version: 66.04
glider: 5
mission: 7
dive: 360
start: 10 24 109 9 53 16
data:
$ID,5
$MISSION,7
$DIVE,360
$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,-107164.66
$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,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
$GPS1,094606,6247.267,-1155.983,37,1.0,37,-11.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-59.7
$GPS2,095226,6247.290,-1156.072,14,1.2,14,-11.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.245,-0.016
$KALMAN_X,-113500.6,1951.3,1102.0,162508.2,-17633.6
$KALMAN_Y,38312.8,103.1,269.2,-114604.4,-2502.9
$MHEAD_RNG_PITCHd_Wd,105.0,10302,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.00,0.000,2,0.000,0.000,422,2147,2761
$GC,83,-1.22,-146.6,2.8,-3.2,3,126,11.43,2.60,-23.42,0.000,4,0.162,0.071,2469,688,3430
$GC,230,-1.16,-146.6,21.6,-14.9,9,235,0.10,2.55,0.00,0.000,6,0.111,0.047,2488,2129,3430
$GC,547,-1.08,-146.6,62.3,-12.0,24,549,0.10,0.00,0.00,0.000,6,0.101,0.000,2510,2130,3430
$GC,859,-1.05,-146.6,96.1,-10.6,39,863,0.00,2.58,0.00,0.000,4,0.000,0.060,2510,703,3430
$GC,921,-1.05,-146.6,103.0,-10.2,42,926,0.00,2.53,0.00,0.000,6,0.000,0.050,2510,2125,3430
$GC,1250,-1.02,-146.6,136.2,-10.1,58,1255,0.00,2.58,0.00,0.000,4,0.000,0.061,2510,703,3430
$GC,1306,-1.02,-146.6,142.2,-10.3,60,1313,0.00,2.47,0.00,0.000,6,0.000,0.049,2510,2101,3430
$GC,1629,-1.02,-146.6,173.4,-9.9,80,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2101,3430
$GC,1942,-1.02,-146.6,204.1,-9.7,100,1947,0.00,2.53,0.00,0.000,4,0.000,0.062,2510,711,3431
$GC,1994,-1.02,-146.6,209.3,-9.4,103,1998,0.00,2.45,0.00,0.000,6,0.000,0.051,2510,2089,3431
$GC,2313,-1.02,-146.6,242.7,-10.8,123,2318,0.00,2.62,0.00,0.000,4,0.000,0.067,2510,3538,3431
$GC,2347,-1.02,-146.6,246.6,-11.6,125,2351,0.00,2.62,0.00,0.000,6,0.000,0.066,2510,2082,3431
$GC,2666,-1.02,-146.6,280.5,-10.8,145,2670,0.00,2.42,0.00,0.000,4,0.000,0.069,2510,720,3431
$GC,2694,-1.02,-146.6,283.6,-10.8,147,2699,0.00,2.45,0.00,0.000,6,0.000,0.053,2510,2100,3431
$GC,3020,-1.02,-146.6,317.1,-10.2,168,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2100,3431
$GC,3331,-1.02,-146.6,349.4,-10.6,188,3336,0.00,2.53,0.00,0.000,4,0.000,0.068,2510,716,3431
$GC,3371,-1.02,-146.6,353.6,-10.9,190,3378,0.00,2.45,0.00,0.000,6,0.000,0.055,2510,2089,3431
$GC,3691,-1.02,-146.6,386.0,-10.1,211,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2089,3431
$GC,4003,-1.02,-146.6,417.2,-10.4,231,4007,0.00,2.50,0.00,0.000,4,0.000,0.067,2509,717,3431
$GC,4038,-1.02,-146.6,420.9,-11.0,233,4042,0.00,2.42,0.00,0.000,6,0.000,0.054,2510,2082,3431
$GC,4368,-1.02,-146.6,455.8,-10.8,254,4372,0.00,2.50,0.00,0.000,4,0.000,0.069,2510,711,3430
