version: 66.04
glider: 5
mission: 7
dive: 349
start: 10 22 109 12 59 21
data:
$ID,5
$MISSION,7
$DIVE,349
$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,-106987.45
$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,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
$GPS1,125300,6251.783,-1215.554,42,1.8,42,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-65.6
$GPS2,125832,6251.811,-1215.553,11,1.3,11,-11.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.235,-0.072
$KALMAN_X,-79995.7,1390.5,1423.3,113111.9,-17460.8
$KALMAN_Y,45295.3,-13.2,159.2,-113005.1,495.3
$MHEAD_RNG_PITCHd_Wd,118.5,28816,-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,-60.83,0.000,2,0.000,0.000,422,2150,2799
$GC,85,-1.22,-146.6,2.8,-3.2,3,121,11.20,0.00,-21.38,0.000,6,0.152,0.000,2475,2140,3430
$GC,432,-1.12,-146.6,49.1,-13.6,20,437,0.12,2.58,0.00,0.000,4,0.104,0.057,2501,716,3430
$GC,472,-1.12,-146.6,54.5,-12.6,22,477,0.00,2.50,0.00,0.000,6,0.000,0.048,2501,2127,3430
$GC,800,-1.07,-146.6,93.3,-12.0,38,805,0.00,2.58,0.00,0.000,4,0.000,0.061,2500,708,3430
$GC,846,-1.07,-146.6,99.1,-12.7,40,850,0.00,2.50,0.00,0.000,6,0.000,0.048,2501,2121,3430
$GC,1168,-1.03,-146.6,135.7,-11.7,56,1172,0.00,2.58,0.00,0.000,4,0.000,0.065,2501,3542,3430
$GC,1201,-0.99,-146.6,139.8,-11.8,57,1209,0.12,2.60,0.00,0.000,6,0.093,0.051,2527,2087,3431
$GC,1530,-0.99,-146.6,174.0,-10.3,77,1534,0.00,2.45,0.00,0.000,4,0.000,0.061,2527,707,3430
$GC,1587,-1.05,-146.6,180.1,-10.2,80,1591,0.00,2.47,0.00,0.000,6,0.000,0.047,2527,2111,3430
$GC,1906,-1.05,-146.6,212.9,-10.3,100,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2113,3430
$GC,2218,-1.05,-146.6,244.0,-9.5,120,2222,0.00,2.53,0.00,0.000,4,0.000,0.061,2527,716,3430
$GC,2297,-1.10,-146.6,251.8,-10.1,125,2301,0.00,2.45,0.00,0.000,6,0.000,0.049,2527,2102,3430
$GC,2624,-1.10,-146.6,281.2,-8.6,146,2628,0.00,2.53,0.00,0.000,4,0.000,0.064,2527,716,3430
$GC,2657,-1.14,-146.6,284.7,-9.8,148,2662,0.15,2.42,0.00,0.000,6,0.054,0.050,2486,2085,3430
$GC,2980,-1.08,-146.6,318.0,-10.3,168,2982,0.12,0.00,0.00,0.000,6,0.097,0.000,2513,2085,3430
$GC,3288,-1.08,-146.6,347.7,-9.6,188,3293,0.00,2.50,0.00,0.000,4,0.000,0.064,2512,708,3430
$GC,3345,-1.08,-146.6,353.3,-9.7,191,3351,0.00,2.42,0.00,0.000,6,0.000,0.050,2512,2078,3430
$GC,3664,-1.08,-146.6,384.1,-9.8,212,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2078,3430
$GC,3977,-1.08,-146.6,415.0,-10.5,232,3981,0.00,2.50,0.00,0.000,4,0.000,0.067,2512,710,3430
$GC,4030,-1.08,-146.6,420.6,-10.8,235,4034,0.00,2.40,0.00,0.000,6,0.000,0.051,2512,2062,3429
$GC,4349,-1.08,-146.6,455.0,-10.9,255,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2062,3430
$GC,4662,-1.08,-146.6,491.4,-12.2,275,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2062,3430
$GC,4974,-1.08,-146.6,528.9,-11.1,295,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2062,3430
$GC,5286,-1.08,-146.6,561.5,-9.7,315,5290,0.00,2.47,0.00,0.000,4,0.000,0.068,2512,711,3430
$GC,5360,-1.12,-146.6,569.2,-9.8,319,5364,0.00,2.40,0.00,0.000,6,0.000,0.054,2512,2057,3430
$GC,5679,-1.12,-146.6,602.3,-11.3,339,5683,0.00,2.47,0.00,0.000,4,0.000,0.072,2512,719,3429
$GC,5724,-1.16,-146.6,607.1,-10.1,342,5728,0.00,2.40,0.00,0.000,6,0.000,0.058,2512,2050,3429
$STATE,5880,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5880,begin apogee
$GC,5888,-0.33,0.0,622.8,10.4,352,6024,0.75,0.00,132.52,1.237,6,0.076,0.000,2674,1839,2832
$STATE,6025,end apogee,CONTROL_FINISHED_OK
$STATE,6025,begin climb
$GC,6028,1.22,146.6,626.9,0.0,361,6175,1.52,2.67,135.40,1.186,4,0.058,0.075,3007,446,2233
$GC,6241,1.11,146.6,615.6,9.6,374,6247,0.00,2.58,0.00,0.000,6,0.000,0.057,3007,1856,2233
$GC,6561,1.08,167.8,594.8,7.2,395,6583,0.15,0.00,20.25,1.134,6,0.096,0.000,2979,1872,2146
$GC,6889,1.16,220.0,574.7,6.1,416,6941,0.00,2.70,46.72,1.187,4,0.000,0.075,2979,454,1934
