version: 66.04
glider: 5
mission: 7
dive: 359
start: 10 24 109 5 46 28
data:
$ID,5
$MISSION,7
$DIVE,359
$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,-107146.78
$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,21
$R_STBD_OVSHOOT,33
$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
$GPS1,053936,6246.472,-1157.474,36,1.2,36,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-62.1
$GPS2,054537,6246.435,-1157.602,15,1.2,15,-11.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.224,0.099
$KALMAN_X,-110102.2,1988.1,557.8,158349.0,-15967.3
$KALMAN_Y,39845.5,140.6,-310.9,-117183.2,185.6
$MHEAD_RNG_PITCHd_Wd,77.5,11012,-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,-41.20,0.000,2,0.000,0.000,419,2154,2370
$GC,63,-1.22,-146.6,2.0,-3.2,2,131,11.45,2.60,-50.47,0.000,4,0.163,0.073,2471,708,3429
$GC,191,-1.13,-146.6,11.8,-13.6,8,197,0.12,2.53,0.00,0.000,6,0.110,0.048,2494,2129,3429
$GC,519,-1.06,-146.6,50.3,-11.8,24,524,0.00,2.58,0.00,0.000,4,0.000,0.061,2494,708,3429
$GC,548,-1.02,-146.6,53.7,-11.6,25,553,0.12,2.50,0.00,0.000,6,0.109,0.049,2519,2117,3429
$GC,866,-1.02,-146.6,85.9,-10.3,40,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2116,3429
$GC,1174,-1.02,-146.6,119.1,-10.7,55,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2117,3429
$GC,1495,-1.02,-146.6,153.3,-10.6,71,1499,0.00,2.53,0.00,0.000,4,0.000,0.058,2519,716,3429
$GC,1567,-1.05,-146.6,161.5,-11.2,75,1574,0.00,2.47,0.00,0.000,6,0.000,0.049,2520,2116,3429
$GC,1888,-1.05,-146.6,195.1,-10.6,96,1892,0.00,2.53,0.00,0.000,4,0.000,0.059,2520,714,3430
$GC,1934,-1.09,-146.6,200.1,-10.6,99,1939,0.00,2.47,0.00,0.000,6,0.000,0.050,2520,2111,3429
$GC,2259,-1.09,-146.6,233.6,-10.4,120,2263,0.00,2.53,0.00,0.000,4,0.000,0.061,2519,713,3429
$GC,2288,-1.09,-146.6,236.6,-10.5,122,2293,0.00,2.45,0.00,0.000,6,0.000,0.050,2519,2093,3429
$GC,2614,-1.09,-146.6,269.4,-9.8,143,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2096,3429
$GC,2925,-1.09,-146.6,301.2,-10.3,163,2930,0.00,2.50,0.00,0.000,4,0.000,0.061,2520,715,3429
$GC,2966,-1.12,-146.6,305.4,-10.9,165,2972,0.00,2.45,0.00,0.000,6,0.000,0.051,2520,2099,3429
$GC,3285,-1.12,-146.6,338.7,-10.5,186,3286,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2099,3429
$GC,3598,-1.12,-146.6,369.8,-9.5,206,3603,0.00,2.53,0.00,0.000,4,0.000,0.065,2520,708,3429
$GC,3660,-1.17,-146.6,376.0,-9.8,209,3666,0.15,2.42,0.00,0.000,6,0.055,0.051,2479,2073,3429
$GC,3979,-1.09,-146.6,412.7,-11.8,230,3981,0.12,0.00,0.00,0.000,6,0.096,0.000,2505,2073,3429
$GC,4292,-1.09,-146.6,445.2,-10.1,250,4296,0.00,2.47,0.00,0.000,4,0.000,0.064,2505,709,3429
$GC,4331,-1.09,-146.6,449.5,-10.2,252,4337,0.00,2.42,0.00,0.000,6,0.000,0.051,2505,2072,3429
