version: 66.04
glider: 5
mission: 7
dive: 347
start: 10 22 109 5 24 3
data:
$ID,5
$MISSION,7
$DIVE,347
$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,-106961.18
$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,19
$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
$GPS1,051736,6252.616,-1219.758,43,1.8,49,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-58.9
$GPS2,052314,6252.602,-1219.855,13,1.9,13,-11.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.237,-0.064
$KALMAN_X,-75504.8,1886.7,714.9,105289.4,-18471.5
$KALMAN_Y,44090.2,-147.4,-458.3,-109537.9,-1412.9
$MHEAD_RNG_PITCHd_Wd,116.6,32738,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,81,0.00,0.00,-60.83,0.000,2,0.000,0.000,421,2150,2681
$GC,85,-1.22,-146.6,2.5,-3.1,3,129,11.23,2.65,-27.33,0.000,4,0.156,0.065,2472,706,3429
$GC,154,-1.14,-146.6,9.0,-11.8,6,159,0.12,2.55,0.00,0.000,6,0.100,0.048,2498,2141,3430
$GC,482,-1.09,-146.6,46.3,-11.5,22,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2140,3430
$GC,791,-1.03,-146.6,80.6,-11.5,37,793,0.10,0.00,0.00,0.000,6,0.099,0.000,2518,2140,3430
$GC,1101,-1.03,-146.6,114.1,-10.4,52,1105,0.00,2.58,0.00,0.000,4,0.000,0.058,2519,714,3430
$GC,1224,-1.07,-146.6,127.2,-10.3,57,1230,0.00,2.50,0.00,0.000,6,0.000,0.048,2519,2130,3430
$GC,1552,-1.07,-146.6,161.0,-10.0,75,1556,0.00,2.58,0.00,0.000,4,0.000,0.061,2519,708,3430
$GC,1584,-1.07,-146.6,164.5,-10.1,77,1589,0.00,2.50,0.00,0.000,6,0.000,0.049,2518,2118,3430
$GC,1906,-1.07,-146.6,195.7,-9.5,97,1910,0.00,2.58,0.00,0.000,4,0.000,0.066,2518,3537,3430
$GC,1952,-1.07,-146.6,200.5,-10.0,100,1956,0.00,2.58,0.00,0.000,6,0.000,0.053,2518,2102,3430
$GC,2276,-1.07,-146.6,232.7,-10.3,121,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2102,3430
$GC,2589,-1.07,-146.6,265.0,-10.2,141,2593,0.00,2.47,0.00,0.000,4,0.000,0.062,2518,709,3430
$GC,2628,-1.11,-146.6,269.3,-10.5,143,2633,0.00,2.50,0.00,0.000,6,0.000,0.049,2518,2122,3430
$GC,2947,-1.11,-146.6,302.5,-10.6,163,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2122,3430
$GC,3260,-1.11,-146.6,335.2,-10.6,183,3264,0.00,2.55,0.00,0.000,4,0.000,0.062,2519,717,3430
$GC,3324,-1.15,-146.6,341.9,-10.5,187,3329,0.12,2.47,0.00,0.000,6,0.063,0.050,2485,2114,3430
$GC,3652,-1.09,-146.6,382.1,-13.1,208,3657,0.10,2.55,0.00,0.000,4,0.099,0.062,2505,704,3430
$GC,3685,-1.09,-146.6,387.0,-13.1,210,3689,0.00,2.47,0.00,0.000,6,0.000,0.050,2505,2099,3430
$GC,4004,-1.09,-146.6,425.1,-11.7,230,4008,0.00,2.53,0.00,0.000,4,0.000,0.064,2505,714,3430
$GC,4050,-1.09,-146.6,430.6,-11.9,233,4054,0.00,2.45,0.00,0.000,6,0.000,0.051,2505,2090,3430
