version: 66.04
glider: 5
mission: 7
dive: 361
start: 10 24 109 13 52 38
data:
$ID,5
$MISSION,7
$DIVE,361
$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,-107178.3
$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,22
$R_STBD_OVSHOOT,35
$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
$GPS1,134306,6248.231,-1152.650,45,1.1,56,-11.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-59.1
$GPS2,135149,6248.264,-1152.628,13,1.2,13,-11.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.236,-0.066
$KALMAN_X,-114545.3,1473.9,1156.2,166813.4,-15747.4
$KALMAN_Y,40808.6,185.8,432.2,-115566.9,124.3
$MHEAD_RNG_PITCHd_Wd,116.8,8853,-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,15,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,71,0.00,0.00,-51.00,0.000,2,0.000,0.000,420,2110,2613
$GC,75,-1.22,-146.6,2.3,-1.6,3,126,11.35,2.55,-33.35,0.000,4,0.159,0.067,2471,707,3429
$GC,302,-1.14,-146.6,29.2,-13.0,13,307,0.12,2.53,0.00,0.000,6,0.113,0.047,2495,2133,3430
$GC,624,-1.08,-146.6,69.0,-12.3,29,628,0.00,2.58,0.00,0.000,4,0.000,0.058,2495,705,3430
$GC,657,-1.04,-146.6,73.5,-12.6,30,664,0.10,2.53,0.00,0.000,6,0.103,0.048,2516,2130,3431
$GC,976,-1.04,-146.6,109.3,-11.4,46,980,0.00,2.55,0.00,0.000,4,0.000,0.060,2516,716,3429
$GC,1009,-1.04,-146.6,113.3,-10.8,47,1015,0.00,2.47,0.00,0.000,6,0.000,0.053,2515,2110,3430
$GC,1327,-1.04,-146.6,145.5,-10.0,63,1332,0.00,2.62,0.00,0.000,4,0.000,0.097,2516,3542,3430
$GC,1350,-1.04,-146.6,148.1,-10.3,64,1355,0.00,2.58,0.00,0.000,6,0.000,0.051,2516,2104,3430
$GC,1680,-1.04,-146.6,183.1,-10.7,85,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2087,3431
$GC,1992,-1.04,-146.6,215.7,-10.2,105,1996,0.00,2.65,0.00,0.000,4,0.000,0.067,2516,3535,3431
$GC,2021,-1.04,-146.6,218.7,-10.5,107,2025,0.00,2.55,0.00,0.000,6,0.000,0.052,2516,2106,3430
$GC,2345,-1.04,-146.6,251.0,-9.8,128,2349,0.00,2.47,0.00,0.000,4,0.000,0.061,2516,712,3430
$GC,2390,-1.04,-146.6,255.4,-9.8,131,2395,0.00,2.50,0.00,0.000,6,0.000,0.050,2516,2125,3430
$GC,2716,-1.04,-146.6,286.6,-9.4,152,2720,0.00,2.55,0.00,0.000,4,0.000,0.063,2516,720,3430
$GC,2754,-1.04,-146.6,290.5,-9.4,154,2760,0.00,2.45,0.00,0.000,6,0.000,0.049,2516,2103,3430
$GC,3075,-1.04,-146.6,320.2,-9.0,175,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2103,3430
$GC,3386,-1.04,-146.6,347.4,-8.6,195,3390,0.00,2.53,0.00,0.000,4,0.000,0.063,2516,713,3431
$GC,3453,-1.08,-146.6,353.6,-9.1,199,3457,0.00,2.45,0.00,0.000,6,0.000,0.050,2516,2093,3430
$GC,3773,-1.08,-146.6,381.8,-8.7,219,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2093,3430
$GC,4084,-1.08,-146.6,409.2,-8.8,239,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2092,3430
