version: 66.04
glider: 5
mission: 7
dive: 352
start: 10 23 109 0 51 32
data:
$ID,5
$MISSION,7
$DIVE,352
$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,-107028.51
$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,20
$R_STBD_OVSHOOT,27
$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
$GPS1,004507,6248.765,-1208.787,30,0.9,30,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-67.1
$GPS2,005043,6248.746,-1208.761,11,1.6,11,-11.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.242,-0.041
$KALMAN_X,-87167.4,1347.9,1425.6,125946.1,-16339.4
$KALMAN_Y,43819.1,-347.4,194.7,-116911.5,-749.9
$MHEAD_RNG_PITCHd_Wd,111.2,21310,-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,14,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,61,0.00,0.00,-41.17,0.000,2,0.000,0.000,422,2151,2396
$GC,65,-1.22,-146.6,2.2,-4.3,2,135,11.40,0.00,-54.95,0.000,6,0.160,0.000,2475,2147,3428
$GC,456,-1.12,-146.6,43.7,-13.1,21,461,0.12,2.60,0.00,0.000,4,0.109,0.058,2501,709,3428
$GC,534,-1.12,-146.6,54.0,-12.1,24,540,0.00,2.53,0.00,0.000,6,0.000,0.048,2501,2138,3428
$GC,851,-1.07,-146.6,92.3,-12.1,40,856,0.00,2.58,0.00,0.000,4,0.000,0.059,2502,713,3428
$GC,901,-1.07,-146.6,99.0,-12.9,42,906,0.00,2.50,0.00,0.000,6,0.000,0.048,2501,2127,3428
$GC,1218,-1.02,-146.6,137.2,-11.8,57,1223,0.10,2.58,0.00,0.000,4,0.097,0.062,2522,709,3428
$GC,1253,-1.05,-146.6,141.2,-10.6,58,1260,0.00,2.47,0.00,0.000,6,0.000,0.048,2522,2110,3428
$GC,1577,-1.05,-146.6,173.3,-9.4,78,1581,0.00,2.53,0.00,0.000,4,0.000,0.060,2522,712,3429
$GC,1616,-1.08,-146.6,177.0,-9.4,80,1622,0.00,2.45,0.00,0.000,6,0.000,0.049,2521,2095,3429
$GC,1936,-1.08,-146.6,203.4,-7.6,101,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2096,3429
$GC,2247,-1.08,-146.6,227.4,-8.2,121,2251,0.00,2.50,0.00,0.000,4,0.000,0.061,2521,715,3429
$GC,2294,-1.13,-146.6,231.3,-9.2,123,2300,0.00,2.45,0.00,0.000,6,0.000,0.050,2521,2097,3429
$GC,2614,-1.13,-146.6,259.2,-8.9,144,2618,0.00,2.53,0.00,0.000,4,0.000,0.061,2521,703,3429
$GC,2647,-1.13,-146.6,262.4,-9.0,146,2651,0.00,2.45,0.00,0.000,6,0.000,0.050,2522,2083,3429
$GC,2967,-1.13,-146.6,291.3,-9.2,166,2971,0.00,2.62,0.00,0.000,4,0.000,0.067,2521,3533,3429
$GC,3007,-1.13,-146.6,295.2,-9.8,168,3014,0.00,2.65,0.00,0.000,6,0.000,0.057,2521,2069,3429
$GC,3326,-1.13,-146.6,323.9,-9.0,189,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2068,3429
$GC,3639,-1.13,-146.6,353.1,-9.8,209,3644,0.00,2.70,0.00,0.000,4,0.000,0.068,2522,3530,3429
$GC,3678,-1.13,-146.6,356.9,-9.6,211,3684,0.00,2.62,0.00,0.000,6,0.000,0.058,2521,2076,3429
$GC,3997,-1.13,-146.6,387.1,-9.6,232,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2075,3429
$GC,4309,-1.13,-146.6,417.0,-9.7,252,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2067,3429