$GC,6965,1.22,256.2,569.9,6.7,421,7006,0.15,2.55,33.53,1.158,6,0.058,0.058,3015,1852,1785
$GC,7325,1.22,256.2,536.7,9.8,444,7326,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1853,1785
$GC,7639,1.22,256.2,508.3,9.4,464,7643,0.00,2.58,0.00,0.000,4,0.000,0.071,3016,3244,1785
$GC,7706,1.22,256.2,501.9,9.9,468,7711,0.00,2.55,0.00,0.000,6,0.000,0.065,3016,1867,1784
$GC,8025,1.22,256.2,474.5,9.1,488,8030,0.00,2.55,0.00,0.000,4,0.000,0.068,3015,3241,1784
$GC,8059,1.22,256.2,471.2,9.0,490,8063,0.00,2.50,0.00,0.000,6,0.000,0.063,3015,1879,1784
$GC,8378,1.22,256.2,439.5,10.6,510,8383,0.00,2.53,0.00,0.000,4,0.000,0.066,3016,3244,1784
$GC,8435,1.22,256.2,433.2,10.5,513,8441,0.00,2.45,0.00,0.000,6,0.000,0.061,3016,1900,1784
$GC,8754,1.22,256.2,400.6,9.7,534,8758,0.00,2.47,0.00,0.000,4,0.000,0.064,3016,3244,1783
$GC,8793,1.22,256.2,396.9,9.7,536,8799,0.00,2.40,0.00,0.000,6,0.000,0.058,3016,1919,1783
$GC,9112,1.22,256.2,368.9,8.3,557,9116,0.00,2.42,0.00,0.000,4,0.000,0.064,3016,3241,1783
$GC,9161,1.22,256.2,364.5,8.7,560,9166,0.00,2.38,0.00,0.000,6,0.000,0.056,3016,1927,1784
$GC,9481,1.22,256.2,335.9,9.6,580,9485,0.00,2.40,0.00,0.000,4,0.000,0.063,3016,3244,1784
$GC,9533,1.22,256.2,330.6,10.2,583,9537,0.00,2.33,0.00,0.000,6,0.000,0.054,3016,1953,1784
$GC,9853,1.22,256.2,298.7,9.8,603,9857,0.00,2.35,0.00,0.000,4,0.000,0.063,3016,3244,1784
$GC,9899,1.22,256.2,294.1,10.2,606,9903,0.00,2.30,0.00,0.000,6,0.000,0.054,3016,1964,1784
$GC,10223,1.22,256.2,264.2,9.0,627,10227,0.00,2.35,0.00,0.000,4,0.000,0.062,3016,3245,1784
$GC,10245,1.22,256.2,262.1,9.3,628,10249,0.00,2.28,0.00,0.000,6,0.000,0.053,3016,1975,1784
$GC,10564,1.22,256.2,232.9,9.3,648,10568,0.00,2.33,0.00,0.000,4,0.000,0.061,3016,3248,1785
$GC,10586,1.22,256.2,230.6,9.8,649,10592,0.00,2.28,0.00,0.000,6,0.000,0.052,3016,1978,1785
$GC,10906,1.22,256.2,201.3,8.9,670,10910,0.00,2.33,0.00,0.000,4,0.000,0.061,3016,3252,1785
$GC,10935,1.22,256.2,198.6,9.8,672,10939,0.00,2.28,0.00,0.000,6,0.000,0.051,3016,1979,1785
$GC,11259,1.22,256.2,171.8,8.3,693,11260,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1979,1785
$GC,11588,1.22,256.2,144.5,8.6,713,11592,0.00,2.30,0.00,0.000,4,0.000,0.060,3016,3241,1786
$GC,11628,1.22,256.2,141.0,8.6,715,11632,0.00,2.22,0.00,0.000,6,0.000,0.050,3016,1991,1786
$GC,11956,1.22,256.2,112.8,9.0,731,11960,0.00,2.28,0.00,0.000,4,0.000,0.060,3016,3252,1786
$GC,11978,1.22,256.2,110.6,9.2,732,11982,0.00,2.22,0.00,0.000,6,0.000,0.049,3016,2001,1787
$GC,12301,1.22,256.2,83.3,8.6,748,12302,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2002,1787
$GC,12609,1.22,256.2,56.1,8.9,763,12610,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2001,1787
$GC,12919,1.22,256.2,29.6,8.5,778,12920,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2002,1787
$GC,13227,1.22,256.2,3.1,9.2,793,13231,0.00,2.22,0.00,0.000,3,0.000,0.060,3016,3228,1787
$STATE,13232,end climb,SURFACE_DEPTH_REACHED
$STATE,13232,begin surface coast
$FINISH,0.5,1.026473
$STATE,13270,end surface coast,CONTROL_FINISHED_OK
$STATE,13270,begin surface
$SM_CCo,13296,22.62,0.764,0,0,1607,300.00
$SM_GC,1.17,0.00,0.00,22.62,0.000,0.000,0.764,418,2107,1607,-10.70,-0.34,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1833
$TCM_TEMP,17.30
$XPDR_PINGS,43
$ALTIM_BOTTOM_PING,546.1,86.6
$24V_AH,23.7,56.940
$10V_AH,10.1,25.681
$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,25.525,121.925,368.425,22.625,0.000,37.762,30.423,138.182,15.500,0.000,0.000,11.942,1392.380,9675.416,503.107,1584.637,495.489,33.354,1308.619,0.000,1553.601,0.000,33.528,0.000
$DEVICE_MAMPS,151.866,75.166,1237.171,763.932,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,544.398,580.808,476.649,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41144,795
$CAP_FILE_SIZE,107112,0
$CFSIZE,254472192,233046016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,221009,164236,6250.314,-1213.510,35,1.4,35,-11.5