$GC,4650,-1.09,-146.6,483.0,-10.5,273,4654,0.00,2.47,0.00,0.000,4,0.000,0.063,2504,705,3429
$GC,4685,-1.09,-146.6,486.9,-10.5,275,4689,0.00,2.40,0.00,0.000,6,0.000,0.051,2505,2055,3429
$GC,5010,-1.09,-146.6,521.3,-11.1,296,5015,0.00,2.70,0.00,0.000,4,0.000,0.074,2505,3532,3428
$GC,5074,-1.09,-146.6,528.8,-12.2,300,5079,0.00,2.67,0.00,0.000,6,0.000,0.061,2505,2056,3428
$GC,5399,-1.09,-146.6,564.0,-9.4,321,5403,0.00,2.42,0.00,0.000,4,0.000,0.067,2505,704,3428
$GC,5434,-1.09,-146.6,567.1,-8.7,323,5438,0.00,2.45,0.00,0.000,6,0.000,0.053,2505,2080,3428
$GC,5760,-1.09,-146.6,595.5,-9.0,344,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2081,3428
$GC,6070,-1.09,-146.6,623.7,-8.8,364,6074,0.00,2.53,0.00,0.000,4,0.000,0.072,2505,716,3427
$GC,6110,-1.13,-146.6,627.5,-9.5,366,6116,0.00,2.45,0.00,0.000,6,0.000,0.058,2505,2076,3428
$STATE,6348,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6348,begin apogee
$GC,6356,-0.33,0.0,652.1,9.2,382,6490,0.77,0.00,130.85,1.258,6,0.079,0.000,2670,1837,2831
$STATE,6491,end apogee,CONTROL_FINISHED_OK
$STATE,6491,begin climb
$GC,6494,1.22,146.6,657.8,0.0,391,6634,1.55,2.62,131.45,1.219,4,0.059,0.074,3009,451,2232
$GC,6666,1.09,146.6,650.1,8.3,401,6673,0.15,2.58,0.00,0.000,6,0.097,0.057,2982,1858,2233
$GC,6985,1.13,170.8,625.9,7.1,422,7017,0.00,2.65,22.80,1.158,4,0.000,0.071,2981,3255,2133
$GC,7097,1.13,170.8,616.5,9.0,428,7103,0.00,2.60,0.00,0.000,6,0.000,0.070,2981,1869,2133
$GC,7416,1.16,188.7,590.5,7.4,449,7435,0.00,0.00,16.95,1.141,6,0.000,0.000,2981,1869,2061
$GC,7744,1.18,198.8,564.8,7.6,470,7761,0.00,2.65,10.55,1.084,4,0.000,0.071,2981,3257,2019
$GC,7841,1.27,231.6,557.9,6.8,475,7879,0.17,2.60,29.75,1.179,6,0.056,0.069,3024,1863,1886
$GC,8196,1.28,279.1,532.7,6.3,498,8245,0.00,2.70,42.08,1.181,4,0.000,0.071,3024,3254,1693
$GC,8291,1.31,296.7,525.6,7.4,504,8318,0.00,2.58,17.02,1.114,6,0.000,0.068,3024,1882,1621
$GC,8634,1.29,310.5,499.3,7.5,526,8654,0.00,2.62,13.60,1.091,4,0.000,0.068,3024,3249,1565
$GC,8677,1.29,310.5,495.6,8.0,528,8684,0.00,2.53,0.00,0.000,6,0.000,0.066,3024,1898,1565
$GC,8997,1.26,310.5,470.2,8.1,549,9001,0.00,2.53,0.00,0.000,4,0.000,0.068,3024,3254,1565
$GC,9036,1.26,310.5,466.8,8.4,551,9042,0.00,2.45,0.00,0.000,6,0.000,0.064,3024,1923,1565
$GC,9355,1.26,310.5,439.0,8.9,572,9356,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1923,1565
$GC,9668,1.26,311.3,413.3,8.0,592,9669,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1923,1565
$GC,9980,1.26,311.3,388.2,8.3,612,9985,0.00,2.45,0.00,0.000,4,0.000,0.064,3025,3254,1565
$GC,10014,1.26,311.3,385.3,8.2,614,10018,0.00,2.42,0.00,0.000,6,0.000,0.059,3024,1923,1565
