version: 66.04
glider: 5
mission: 7
dive: 354
start: 10 23 109 9 19 11
data:
$ID,5
$MISSION,7
$DIVE,354
$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,-107056.47
$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,24
$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
$GPS1,090907,6247.027,-1206.724,34,0.9,34,-11.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-66.0
$GPS2,091820,6247.037,-1206.774,14,1.4,14,-11.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.245,0.011
$KALMAN_X,-93813.8,1376.2,752.8,134912.3,-15368.5
$KALMAN_Y,38129.2,127.7,234.2,-114877.2,-5333.4
$MHEAD_RNG_PITCHd_Wd,98.7,18845,-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,13,begin dive
$GC,16,-1.22,-146.6,0.0,0.0,0,69,0.00,0.00,-51.00,0.000,2,0.000,0.000,418,2156,2603
$GC,73,-1.22,-146.6,2.5,-2.3,3,123,11.40,2.60,-32.62,0.000,4,0.158,0.069,2474,715,3430
$GC,168,-1.13,-146.6,10.7,-12.1,7,175,0.12,2.53,0.00,0.000,6,0.101,0.049,2499,2138,3430
$GC,486,-1.08,-146.6,47.5,-11.1,23,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2137,3430
$GC,796,-1.02,-146.6,83.1,-11.7,38,801,0.10,2.58,0.00,0.000,4,0.103,0.059,2519,716,3430
$GC,860,-1.02,-146.6,90.2,-10.6,41,864,0.00,2.53,0.00,0.000,6,0.000,0.049,2520,2136,3431
$GC,1188,-1.02,-146.6,123.8,-10.2,57,1192,0.00,2.58,0.00,0.000,4,0.000,0.060,2520,709,3430
$GC,1228,-1.02,-146.6,127.9,-10.2,59,1232,0.00,2.50,0.00,0.000,6,0.000,0.048,2520,2118,3430
$GC,1546,-1.02,-146.6,161.1,-11.0,76,1550,0.00,2.53,0.00,0.000,4,0.000,0.060,2519,716,3430
$GC,1649,-1.05,-146.6,172.8,-11.2,82,1653,0.00,2.42,0.00,0.000,6,0.000,0.048,2520,2086,3430
$GC,1973,-1.05,-146.6,208.2,-10.7,103,1977,0.00,2.62,0.00,0.000,4,0.000,0.066,2519,3537,3430
$GC,1995,-1.05,-146.6,210.8,-10.9,104,2001,0.00,2.62,0.00,0.000,6,0.000,0.054,2520,2076,3431
$GC,2315,-1.05,-146.6,245.3,-10.9,125,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2074,3431
$GC,2627,-1.05,-146.6,278.5,-10.3,145,2632,0.00,2.70,0.00,0.000,4,0.000,0.067,2519,3538,3430
$GC,2656,-1.05,-146.6,281.7,-11.3,147,2661,0.00,2.62,0.00,0.000,6,0.000,0.056,2520,2081,3430
$GC,2980,-1.05,-146.6,313.4,-9.4,168,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2082,3430
$GC,3293,-1.05,-146.6,344.0,-10.0,188,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2082,3430
$GC,3605,-1.05,-146.6,374.2,-9.7,208,3609,0.00,2.42,0.00,0.000,4,0.000,0.062,2519,717,3430
$GC,3644,-1.09,-146.6,378.3,-10.9,210,3650,0.00,2.42,0.00,0.000,6,0.000,0.050,2520,2086,3430
$GC,3964,-1.09,-146.6,407.8,-8.7,231,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2086,3430
$GC,4276,-1.09,-146.6,435.6,-8.9,251,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2086,3430
$GC,4589,-1.09,-146.6,465.1,-9.8,271,4590,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2086,3430
