version: 66.04
glider: 5
mission: 7
dive: 338
start: 10 20 109 21 29 1
data:
$ID,5
$MISSION,7
$DIVE,338
$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,-106809.27
$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,31
$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
$GPS1,211137,6253.852,-1232.162,30,1.1,30,-11.7
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-62.6
$GPS2,212813,6254.018,-1232.229,10,1.7,10,-11.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.237,-0.062
$KALMAN_X,-53959.5,1703.1,1457.8,72950.9,-20388.8
$KALMAN_Y,43153.1,222.6,802.5,-107665.1,-1115.8
$MHEAD_RNG_PITCHd_Wd,116.4,43392,-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,-60.72,0.000,2,0.000,0.000,419,2142,2634
$GC,83,-1.22,-146.6,2.7,-2.9,3,129,11.20,2.60,-29.12,0.000,4,0.153,0.070,2471,706,3430
$GC,250,-1.13,-146.6,23.0,-13.4,10,255,0.12,2.53,0.00,0.000,6,0.111,0.047,2495,2129,3430
$GC,567,-1.06,-146.6,65.1,-13.1,25,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2130,3430
$GC,876,-1.00,-146.6,108.8,-13.7,40,880,0.15,2.58,0.00,0.000,4,0.099,0.066,2526,3542,3430
$GC,931,-1.00,-146.6,115.6,-11.1,42,938,0.00,2.58,0.00,0.000,6,0.000,0.048,2525,2097,3430
$GC,1248,-1.00,-146.6,149.8,-10.4,58,1252,0.00,2.47,0.00,0.000,4,0.000,0.061,2526,709,3430
$GC,1328,-1.05,-146.6,158.0,-10.9,63,1332,0.00,2.50,0.00,0.000,6,0.000,0.048,2526,2121,3430
$GC,1653,-1.05,-146.6,185.2,-6.0,84,1657,0.00,2.55,0.00,0.000,4,0.000,0.059,2526,709,3430
$GC,1692,-1.09,-146.6,188.1,-7.8,86,1698,0.00,2.50,0.00,0.000,6,0.000,0.049,2526,2120,3430
$GC,2011,-1.09,-146.6,219.4,-9.7,107,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2120,3430
$GC,2325,-1.09,-146.6,246.2,-7.8,127,2329,0.00,2.55,0.00,0.000,4,0.000,0.060,2526,709,3430
$GC,2381,-1.13,-146.6,250.8,-7.5,130,2388,0.15,2.47,0.00,0.000,6,0.054,0.049,2485,2106,3430
$GC,2704,-1.05,-146.6,283.1,-10.4,151,2709,0.12,2.53,0.00,0.000,4,0.094,0.062,2512,717,3430
$GC,2732,-1.05,-146.6,286.4,-9.9,153,2736,0.00,2.45,0.00,0.000,6,0.000,0.051,2512,2094,3430
$GC,3057,-1.05,-146.6,315.1,-9.3,174,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2094,3430
$GC,3369,-1.05,-146.6,345.7,-10.7,194,3373,0.00,2.47,0.00,0.000,4,0.000,0.061,2512,722,3430
$GC,3408,-1.05,-146.6,350.4,-11.6,196,3414,0.00,2.42,0.00,0.000,6,0.000,0.051,2513,2088,3430
$GC,3728,-1.05,-146.6,388.4,-12.4,217,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2088,3430
$GC,4040,-1.05,-146.6,424.6,-11.5,237,4044,0.00,2.65,0.00,0.000,4,0.000,0.071,2512,3537,3430
$GC,4078,-1.05,-146.6,429.2,-11.9,239,4084,0.00,2.67,0.00,0.000,6,0.000,0.060,2512,2060,3429
$GC,4398,-1.05,-146.6,463.8,-9.9,260,4402,0.00,2.75,0.00,0.000,4,0.000,0.071,2512,3540,3430
$GC,4436,-1.05,-146.6,468.1,-10.8,262,4442,0.00,2.62,0.00,0.000,6,0.000,0.060,2512,2094,3429
$GC,4755,-1.05,-146.6,502.6,-13.3,283,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2067,3429
$GC,5069,-1.05,-146.6,531.0,-4.6,303,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2078,3429
$GC,5380,-1.05,-146.6,563.6,-10.6,323,5384,0.00,2.47,0.00,0.000,4,0.000,0.067,2512,717,3429
$GC,5460,-1.10,-146.6,572.1,-10.2,328,5464,0.00,2.42,0.00,0.000,6,0.000,0.054,2512,2075,3428
$STATE,5781,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5781,begin apogee
$GC,5789,-0.33,0.0,607.8,11.5,349,5925,0.75,0.00,132.25,1.224,6,0.076,0.000,2674,1828,2831
$STATE,5925,end apogee,CONTROL_FINISHED_OK
$STATE,5925,begin climb
$GC,5929,1.22,146.6,614.5,0.0,358,6072,1.52,2.72,133.57,1.177,4,0.061,0.069,3005,3260,2232
$GC,6332,1.33,248.4,601.6,4.3,382,6431,0.12,2.60,91.93,1.161,6,0.058,0.065,3037,1855,1818
$GC,6752,1.23,248.4,557.6,11.6,409,6757,0.15,2.62,0.00,0.000,4,0.100,0.070,3011,3252,1818
$GC,6782,1.23,248.4,553.8,11.9,411,6787,0.00,2.62,0.00,0.000,6,0.000,0.067,3011,1844,1818
