version: 66.04
glider: 5
mission: 7
dive: 365
start: 10 25 109 5 27 33
data:
$ID,5
$MISSION,7
$DIVE,365
$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,-107257.35
$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,28
$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
$GPS1,052101,6247.401,-1144.675,38,2.0,38,-11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-59.7
$GPS2,052644,6247.386,-1144.761,14,1.1,14,-11.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,DE
$TGT_LATLONG,6237.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.199,-0.144
$KALMAN_X,-124546.6,1717.0,788.7,183455.5,-15324.4
$KALMAN_Y,50085.9,-674.1,-539.5,-124600.6,8963.9
$MHEAD_RNG_PITCHd_Wd,137.1,42706,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,82,0.00,0.00,-61.50,0.000,2,0.000,0.000,423,2141,2826
$GC,86,-1.22,-146.6,3.0,-4.2,3,123,11.20,2.58,-20.05,0.000,4,0.156,0.067,2471,705,3430
$GC,292,-1.14,-146.6,29.6,-14.3,11,297,0.12,2.53,0.00,0.000,6,0.104,0.046,2495,2134,3429
$GC,609,-1.07,-146.6,68.0,-11.4,26,613,0.00,2.58,0.00,0.000,4,0.000,0.058,2495,704,3429
$GC,655,-1.07,-146.6,73.5,-11.9,28,659,0.00,2.50,0.00,0.000,6,0.000,0.048,2495,2122,3429
$GC,976,-1.01,-146.6,111.4,-12.5,44,981,0.12,2.55,0.00,0.000,4,0.096,0.059,2521,713,3430
$GC,1027,-1.04,-146.6,117.5,-11.4,46,1031,0.00,2.47,0.00,0.000,6,0.000,0.048,2521,2110,3430
$GC,1345,-1.04,-146.6,151.8,-10.7,61,1350,0.00,2.53,0.00,0.000,4,0.000,0.058,2521,708,3430
$GC,1385,-1.04,-146.6,156.3,-10.5,63,1391,0.00,2.45,0.00,0.000,6,0.000,0.048,2522,2091,3430
$GC,1704,-1.04,-146.6,186.9,-9.6,84,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2091,3430
$GC,2016,-1.04,-146.6,217.1,-9.7,104,2020,0.00,2.50,0.00,0.000,4,0.000,0.060,2522,709,3430
$GC,2050,-1.04,-146.6,220.4,-9.9,106,2054,0.00,2.42,0.00,0.000,6,0.000,0.049,2521,2075,3430
$GC,2370,-1.04,-146.6,250.9,-9.0,126,2374,0.00,2.65,0.00,0.000,4,0.000,0.070,2521,3534,3430
$GC,2391,-1.04,-146.6,253.1,-9.0,127,2398,0.00,2.67,0.00,0.000,6,0.000,0.057,2521,2052,3430
$GC,2710,-1.04,-146.6,280.4,-8.2,148,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2052,3430
$GC,3023,-1.04,-146.6,306.8,-8.4,168,3028,0.00,2.75,0.00,0.000,4,0.000,0.070,2521,3538,3430
$GC,3062,-1.04,-146.6,310.4,-8.9,170,3068,0.00,2.65,0.00,0.000,6,0.000,0.058,2521,2067,3430
$GC,3381,-1.04,-146.6,339.3,-9.3,191,3385,0.00,2.42,0.00,0.000,4,0.000,0.062,2521,703,3430
$GC,3404,-1.04,-146.6,341.6,-9.6,192,3410,0.00,2.45,0.00,0.000,6,0.000,0.049,2521,2086,3430
$GC,3723,-1.04,-146.6,372.6,-9.7,213,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2086,3430
$GC,4036,-1.04,-146.6,403.3,-9.5,233,4040,0.00,2.50,0.00,0.000,4,0.000,0.063,2521,706,3430
$GC,4075,-1.09,-146.6,407.5,-10.1,235,4079,0.00,2.42,0.00,0.000,6,0.000,0.050,2521,2076,3430
