version: 66.04
glider: 5
mission: 7
dive: 344
start: 10 21 109 18 22 9
data:
$ID,5
$MISSION,7
$DIVE,344
$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,-106916.83
$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,30
$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
$GPS1,181606,6253.486,-1226.168,40,1.1,45,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-58.1
$GPS2,182120,6253.486,-1226.293,16,1.2,16,-11.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.239,-0.057
$KALMAN_X,-71260.9,2275.4,988.6,95057.7,-24563.6
$KALMAN_Y,44288.5,-86.9,396.8,-109032.5,-1748.2
$MHEAD_RNG_PITCHd_Wd,115.0,38381,-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,-61.20,0.000,2,0.000,0.000,418,2120,2684
$GC,83,-1.22,-146.6,2.7,-3.2,3,126,11.23,2.53,-26.02,0.000,4,0.154,0.068,2471,709,3430
$GC,248,-1.14,-146.6,22.6,-13.2,10,253,0.12,2.50,0.00,0.000,6,0.104,0.046,2496,2126,3429
$GC,570,-1.09,-146.6,62.3,-9.6,26,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2127,3430
$GC,880,-1.04,-146.6,90.6,-8.4,41,882,0.10,0.00,0.00,0.000,6,0.106,0.000,2516,2126,3430
$GC,1190,-1.04,-146.6,114.9,-7.8,56,1194,0.00,2.58,0.00,0.000,4,0.000,0.062,2517,709,3430
$GC,1240,-1.04,-146.6,119.7,-8.9,58,1248,0.00,2.50,0.00,0.000,6,0.000,0.048,2516,2120,3430
$GC,1566,-1.04,-146.6,149.2,-9.4,74,1570,0.00,2.55,0.00,0.000,4,0.000,0.060,2517,714,3430
$GC,1632,-1.04,-146.6,155.9,-10.0,78,1637,0.00,2.47,0.00,0.000,6,0.000,0.048,2517,2113,3430
$GC,1951,-1.04,-146.6,187.4,-9.9,98,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2114,3430
$GC,2264,-1.04,-146.6,218.9,-10.2,118,2268,0.00,2.53,0.00,0.000,4,0.000,0.061,2516,717,3430
$GC,2337,-1.07,-146.6,226.4,-10.3,122,2342,0.00,2.45,0.00,0.000,6,0.000,0.049,2516,2099,3430
$GC,2657,-1.07,-146.6,257.5,-9.9,142,2661,0.00,2.50,0.00,0.000,4,0.000,0.062,2517,717,3430
$GC,2696,-1.11,-146.6,261.5,-9.6,144,2700,0.00,2.42,0.00,0.000,6,0.000,0.050,2517,2086,3430
$GC,3020,-1.11,-146.6,293.3,-9.9,165,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2086,3430
$GC,3333,-1.11,-146.6,324.5,-10.2,185,3338,0.00,2.50,0.00,0.000,4,0.000,0.063,2517,716,3430
$GC,3384,-1.15,-146.6,330.0,-10.6,188,3388,0.00,2.42,0.00,0.000,6,0.000,0.051,2517,2079,3430
$GC,3703,-1.15,-146.6,361.8,-9.8,208,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2078,3430
$GC,4016,-1.15,-146.6,391.3,-9.2,228,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2079,3430
$GC,4331,-1.15,-146.6,420.3,-9.3,248,4335,0.00,2.50,0.00,0.000,4,0.000,0.065,2517,706,3430
$GC,4360,-1.15,-146.6,423.3,-9.6,250,4364,0.00,2.42,0.00,0.000,6,0.000,0.051,2516,2067,3430
$GC,4690,-1.15,-146.6,453.7,-9.3,271,4695,0.00,2.67,0.00,0.000,4,0.000,0.071,2517,3535,3430
$GC,4712,-1.15,-146.6,456.0,-9.4,272,4718,0.00,2.67,0.00,0.000,6,0.000,0.060,2516,2058,3430
$GC,5032,-1.15,-146.6,484.5,-8.8,293,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2050,3430
$GC,5344,-1.15,-146.6,512.5,-8.8,313,5348,0.00,2.75,0.00,0.000,4,0.000,0.071,2516,3539,3430
$GC,5376,-1.15,-146.6,515.5,-9.3,315,5381,0.00,2.67,0.00,0.000,6,0.000,0.059,2516,2059,3429
$GC,5698,-1.15,-146.6,540.4,-8.0,335,5703,0.00,2.72,0.00,0.000,4,0.000,0.071,2517,3530,3429
$GC,5731,-1.15,-146.6,543.4,-8.0,337,5736,0.00,2.62,0.00,0.000,6,0.000,0.060,2517,2081,3429
$GC,6051,-1.15,-146.6,570.3,-8.4,357,6055,0.00,2.70,0.00,0.000,4,0.000,0.072,2516,3533,3429
$GC,6097,-1.18,-146.6,574.4,-8.9,360,6102,0.12,2.58,0.00,0.000,6,0.061,0.062,2482,2119,3429
$STATE,6419,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6421,begin apogee
$GC,6430,-0.33,0.0,607.6,10.9,381,6565,0.85,0.00,131.88,1.219,6,0.076,0.000,2668,1839,2831
$STATE,6566,end apogee,CONTROL_FINISHED_OK
$STATE,6566,begin climb
$GC,6569,1.22,146.6,612.7,0.0,390,6711,1.55,2.67,133.55,1.173,4,0.060,0.074,3007,446,2233
$GC,6818,1.12,151.6,598.9,7.8,405,6834,0.00,2.55,6.32,0.900,6,0.000,0.054,3007,1854,2212