$GC,4621,-1.13,-146.6,448.3,-10.0,272,4626,0.00,2.70,0.00,0.000,4,0.000,0.070,2522,3534,3429
$GC,4655,-1.13,-146.6,451.9,-10.4,274,4659,0.00,2.62,0.00,0.000,6,0.000,0.058,2522,2082,3429
$GC,4974,-1.13,-146.6,486.7,-12.0,294,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2067,3429
$GC,5286,-1.13,-146.6,526.4,-12.5,314,5290,0.00,2.70,0.00,0.000,4,0.000,0.071,2522,3538,3428
$GC,5359,-1.13,-146.6,535.9,-13.0,318,5365,0.00,2.60,0.00,0.000,6,0.000,0.059,2522,2101,3428
$GC,5680,-1.13,-146.6,571.5,-10.9,339,5684,0.00,2.47,0.00,0.000,4,0.000,0.066,2522,720,3428
$GC,5782,-1.19,-146.6,584.2,-12.1,345,5786,0.17,2.42,0.00,0.000,6,0.056,0.052,2475,2084,3428
$GC,6105,-1.14,-146.6,622.5,-12.2,365,6110,0.10,2.65,0.00,0.000,4,0.104,0.075,2494,3531,3428
$GC,6195,-1.14,-146.6,632.4,-10.1,370,6201,0.00,2.60,0.00,0.000,6,0.000,0.065,2494,2108,3428
$STATE,6402,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6402,begin apogee
$GC,6409,-0.33,0.0,653.9,10.1,384,6548,0.82,0.00,135.70,1.245,6,0.076,0.000,2674,1850,2831
$STATE,6549,end apogee,CONTROL_FINISHED_OK
$STATE,6549,begin climb
$GC,6552,1.22,146.6,659.0,0.0,393,6697,1.52,2.72,136.80,1.203,4,0.061,0.078,3006,445,2233
$GC,6719,1.19,191.6,654.0,6.4,404,6767,0.00,2.58,41.75,1.170,6,0.000,0.057,3006,1866,2050
$GC,7082,1.13,191.6,624.5,8.3,427,7084,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1867,2049
$GC,7393,1.10,191.6,597.3,8.0,447,7394,0.12,0.00,0.00,0.000,6,0.097,0.000,2983,1866,2047
$GC,7704,1.10,191.6,573.3,8.9,467,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1866,2046
$GC,8016,1.10,191.6,546.7,8.5,487,8017,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1866,2045
$GC,8328,1.19,252.4,524.6,5.8,507,8388,0.10,0.00,53.80,1.200,6,0.068,0.000,3009,1866,1802
$GC,8702,1.23,277.0,499.0,7.1,531,8734,0.00,2.60,22.98,1.142,4,0.000,0.067,3010,3235,1701
$GC,8769,1.26,295.0,494.1,7.3,535,8793,0.00,2.58,17.30,1.108,6,0.000,0.064,3010,1850,1628
$GC,9118,1.26,295.0,466.3,8.4,557,9122,0.00,2.58,0.00,0.000,4,0.000,0.065,3010,3239,1629
$GC,9168,1.30,295.0,461.5,9.2,560,9173,0.00,2.55,0.00,0.000,6,0.000,0.061,3010,1850,1629
$GC,9488,1.30,295.0,434.4,8.6,580,9492,0.00,2.58,0.00,0.000,4,0.000,0.063,3010,3247,1629
$GC,9534,1.34,295.0,430.6,8.1,583,9539,0.12,2.50,0.00,0.000,6,0.058,0.059,3043,1877,1629
$GC,9861,1.27,295.0,396.6,10.5,604,9865,0.00,2.50,0.00,0.000,4,0.000,0.062,3043,3238,1629
$GC,9896,1.23,295.0,392.4,10.9,606,9901,0.15,2.45,0.00,0.000,6,0.091,0.058,3013,1887,1630
$GC,10223,1.23,295.0,360.6,9.9,627,10227,0.00,2.47,0.00,0.000,4,0.000,0.061,3013,3238,1630
$GC,10245,1.23,295.0,357.9,10.6,628,10251,0.00,2.42,0.00,0.000,6,0.000,0.056,3013,1907,1630
$GC,10564,1.23,295.0,326.4,10.0,649,10568,0.00,2.45,0.00,0.000,4,0.000,0.061,3013,3244,1630
