,1959,1753
$GC,13379,1.40,340.2,25.0,5.3,802,13443,0.00,0.00,62.38,0.821,6,0.000,0.000,3051,1959,1444
$STATE,13580,end climb,SURFACE_DEPTH_REACHED
$STATE,13580,begin surface coast
$FINISH,0.8,1.027255
$STATE,13602,end surface coast,CONTROL_FINISHED_OK
$STATE,13602,begin surface
$SM_CCo,13686,0.00,0.000,0,0,1442,340.72
$SM_GC,1.36,11.45,0.00,0.00,0.035,0.000,0.000,421,2134,1442,-10.60,0.11,340.72
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1818
$TCM_TEMP,17.20
$XPDR_PINGS,45
$ALTIM_BOTTOM_PING,621.5,42.0
$24V_AH,23.7,55.122
$10V_AH,10.1,24.848
$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,25.600,135.800,439.100,0.000,0.000,37.761,27.408,210.990,16.750,0.000,0.000,33.408,1425.654,9862.588,545.958,1692.766,582.021,33.356,1413.825,0.000,1632.358,0.000,38.170,0.000
$DEVICE_MAMPS,154.934,75.933,1257.113,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,555.477,593.883,484.836,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41246,813
$CAP_FILE_SIZE,114054,0
$CFSIZE,254472192,233680896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,201009,211137,6253.852,-1232.162,30,1.1,30,-11.7