$GC,4903,-1.09,-146.6,495.3,-9.1,291,4907,0.00,2.50,0.00,0.000,4,0.000,0.064,2520,715,3430
$GC,4970,-1.15,-146.6,501.7,-9.3,295,4975,0.12,2.45,0.00,0.000,6,0.058,0.051,2486,2091,3430
$GC,5293,-1.11,-146.6,536.3,-11.5,315,5296,0.00,2.50,0.00,0.000,4,0.000,0.066,2485,717,3430
$GC,5361,-1.11,-146.6,544.4,-11.3,319,5369,0.00,2.42,0.00,0.000,6,0.000,0.053,2485,2078,3430
$GC,5697,-1.06,-146.6,580.8,-10.8,340,5702,0.12,2.50,0.00,0.000,4,0.099,0.070,2512,722,3429
$GC,5776,-1.11,-146.6,588.8,-9.8,345,5781,0.00,2.40,0.00,0.000,6,0.000,0.054,2512,2059,3429
$GC,6109,-1.11,-146.6,620.0,-9.8,366,6113,0.00,2.72,0.00,0.000,4,0.000,0.077,2511,3536,3429
$GC,6175,-1.11,-146.6,627.4,-9.7,370,6180,0.00,2.72,0.00,0.000,6,0.000,0.067,2512,2052,3429
$GC,6494,-1.11,-146.6,658.4,-9.9,390,6499,0.00,2.78,0.00,0.000,4,0.000,0.077,2512,3533,3428
$STATE,6514,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6514,begin apogee
$GC,6525,-0.33,0.0,660.9,10.6,391,6662,0.70,0.00,132.85,1.270,6,0.077,0.000,2666,1848,2831
$STATE,6662,end apogee,CONTROL_FINISHED_OK
$STATE,6662,begin climb
$GC,6665,1.22,146.6,665.9,0.0,400,6810,1.58,2.75,133.93,1.222,4,0.061,0.079,3009,434,2233
$GC,6944,1.11,146.6,648.7,8.7,417,6949,0.12,2.58,0.00,0.000,6,0.098,0.057,2986,1850,2233
$GC,7268,1.20,202.7,628.1,6.0,438,7325,0.00,2.62,50.95,1.206,4,0.000,0.071,2986,3252,2004
$GC,7360,1.20,202.7,621.7,8.7,443,7365,0.00,2.62,0.00,0.000,6,0.000,0.068,2986,1854,2004
$GC,7685,1.24,231.5,598.3,7.0,464,7719,0.12,2.67,26.52,1.182,4,0.061,0.070,3019,3252,1887
$GC,7748,1.21,231.5,592.8,9.1,467,7754,0.00,2.62,0.00,0.000,6,0.000,0.067,3019,1853,1886
$GC,8068,1.16,231.5,563.8,9.3,488,8073,0.12,2.62,0.00,0.000,4,0.101,0.071,2997,3252,1886
$GC,8090,1.16,231.5,561.7,8.9,489,8096,0.00,2.60,0.00,0.000,6,0.000,0.067,2997,1856,1886
$GC,8410,1.20,254.4,538.0,7.2,510,8437,0.00,2.67,21.30,1.166,4,0.000,0.068,2997,3254,1793
$GC,8472,1.28,278.0,533.5,7.1,513,8504,0.12,2.55,22.20,1.154,6,0.062,0.066,3027,1880,1697
$GC,8820,1.23,278.0,501.7,9.7,535,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1880,1697
$GC,9129,1.18,278.0,470.2,10.7,555,9134,0.15,2.55,0.00,0.000,4,0.095,0.067,2999,3253,1697
$GC,9186,1.23,278.0,464.7,9.1,558,9192,0.00,2.53,0.00,0.000,6,0.000,0.062,2999,1879,1697
$GC,9505,1.23,278.0,437.0,8.5,579,9509,0.00,2.55,0.00,0.000,4,0.000,0.065,2999,3259,1697
$GC,9556,1.29,278.0,432.4,9.1,582,9561,0.12,2.50,0.00,0.000,6,0.059,0.061,3030,1892,1697
$GC,9876,1.24,278.0,401.0,9.9,602,9880,0.00,2.53,0.00,0.000,4,0.000,0.064,3030,3263,1697
$GC,9905,1.20,278.0,398.0,10.8,604,9910,0.12,2.47,0.00,0.000,6,0.096,0.058,3006,1901,1697
$GC,10230,1.20,278.0,370.3,8.2,625,10234,0.00,2.50,0.00,0.000,4,0.000,0.063,3006,3262,1697
$GC,10259,1.24,278.0,367.6,9.7,627,10263,0.00,2.45,0.00,0.000,6,0.000,0.058,3006,1911,1697
$GC,10583,1.24,278.0,337.8,9.3,648,10587,0.00,2.47,0.00,0.000,4,0.000,0.062,3007,3260,1697