$GC,4434,-1.02,-146.6,463.1,-10.9,258,4439,0.00,2.42,0.00,0.000,6,0.000,0.056,2510,2070,3430
$GC,4754,-1.02,-146.6,494.1,-9.3,278,4759,0.00,2.67,0.00,0.000,4,0.000,0.075,2510,3537,3430
$GC,4783,-1.02,-146.6,496.8,-9.4,280,4787,0.00,2.67,0.00,0.000,6,0.000,0.065,2510,2065,3430
$GC,5108,-1.02,-146.6,524.1,-8.6,301,5113,0.00,2.72,0.00,0.000,4,0.000,0.075,2510,3532,3430
$GC,5181,-1.02,-146.6,530.7,-9.0,305,5187,0.00,2.60,0.00,0.000,6,0.000,0.067,2510,2104,3430
$GC,5501,-1.02,-146.6,559.4,-8.8,326,5504,0.00,2.50,0.00,0.000,4,0.000,0.073,2510,717,3429
$GC,5570,-1.02,-146.6,566.2,-9.9,330,5574,0.00,2.47,0.00,0.000,6,0.000,0.056,2510,2101,3429
$GC,5896,-1.02,-146.6,598.9,-10.6,351,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2101,3429
$GC,6207,-1.02,-146.6,631.0,-9.9,371,6211,0.00,2.65,0.00,0.000,4,0.000,0.081,2510,3530,3429
$STATE,6226,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6226,begin apogee
$GC,6237,-0.33,0.0,633.0,8.2,372,6371,0.73,0.00,131.18,1.245,6,0.081,0.000,2668,1854,2831
$STATE,6372,end apogee,CONTROL_FINISHED_OK
$STATE,6372,begin climb
$GC,6375,1.22,146.6,638.7,0.0,381,6515,1.58,2.67,131.30,1.204,4,0.065,0.077,3009,442,2233
$GC,6558,1.11,157.2,633.1,7.6,392,6575,0.12,2.58,10.95,1.049,6,0.095,0.057,2987,1865,2190
$GC,6899,1.19,208.1,612.2,6.2,414,6950,0.00,2.60,45.92,1.181,4,0.000,0.072,2987,3244,1982
$GC,7009,1.20,212.5,604.3,7.8,421,7020,0.00,2.60,5.53,0.884,6,0.000,0.069,2987,1858,1964
$GC,7334,1.20,212.5,575.5,9.5,441,7338,0.00,2.60,0.00,0.000,4,0.000,0.073,2986,3242,1964
$GC,7401,1.23,212.5,568.7,9.7,445,7406,0.12,2.55,0.00,0.000,6,0.062,0.069,3018,1873,1963
$GC,7723,1.18,213.1,539.2,8.0,465,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1873,1963
$GC,8033,1.18,244.2,516.5,6.9,485,8066,0.00,2.67,28.23,1.165,4,0.000,0.071,3019,3250,1835
$GC,8118,1.18,244.2,510.0,8.0,490,8122,0.00,2.60,0.00,0.000,6,0.000,0.067,3018,1857,1835
$GC,8444,1.13,244.2,482.8,9.0,511,8449,0.15,2.60,0.00,0.000,4,0.097,0.068,2990,3250,1835
$GC,8500,1.18,244.2,477.8,8.6,514,8506,0.00,2.55,0.00,0.000,6,0.000,0.064,2990,1867,1835
$GC,8819,1.18,244.2,450.4,8.4,535,8823,0.00,2.55,0.00,0.000,4,0.000,0.067,2990,3250,1834
$GC,8858,1.23,244.2,446.8,8.9,537,8865,0.10,2.50,0.00,0.000,6,0.064,0.062,3017,1883,1834
$GC,9178,1.20,244.2,419.0,8.3,558,9179,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1883,1834
$GC,9492,1.17,244.2,392.9,8.6,578,9497,0.00,2.50,0.00,0.000,4,0.000,0.066,3017,3247,1834
$GC,9565,1.17,244.2,386.0,9.3,582,9571,0.00,2.45,0.00,0.000,6,0.000,0.058,3017,1897,1834
$GC,9884,1.17,244.2,357.2,9.4,603,9888,0.00,2.47,0.00,0.000,4,0.000,0.064,3017,3242,1834