$GC,10594,1.23,295.0,323.5,10.7,651,10598,0.00,2.40,0.00,0.000,6,0.000,0.055,3013,1907,1631
$GC,10918,1.23,295.0,293.4,9.0,672,10922,0.00,2.45,0.00,0.000,4,0.000,0.061,3013,3247,1631
$GC,10946,1.23,295.0,290.8,9.7,674,10950,0.00,2.40,0.00,0.000,6,0.000,0.054,3013,1912,1631
$GC,11271,1.23,295.0,260.7,9.5,695,11275,0.00,2.42,0.00,0.000,4,0.000,0.061,3013,3242,1631
$GC,11304,1.26,295.0,257.2,10.3,697,11308,0.00,2.35,0.00,0.000,6,0.000,0.053,3013,1933,1632
$GC,11624,1.26,295.0,226.8,9.2,717,11625,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1933,1632
$GC,11935,1.26,295.0,199.7,8.5,737,11939,0.00,2.38,0.00,0.000,4,0.000,0.059,3013,3238,1632
$GC,11958,1.26,295.0,197.5,8.9,738,11964,0.00,2.33,0.00,0.000,6,0.000,0.051,3013,1938,1632
$GC,12277,1.26,295.0,171.8,8.1,759,12278,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1939,1632
$GC,12601,1.28,305.0,146.7,7.6,779,12616,0.00,2.40,10.77,0.831,4,0.000,0.058,3013,3238,1587
$GC,12656,1.35,317.2,142.2,7.6,780,12673,0.12,2.33,11.80,0.839,6,0.057,0.050,3048,1942,1537
$GC,12994,1.30,317.2,110.6,9.9,797,12998,0.00,2.38,0.00,0.000,4,0.000,0.058,3048,3248,1537
$GC,13038,1.30,317.2,105.4,10.7,799,13042,0.00,2.28,0.00,0.000,6,0.000,0.049,3048,1970,1537
$GC,13367,1.26,317.2,70.2,10.9,815,13372,0.15,2.75,0.00,0.000,4,0.088,0.062,3018,435,1537
$GC,13389,1.26,317.2,67.5,10.3,816,13394,0.00,2.72,0.00,0.000,6,0.000,0.047,3018,1974,1537
$GC,13712,1.26,317.2,38.4,9.2,832,13716,0.00,2.80,0.00,0.000,4,0.000,0.062,3018,436,1537
$GC,13739,1.26,317.2,35.6,9.7,833,13744,0.00,2.67,0.00,0.000,6,0.000,0.047,3018,1949,1537
$GC,14056,1.29,317.2,5.9,9.9,848,14057,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1963,1538
$STATE,14094,end climb,SURFACE_DEPTH_REACHED
$STATE,14094,begin surface coast
$FINISH,0.6,1.027252
$STATE,14116,end surface coast,CONTROL_FINISHED_OK
$STATE,14116,begin surface
$SM_CCo,14200,0.00,0.000,0,0,1537,317.17
$SM_GC,1.31,11.30,0.00,0.00,0.039,0.000,0.000,417,2136,1537,-10.61,0.17,317.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1829
$TCM_TEMP,17.30
$XPDR_PINGS,54
$ALTIM_BOTTOM_PING,595.0,67.7
$24V_AH,23.7,57.408
$10V_AH,10.1,25.907
$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,26.325,132.250,430.900,0.000,0.000,37.761,28.000,142.451,18.750,0.000,0.000,11.953,1481.365,10293.034,565.472,1674.133,516.970,33.355,1423.784,0.000,1640.381,0.000,36.644,0.000
$DEVICE_MAMPS,159.536,78.234,1244.841,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,582.003,622.899,481.508,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44275,851
$CAP_FILE_SIZE,114785,0
$CFSIZE,254472192,232865792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,231009,044940,6247.003,-1206.589,41,2.0,50,-11.4