$GC,4374,-1.09,-146.6,467.3,-10.9,254,4378,0.00,2.50,0.00,0.000,4,0.000,0.062,2505,712,3430
$GC,4412,-1.09,-146.6,471.7,-11.3,256,4418,0.00,2.42,0.00,0.000,6,0.000,0.051,2505,2077,3430
$GC,4732,-1.09,-146.6,506.9,-11.0,277,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2077,3430
$GC,5043,-1.09,-146.6,543.3,-12.3,297,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2078,3430
$GC,5356,-1.09,-146.6,579.4,-10.8,317,5361,0.00,2.67,0.00,0.000,4,0.000,0.076,2505,3533,3429
$GC,5385,-1.09,-146.6,582.5,-11.1,319,5390,0.00,2.70,0.00,0.000,6,0.000,0.064,2505,2051,3429
$GC,5709,-1.09,-146.6,613.3,-10.3,340,5714,0.00,2.78,0.00,0.000,4,0.000,0.075,2505,3536,3429
$GC,5766,-1.09,-146.6,619.3,-11.4,343,5772,0.00,2.70,0.00,0.000,6,0.000,0.064,2505,2059,3429
$STATE,5848,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5848,begin apogee
$GC,5855,-0.33,0.0,629.5,12.5,349,5990,0.77,0.00,131.50,1.245,6,0.079,0.000,2670,1835,2832
$STATE,5991,end apogee,CONTROL_FINISHED_OK
$STATE,5991,begin climb
$GC,5995,1.22,146.6,637.0,0.0,358,6136,1.50,2.65,131.32,1.203,4,0.048,0.075,3010,443,2233
$GC,6179,1.12,163.5,630.4,7.4,369,6206,0.12,2.58,16.62,1.102,6,0.095,0.056,2988,1861,2164
$GC,6521,1.26,253.9,610.4,4.7,391,6607,0.15,0.00,80.62,1.185,6,0.058,0.000,3024,1871,1796
$GC,6923,1.20,253.9,572.7,9.9,417,6927,0.00,2.55,0.00,0.000,4,0.000,0.072,3024,3249,1796
$GC,6952,1.17,253.9,569.7,10.2,419,6958,0.15,2.60,0.00,0.000,6,0.094,0.067,2997,1854,1795
$GC,7279,1.20,272.4,545.6,7.3,440,7304,0.00,2.70,17.65,1.123,4,0.000,0.070,2997,3245,1720
$GC,7356,1.25,272.4,539.3,8.3,444,7362,0.00,2.60,0.00,0.000,6,0.000,0.065,2997,1850,1720
$GC,7676,1.25,272.4,510.9,9.8,465,7680,0.00,2.60,0.00,0.000,4,0.000,0.068,2996,3246,1720
$GC,7739,1.31,272.4,504.3,10.7,469,7744,0.15,2.53,0.00,0.000,6,0.058,0.062,3033,1871,1720
$GC,8067,1.25,272.4,464.6,12.3,490,8070,0.00,2.55,0.00,0.000,4,0.000,0.066,3034,3250,1719
$GC,8085,1.20,272.4,461.8,13.2,491,8090,0.15,2.47,0.00,0.000,6,0.093,0.061,3004,1890,1719
$GC,8409,1.20,272.4,426.5,10.1,512,8413,0.00,2.50,0.00,0.000,4,0.000,0.064,3005,3246,1719
$GC,8432,1.20,272.4,424.2,10.5,513,8436,0.00,2.45,0.00,0.000,6,0.000,0.059,3004,1899,1719
$GC,8751,1.20,272.4,395.7,8.3,533,8755,0.00,2.47,0.00,0.000,4,0.000,0.064,3004,3247,1719
$GC,8784,1.24,272.4,392.9,8.1,535,8789,0.00,2.45,0.00,0.000,6,0.000,0.057,3004,1895,1719
$GC,9104,1.26,284.7,368.1,7.6,555,9122,0.00,2.53,11.75,0.985,4,0.000,0.061,3005,3251,1670
$GC,9162,1.32,284.7,363.4,8.1,558,9167,0.12,2.42,0.00,0.000,6,0.058,0.055,3037,1917,1670
$GC,9484,1.26,284.7,332.4,10.0,578,9488,0.00,2.45,0.00,0.000,4,0.000,0.062,3037,3257,1670
