version: 66.04
glider: 5
mission: 7
dive: 355
start: 10 23 109 13 35 1
data:
$ID,5
$MISSION,7
$DIVE,355
$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,-107088.53
$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,29
$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
$GPS1,132124,6247.720,-1203.646,39,1.8,39,-11.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-65.2
$GPS2,133413,6247.740,-1203.710,14,1.8,31,-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,-0.008
$KALMAN_X,-96226.7,1194.7,1174.3,139598.7,-15042.5
$KALMAN_Y,39042.5,567.2,603.8,-115332.6,-4006.2
$MHEAD_RNG_PITCHd_Wd,103.3,16657,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-59.78,0.000,2,0.000,0.000,420,2151,2710
$GC,82,-1.22,-146.6,2.4,-2.4,3,128,11.38,2.65,-28.62,0.000,4,0.160,0.073,2472,716,3430
$GC,382,-1.14,-146.6,38.0,-12.9,16,387,0.12,2.53,0.00,0.000,6,0.106,0.048,2496,2136,3430
$GC,699,-1.08,-146.6,74.2,-11.6,31,703,0.00,2.58,0.00,0.000,4,0.000,0.059,2496,711,3430
$GC,739,-1.08,-146.6,79.1,-12.2,33,743,0.00,2.53,0.00,0.000,6,0.000,0.048,2496,2135,3430
$GC,1067,-1.02,-146.6,115.5,-10.9,49,1072,0.12,2.58,0.00,0.000,4,0.094,0.058,2523,710,3430
$GC,1100,-1.02,-146.6,119.2,-10.0,50,1107,0.00,2.50,0.00,0.000,6,0.000,0.048,2522,2123,3430
$GC,1416,-1.02,-146.6,147.3,-8.7,66,1421,0.00,2.55,0.00,0.000,4,0.000,0.060,2522,716,3430
$GC,1458,-1.05,-146.6,151.0,-9.0,68,1464,0.00,2.42,0.00,0.000,6,0.000,0.048,2522,2081,3430
$GC,1777,-1.05,-146.6,179.8,-9.0,89,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2081,3430
$GC,2089,-1.05,-146.6,206.6,-8.4,109,2093,0.00,2.50,0.00,0.000,4,0.000,0.061,2522,705,3430
$GC,2118,-1.05,-146.6,209.1,-8.6,110,2125,0.00,2.42,0.00,0.000,6,0.000,0.049,2522,2073,3430
$GC,2437,-1.05,-146.6,235.3,-8.0,131,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2073,3430
$GC,2750,-1.05,-146.6,261.0,-8.6,151,2755,0.00,2.47,0.00,0.000,4,0.000,0.061,2522,706,3430
$GC,2784,-1.05,-146.6,264.2,-8.9,153,2788,0.00,2.42,0.00,0.000,6,0.000,0.049,2522,2073,3430
$GC,3103,-1.05,-146.6,290.8,-8.5,173,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2073,3430
$GC,3416,-1.05,-146.6,318.0,-8.6,193,3420,0.00,2.47,0.00,0.000,4,0.000,0.061,2522,707,3430
$GC,3468,-1.10,-146.6,322.8,-9.2,196,3472,0.00,2.40,0.00,0.000,6,0.000,0.050,2522,2062,3430
$GC,3792,-1.10,-146.6,353.4,-9.5,217,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2062,3430
$GC,4105,-1.10,-146.6,383.9,-9.7,237,4109,0.00,2.45,0.00,0.000,4,0.000,0.062,2522,710,3430
$GC,4155,-1.14,-146.6,389.1,-10.2,240,4160,0.12,2.38,0.00,0.000,6,0.060,0.050,2488,2048,3430
$GC,4478,-1.09,-146.6,426.0,-11.9,260,4482,0.00,2.70,0.00,0.000,4,0.000,0.069,2488,3531,3430
$GC,4511,-1.03,-146.6,430.6,-11.8,262,4516,0.15,2.70,0.00,0.000,6,0.091,0.059,2520,2038,3430
