version: 66.04
glider: 5
mission: 7
dive: 343
start: 10 21 109 14 49 45
data:
$ID,5
$MISSION,7
$DIVE,343
$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,-106899.99
$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,29
$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
$GPS1,143926,6254.904,-1225.557,40,2.5,59,-11.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-59.0
$GPS2,144858,6254.871,-1225.705,11,2.5,30,-11.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.228,-0.090
$KALMAN_X,-67225.3,2131.3,908.7,91715.9,-23558.9
$KALMAN_Y,46534.3,87.8,-1059.9,-107416.1,4191.8
$MHEAD_RNG_PITCHd_Wd,123.1,39059,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-60.60,0.000,2,0.000,0.000,424,2148,2763
$GC,82,-1.22,-146.6,2.8,-4.0,3,126,11.30,2.65,-22.62,0.000,4,0.157,0.074,2471,717,3430
$GC,165,-1.14,-146.6,11.7,-10.7,6,173,0.12,2.50,0.00,0.000,6,0.101,0.048,2496,2127,3430
$GC,483,-1.08,-146.6,48.0,-12.8,22,487,0.00,2.58,0.00,0.000,4,0.000,0.061,2496,709,3430
$GC,516,-1.08,-146.6,53.4,-15.1,23,522,0.00,2.50,0.00,0.000,6,0.000,0.049,2496,2120,3430
$GC,835,-1.03,-146.6,97.8,-14.2,39,836,0.12,0.00,0.00,0.000,6,0.098,0.000,2522,2120,3430
$GC,1141,-1.03,-146.6,138.7,-12.7,54,1145,0.00,2.55,0.00,0.000,4,0.000,0.060,2522,710,3431
$GC,1204,-1.07,-146.6,147.0,-13.3,57,1209,0.00,2.47,0.00,0.000,6,0.000,0.048,2522,2110,3431
$GC,1525,-1.07,-146.6,184.8,-10.6,77,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2110,3430
$GC,1837,-1.07,-146.6,220.4,-11.0,97,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2110,3431
$GC,2149,-1.07,-146.6,252.2,-9.9,117,2154,0.00,2.53,0.00,0.000,4,0.000,0.063,2522,717,3430
$GC,2183,-1.10,-146.6,255.7,-10.4,119,2188,0.00,2.45,0.00,0.000,6,0.000,0.049,2522,2099,3431
$GC,2502,-1.10,-146.6,288.2,-10.4,139,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2100,3431
$GC,2816,-1.10,-146.6,320.0,-10.1,159,2820,0.00,2.53,0.00,0.000,4,0.000,0.064,2522,714,3430
$GC,2872,-1.15,-146.6,325.9,-10.3,162,2877,0.15,2.45,0.00,0.000,6,0.054,0.051,2482,2093,3431
$GC,3194,-1.09,-146.6,363.6,-11.9,182,3196,0.12,0.00,0.00,0.000,6,0.095,0.000,2507,2093,3431
$GC,3503,-1.09,-146.6,397.3,-10.7,202,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2092,3430
$GC,3815,-1.09,-146.6,430.7,-10.5,222,3819,0.00,2.50,0.00,0.000,4,0.000,0.062,2507,716,3430
$GC,3867,-1.09,-146.6,436.0,-10.5,225,3872,0.00,2.42,0.00,0.000,6,0.000,0.051,2507,2078,3430
$GC,4193,-1.09,-146.6,467.0,-8.8,246,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2078,3430
$GC,4505,-1.09,-146.6,493.2,-8.5,266,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2078,3430
$GC,4822,-1.09,-146.6,520.7,-9.7,286,4826,0.00,2.50,0.00,0.000,4,0.000,0.066,2508,714,3430
$GC,4878,-1.13,-146.6,527.0,-10.6,289,4884,0.00,2.40,0.00,0.000,6,0.000,0.054,2507,2055,3430
$GC,5198,-1.13,-146.6,559.3,-9.8,310,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2055,3430
$GC,5509,-1.13,-146.6,592.8,-12.2,330,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2058,3430
$STATE,5524,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5524,begin apogee
$GC,5531,-0.33,0.0,594.6,11.6,331,5667,0.77,0.00,131.93,1.213,6,0.075,0.000,2675,1839,2831
$STATE,5668,end apogee,CONTROL_FINISHED_OK
$STATE,5668,begin climb
$GC,5671,1.22,146.6,600.4,0.0,340,5813,1.55,2.67,132.85,1.170,4,0.065,0.071,3009,443,2233
$GC,5885,1.11,158.1,590.7,7.6,353,5902,0.12,2.58,11.68,1.032,6,0.097,0.057,2986,1872,2186
$GC,6219,1.18,227.0,573.0,5.5,374,6286,0.00,2.72,61.10,1.159,4,0.000,0.071,2986,438,1905
$GC,6327,1.25,270.7,566.0,6.4,380,6374,0.15,2.53,39.72,1.136,6,0.055,0.057,3023,1841,1727
