version: 66.04
glider: 5
mission: 7
dive: 358
start: 10 24 109 1 38 52
data:
$ID,5
$MISSION,7
$DIVE,358
$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,-107130.88
$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,30
$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
$GPS1,013136,6247.219,-1159.279,26,1.7,26,-11.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-64.1
$GPS2,013802,6247.237,-1159.280,15,1.7,15,-11.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.244,-0.024
$KALMAN_X,-107209.6,1512.0,1303.3,153787.4,-17288.8
$KALMAN_Y,40035.6,-11.3,468.3,-116539.7,-1209.1
$MHEAD_RNG_PITCHd_Wd,107.1,12798,-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,-41.45,0.000,2,0.000,0.000,419,2120,2423
$GC,63,-1.22,-146.6,2.1,-3.8,2,128,11.55,0.00,-50.17,0.000,6,0.168,0.000,2473,2109,3429
$GC,437,-1.12,-146.6,41.2,-12.1,20,442,0.15,2.53,0.00,0.000,4,0.104,0.057,2504,714,3430
$GC,465,-1.08,-146.6,44.6,-11.1,21,470,0.00,2.53,0.00,0.000,6,0.000,0.048,2504,2136,3430
$GC,783,-1.03,-146.6,77.6,-10.5,36,787,0.00,2.58,0.00,0.000,4,0.000,0.059,2504,713,3430
$GC,827,-1.03,-146.6,82.5,-10.7,38,832,0.00,2.50,0.00,0.000,6,0.000,0.048,2504,2130,3430
$GC,1149,-0.98,-146.6,116.0,-11.0,54,1154,0.12,2.58,0.00,0.000,4,0.094,0.061,2530,714,3430
$GC,1193,-1.03,-146.6,120.5,-10.7,56,1198,0.00,2.47,0.00,0.000,6,0.000,0.048,2530,2110,3430
$GC,1516,-1.03,-146.6,153.8,-10.5,72,1520,0.00,2.60,0.00,0.000,4,0.000,0.067,2529,3542,3430
$GC,1538,-1.03,-146.6,156.4,-10.6,73,1544,0.00,2.62,0.00,0.000,6,0.000,0.052,2530,2079,3430
$GC,1857,-1.03,-146.6,190.7,-10.9,94,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2067,3430
$GC,2169,-1.03,-146.6,224.3,-10.7,114,2173,0.00,2.70,0.00,0.000,4,0.000,0.067,2530,3537,3430
$GC,2202,-1.03,-146.6,227.9,-10.9,116,2206,0.00,2.58,0.00,0.000,6,0.000,0.054,2530,2104,3431
$GC,2522,-1.03,-146.6,260.0,-10.3,136,2526,0.00,2.47,0.00,0.000,4,0.000,0.061,2530,714,3430
$GC,2555,-1.07,-146.6,263.5,-10.1,138,2559,0.00,2.50,0.00,0.000,6,0.000,0.049,2529,2125,3430
$GC,2877,-1.07,-146.6,295.8,-10.4,158,2881,0.00,2.55,0.00,0.000,4,0.000,0.063,2530,722,3430
$GC,2923,-1.13,-146.6,300.8,-10.2,161,2928,0.15,2.45,0.00,0.000,6,0.056,0.049,2489,2104,3430
$GC,3251,-1.06,-146.6,340.1,-11.9,182,3253,0.10,0.00,0.00,0.000,6,0.097,0.000,2510,2105,3430
$GC,3560,-1.06,-146.6,373.6,-10.9,202,3564,0.00,2.53,0.00,0.000,4,0.000,0.065,2510,722,3431
$GC,3609,-1.06,-146.6,379.4,-11.8,205,3614,0.00,2.45,0.00,0.000,6,0.000,0.051,2510,2101,3431
$GC,3929,-1.06,-146.6,415.5,-11.1,225,3933,0.00,2.53,0.00,0.000,4,0.000,0.067,2510,721,3430
$GC,3975,-1.06,-146.6,420.6,-10.7,228,3979,0.00,2.40,0.00,0.000,6,0.000,0.051,2510,2069,3430
$GC,4299,-1.06,-146.6,453.9,-9.5,249,4303,0.00,2.67,0.00,0.000,4,0.000,0.070,2510,3537,3430
$GC,4338,-1.06,-146.6,457.8,-9.8,251,4344,0.00,2.67,0.00,0.000,6,0.000,0.060,2510,2060,3430