$GC,4830,-1.03,-146.6,465.8,-11.2,282,4835,0.00,2.75,0.00,0.000,4,0.000,0.070,2520,3530,3430
$GC,4876,-1.03,-146.6,471.1,-11.8,285,4881,0.00,2.65,0.00,0.000,6,0.000,0.059,2520,2055,3430
$GC,5200,-1.03,-146.6,505.4,-10.2,306,5204,0.00,2.42,0.00,0.000,4,0.000,0.066,2519,704,3429
$GC,5229,-1.08,-146.6,508.4,-10.6,307,5235,0.00,2.45,0.00,0.000,6,0.000,0.051,2520,2084,3429
$GC,5550,-1.08,-146.6,542.2,-10.5,328,5554,0.00,2.53,0.00,0.000,4,0.000,0.070,2520,709,3429
$GC,5639,-1.12,-146.6,552.9,-11.5,333,5645,0.00,2.40,0.00,0.000,6,0.000,0.054,2519,2053,3429
$GC,5959,-1.12,-146.6,584.3,-9.1,354,5963,0.00,2.72,0.00,0.000,4,0.000,0.078,2520,3531,3429
$GC,6048,-1.15,-146.6,592.4,-8.2,359,6055,0.12,2.72,0.00,0.000,6,0.062,0.066,2484,2044,3428
$GC,6368,-1.15,-146.6,626.1,-9.7,380,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2028,3428
$STATE,6631,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6631,begin apogee
$GC,6639,-0.33,0.0,654.3,11.0,397,6776,0.88,0.00,133.00,1.272,6,0.084,0.000,2669,1843,2832
$STATE,6776,end apogee,CONTROL_FINISHED_OK
$STATE,6776,begin climb
$GC,6780,1.22,146.6,660.3,0.0,406,6924,1.55,2.65,134.65,1.226,4,0.060,0.077,3009,442,2233
$GC,6936,1.14,158.9,654.5,7.6,416,6958,0.00,2.60,12.55,1.085,6,0.000,0.058,3009,1853,2183
$GC,7275,1.12,178.8,628.7,7.3,438,7300,0.00,0.00,19.17,1.149,6,0.000,0.000,3009,1869,2102
$GC,7613,1.06,178.8,601.2,8.8,460,7615,0.17,0.00,0.00,0.000,6,0.094,0.000,2977,1869,2101
$GC,7926,1.09,197.2,579.6,7.3,480,7951,0.00,2.67,17.35,1.160,4,0.000,0.074,2977,3253,2026
$GC,7993,1.20,239.7,575.4,6.5,484,8043,0.12,2.65,39.35,1.193,6,0.061,0.070,3008,1842,1853
$GC,8355,1.20,239.7,541.0,11.3,507,8359,0.00,2.65,0.00,0.000,4,0.000,0.072,3008,3252,1853
$GC,8418,1.20,239.7,533.6,11.9,511,8423,0.00,2.62,0.00,0.000,6,0.000,0.070,3008,1841,1852
$GC,8742,1.20,239.7,501.7,10.1,532,8746,0.00,2.65,0.00,0.000,4,0.000,0.071,3008,3255,1852
$GC,8781,1.20,239.7,497.6,10.5,534,8787,0.00,2.60,0.00,0.000,6,0.000,0.067,3008,1857,1851
$GC,9100,1.20,239.7,466.4,9.9,555,9105,0.00,2.62,0.00,0.000,4,0.000,0.070,3008,3263,1851
$GC,9152,1.20,239.7,461.3,10.2,558,9157,0.00,2.55,0.00,0.000,6,0.000,0.064,3008,1877,1851
$GC,9472,1.20,239.7,432.8,8.0,578,9476,0.00,2.55,0.00,0.000,4,0.000,0.067,3008,3254,1851
$GC,9502,1.20,239.7,430.3,9.2,580,9506,0.00,2.47,0.00,0.000,6,0.000,0.061,3008,1891,1851
$GC,9827,1.20,239.7,403.2,8.5,601,9831,0.00,2.53,0.00,0.000,4,0.000,0.065,3008,3262,1851
$GC,9873,1.20,239.7,399.3,8.3,604,9877,0.00,2.45,0.00,0.000,6,0.000,0.059,3008,1908,1851
$GC,10197,1.20,239.7,372.1,8.5,625,10201,0.00,2.47,0.00,0.000,4,0.000,0.064,3009,3255,1850
$GC,10219,1.20,239.7,370.0,9.1,626,10223,0.00,2.42,0.00,0.000,6,0.000,0.058,3008,1919,1851
