version: 66.04
glider: 5
mission: 7
dive: 346
start: 10 22 109 1 47 23
data:
$ID,5
$MISSION,7
$DIVE,346
$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,-106946.73
$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,28
$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
$GPS1,014046,6253.376,-1220.788,44,1.7,52,-11.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-58.1
$GPS2,014632,6253.391,-1220.800,15,1.5,15,-11.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.232,0.081
$KALMAN_X,-73029.0,1926.5,1209.1,101475.3,-18967.7
$KALMAN_Y,48573.1,49.0,-556.7,-112687.9,4919.8
$MHEAD_RNG_PITCHd_Wd,82.3,34104,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.15,0.000,2,0.000,0.000,421,2129,2418
$GC,63,-1.22,-146.6,2.2,-4.2,2,130,11.25,2.62,-48.47,0.000,4,0.156,0.077,2469,3533,3429
$GC,254,-1.11,-146.6,20.8,-13.1,10,261,0.17,2.50,0.00,0.000,6,0.095,0.047,2506,2125,3430
$GC,571,-1.07,-146.6,57.8,-12.9,26,575,0.00,2.50,0.00,0.000,4,0.000,0.058,2506,718,3430
$GC,605,-1.07,-146.6,62.5,-12.3,27,611,0.00,2.50,0.00,0.000,6,0.000,0.047,2506,2138,3430
$GC,921,-1.03,-146.6,103.4,-12.4,43,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2138,3430
$GC,1230,-1.00,-146.6,139.7,-11.2,58,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2138,3430
$GC,1552,-1.00,-146.6,173.3,-10.0,77,1556,0.00,2.58,0.00,0.000,4,0.000,0.060,2506,715,3430
$GC,1597,-1.00,-146.6,178.0,-9.9,80,1602,0.00,2.53,0.00,0.000,6,0.000,0.048,2507,2142,3430
$GC,1924,-1.00,-146.6,209.1,-9.3,101,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2143,3430
$GC,2235,-1.00,-146.6,239.8,-10.1,121,2239,0.00,2.58,0.00,0.000,4,0.000,0.062,2506,721,3430
$GC,2297,-1.00,-146.6,246.4,-10.7,125,2301,0.00,2.47,0.00,0.000,6,0.000,0.049,2506,2120,3430
$GC,2622,-1.00,-146.6,282.7,-11.8,146,2626,0.00,2.53,0.00,0.000,4,0.000,0.061,2506,721,3430
$GC,2673,-1.00,-146.6,289.1,-12.1,149,2678,0.00,2.47,0.00,0.000,6,0.000,0.049,2506,2117,3430
$GC,2998,-1.00,-146.6,326.6,-11.2,170,3002,0.00,2.55,0.00,0.000,4,0.000,0.063,2506,712,3430
$GC,3044,-1.00,-146.6,331.7,-11.5,173,3048,0.00,2.45,0.00,0.000,6,0.000,0.050,2506,2092,3430
$GC,3373,-1.00,-146.6,366.8,-10.3,194,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2091,3430
$GC,3687,-1.00,-146.6,397.3,-9.6,214,3691,0.00,2.50,0.00,0.000,4,0.000,0.064,2506,715,3430
$GC,3738,-1.00,-146.6,402.4,-10.0,217,3742,0.00,2.42,0.00,0.000,6,0.000,0.050,2506,2084,3430
$GC,4057,-1.00,-146.6,434.4,-10.1,237,4061,0.00,2.50,0.00,0.000,4,0.000,0.064,2506,710,3430
$GC,4090,-1.00,-146.6,438.0,-10.5,239,4095,0.00,2.42,0.00,0.000,6,0.000,0.051,2506,2076,3430
$GC,4412,-1.00,-146.6,471.1,-10.1,259,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2077,3430
$GC,4723,-1.00,-146.6,504.6,-10.7,279,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2076,3430
$GC,5035,-1.00,-146.6,536.3,-9.7,299,5039,0.00,2.50,0.00,0.000,4,0.000,0.067,2506,713,3430
$GC,5124,-1.00,-146.6,544.5,-10.7,304,5131,0.00,2.42,0.00,0.000,6,0.000,0.052,2506,2072,3430
$GC,5445,-1.00,-146.6,577.5,-9.4,325,5449,0.00,2.47,0.00,0.000,4,0.000,0.067,2506,719,3429
$GC,5478,-1.00,-146.6,581.5,-10.8,327,5482,0.00,2.42,0.00,0.000,6,0.000,0.055,2506,2075,3429
$STATE,5701,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5701,begin apogee
$GC,5708,-0.33,0.0,601.5,8.1,341,5841,0.77,0.00,128.70,1.229,6,0.081,0.000,2670,1845,2832
$STATE,5841,end apogee,CONTROL_FINISHED_OK
$STATE,5841,begin climb
$GC,5845,1.22,146.6,606.2,0.0,350,5981,1.58,2.65,128.12,1.187,4,0.061,0.076,3009,443,2233
$GC,6065,1.10,146.6,593.2,10.9,364,6070,0.12,2.55,0.00,0.000,6,0.093,0.056,2986,1847,2233
$GC,6392,1.14,170.9,567.4,7.1,385,6424,0.00,2.67,22.27,1.123,4,0.000,0.071,2986,3253,2134