$GC,9918,1.17,244.2,353.8,10.5,605,9922,0.00,2.42,0.00,0.000,6,0.000,0.056,3017,1899,1834
$GC,10237,1.17,244.2,321.2,10.6,625,10241,0.00,2.47,0.00,0.000,4,0.000,0.063,3017,3248,1835
$GC,10270,1.17,244.2,317.6,10.8,627,10274,0.00,2.40,0.00,0.000,6,0.000,0.055,3017,1916,1835
$GC,10590,1.17,244.2,285.1,9.8,647,10594,0.00,2.45,0.00,0.000,4,0.000,0.063,3017,3252,1835
$GC,10635,1.17,244.2,280.5,10.1,650,10640,0.00,2.38,0.00,0.000,6,0.000,0.054,3017,1931,1835
$GC,10961,1.17,244.2,250.2,9.0,671,10963,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1931,1836
$GC,11273,1.17,244.2,220.8,9.9,691,11277,0.00,2.38,0.00,0.000,4,0.000,0.061,3017,3242,1836
$GC,11324,1.17,244.2,215.5,10.0,694,11328,0.00,2.33,0.00,0.000,6,0.000,0.052,3017,1942,1836
$GC,11649,1.17,244.2,183.2,10.0,715,11650,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1942,1836
$GC,11960,1.17,244.2,152.8,9.2,735,11964,0.00,2.38,0.00,0.000,4,0.000,0.061,3017,3242,1836
$GC,11999,1.17,244.2,149.1,9.4,737,12005,0.00,2.30,0.00,0.000,6,0.000,0.051,3017,1954,1836
$GC,12318,1.17,244.2,120.1,9.1,753,12319,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1954,1836
$GC,12625,1.17,244.2,92.1,8.8,768,12629,0.00,2.35,0.00,0.000,4,0.000,0.060,3017,3244,1836
$GC,12669,1.17,244.2,87.6,9.9,770,12673,0.00,2.28,0.00,0.000,6,0.000,0.048,3017,1965,1836
$GC,12992,1.17,244.2,59.9,8.3,786,12993,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1965,1837
$GC,13301,1.17,246.0,32.4,7.9,801,13306,0.00,0.00,3.85,0.546,6,0.000,0.000,3016,1966,1828
$GC,13611,1.17,246.0,4.0,9.2,816,13615,0.00,2.33,0.00,0.000,4,0.000,0.058,3017,3244,1828
$STATE,13619,end climb,SURFACE_DEPTH_REACHED
$STATE,13619,begin surface coast
$FINISH,1.0,1.027227
$STATE,13637,end surface coast,CONTROL_FINISHED_OK
$STATE,13638,begin surface
$SM_CCo,13664,28.98,0.775,0,0,1608,300.00
$SM_GC,1.29,0.00,0.00,28.98,0.000,0.000,0.775,421,2116,1608,-10.69,-0.37,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1823
$TCM_TEMP,19.20
$XPDR_PINGS,51
$ALTIM_BOTTOM_PING,595.5,47.2
$24V_AH,23.7,58.680
$10V_AH,10.1,26.525
$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,25.600,135.675,356.950,28.975,0.000,37.763,31.759,170.781,18.000,0.000,0.000,17.258,1443.983,9899.406,499.609,1677.196,551.682,33.355,1352.246,0.000,1640.034,0.000,36.591,0.000
$DEVICE_MAMPS,161.837,80.535,1244.841,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,559.467,594.981,479.947,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41162,817
$CAP_FILE_SIZE,113021,0
$CFSIZE,254472192,232382464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,241009,134306,6248.231,-1152.650,45,1.1,56,-11.3