version: 66.04
glider: 5
mission: 7
dive: 351
start: 10 22 109 20 55 5
data:
$ID,5
$MISSION,7
$DIVE,351
$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,-107015.92
$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,22
$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
$GPS1,204816,6248.957,-1212.978,53,1.9,53,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-67.8
$GPS2,205414,6248.946,-1212.969,13,1.0,13,-11.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.245,-0.020
$KALMAN_X,-86318.2,1776.6,841.5,121794.4,-17628.9
$KALMAN_Y,42385.3,226.9,435.2,-115902.0,-3998.2
$MHEAD_RNG_PITCHd_Wd,106.1,24817,-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,-41.17,0.000,2,0.000,0.000,421,2143,2404
$GC,63,-1.22,-146.6,2.1,-3.5,2,135,11.12,2.58,-52.00,0.000,4,0.153,0.078,2472,3545,3429
$GC,314,-1.12,-146.6,27.3,-12.9,13,319,0.15,2.55,0.00,0.000,6,0.099,0.048,2503,2111,3429
$GC,633,-1.07,-146.6,65.2,-12.3,28,637,0.00,2.47,0.00,0.000,4,0.000,0.059,2503,719,3429
$GC,673,-1.07,-146.6,70.6,-12.7,30,677,0.00,2.53,0.00,0.000,6,0.000,0.048,2503,2145,3429
$GC,1001,-1.03,-146.6,110.3,-11.5,46,1005,0.00,2.58,0.00,0.000,4,0.000,0.061,2503,724,3429
$GC,1050,-1.03,-146.6,116.3,-11.2,48,1054,0.00,2.47,0.00,0.000,6,0.000,0.048,2503,2122,3429
$GC,1368,-0.99,-146.6,151.8,-10.9,63,1373,0.12,2.55,0.00,0.000,4,0.097,0.062,2529,712,3429
$GC,1420,-1.04,-146.6,157.3,-10.1,66,1424,0.00,2.50,0.00,0.000,6,0.000,0.048,2529,2127,3429
$GC,1740,-1.04,-146.6,188.2,-10.2,86,1744,0.00,2.55,0.00,0.000,4,0.000,0.063,2529,722,3429
$GC,1769,-1.08,-146.6,191.3,-10.1,88,1773,0.00,2.45,0.00,0.000,6,0.000,0.049,2529,2107,3429
$GC,2094,-1.08,-146.6,223.9,-10.0,109,2098,0.00,2.53,0.00,0.000,4,0.000,0.063,2529,719,3429
$GC,2124,-1.11,-146.6,226.9,-10.0,111,2128,0.12,2.45,0.00,0.000,6,0.057,0.049,2494,2100,3429
$GC,2450,-1.06,-146.6,263.3,-11.1,132,2455,0.00,2.53,0.00,0.000,4,0.000,0.064,2494,716,3429
$GC,2498,-1.06,-146.6,268.7,-11.1,135,2503,0.00,2.42,0.00,0.000,6,0.000,0.050,2494,2083,3429
$GC,2826,-1.01,-146.6,304.4,-10.8,156,2828,0.15,0.00,0.00,0.000,6,0.094,0.000,2526,2084,3429
$GC,3137,-1.01,-146.6,333.7,-9.6,176,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2084,3429
$GC,3448,-1.01,-146.6,364.7,-10.0,196,3452,0.00,2.47,0.00,0.000,4,0.000,0.064,2526,725,3429
$GC,3493,-1.06,-146.6,369.2,-10.1,198,3499,0.00,2.40,0.00,0.000,6,0.000,0.050,2526,2077,3429
$GC,3812,-1.06,-146.6,398.9,-9.2,219,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2077,3429
$GC,4124,-1.06,-146.6,428.1,-9.7,239,4128,0.00,2.47,0.00,0.000,4,0.000,0.066,2526,723,3429
$GC,4174,-1.11,-146.6,433.2,-10.0,242,4178,0.00,2.40,0.00,0.000,6,0.000,0.051,2526,2071,3429
