version: 66.04
glider: 5
mission: 7
dive: 357
start: 10 23 109 21 31 15
data:
$ID,5
$MISSION,7
$DIVE,357
$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,-107114.62
$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,19
$R_STBD_OVSHOOT,32
$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
$GPS1,212442,6246.511,-1202.427,45,1.5,45,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-60.7
$GPS2,213026,6246.526,-1202.510,12,1.5,12,-11.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.245,0.015
$KALMAN_X,-105179.4,1403.0,951.5,149573.5,-18862.8
$KALMAN_Y,37816.5,527.8,526.7,-116221.2,-4892.9
$MHEAD_RNG_PITCHd_Wd,97.8,15115,-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,-146.6,0.0,0.0,0,81,0.00,0.00,-60.83,0.000,2,0.000,0.000,417,2158,2500
$GC,85,-1.22,-146.6,2.2,-2.4,3,142,11.45,2.62,-40.05,0.000,4,0.163,0.071,2470,703,3428
$GC,224,-1.13,-146.6,13.9,-12.3,8,229,0.15,2.53,0.00,0.000,6,0.101,0.048,2500,2130,3428
$GC,541,-1.08,-146.6,52.9,-12.4,23,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2130,3428
$GC,851,-1.02,-146.6,91.9,-12.9,38,856,0.10,2.58,0.00,0.000,4,0.106,0.061,2520,710,3428
$GC,914,-1.02,-146.6,99.6,-11.9,41,918,0.00,2.50,0.00,0.000,6,0.000,0.049,2520,2120,3428
$GC,1241,-1.02,-146.6,135.7,-10.9,57,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2120,3428
$GC,1557,-1.02,-146.6,167.4,-9.6,75,1561,0.00,2.55,0.00,0.000,4,0.000,0.059,2520,709,3428
$GC,1624,-1.02,-146.6,174.2,-9.7,79,1628,0.00,2.50,0.00,0.000,6,0.000,0.048,2520,2120,3428
$GC,1943,-1.02,-146.6,203.1,-9.3,99,1947,0.00,2.55,0.00,0.000,4,0.000,0.061,2520,709,3428
$GC,1989,-1.06,-146.6,207.4,-9.3,102,1993,0.00,2.50,0.00,0.000,6,0.000,0.049,2520,2121,3427
$GC,2313,-1.06,-146.6,237.7,-9.0,123,2317,0.00,2.55,0.00,0.000,4,0.000,0.061,2520,714,3428
$GC,2364,-1.09,-146.6,242.3,-8.8,126,2368,0.00,2.47,0.00,0.000,6,0.000,0.050,2520,2110,3428
$GC,2686,-1.09,-146.6,270.9,-9.0,146,2690,0.00,2.55,0.00,0.000,4,0.000,0.062,2520,704,3428
$GC,2719,-1.09,-146.6,274.2,-9.3,148,2723,0.00,2.45,0.00,0.000,6,0.000,0.050,2520,2084,3428
$GC,3039,-1.09,-146.6,305.3,-10.3,168,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2084,3428
$GC,3350,-1.09,-146.6,339.0,-11.0,188,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2083,3428
$GC,3663,-1.09,-146.6,372.7,-10.8,208,3667,0.00,2.50,0.00,0.000,4,0.000,0.064,2520,709,3428
$GC,3710,-1.14,-146.6,377.7,-10.8,211,3715,0.12,2.45,0.00,0.000,6,0.058,0.051,2486,2089,3428
$GC,4037,-1.07,-146.6,416.6,-12.0,232,4042,0.12,2.53,0.00,0.000,4,0.095,0.064,2512,705,3428
$GC,4071,-1.07,-146.6,420.8,-11.1,234,4075,0.00,2.42,0.00,0.000,6,0.000,0.051,2512,2066,3428
$GC,4390,-1.07,-146.6,457.3,-11.9,254,4394,0.00,2.67,0.00,0.000,4,0.000,0.070,2512,3534,3428
$GC,4435,-1.07,-146.6,462.8,-11.8,257,4439,0.00,2.67,0.00,0.000,6,0.000,0.060,2512,2055,3428