$GC,7106,1.23,248.4,520.7,11.5,432,7110,0.00,2.62,0.00,0.000,4,0.000,0.069,3011,3256,1817
$GC,7152,1.23,249.6,516.9,8.0,435,7157,0.00,2.60,0.00,0.000,6,0.000,0.065,3011,1850,1817
$GC,7478,1.23,254.1,489.7,7.8,456,7493,0.00,2.65,6.72,0.930,4,0.000,0.067,3011,3252,1794
$GC,7538,1.23,254.1,483.2,10.1,459,7545,0.00,2.53,0.00,0.000,6,0.000,0.063,3011,1883,1794
$GC,7858,1.23,254.1,450.6,10.8,480,7863,0.00,2.55,0.00,0.000,4,0.000,0.067,3011,3258,1793
$GC,7914,1.23,254.1,444.5,10.2,483,7921,0.00,2.53,0.00,0.000,6,0.000,0.062,3011,1879,1793
$GC,8233,1.23,254.1,416.6,8.5,504,8238,0.00,2.55,0.00,0.000,4,0.000,0.065,3011,3256,1793
$GC,8268,1.23,254.1,413.7,8.9,506,8272,0.00,2.47,0.00,0.000,6,0.000,0.061,3011,1900,1793
$GC,8587,1.23,254.1,384.3,9.4,526,8591,0.00,2.50,0.00,0.000,4,0.000,0.064,3011,3254,1793
$GC,8660,1.23,254.1,376.8,9.8,530,8666,0.00,2.40,0.00,0.000,6,0.000,0.058,3011,1929,1793
$GC,8980,1.23,254.1,345.3,9.9,551,8984,0.00,2.42,0.00,0.000,4,0.000,0.064,3011,3255,1793
$GC,9009,1.23,254.1,342.3,10.3,553,9013,0.00,2.38,0.00,0.000,6,0.000,0.057,3011,1941,1793
$GC,9334,1.23,254.1,310.9,9.9,574,9338,0.00,2.42,0.00,0.000,4,0.000,0.064,3011,3259,1793
$GC,9350,1.23,254.1,309.0,10.0,575,9354,0.00,2.38,0.00,0.000,6,0.000,0.054,3011,1940,1793
$GC,9669,1.23,254.1,277.1,10.1,595,9673,0.00,2.42,0.00,0.000,4,0.000,0.062,3011,3262,1793
$GC,9702,1.23,254.1,273.5,10.1,597,9706,0.00,2.35,0.00,0.000,6,0.000,0.054,3011,1956,1793
$GC,10021,1.23,254.1,241.3,10.2,617,10022,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1957,1794
$GC,10333,1.23,254.1,211.1,8.6,637,10337,0.00,2.40,0.00,0.000,4,0.000,0.061,3011,3263,1794
$GC,10373,1.27,254.1,207.3,8.7,639,10379,0.00,2.33,0.00,0.000,6,0.000,0.052,3011,1966,1793
$GC,10692,1.28,262.7,182.4,7.7,660,10709,0.00,2.40,9.07,0.822,4,0.000,0.061,3011,3250,1759
$GC,10720,1.28,262.7,180.0,8.6,661,10726,0.00,2.28,0.00,0.000,6,0.000,0.051,3011,1989,1759
$GC,11040,1.30,276.7,156.7,7.5,682,11058,0.00,2.40,12.82,0.856,4,0.000,0.060,3011,3259,1703
$GC,11069,1.30,276.7,154.3,8.2,683,11075,0.00,2.30,0.00,0.000,6,0.000,0.050,3011,1988,1703
$GC,11386,1.34,298.9,130.1,7.2,700,11412,0.12,2.85,19.83,0.871,4,0.057,0.064,3045,437,1612
$GC,11436,1.26,298.9,125.9,8.9,702,11441,0.15,2.80,0.00,0.000,6,0.092,0.047,3016,2005,1611
$GC,11758,1.32,339.0,103.5,6.5,718,11801,0.00,2.95,34.05,0.864,4,0.000,0.060,3016,439,1449
$GC,11825,1.32,339.0,98.2,9.5,721,11830,0.00,2.80,0.00,0.000,6,0.000,0.048,3016,2002,1449
$GC,12153,1.36,339.0,69.8,8.5,737,12158,0.12,2.88,0.00,0.000,4,0.056,0.064,3051,438,1449
$GC,12171,1.36,339.0,67.8,10.1,738,12176,0.00,2.75,0.00,0.000,6,0.000,0.047,3051,1986,1449
$GC,12499,1.32,339.0,27.1,13.6,754,12504,0.00,2.83,0.00,0.000,4,0.000,0.063,3051,439,1449
$GC,12522,1.26,339.0,23.5,14.6,755,12527,0.17,2.70,0.00,0.000,6,0.084,0.047,3016,1963,1449
$STATE,12717,end climb,SURFACE_DEPTH_REACHED
$STATE,12717,begin surface coast
$FINISH,0.7,1.027244
$STATE,12739,end surface coast,CONTROL_FINISHED_OK
$STATE,12739,begin surface
$SM_CCo,12824,0.00,0.000,0,0,1448,339.25
$SM_GC,1.40,11.25,0.00,0.00,0.036,0.000,0.000,420,2165,1448,-10.59,1.02,339.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1842
$TCM_TEMP,16.30
$XPDR_PINGS,61
$ALTIM_BOTTOM_PING,545.1,72.2
$24V_AH,23.7,55.300
$10V_AH,10.1,24.924
$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,26.125,138.500,440.250,0.000,0.000,151.047,180.085,345.275,20.000,0.000,0.000,9.937,1347.353,9326.662,544.515,1617.835,977.676,33.358,1393.166,0.000,1580.719,0.000,35.355,0.000
$DEVICE_MAMPS,152.633,71.331,1224.132,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,522.906,556.813,452.176,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37958,766
$CAP_FILE_SIZE,116017,0
$CFSIZE,254472192,233619456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,211009,010400,6254.397,-1228.448,38,1.4,38,-11.7