$GC,4499,-1.11,-146.6,463.6,-9.1,263,4501,0.12,0.00,0.00,0.000,6,0.060,0.000,2491,2072,3429
$GC,4811,-1.07,-146.6,497.0,-10.8,283,4813,0.10,0.00,0.00,0.000,6,0.099,0.000,2512,2071,3429
$GC,5123,-1.07,-146.6,524.5,-8.7,303,5128,0.00,2.45,0.00,0.000,4,0.000,0.065,2512,726,3429
$GC,5186,-1.07,-146.6,530.2,-9.2,307,5190,0.00,2.40,0.00,0.000,6,0.000,0.051,2512,2076,3429
$GC,5512,-1.07,-146.6,561.5,-9.8,328,5516,0.00,2.67,0.00,0.000,4,0.000,0.074,2513,3534,3429
$GC,5557,-1.07,-146.6,566.3,-10.0,331,5562,0.00,2.62,0.00,0.000,6,0.000,0.063,2512,2094,3428
$GC,5882,-1.07,-146.6,596.4,-9.0,352,5886,0.00,2.70,0.00,0.000,4,0.000,0.074,2513,3538,3428
$GC,5938,-1.07,-146.6,601.8,-9.3,355,5945,0.00,2.60,0.00,0.000,6,0.000,0.064,2512,2108,3428
$GC,6258,-1.07,-146.6,632.0,-9.5,376,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2095,3428
$STATE,6504,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6504,begin apogee
$GC,6512,-0.33,0.0,655.4,10.2,392,6649,0.75,0.00,133.00,1.267,6,0.075,0.000,2674,1852,2832
$STATE,6650,end apogee,CONTROL_FINISHED_OK
$STATE,6650,begin climb
$GC,6653,1.22,146.6,661.5,0.0,401,6797,1.52,2.67,136.05,1.216,4,0.057,0.078,3010,446,2233
$GC,6913,1.10,146.6,647.4,8.2,417,6918,0.15,2.58,0.00,0.000,6,0.096,0.058,2982,1856,2233
$GC,7233,1.17,189.6,625.3,6.4,437,7278,0.00,2.65,39.85,1.193,4,0.000,0.072,2982,3262,2058
$GC,7308,1.24,233.7,620.4,6.4,441,7355,0.15,2.65,41.20,1.186,6,0.060,0.071,3020,1858,1878
$GC,7669,1.18,233.7,583.5,10.6,464,7673,0.00,2.65,0.00,0.000,4,0.000,0.074,3020,3261,1878
$GC,7698,1.18,233.7,580.5,10.6,466,7703,0.00,2.60,0.00,0.000,6,0.000,0.071,3020,1866,1878
$GC,8023,1.13,233.7,549.9,8.0,487,8028,0.15,2.62,0.00,0.000,4,0.099,0.073,2992,3259,1876
$GC,8107,1.19,250.7,543.5,7.4,492,8129,0.00,2.55,16.27,1.143,6,0.000,0.069,2992,1890,1809
$GC,8445,1.23,275.0,520.3,7.1,513,8476,0.00,2.62,22.92,1.167,4,0.000,0.071,2992,3247,1709
$GC,8512,1.35,305.4,515.4,6.9,517,8547,0.22,2.50,28.15,1.165,6,0.055,0.067,3045,1910,1585
$GC,8875,1.27,305.4,478.6,10.8,540,8876,0.12,0.00,0.00,0.000,6,0.098,0.000,3022,1909,1586
$GC,9185,1.27,305.4,447.2,10.2,560,9189,0.00,2.50,0.00,0.000,4,0.000,0.067,3022,3261,1586
$GC,9230,1.27,305.4,442.4,10.8,562,9236,0.00,2.45,0.00,0.000,6,0.000,0.061,3022,1926,1586
$GC,9549,1.27,305.4,411.1,9.5,583,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1926,1586
$GC,9861,1.27,305.4,380.1,10.1,603,9865,0.00,2.45,0.00,0.000,4,0.000,0.065,3022,3257,1587
$GC,9908,1.27,305.4,375.6,9.5,606,9912,0.00,2.40,0.00,0.000,6,0.000,0.058,3022,1933,1587
$GC,10232,1.27,305.4,343.1,10.0,627,10233,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1933,1587