$GC,4657,-1.06,-146.6,487.3,-9.5,272,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2059,3430
$GC,4973,-1.06,-146.6,520.5,-11.3,292,4977,0.00,2.75,0.00,0.000,4,0.000,0.071,2510,3540,3430
$GC,5028,-1.06,-146.6,527.0,-11.1,295,5034,0.00,2.67,0.00,0.000,6,0.000,0.060,2510,2061,3429
$GC,5347,-1.06,-146.6,557.6,-9.5,316,5351,0.00,2.40,0.00,0.000,4,0.000,0.067,2510,723,3429
$GC,5388,-1.12,-146.6,561.7,-9.8,318,5392,0.00,2.42,0.00,0.000,6,0.000,0.051,2510,2090,3429
$GC,5712,-1.12,-146.6,589.3,-8.4,339,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2090,3429
$GC,6025,-1.12,-146.6,611.1,-8.5,359,6029,0.00,2.53,0.00,0.000,4,0.000,0.073,2510,725,3429
$GC,6064,-1.16,-146.6,614.9,-10.0,361,6070,0.00,2.42,0.00,0.000,6,0.000,0.056,2510,2076,3429
$GC,6383,-1.16,-146.6,646.7,-10.3,382,6384,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2077,3428
$STATE,6396,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6396,begin apogee
$GC,6404,-0.33,0.0,648.1,9.7,383,6538,0.75,0.00,130.90,1.262,6,0.074,0.000,2671,1833,2831
$STATE,6539,end apogee,CONTROL_FINISHED_OK
$STATE,6539,begin climb
$GC,6543,1.22,146.6,653.3,0.0,392,6682,1.52,2.70,131.35,1.221,4,0.058,0.071,3005,3255,2233
$GC,6886,1.16,146.6,636.5,8.4,413,6891,0.00,2.60,0.00,0.000,6,0.000,0.066,3006,1855,2232
$GC,7212,1.16,186.4,613.3,6.6,434,7253,0.00,2.70,36.10,1.193,4,0.000,0.071,3006,3257,2071
$GC,7323,1.16,207.7,605.4,7.2,440,7349,0.00,2.62,20.25,1.154,6,0.000,0.068,3006,1854,1984
$GC,7667,1.14,215.4,576.8,7.7,461,7683,0.00,2.67,8.30,1.031,4,0.000,0.071,3005,3247,1952
$GC,7736,1.16,222.1,571.1,7.8,465,7752,0.00,2.55,7.35,0.999,6,0.000,0.067,3005,1874,1925
$GC,8065,1.16,222.1,545.0,8.6,486,8070,0.00,2.60,0.00,0.000,4,0.000,0.072,3005,3258,1924
$GC,8099,1.16,222.1,541.8,8.7,488,8103,0.00,2.55,0.00,0.000,6,0.000,0.067,3006,1886,1924
$GC,8418,1.16,222.1,513.0,9.5,508,8423,0.00,2.55,0.00,0.000,4,0.000,0.071,3006,3252,1923
$GC,8452,1.16,222.1,509.5,9.4,510,8456,0.00,2.50,0.00,0.000,6,0.000,0.064,3005,1896,1923
$GC,8771,1.16,222.1,478.3,10.2,530,8776,0.00,2.53,0.00,0.000,4,0.000,0.068,3006,3255,1923
$GC,8811,1.16,222.1,474.0,10.3,532,8817,0.00,2.47,0.00,0.000,6,0.000,0.062,3005,1905,1923
$GC,9130,1.16,222.1,441.6,10.0,553,9134,0.00,2.50,0.00,0.000,4,0.000,0.067,3005,3253,1922
$GC,9163,1.16,222.1,438.0,10.2,555,9167,0.00,2.45,0.00,0.000,6,0.000,0.061,3006,1914,1922
$GC,9483,1.16,222.1,406.1,10.2,575,9487,0.00,2.47,0.00,0.000,4,0.000,0.066,3006,3255,1922
$GC,9499,1.16,222.1,404.3,10.0,576,9503,0.00,2.42,0.00,0.000,6,0.000,0.058,3005,1920,1922
$GC,9819,1.16,222.1,374.2,9.4,596,9823,0.00,2.45,0.00,0.000,4,0.000,0.065,3006,3261,1922
$GC,9857,1.16,222.1,370.3,9.6,598,9863,0.00,2.40,0.00,0.000,6,0.000,0.058,3006,1938,1922
$GC,10176,1.16,222.1,344.0,8.1,619,10180,0.00,2.40,0.00,0.000,4,0.000,0.064,3005,3254,1922