$GC,6493,1.20,209.0,560.3,6.6,391,6533,0.00,2.60,34.42,1.147,6,0.000,0.068,2986,1863,1978
$GC,6858,1.21,215.6,532.8,7.8,414,6875,0.10,2.70,7.00,0.956,4,0.065,0.074,3012,439,1952
$GC,6927,1.12,215.6,526.9,9.0,418,6932,0.12,2.60,0.00,0.000,6,0.097,0.057,2989,1868,1952
$GC,7255,1.31,329.2,511.3,3.9,439,7360,0.17,2.67,98.07,1.170,4,0.058,0.070,3031,3262,1488
$GC,7371,1.27,329.2,502.9,8.8,446,7378,0.00,2.60,0.00,0.000,6,0.000,0.065,3032,1874,1488
$GC,7692,1.23,329.2,472.2,10.5,467,7696,0.00,2.58,0.00,0.000,4,0.000,0.067,3032,3256,1489
$GC,7725,1.23,329.2,468.5,9.9,469,7729,0.00,2.53,0.00,0.000,6,0.000,0.063,3032,1884,1489
$GC,8045,1.20,329.2,435.5,10.5,489,8050,0.15,2.55,0.00,0.000,4,0.093,0.064,3003,3259,1489
$GC,8067,1.20,329.2,433.2,9.4,490,8073,0.00,2.50,0.00,0.000,6,0.000,0.061,3003,1895,1490
$GC,8386,1.24,329.2,405.9,8.4,511,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1895,1490
$GC,8699,1.27,329.2,379.7,8.5,531,8704,0.00,2.53,0.00,0.000,4,0.000,0.064,3003,3266,1490
$GC,8746,1.35,329.2,375.7,8.7,534,8751,0.17,2.47,0.00,0.000,6,0.054,0.058,3047,1902,1490
$GC,9073,1.29,329.2,341.3,10.7,555,9078,0.12,2.50,0.00,0.000,4,0.092,0.062,3023,3265,1491
$GC,9095,1.29,329.2,338.5,10.7,556,9101,0.00,2.45,0.00,0.000,6,0.000,0.056,3023,1911,1491
$GC,9414,1.29,329.2,307.6,9.7,577,9418,0.00,2.47,0.00,0.000,4,0.000,0.062,3023,3262,1491
$GC,9442,1.29,329.2,304.9,10.0,579,9447,0.00,2.42,0.00,0.000,6,0.000,0.054,3023,1915,1491
$GC,9767,1.29,329.2,273.1,9.8,600,9771,0.00,2.47,0.00,0.000,4,0.000,0.062,3023,3265,1491
$GC,9789,1.29,329.2,270.9,10.0,601,9795,0.00,2.42,0.00,0.000,6,0.000,0.054,3023,1918,1491
$GC,10108,1.29,329.2,241.8,9.0,622,10112,0.00,2.45,0.00,0.000,4,0.000,0.062,3023,3258,1491
$GC,10142,1.33,329.2,238.5,9.2,624,10146,0.00,2.38,0.00,0.000,6,0.000,0.053,3023,1936,1491
$GC,10461,1.33,329.2,208.8,9.4,644,10462,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1936,1492
$GC,10774,1.33,329.2,176.5,10.8,664,10778,0.00,2.42,0.00,0.000,4,0.000,0.060,3023,3265,1492
$GC,10803,1.36,329.2,173.3,11.5,666,10807,0.00,2.38,0.00,0.000,6,0.000,0.052,3023,1938,1492
$GC,11137,1.36,329.2,137.4,10.6,686,11138,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1938,1492
$GC,11447,1.36,329.2,108.3,9.0,701,11448,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1938,1492
$GC,11755,1.36,329.2,79.2,9.9,716,11759,0.00,2.40,0.00,0.000,4,0.000,0.059,3023,3260,1492
$GC,11778,1.40,329.2,76.7,10.2,717,11783,0.12,2.35,0.00,0.000,6,0.058,0.050,3058,1941,1492
$GC,12101,1.33,329.2,36.7,13.3,733,12106,0.12,2.40,0.00,0.000,4,0.094,0.058,3033,3261,1492
$GC,12123,1.33,329.2,33.6,12.5,734,12127,0.00,2.33,0.00,0.000,6,0.000,0.047,3033,1946,1493
$STATE,12420,end climb,SURFACE_DEPTH_REACHED
$STATE,12420,begin surface coast
$FINISH,0.5,1.027224
$STATE,12443,end surface coast,CONTROL_FINISHED_OK
$STATE,12443,begin surface
$SM_CCo,12527,0.00,0.000,0,0,1492,328.46
$SM_GC,1.29,11.35,0.00,0.00,0.038,0.000,0.000,422,2149,1492,-10.59,0.54,328.46
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1833
$TCM_TEMP,17.30
$XPDR_PINGS,49
$ALTIM_BOTTOM_PING,570.1,41.3
$24V_AH,23.7,56.504
$10V_AH,10.1,25.466
$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,26.350,120.825,418.600,0.000,0.000,37.764,33.666,145.187,17.250,0.000,0.000,15.250,1311.537,9014.271,512.594,1532.691,500.212,33.376,1310.254,0.000,1495.401,0.000,34.998,0.000
$DEVICE_MAMPS,156.468,76.700,1228.734,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,512.314,543.191,440.233,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37957,750
$CAP_FILE_SIZE,103577,0
$CFSIZE,254472192,233218048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,221009,051736,6252.616,-1219.758,43,1.8,49,-11.6