$GC,4760,-1.07,-146.6,497.4,-10.5,278,4764,0.00,2.75,0.00,0.000,4,0.000,0.070,2512,3539,3428
$GC,4805,-1.07,-146.6,502.4,-11.4,281,4810,0.00,2.65,0.00,0.000,6,0.000,0.060,2513,2062,3427
$GC,5130,-1.07,-146.6,534.9,-9.6,302,5134,0.00,2.42,0.00,0.000,4,0.000,0.067,2512,713,3428
$GC,5227,-1.12,-146.6,544.9,-9.9,308,5232,0.00,2.40,0.00,0.000,6,0.000,0.051,2512,2058,3428
$GC,5557,-1.12,-146.6,576.9,-8.9,329,5562,0.00,2.72,0.00,0.000,4,0.000,0.075,2512,3540,3427
$GC,5641,-1.12,-146.6,584.6,-9.0,334,5645,0.00,2.72,0.00,0.000,6,0.000,0.063,2512,2046,3427
$GC,5960,-1.12,-146.6,611.3,-8.6,354,5964,0.00,2.42,0.00,0.000,4,0.000,0.073,2512,708,3427
$GC,6000,-1.16,-146.6,614.8,-9.5,356,6006,0.00,2.45,0.00,0.000,6,0.000,0.054,2512,2078,3427
$GC,6319,-1.16,-146.6,645.7,-10.5,377,6323,0.00,2.70,0.00,0.000,4,0.000,0.081,2512,3531,3427
$GC,6381,-1.16,-146.6,652.1,-9.7,381,6386,0.00,2.72,0.00,0.000,6,0.000,0.069,2512,2055,3427
$STATE,6437,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6438,begin apogee
$GC,6446,-0.33,0.0,657.8,9.6,385,6581,0.75,0.00,131.60,1.266,6,0.078,0.000,2672,1844,2831
$STATE,6582,end apogee,CONTROL_FINISHED_OK
$STATE,6582,begin climb
$GC,6585,1.22,146.6,663.2,0.0,394,6729,1.55,2.70,133.52,1.225,4,0.064,0.080,3007,448,2233
$GC,6761,1.12,157.8,656.4,7.6,405,6778,0.00,2.58,11.68,1.073,6,0.000,0.058,3007,1869,2187
$GC,7094,1.08,167.1,630.9,7.7,426,7111,0.15,2.60,9.70,1.057,4,0.097,0.074,2979,3244,2149
$GC,7164,1.16,218.5,625.7,6.1,430,7216,0.00,2.58,45.83,1.202,6,0.000,0.070,2980,1867,1940
$GC,7537,1.16,219.6,597.7,8.0,454,7541,0.00,2.58,0.00,0.000,4,0.000,0.073,2979,3241,1939
$GC,7593,1.21,219.6,592.6,8.9,457,7600,0.12,2.55,0.00,0.000,6,0.063,0.070,3012,1875,1938
$GC,7913,1.16,219.6,564.8,8.7,478,7917,0.00,2.58,0.00,0.000,4,0.000,0.074,3012,3242,1938
$GC,7964,1.16,219.6,559.9,9.7,481,7968,0.00,2.53,0.00,0.000,6,0.000,0.068,3012,1886,1938
$GC,8284,1.12,219.6,532.8,8.1,501,8289,0.12,2.55,0.00,0.000,4,0.098,0.072,2989,3244,1937
$GC,8330,1.17,232.7,529.3,7.5,504,8350,0.00,2.53,13.55,1.131,6,0.000,0.067,2989,1882,1882
$GC,8681,1.19,244.9,503.2,7.6,526,8699,0.00,2.62,12.23,1.110,4,0.000,0.069,2989,3241,1832
$GC,8722,1.24,244.9,499.4,8.2,528,8726,0.12,2.50,0.00,0.000,6,0.063,0.066,3020,1902,1832
$GC,9044,1.20,244.9,466.2,11.0,548,9045,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1902,1832
$GC,9353,1.16,244.9,433.3,9.8,568,9358,0.12,2.50,0.00,0.000,4,0.095,0.066,2997,3250,1832
$GC,9416,1.20,244.9,427.5,9.1,572,9420,0.00,2.45,0.00,0.000,6,0.000,0.061,2997,1901,1832
$GC,9741,1.20,244.9,401.2,8.1,593,9745,0.00,2.47,0.00,0.000,4,0.000,0.065,2997,3250,1831
$GC,9780,1.24,244.9,397.8,8.6,595,9786,0.00,2.42,0.00,0.000,6,0.000,0.058,2997,1915,1832
$GC,10100,1.24,244.9,372.7,8.1,616,10104,0.00,2.45,0.00,0.000,4,0.000,0.064,2997,3247,1832
$GC,10129,1.28,244.9,370.2,8.8,618,10134,0.12,2.38,0.00,0.000,6,0.058,0.057,3029,1927,1832