$GC,7150,1.05,151.6,571.4,8.1,426,7155,0.17,2.58,0.00,0.000,4,0.094,0.069,2974,3258,2211
$GC,7223,1.12,198.0,566.5,6.3,430,7270,0.00,2.58,41.42,1.152,6,0.000,0.065,2975,1865,2024
$GC,7584,1.25,253.3,544.2,6.0,453,7640,0.20,2.67,49.80,1.157,4,0.054,0.070,3026,3262,1798
$GC,7703,1.25,253.3,533.4,10.0,460,7708,0.00,2.62,0.00,0.000,6,0.000,0.065,3026,1855,1798
$GC,8023,1.20,253.3,502.6,9.9,480,8027,0.00,2.60,0.00,0.000,4,0.000,0.069,3026,3252,1798
$GC,8078,1.20,253.3,496.6,11.0,483,8084,0.00,2.53,0.00,0.000,6,0.000,0.063,3026,1881,1798
$GC,8398,1.15,253.3,465.9,9.3,504,8403,0.17,2.55,0.00,0.000,4,0.091,0.067,2993,3254,1797
$GC,8437,1.21,253.3,462.4,8.8,506,8444,0.00,2.50,0.00,0.000,6,0.000,0.061,2993,1890,1797
$GC,8758,1.24,253.3,436.4,8.7,527,8762,0.10,2.53,0.00,0.000,4,0.064,0.066,3020,3262,1796
$GC,8803,1.24,253.3,431.9,10.2,530,8807,0.00,2.45,0.00,0.000,6,0.000,0.058,3020,1908,1797
$GC,9127,1.24,253.3,399.6,9.8,551,9131,0.00,2.47,0.00,0.000,4,0.000,0.064,3020,3259,1796
$GC,9167,1.24,253.3,395.5,10.4,553,9171,0.00,2.42,0.00,0.000,6,0.000,0.059,3020,1915,1796
$GC,9491,1.24,253.3,364.2,9.5,574,9495,0.00,2.45,0.00,0.000,4,0.000,0.064,3020,3255,1796
$GC,9542,1.24,253.3,359.0,10.1,577,9546,0.00,2.38,0.00,0.000,6,0.000,0.055,3020,1941,1796
$GC,9861,1.24,253.3,327.8,10.0,597,9865,0.00,2.40,0.00,0.000,4,0.000,0.064,3020,3257,1797
$GC,9895,1.24,253.3,324.1,10.0,599,9899,0.00,2.35,0.00,0.000,6,0.000,0.055,3020,1959,1797
$GC,10214,1.24,253.3,290.7,10.8,619,10218,0.00,2.38,0.00,0.000,4,0.000,0.062,3020,3254,1797
$GC,10236,1.24,253.3,288.2,11.0,620,10242,0.00,2.35,0.00,0.000,6,0.000,0.054,3020,1946,1797
$GC,10556,1.24,253.3,256.2,9.4,641,10557,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1946,1797
$GC,10868,1.24,253.3,227.1,9.0,661,10873,0.00,2.40,0.00,0.000,4,0.000,0.062,3020,3258,1798
$GC,10915,1.24,253.3,222.8,8.8,664,10919,0.00,2.33,0.00,0.000,6,0.000,0.052,3020,1964,1797
$GC,11240,1.24,253.3,194.9,8.5,685,11241,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1964,1798
$GC,11553,1.24,253.3,166.3,9.6,705,11554,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1964,1798
$GC,11869,1.24,253.3,134.4,10.3,723,11873,0.00,2.38,0.00,0.000,4,0.000,0.061,3020,3266,1798
$GC,11896,1.24,253.3,131.2,10.8,724,11901,0.00,2.33,0.00,0.000,6,0.000,0.049,3020,1967,1798
$GC,12214,1.24,253.3,95.4,12.1,739,12218,0.00,2.35,0.00,0.000,4,0.000,0.060,3020,3258,1799
$GC,12232,1.24,253.3,93.0,12.2,740,12236,0.00,2.28,0.00,0.000,6,0.000,0.050,3020,1980,1799
$GC,12559,1.24,253.3,54.0,11.0,756,12564,0.00,2.33,0.00,0.000,4,0.000,0.058,3020,3261,1799
$GC,12578,1.24,253.3,52.0,10.2,757,12582,0.00,2.28,0.00,0.000,6,0.000,0.048,3020,1979,1799
$GC,12911,1.24,253.3,20.8,8.4,773,12916,0.00,2.75,0.00,0.000,4,0.000,0.062,3020,436,1799
$GC,12929,1.24,253.3,19.1,8.8,774,12933,0.00,2.75,0.00,0.000,6,0.000,0.047,3020,1997,1799
$STATE,13108,end climb,SURFACE_DEPTH_REACHED
$STATE,13108,begin surface coast
$FINISH,0.6,1.027221
$STATE,13132,end surface coast,CONTROL_FINISHED_OK
$STATE,13132,begin surface
$SM_CCo,13156,24.98,0.775,0,0,1608,300.00
$SM_GC,1.29,0.00,0.00,24.98,0.000,0.000,0.775,424,2123,1608,-10.68,-0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1825
$TCM_TEMP,16.20
$XPDR_PINGS,60
$ALTIM_BOTTOM_PING,546.2,69.9
$24V_AH,23.8,56.216
$10V_AH,10.1,25.328
$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,25.875,131.100,362.975,24.975,0.000,37.761,26.948,127.274,19.750,0.000,0.000,16.214,1390.409,9522.719,493.047,1613.392,476.125,33.363,1322.184,0.000,1575.290,0.000,33.494,0.000
$DEVICE_MAMPS,154.167,73.632,1218.763,774.670,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,536.548,573.294,467.587,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41224,784
$CAP_FILE_SIZE,108621,0
$CFSIZE,254472192,233316352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,211009,220307,6253.652,-1224.344,36,1.2,36,-11.6