$GC,4399,-1.09,-146.6,439.7,-10.3,256,4404,0.00,2.67,0.00,0.000,4,0.000,0.074,2521,3533,3430
$GC,4439,-1.09,-146.6,443.9,-10.0,258,4445,0.00,2.67,0.00,0.000,6,0.000,0.061,2521,2058,3430
$GC,4758,-1.09,-146.6,478.4,-11.1,279,4762,0.00,2.40,0.00,0.000,4,0.000,0.064,2521,715,3429
$GC,4792,-1.13,-146.6,482.3,-11.6,281,4796,0.12,2.42,0.00,0.000,6,0.061,0.051,2487,2080,3429
$GC,5114,-1.08,-146.6,523.4,-13.2,301,5116,0.10,0.00,0.00,0.000,6,0.094,0.000,2508,2080,3429
$GC,5423,-1.08,-146.6,557.0,-9.9,321,5427,0.00,2.53,0.00,0.000,4,0.000,0.069,2507,706,3429
$GC,5469,-1.08,-146.6,561.6,-9.9,323,5475,0.00,2.42,0.00,0.000,6,0.000,0.053,2508,2064,3429
$GC,5788,-1.08,-146.6,591.9,-9.7,344,5792,0.00,2.50,0.00,0.000,4,0.000,0.069,2508,705,3429
$GC,5843,-1.08,-146.6,597.6,-10.5,347,5849,0.00,2.40,0.00,0.000,6,0.000,0.054,2508,2045,3429
$STATE,6018,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6019,begin apogee
$GC,6027,-0.33,0.0,614.6,9.3,359,6163,0.77,0.00,132.60,1.211,6,0.075,0.000,2675,1834,2831
$STATE,6164,end apogee,CONTROL_FINISHED_OK
$STATE,6164,begin climb
$GC,6167,1.22,146.6,619.2,0.0,368,6309,1.52,2.67,132.98,1.173,4,0.058,0.074,3009,447,2233
$GC,6385,1.11,146.6,609.0,8.5,381,6390,0.12,2.55,0.00,0.000,6,0.096,0.054,2987,1851,2233
$GC,6705,1.16,178.3,587.8,6.9,401,6740,0.00,2.65,29.65,1.131,4,0.000,0.071,2987,3249,2104
$GC,6764,1.19,197.4,583.4,7.3,404,6790,0.00,2.62,18.83,1.096,6,0.000,0.070,2987,1857,2025
$GC,7118,1.19,197.4,554.1,8.7,427,7122,0.00,2.62,0.00,0.000,4,0.000,0.071,2987,3254,2025
$GC,7158,1.22,197.4,550.3,8.9,429,7164,0.10,2.62,0.00,0.000,6,0.064,0.069,3014,1848,2025
$GC,7477,1.17,197.4,521.6,8.8,450,7481,0.00,2.62,0.00,0.000,4,0.000,0.071,3014,3249,2024
$GC,7515,1.17,197.4,518.0,9.2,452,7522,0.00,2.60,0.00,0.000,6,0.000,0.067,3014,1849,2024
$GC,7836,1.13,197.4,488.7,8.9,473,7841,0.12,2.62,0.00,0.000,4,0.097,0.069,2991,3255,2023
$GC,7864,1.13,197.4,486.1,8.5,475,7869,0.00,2.58,0.00,0.000,6,0.000,0.065,2991,1859,2023
$GC,8190,1.16,211.3,461.6,7.5,496,8209,0.00,2.65,13.23,1.058,4,0.000,0.067,2991,3245,1968
$GC,8262,1.19,211.3,455.8,8.3,500,8267,0.00,2.53,0.00,0.000,6,0.000,0.062,2991,1873,1968
$GC,8583,1.20,218.8,431.3,7.7,520,8600,0.00,2.60,7.90,0.955,4,0.000,0.066,2991,3248,1938
$GC,8641,1.24,218.8,426.4,8.7,523,8645,0.10,2.47,0.00,0.000,6,0.064,0.060,3019,1899,1938
$GC,8962,1.20,218.8,396.3,9.5,543,8966,0.00,2.50,0.00,0.000,4,0.000,0.066,3019,3251,1938
$GC,8990,1.20,218.8,393.2,10.1,544,8996,0.00,2.42,0.00,0.000,6,0.000,0.058,3019,1917,1938
$GC,9310,1.16,218.8,363.8,9.1,565,9315,0.12,2.47,0.00,0.000,4,0.094,0.065,2996,3258,1938
$GC,9344,1.19,218.8,360.7,8.3,567,9348,0.00,2.42,0.00,0.000,6,0.000,0.058,2996,1918,1938
$GC,9664,1.20,223.2,335.6,7.8,587,9674,0.00,2.47,5.57,0.805,4,0.000,0.064,2996,3254,1921