$GC,10606,1.24,278.0,335.7,9.5,649,10610,0.00,2.42,0.00,0.000,6,0.000,0.055,3006,1916,1697
$GC,10925,1.24,278.0,307.4,9.0,669,10926,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1917,1697
$GC,11237,1.24,278.0,279.7,8.8,689,11241,0.00,2.45,0.00,0.000,4,0.000,0.061,3006,3256,1698
$GC,11271,1.28,278.0,276.5,9.6,691,11275,0.00,2.40,0.00,0.000,6,0.000,0.054,3006,1921,1698
$GC,11590,1.28,278.0,248.3,8.6,711,11592,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1921,1698
$GC,11903,1.28,278.0,222.5,8.5,731,11908,0.00,2.45,0.00,0.000,4,0.000,0.061,3006,3264,1699
$GC,11943,1.33,278.0,218.8,9.1,733,11950,0.12,2.38,0.00,0.000,6,0.055,0.051,3041,1934,1699
$GC,12262,1.27,278.0,186.3,10.8,754,12264,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1935,1699
$GC,12575,1.22,278.0,153.2,10.2,774,12580,0.15,2.40,0.00,0.000,4,0.089,0.058,3009,3255,1699
$GC,12609,1.26,278.0,149.9,8.3,776,12613,0.00,2.35,0.00,0.000,6,0.000,0.050,3009,1937,1700
$GC,12927,1.26,278.0,124.1,8.1,791,12931,0.00,2.40,0.00,0.000,4,0.000,0.059,3010,3258,1700
$GC,12946,1.30,282.3,122.6,7.8,792,12957,0.00,2.33,5.95,0.713,6,0.000,0.049,3009,1945,1679
$GC,13274,1.36,318.3,98.4,6.7,808,13311,0.15,2.78,30.85,0.858,4,0.052,0.062,3049,433,1532
$GC,13323,1.29,318.3,94.2,9.2,809,13329,0.12,2.78,0.00,0.000,6,0.090,0.047,3026,1979,1532
$GC,13640,1.29,318.7,68.5,8.0,824,13645,0.00,2.83,0.00,0.000,4,0.000,0.064,3025,439,1532
$GC,13662,1.29,318.7,66.5,8.3,825,13666,0.00,2.70,0.00,0.000,6,0.000,0.047,3025,1958,1532
$GC,13984,1.29,318.7,38.3,9.0,841,13988,0.00,2.78,0.00,0.000,4,0.000,0.064,3025,439,1532
$GC,14003,1.29,318.7,36.4,9.3,842,14008,0.00,2.70,0.00,0.000,6,0.000,0.048,3025,1962,1532
$GC,14331,1.29,318.7,4.8,9.8,858,14335,0.00,2.80,0.00,0.000,4,0.000,0.064,3025,433,1533
$STATE,14345,end climb,SURFACE_DEPTH_REACHED
$STATE,14346,begin surface coast
$FINISH,0.5,1.027254
$STATE,14369,end surface coast,CONTROL_FINISHED_OK
$STATE,14369,begin surface
$SM_CCo,14457,0.00,0.000,0,0,1532,318.64
$SM_GC,1.43,11.32,0.00,0.00,0.037,0.000,0.000,420,2144,1532,-10.60,0.40,318.64
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1828
$TCM_TEMP,17.30
$XPDR_PINGS,57
$ALTIM_BOTTOM_PING,620.0,50.8
$24V_AH,23.7,57.726
$10V_AH,10.1,26.068
$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,26.925,154.675,424.550,0.000,0.000,75.520,63.599,210.975,19.750,0.000,0.000,14.329,1522.503,10501.918,532.501,1771.868,675.788,33.355,1447.169,0.000,1730.014,0.000,39.129,0.000
$DEVICE_MAMPS,158.002,79.001,1270.152,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,589.018,627.372,508.879,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44315,860
$CAP_FILE_SIZE,124828,0
$CFSIZE,254472192,232734720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,231009,132124,6247.720,-1203.646,39,1.8,39,-11.4