$GC,10199,1.16,226.8,342.2,7.8,620,10209,0.00,2.38,5.53,0.819,6,0.000,0.056,3006,1937,1906
$GC,10532,1.17,233.1,316.3,7.8,642,10548,0.00,2.50,7.38,0.879,4,0.000,0.063,3005,3261,1880
$GC,10577,1.18,237.3,312.2,7.8,644,10587,0.00,2.38,5.25,0.783,6,0.000,0.055,3005,1956,1863
$GC,10912,1.19,241.4,286.7,7.9,666,10921,0.00,0.00,5.45,0.783,6,0.000,0.000,3006,1956,1846
$GC,11234,1.19,242.3,260.7,8.0,687,11238,0.00,2.40,0.00,0.000,4,0.000,0.063,3006,3259,1846
$GC,11256,1.19,242.3,258.7,8.5,688,11262,0.00,2.35,0.00,0.000,6,0.000,0.054,3006,1954,1846
$GC,11576,1.24,274.7,235.3,6.8,709,11606,0.00,0.00,28.67,0.955,6,0.000,0.000,3005,1954,1711
$GC,11918,1.27,295.7,210.8,7.2,731,11943,0.00,2.45,18.90,0.917,4,0.000,0.061,3006,3251,1625
$GC,11969,1.35,306.9,207.1,7.6,734,11986,0.15,2.33,10.82,0.856,6,0.051,0.052,3046,1970,1580
$GC,12301,1.28,306.9,175.8,9.5,755,12303,0.12,0.00,0.00,0.000,6,0.097,0.000,3023,1970,1580
$GC,12617,1.28,306.9,147.8,9.3,775,12621,0.00,2.75,0.00,0.000,4,0.000,0.064,3023,440,1580
$GC,12634,1.28,306.9,146.0,9.6,776,12639,0.00,2.75,0.00,0.000,6,0.000,0.048,3023,1987,1580
$GC,12962,1.28,306.9,116.3,9.0,792,12963,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1987,1580
$GC,13272,1.28,306.9,89.6,8.7,807,13276,0.00,2.83,0.00,0.000,4,0.000,0.063,3023,438,1580
$GC,13299,1.28,306.9,86.8,9.6,808,13304,0.00,2.72,0.00,0.000,6,0.000,0.048,3023,1975,1580
$GC,13615,1.28,306.9,59.0,8.8,823,13620,0.00,2.80,0.00,0.000,4,0.000,0.063,3023,439,1581
$GC,13638,1.28,306.9,57.0,9.3,824,13642,0.00,2.70,0.00,0.000,6,0.000,0.048,3023,1964,1581
$GC,13960,1.28,306.9,27.6,9.2,840,13964,0.00,2.80,0.00,0.000,4,0.000,0.065,3023,432,1581
$GC,13987,1.29,309.5,25.2,7.9,841,13999,0.00,2.70,4.28,0.583,6,0.000,0.047,3023,1957,1569
$STATE,14264,end climb,SURFACE_DEPTH_REACHED
$STATE,14264,begin surface coast
$FINISH,0.6,1.027238
$STATE,14286,end surface coast,CONTROL_FINISHED_OK
$STATE,14286,begin surface
$SM_CCo,14371,0.00,0.000,0,0,1568,309.81
$SM_GC,1.38,11.35,0.00,0.00,0.040,0.000,0.000,420,2155,1568,-10.60,0.68,309.81
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1842
$TCM_TEMP,17.30
$XPDR_PINGS,70
$ALTIM_BOTTOM_PING,595.1,62.6
$24V_AH,23.7,58.381
$10V_AH,10.1,26.375
$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,25.975,153.775,420.525,0.000,0.000,37.761,40.367,169.839,22.750,0.000,0.000,15.630,1501.792,10391.481,550.540,1732.905,574.259,33.362,1447.282,0.000,1693.795,0.000,36.629,0.000
$DEVICE_MAMPS,167.973,72.865,1262.482,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,585.359,626.432,503.803,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44225,856
$CAP_FILE_SIZE,121171,0
$CFSIZE,254472192,232501248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,241009,053936,6246.472,-1157.474,36,1.2,36,-11.3