$GC,10334,1.26,311.3,359.0,8.2,634,10335,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1923,1565
$GC,10645,1.26,311.3,331.5,9.0,654,10649,0.00,2.45,0.00,0.000,4,0.000,0.063,3024,3258,1566
$GC,10684,1.26,311.3,327.8,9.4,656,10690,0.00,2.40,0.00,0.000,6,0.000,0.057,3025,1930,1566
$GC,11003,1.26,311.3,297.9,9.7,677,11004,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1930,1566
$GC,11315,1.26,311.3,267.5,9.7,697,11319,0.00,2.42,0.00,0.000,4,0.000,0.062,3024,3255,1567
$GC,11353,1.26,311.3,263.6,10.1,699,11359,0.00,2.38,0.00,0.000,6,0.000,0.054,3025,1935,1567
$GC,11672,1.26,311.3,234.8,8.7,720,11673,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1935,1567
$GC,11984,1.26,311.3,206.6,8.8,740,11989,0.00,2.42,0.00,0.000,4,0.000,0.061,3025,3262,1568
$GC,12018,1.26,311.3,203.3,9.1,742,12022,0.00,2.35,0.00,0.000,6,0.000,0.052,3024,1951,1568
$GC,12337,1.26,311.3,175.5,8.4,762,12339,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1951,1568
$GC,12654,1.26,311.3,147.2,9.2,782,12656,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1951,1569
$GC,12965,1.26,311.3,117.8,9.3,797,12967,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1951,1569
$GC,13274,1.26,311.3,89.5,9.0,812,13278,0.00,2.38,0.00,0.000,4,0.000,0.059,3025,3257,1569
$GC,13307,1.30,311.3,86.2,9.4,813,13313,0.00,2.35,0.00,0.000,6,0.000,0.050,3025,1933,1569
$GC,13625,1.30,311.3,56.8,9.2,829,13626,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1933,1569
$GC,13933,1.30,311.3,27.3,9.3,844,13937,0.00,2.40,0.00,0.000,4,0.000,0.059,3025,3255,1570
$GC,13997,1.33,311.3,20.6,10.6,847,14001,0.00,2.33,0.00,0.000,6,0.000,0.048,3025,1944,1570
$STATE,14199,end climb,SURFACE_DEPTH_REACHED
$STATE,14199,begin surface coast
$FINISH,0.6,1.027262
$STATE,14219,end surface coast,CONTROL_FINISHED_OK
$STATE,14219,begin surface
$SM_CCo,14304,0.00,0.000,0,0,1569,309.57
$SM_GC,1.32,11.23,0.00,0.00,0.035,0.000,0.000,423,2150,1569,-10.58,0.57,309.57
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1825
$TCM_TEMP,17.20
$XPDR_PINGS,45
$ALTIM_BOTTOM_PING,620.9,40.9
$24V_AH,23.7,58.537
$10V_AH,10.1,26.451
$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,25.850,120.700,415.050,0.000,0.000,37.758,27.418,155.667,16.750,0.000,0.000,15.268,1475.087,10430.675,534.264,1693.746,526.471,33.385,1398.036,0.000,1655.943,0.000,38.171,0.000
$DEVICE_MAMPS,162.604,74.399,1257.880,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,586.593,627.070,497.164,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44289,858
$CAP_FILE_SIZE,111714,0
$CFSIZE,254472192,232448000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,241009,094606,6247.267,-1155.983,37,1.0,37,-11.3