$GC,10539,1.20,239.7,342.3,9.0,646,10543,0.00,2.45,0.00,0.000,4,0.000,0.064,3008,3261,1851
$GC,10577,1.20,239.7,338.7,8.6,648,10583,0.00,2.42,0.00,0.000,6,0.000,0.057,3008,1923,1851
$GC,10897,1.23,258.9,313.5,7.3,669,10921,0.00,2.55,17.60,0.990,4,0.000,0.062,3008,3261,1775
$GC,10946,1.25,271.6,309.8,7.5,672,10964,0.00,2.40,12.23,0.953,6,0.000,0.056,3008,1944,1723
$GC,11278,1.28,293.9,285.0,7.2,693,11303,0.00,2.45,19.90,0.974,4,0.000,0.062,3008,3254,1633
$GC,11322,1.32,293.9,281.4,8.6,695,11327,0.12,2.40,0.00,0.000,6,0.053,0.055,3043,1940,1633
$GC,11650,1.25,293.9,250.2,9.7,716,11651,0.15,0.00,0.00,0.000,6,0.092,0.000,3014,1940,1633
$GC,11960,1.25,294.1,225.9,8.0,736,11964,0.00,2.42,0.00,0.000,4,0.000,0.062,3014,3262,1634
$GC,11982,1.31,329.9,224.2,6.7,737,12020,0.00,2.38,31.52,0.949,6,0.000,0.053,3014,1943,1486
$GC,12334,1.31,329.9,195.3,8.7,760,12335,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1943,1486
$GC,12644,1.31,329.9,167.8,8.5,780,12649,0.00,2.42,0.00,0.000,4,0.000,0.061,3014,3264,1486
$GC,12678,1.37,329.9,164.8,9.1,782,12683,0.12,2.35,0.00,0.000,6,0.057,0.051,3048,1956,1486
$GC,13012,1.32,329.9,128.2,11.5,800,13017,0.00,2.72,0.00,0.000,4,0.000,0.064,3048,435,1487
$GC,13040,1.24,329.9,124.3,12.6,801,13045,0.17,2.72,0.00,0.000,6,0.086,0.048,3014,1970,1487
$GC,13358,1.28,329.9,94.0,9.5,816,13362,0.00,2.30,0.00,0.000,4,0.000,0.060,3013,3261,1487
$GC,13383,1.34,329.9,91.1,12.0,817,13387,0.00,2.35,0.00,0.000,6,0.000,0.051,3013,1946,1487
$GC,13705,1.38,329.9,58.4,9.6,833,13707,0.15,0.00,0.00,0.000,6,0.053,0.000,3055,1946,1487
$GC,14016,1.31,329.9,21.1,12.2,848,14020,0.12,2.40,0.00,0.000,4,0.091,0.058,3030,3265,1487
$GC,14049,1.31,329.9,16.9,10.4,849,14056,0.00,2.33,0.00,0.000,6,0.000,0.050,3030,1957,1487
$STATE,14198,end climb,SURFACE_DEPTH_REACHED
$STATE,14198,begin surface coast
$FINISH,0.5,1.027345
$STATE,14220,end surface coast,CONTROL_FINISHED_OK
$STATE,14220,begin surface
$SM_CCo,14304,0.00,0.000,0,0,1487,329.68
$SM_GC,1.47,11.27,0.00,0.00,0.034,0.000,0.000,419,2150,1487,-10.61,0.57,329.68
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1841
$TCM_TEMP,17.20
$XPDR_PINGS,55
$ALTIM_BOTTOM_PING,645.9,16.9
$24V_AH,23.7,57.899
$10V_AH,10.1,26.148
$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,26.875,146.800,437.325,0.000,0.000,115.716,101.271,267.891,19.500,0.000,0.000,31.427,1513.627,10409.440,568.911,1760.513,812.376,33.355,1466.489,0.000,1702.754,0.000,41.472,0.000
$DEVICE_MAMPS,160.303,78.234,1271.686,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,587.070,624.113,481.607,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44164,858
$CAP_FILE_SIZE,126302,0
$CFSIZE,254472192,232673280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,231009,173436,6246.953,-1202.719,34,1.0,34,-11.4