$GC,4397,-1.08,-146.6,437.3,-9.4,259,4402,0.00,2.50,0.00,0.000,4,0.000,0.063,2516,717,3430
$GC,4444,-1.11,-146.6,441.6,-9.9,262,4448,0.00,2.45,0.00,0.000,6,0.000,0.051,2516,2098,3430
$GC,4768,-1.11,-146.6,474.1,-10.9,283,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2099,3430
$GC,5081,-1.11,-146.6,509.8,-11.9,303,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2100,3430
$GC,5393,-1.11,-146.6,544.5,-10.1,323,5400,0.00,2.53,0.00,0.000,4,0.000,0.067,2516,714,3430
$GC,5474,-1.17,-146.6,552.6,-9.9,327,5480,0.12,2.45,0.00,0.000,6,0.061,0.054,2481,2087,3429
$GC,5796,-1.11,-146.6,586.2,-10.4,348,5801,0.10,2.65,0.00,0.000,4,0.104,0.075,2501,3532,3429
$GC,5896,-1.11,-146.6,596.7,-9.5,354,5901,0.00,2.65,0.00,0.000,6,0.000,0.064,2501,2083,3429
$STATE,6134,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6134,begin apogee
$GC,6142,-0.33,0.0,620.3,9.5,369,6276,0.80,0.00,130.48,1.232,6,0.076,0.000,2674,1836,2831
$STATE,6276,end apogee,CONTROL_FINISHED_OK
$STATE,6277,begin climb
$GC,6280,1.22,146.6,625.2,0.0,378,6418,1.52,0.00,131.10,1.193,6,0.058,0.000,3008,1836,2233
$GC,6732,1.18,170.1,599.2,7.1,407,6763,0.00,2.72,21.88,1.131,4,0.000,0.071,3008,3254,2137
$GC,6809,1.19,196.9,593.2,7.0,411,6840,0.00,2.60,24.83,1.139,6,0.000,0.068,3008,1865,2028
$GC,7163,1.16,202.3,566.1,7.8,434,7179,0.00,2.67,6.53,0.946,4,0.000,0.071,3008,3256,2006
$GC,7224,1.16,202.3,560.5,8.4,437,7230,0.00,2.60,0.00,0.000,6,0.000,0.068,3008,1865,2006
$GC,7544,1.12,202.3,531.1,10.1,458,7548,0.00,2.60,0.00,0.000,4,0.000,0.071,3008,3255,2005
$GC,7590,1.12,202.3,526.3,10.8,461,7594,0.00,2.60,0.00,0.000,6,0.000,0.068,3009,1856,2005
$GC,7915,1.12,202.3,491.7,10.3,482,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1856,2004
$GC,8226,1.09,202.3,463.9,8.5,502,8231,0.15,2.60,0.00,0.000,4,0.096,0.068,2980,3252,2003
$GC,8294,1.21,239.5,458.9,6.6,506,8337,0.12,2.58,32.95,1.138,6,0.060,0.064,3013,1852,1854
$GC,8649,1.21,239.5,428.0,8.5,529,8653,0.00,2.60,0.00,0.000,4,0.000,0.066,3013,3262,1854
$GC,8704,1.21,239.5,422.9,9.2,532,8710,0.00,2.55,0.00,0.000,6,0.000,0.061,3012,1872,1854
$GC,9024,1.21,239.5,394.4,9.0,553,9028,0.00,2.55,0.00,0.000,4,0.000,0.065,3012,3254,1854
$GC,9079,1.21,239.5,389.0,9.3,556,9086,0.00,2.47,0.00,0.000,6,0.000,0.060,3013,1896,1853
$GC,9398,1.21,239.5,359.8,8.8,577,9403,0.00,2.50,0.00,0.000,4,0.000,0.064,3013,3254,1853
$GC,9430,1.21,239.5,357.1,10.1,579,9434,0.00,2.45,0.00,0.000,6,0.000,0.059,3012,1899,1853
$GC,9754,1.21,239.5,329.2,8.6,600,9758,0.00,2.47,0.00,0.000,4,0.000,0.064,3013,3255,1854
$GC,9788,1.21,239.5,326.1,9.1,602,9792,0.00,2.42,0.00,0.000,6,0.000,0.057,3012,1916,1854
$GC,10107,1.21,239.5,298.3,8.6,622,10112,0.00,2.45,0.00,0.000,4,0.000,0.063,3013,3253,1854