$GC,9507,1.22,284.7,329.6,10.2,579,9512,0.15,2.42,0.00,0.000,6,0.092,0.055,3007,1914,1670
$GC,9826,1.22,284.7,302.8,8.3,599,9830,0.00,2.42,0.00,0.000,4,0.000,0.062,3007,3247,1670
$GC,9865,1.27,284.7,299.5,8.0,601,9871,0.00,2.35,0.00,0.000,6,0.000,0.054,3007,1943,1670
$GC,10186,1.27,288.2,274.1,7.9,622,10193,0.00,0.00,5.10,0.750,6,0.000,0.000,3007,1943,1656
$GC,10497,1.27,288.2,248.9,8.1,642,10501,0.00,2.40,0.00,0.000,4,0.000,0.061,3007,3255,1656
$GC,10536,1.33,289.1,245.5,8.0,644,10543,0.12,2.35,0.00,0.000,6,0.058,0.052,3041,1945,1656
$GC,10858,1.28,289.1,213.7,10.0,665,10859,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1946,1656
$GC,11169,1.23,289.1,181.9,10.3,685,11173,0.15,2.38,0.00,0.000,4,0.089,0.059,3011,3248,1656
$GC,11197,1.23,289.1,179.2,9.0,687,11201,0.00,2.30,0.00,0.000,6,0.000,0.051,3011,1957,1656
$GC,11522,1.23,289.1,150.2,8.8,708,11523,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1957,1656
$GC,11847,1.23,289.1,120.3,9.6,724,11851,0.00,2.72,0.00,0.000,4,0.000,0.064,3011,433,1657
$GC,11880,1.23,289.1,116.7,10.0,725,11886,0.00,2.67,0.00,0.000,6,0.000,0.048,3011,1947,1657
$GC,12197,1.26,289.1,85.5,10.1,741,12202,0.00,2.75,0.00,0.000,4,0.000,0.064,3011,437,1657
$GC,12215,1.26,289.1,83.6,10.0,742,12219,0.00,2.67,0.00,0.000,6,0.000,0.048,3012,1951,1657
$GC,12542,1.29,289.1,52.0,9.2,758,12547,0.00,2.75,0.00,0.000,4,0.000,0.062,3011,440,1657
$GC,12560,1.29,289.1,50.2,9.6,759,12564,0.00,2.65,0.00,0.000,6,0.000,0.047,3011,1938,1658
$GC,12888,1.33,289.1,19.4,9.6,775,12890,0.10,0.00,0.00,0.000,6,0.061,0.000,3040,1954,1658
$STATE,13050,end climb,SURFACE_DEPTH_REACHED
$STATE,13050,begin surface coast
$FINISH,0.5,1.027212
$STATE,13070,end surface coast,CONTROL_FINISHED_OK
$STATE,13070,begin surface
$SM_CCo,13094,6.80,0.664,0,0,1607,300.00
$SM_GC,2.41,0.00,0.00,6.80,0.000,0.000,0.664,420,2151,1607,-10.70,0.59,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1830
$TCM_TEMP,17.30
$XPDR_PINGS,64
$ALTIM_BOTTOM_PING,595.4,43.7
$24V_AH,23.7,56.652
$10V_AH,10.1,25.538
$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,26.650,132.875,394.575,6.800,0.000,37.763,33.051,140.867,21.500,0.000,0.000,13.819,1380.457,9450.312,531.323,1562.849,515.761,33.355,1331.824,0.000,1525.691,0.000,39.480,0.000
$DEVICE_MAMPS,155.701,75.933,1244.841,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,536.034,571.122,467.856,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41199,784
$CAP_FILE_SIZE,111339,0
$CFSIZE,254472192,233152512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,221009,090337,6251.749,-1219.619,31,1.2,31,-11.6