$GC,10545,1.27,305.4,311.6,10.4,647,10549,0.00,2.42,0.00,0.000,4,0.000,0.063,3022,3264,1587
$GC,10584,1.27,305.4,307.4,9.9,649,10590,0.00,2.38,0.00,0.000,6,0.000,0.056,3022,1949,1588
$GC,10903,1.27,305.4,276.7,9.9,670,10904,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1949,1588
$GC,11216,1.27,305.4,244.6,10.7,690,11220,0.00,2.40,0.00,0.000,4,0.000,0.061,3022,3259,1589
$GC,11237,1.27,305.4,242.2,10.9,691,11243,0.00,2.35,0.00,0.000,6,0.000,0.054,3022,1954,1589
$GC,11556,1.27,305.4,208.6,10.7,712,11557,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1954,1589
$GC,11869,1.27,305.4,175.9,10.3,732,11874,0.00,2.38,0.00,0.000,4,0.000,0.061,3022,3256,1590
$GC,11903,1.30,305.4,172.2,10.3,734,11907,0.00,2.33,0.00,0.000,6,0.000,0.052,3022,1960,1590
$GC,12232,1.30,305.4,138.3,10.5,753,12237,0.00,2.72,0.00,0.000,4,0.000,0.065,3022,438,1590
$GC,12261,1.30,305.4,134.7,12.8,754,12265,0.00,2.72,0.00,0.000,6,0.000,0.048,3022,1976,1590
$GC,12577,1.30,305.4,101.0,10.1,769,12582,0.00,2.80,0.00,0.000,4,0.000,0.063,3022,438,1591
$GC,12595,1.30,305.4,99.0,10.3,770,12599,0.00,2.70,0.00,0.000,6,0.000,0.048,3022,1964,1590
$GC,12923,1.30,305.4,68.0,9.2,786,12927,0.00,2.80,0.00,0.000,4,0.000,0.063,3022,432,1590
$GC,12945,1.30,305.4,65.6,9.4,787,12949,0.00,2.67,0.00,0.000,6,0.000,0.048,3022,1944,1590
$GC,13266,1.30,305.4,35.9,9.2,803,13267,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1945,1590
$GC,13577,1.30,305.4,7.1,9.3,818,13582,0.00,2.75,0.00,0.000,4,0.000,0.064,3022,436,1591
$GC,13600,1.30,305.4,4.7,9.0,819,13604,0.00,2.67,0.00,0.000,6,0.000,0.047,3022,1953,1590
$STATE,13630,end climb,SURFACE_DEPTH_REACHED
$STATE,13630,begin surface coast
$FINISH,0.5,1.013828
$STATE,13651,end surface coast,CONTROL_FINISHED_OK
$STATE,13652,begin surface
$SM_CCo,13735,0.00,0.000,0,0,1590,304.42
$SM_GC,1.60,11.27,0.00,0.00,0.038,0.000,0.000,422,2150,1590,-10.58,0.57,304.42
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1819
$TCM_TEMP,17.30
$XPDR_PINGS,56
$ALTIM_BOTTOM_PING,621.3,43.3
$24V_AH,23.7,57.250
$10V_AH,10.1,25.832
$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,26.250,133.075,417.450,0.000,0.000,37.758,29.992,151.003,19.500,0.000,0.000,13.571,1448.558,9901.041,513.687,1692.229,532.476,33.383,1388.621,0.000,1651.553,0.000,38.170,0.000
$DEVICE_MAMPS,152.633,78.234,1267.084,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,563.059,598.720,471.340,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41102,822
$CAP_FILE_SIZE,114661,0
$CFSIZE,254472192,232927232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,231009,004507,6248.765,-1208.787,30,0.9,30,-11.5