$GC,9697,1.24,224.8,332.8,7.9,588,9702,0.00,2.40,0.00,0.000,6,0.000,0.056,2996,1933,1921
$GC,10017,1.27,243.9,308.9,7.3,608,10042,0.12,2.47,19.33,0.977,4,0.058,0.064,3029,3252,1836
$GC,10060,1.24,243.9,305.2,8.9,610,10066,0.00,2.38,0.00,0.000,6,0.000,0.055,3029,1951,1836
$GC,10380,1.20,243.9,276.1,9.2,631,10385,0.12,2.40,0.00,0.000,4,0.092,0.063,3005,3251,1836
$GC,10414,1.20,243.9,273.0,8.2,633,10418,0.00,2.33,0.00,0.000,6,0.000,0.054,3005,1965,1836
$GC,10732,1.20,243.9,246.7,8.4,653,10734,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1965,1836
$GC,11045,1.20,243.9,220.3,8.3,673,11046,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1965,1836
$GC,11358,1.20,243.9,192.5,9.1,693,11362,0.00,2.38,0.00,0.000,4,0.000,0.063,3005,3259,1836
$GC,11380,1.20,243.9,190.3,9.6,694,11386,0.00,2.33,0.00,0.000,6,0.000,0.052,3005,1963,1837
$GC,11698,1.20,243.9,163.0,8.3,715,11700,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1962,1836
$GC,12016,1.20,249.6,137.9,7.8,733,12030,0.00,2.42,6.82,0.752,4,0.000,0.061,3005,3257,1812
$GC,12061,1.25,251.2,134.1,7.9,735,12065,0.00,2.28,0.00,0.000,6,0.000,0.051,3005,1980,1812
$GC,12395,1.25,251.2,106.3,8.1,751,12396,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1980,1812
$GC,12705,1.33,281.8,84.4,6.9,766,12740,0.12,2.88,27.25,0.841,4,0.056,0.062,3040,440,1682
$GC,12752,1.28,281.8,80.4,9.3,768,12756,0.00,2.80,0.00,0.000,6,0.000,0.048,3040,1999,1682
$GC,13075,1.23,281.8,51.9,9.5,784,13079,0.12,2.25,0.00,0.000,4,0.089,0.059,3014,3258,1682
$GC,13097,1.23,281.8,49.3,10.3,785,13101,0.00,2.28,0.00,0.000,6,0.000,0.048,3014,1983,1682
$GC,13419,1.26,281.8,18.9,9.9,801,13420,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1983,1682
$STATE,13621,end climb,SURFACE_DEPTH_REACHED
$STATE,13622,begin surface coast
$FINISH,0.5,1.026209
$STATE,13643,end surface coast,CONTROL_FINISHED_OK
$STATE,13644,begin surface
$SM_CCo,13668,9.55,0.707,0,0,1607,300.00
$SM_GC,1.77,0.00,0.00,9.55,0.000,0.000,0.707,417,2146,1607,-10.71,0.40,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1829
$TCM_TEMP,17.30
$XPDR_PINGS,57
$ALTIM_BOTTOM_PING,571.1,52.3
$24V_AH,23.7,59.415
$10V_AH,10.1,26.898
$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,26.300,146.600,394.150,9.550,0.000,37.759,26.924,147.363,19.250,0.000,0.000,14.393,1441.455,9868.328,518.080,1667.437,525.343,33.360,1386.949,0.000,1629.527,0.000,35.019,0.000
$DEVICE_MAMPS,156.468,74.399,1211.093,707.174,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,555.004,591.935,481.452,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41045,812
$CAP_FILE_SIZE,117627,0
$CFSIZE,254472192,232095744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,251009,091654,6246.331,-1144.113,25,1.8,42,-11.2