$GC,10146,1.21,239.5,294.7,9.1,624,10152,0.00,2.38,0.00,0.000,6,0.000,0.055,3013,1934,1854
$GC,10466,1.21,239.5,267.2,8.8,645,10470,0.00,2.42,0.00,0.000,4,0.000,0.063,3013,3257,1854
$GC,10494,1.21,239.5,264.6,8.9,647,10499,0.00,2.38,0.00,0.000,6,0.000,0.054,3012,1935,1855
$GC,10819,1.21,239.5,236.0,8.8,668,10823,0.00,2.42,0.00,0.000,4,0.000,0.062,3013,3258,1855
$GC,10836,1.21,239.5,234.5,9.1,669,10840,0.00,2.35,0.00,0.000,6,0.000,0.054,3013,1947,1855
$GC,11161,1.21,239.5,205.9,8.7,690,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1947,1855
$GC,11472,1.21,239.5,177.9,9.2,710,11477,0.00,2.40,0.00,0.000,4,0.000,0.062,3012,3259,1855
$GC,11495,1.21,239.5,175.8,9.2,711,11501,0.00,2.35,0.00,0.000,6,0.000,0.051,3012,1945,1855
$GC,11815,1.21,242.4,148.9,7.9,732,11824,0.00,2.40,4.60,0.660,4,0.000,0.061,3013,3258,1842
$GC,11853,1.21,242.4,145.7,8.1,733,11859,0.00,2.33,0.00,0.000,6,0.000,0.051,3013,1963,1842
$GC,12172,1.22,245.5,121.1,7.9,749,12178,0.00,0.00,4.50,0.645,6,0.000,0.000,3012,1963,1830
$GC,12480,1.22,245.5,96.4,8.3,764,12484,0.00,2.38,0.00,0.000,4,0.000,0.060,3012,3263,1830
$GC,12508,1.25,245.5,93.8,8.4,765,12512,0.00,2.30,0.00,0.000,6,0.000,0.049,3012,1974,1829
$GC,12825,1.25,245.5,66.4,8.6,780,12830,0.00,2.75,0.00,0.000,4,0.000,0.063,3013,432,1829
$GC,12852,1.25,245.5,63.2,10.9,781,12857,0.00,2.75,0.00,0.000,6,0.000,0.047,3013,1989,1830
$GC,13169,1.25,245.5,36.6,8.1,796,13173,0.00,2.83,0.00,0.000,4,0.000,0.061,3012,433,1830
$GC,13202,1.25,245.5,33.9,8.3,797,13209,0.00,2.70,0.00,0.000,6,0.000,0.047,3012,1970,1830
$GC,13519,1.25,245.5,8.7,9.7,813,13523,0.00,2.78,0.00,0.000,4,0.000,0.060,3012,438,1830
$GC,13559,1.25,245.5,4.9,9.4,815,13563,0.00,2.67,0.00,0.000,6,0.000,0.046,3013,1959,1830
$STATE,13594,end climb,SURFACE_DEPTH_REACHED
$STATE,13594,begin surface coast
$FINISH,0.6,1.013342
$STATE,13637,end surface coast,CONTROL_FINISHED_OK
$STATE,13637,begin surface
$SM_CCo,13661,28.62,0.774,0,0,1608,300.00
$SM_GC,1.31,0.00,0.00,28.62,0.000,0.000,0.774,420,2147,1608,-10.70,0.48,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1816
$TCM_TEMP,17.30
$XPDR_PINGS,51
$ALTIM_BOTTOM_PING,595.1,34.5
$24V_AH,23.7,58.825
$10V_AH,10.1,26.602
$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,25.625,142.475,356.850,28.625,0.000,75.522,55.824,197.584,18.500,0.000,0.000,13.003,1442.107,9920.479,524.632,1682.423,641.923,33.356,1382.135,0.000,1641.948,0.000,43.311,0.000
$DEVICE_MAMPS,158.769,96.642,1231.802,773.903,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,560.070,599.799,491.867,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41031,819
$CAP_FILE_SIZE,116452,0
$CFSIZE,254472192,232321024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,241009,174227,6248.159,-1150.279,39,2.1,58,-11.3