$GC,6694,1.28,310.2,544.2,6.6,404,6735,0.00,2.65,35.65,1.142,4,0.000,0.072,3023,3241,1566
$GC,6758,1.29,320.8,539.6,7.6,407,6775,0.00,2.62,10.88,1.032,6,0.000,0.068,3023,1847,1523
$GC,7098,1.29,320.8,513.5,8.8,429,7102,0.00,2.60,0.00,0.000,4,0.000,0.070,3023,3242,1523
$GC,7147,1.29,320.8,508.5,9.4,432,7152,0.00,2.58,0.00,0.000,6,0.000,0.065,3023,1854,1523
$GC,7467,1.29,320.8,480.9,8.5,452,7471,0.00,2.58,0.00,0.000,4,0.000,0.067,3023,3245,1523
$GC,7500,1.31,331.4,478.1,7.6,454,7516,0.00,2.53,10.65,1.032,6,0.000,0.064,3023,1877,1480
$GC,7838,1.31,331.4,450.6,8.4,476,7842,0.00,2.53,0.00,0.000,4,0.000,0.066,3023,3248,1480
$GC,7890,1.31,332.0,446.0,8.0,479,7895,0.00,2.50,0.00,0.000,6,0.000,0.061,3023,1882,1480
$GC,8214,1.31,332.0,419.5,8.3,500,8218,0.00,2.53,0.00,0.000,4,0.000,0.064,3023,3251,1480
$GC,8254,1.34,332.0,415.8,8.4,502,8260,0.00,2.45,0.00,0.000,6,0.000,0.060,3023,1914,1480
$GC,8573,1.34,332.0,386.9,9.4,523,8578,0.00,2.45,0.00,0.000,4,0.000,0.064,3023,3254,1480
$GC,8596,1.34,332.0,384.6,9.7,524,8602,0.00,2.42,0.00,0.000,6,0.000,0.058,3023,1918,1480
$GC,8915,1.34,332.0,353.0,10.1,545,8919,0.00,2.45,0.00,0.000,4,0.000,0.064,3023,3252,1480
$GC,8932,1.34,332.0,351.2,10.0,546,8936,0.00,2.40,0.00,0.000,6,0.000,0.057,3023,1932,1480
$GC,9251,1.34,332.0,318.9,10.2,566,9252,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1932,1481
$GC,9564,1.34,332.0,287.0,10.5,586,9568,0.00,2.40,0.00,0.000,4,0.000,0.062,3023,3244,1480
$GC,9604,1.38,332.0,282.7,10.6,588,9610,0.10,2.38,0.00,0.000,6,0.061,0.054,3052,1924,1481
$GC,9924,1.31,332.0,242.3,13.0,609,9929,0.12,2.42,0.00,0.000,4,0.097,0.061,3029,3253,1481
$GC,9940,1.27,332.0,240.0,12.8,610,9944,0.00,2.35,0.00,0.000,6,0.000,0.053,3029,1951,1481
$GC,10259,1.27,332.0,205.5,10.7,630,10261,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1951,1481
$GC,10572,1.27,332.0,172.9,10.2,650,10576,0.00,2.38,0.00,0.000,4,0.000,0.061,3029,3253,1481
$GC,10601,1.27,332.0,169.9,10.7,652,10605,0.00,2.33,0.00,0.000,6,0.000,0.051,3029,1950,1482
$GC,10924,1.27,332.0,137.3,9.9,671,10926,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1951,1482
$GC,11234,1.27,332.0,105.3,10.9,686,11235,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1951,1482
$GC,11543,1.27,332.0,71.8,10.8,701,11547,0.00,2.35,0.00,0.000,4,0.000,0.058,3029,3246,1482
$GC,11571,1.30,332.0,68.7,11.8,702,11575,0.00,2.30,0.00,0.000,6,0.000,0.049,3029,1955,1483
$GC,11889,1.30,332.0,35.0,11.2,717,11890,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1955,1483
$STATE,12193,end climb,SURFACE_DEPTH_REACHED
$STATE,12193,begin surface coast
$FINISH,0.6,1.027225
$STATE,12215,end surface coast,CONTROL_FINISHED_OK
$STATE,12215,begin surface
$SM_CCo,12299,0.00,0.000,0,0,1481,331.15
$SM_GC,1.38,11.35,0.00,0.00,0.039,0.000,0.000,418,2113,1481,-10.61,-0.48,331.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1825
$TCM_TEMP,17.30
$XPDR_PINGS,46
$ALTIM_BOTTOM_PING,520.7,83.7
$24V_AH,23.8,56.076
$10V_AH,10.1,25.257
$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,26.000,100.400,434.450,0.000,0.000,75.520,55.490,236.023,16.000,0.000,0.000,31.133,1267.535,8991.896,502.508,1467.726,637.633,33.363,1259.967,0.000,1418.605,0.000,33.143,0.000
$DEVICE_MAMPS,157.235,73.632,1213.394,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,500.771,535.828,426.564,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37908,733
$CAP_FILE_SIZE,101678,0
$CFSIZE,254472192,233377792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,211009,181606,6253.486,-1226.168,40,1.1,45,-11.6