$GC,10456,1.23,244.9,338.7,9.9,639,10460,0.00,2.42,0.00,0.000,4,0.000,0.064,3029,3245,1832
$GC,10485,1.19,244.9,335.3,11.3,640,10492,0.12,2.35,0.00,0.000,6,0.093,0.056,3005,1942,1833
$GC,10804,1.19,244.9,306.1,9.2,661,10809,0.00,2.40,0.00,0.000,4,0.000,0.063,3005,3249,1833
$GC,10838,1.19,244.9,303.0,8.9,663,10842,0.00,2.33,0.00,0.000,6,0.000,0.054,3005,1961,1833
$GC,11158,1.19,244.9,275.6,8.6,683,11159,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1960,1833
$GC,11469,1.19,244.9,249.0,8.5,703,11473,0.00,2.35,0.00,0.000,4,0.000,0.062,3005,3241,1834
$GC,11498,1.19,244.9,246.5,8.6,705,11502,0.00,2.30,0.00,0.000,6,0.000,0.054,3005,1962,1834
$GC,11829,1.19,244.9,219.8,8.2,726,11833,0.00,2.35,0.00,0.000,4,0.000,0.061,3005,3245,1834
$GC,11851,1.19,244.9,217.8,8.3,727,11857,0.00,2.28,0.00,0.000,6,0.000,0.052,3005,1977,1834
$GC,12170,1.19,244.9,191.7,8.3,748,12174,0.00,2.33,0.00,0.000,4,0.000,0.061,3005,3248,1834
$GC,12193,1.19,244.9,189.7,8.1,749,12199,0.00,2.28,0.00,0.000,6,0.000,0.051,3005,1978,1834
$GC,12512,1.20,248.1,164.8,7.9,770,12522,0.00,2.33,5.12,0.704,4,0.000,0.060,3005,3243,1818
$GC,12541,1.23,248.1,162.4,8.6,771,12545,0.00,2.25,0.00,0.000,6,0.000,0.050,3005,1987,1818
$GC,12875,1.26,264.0,137.0,7.4,790,12894,0.00,0.00,14.62,0.858,6,0.000,0.000,3005,1987,1754
$GC,13206,1.29,264.0,110.0,8.7,806,13207,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1987,1754
$GC,13515,1.32,264.0,81.0,9.2,821,13517,0.12,0.00,0.00,0.000,6,0.056,0.000,3040,1987,1754
$GC,13823,1.28,264.0,48.0,10.5,836,13824,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1987,1754
$GC,14132,1.23,264.0,15.2,10.4,851,14137,0.15,2.30,0.00,0.000,4,0.086,0.058,3010,3251,1754
$GC,14155,1.23,264.0,12.8,9.5,852,14159,0.00,2.22,0.00,0.000,6,0.000,0.048,3010,1998,1754
$STATE,14288,end climb,SURFACE_DEPTH_REACHED
$STATE,14288,begin surface coast
$FINISH,0.5,1.002395
$STATE,14310,end surface coast,CONTROL_FINISHED_OK
$STATE,14310,begin surface
$SM_CCo,14334,19.45,0.771,0,0,1608,300.00
$SM_GC,1.13,0.00,0.00,19.45,0.000,0.000,0.771,419,2120,1608,-10.70,-0.31,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1832
$TCM_TEMP,17.20
$XPDR_PINGS,49
$ALTIM_BOTTOM_PING,621.2,45.2
$24V_AH,23.7,58.227
$10V_AH,10.1,26.298
$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,26.650,150.175,377.850,19.450,0.000,38.816,40.887,136.804,17.750,0.000,0.000,12.473,1529.101,10334.831,544.782,1744.085,543.993,33.358,1434.840,0.000,1705.374,0.000,38.181,0.000
$DEVICE_MAMPS,163.371,80.535,1265.550,770.835,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,589.433,628.449,491.895,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44237,860
$CAP_FILE_SIZE,123129,0
$CFSIZE,254472192,232554496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,241009,013136,6247.219,-1159.279,26,1.7,26,-11.4