version: 66.04
glider: 5
mission: 7
dive: 339
start: 10 21 109 1 10 59
data:
$ID,5
$MISSION,7
$DIVE,339
$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,-106823.29
$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,48
$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
$GPS1,010400,6254.397,-1228.448,38,1.4,38,-11.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-56.7
$GPS2,011008,6254.402,-1228.523,13,1.3,13,-11.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.236,0.067
$KALMAN_X,-54152.8,1426.9,1148.3,76770.1,-17128.8
$KALMAN_Y,46551.3,498.1,-219.5,-109596.5,3780.6
$MHEAD_RNG_PITCHd_Wd,85.8,40808,-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,-60.88,0.000,2,0.000,0.000,420,2162,2636
$GC,83,-1.22,-146.6,2.5,-2.4,3,129,11.43,2.50,-29.08,0.000,4,0.163,0.080,2471,3509,3430
$GC,136,-1.09,-146.6,6.6,-10.0,5,141,0.17,2.50,0.00,0.000,6,0.101,0.051,2508,2121,3430
$GC,453,-1.06,-146.6,48.0,-11.0,20,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2104,3430
$GC,763,-1.02,-146.6,85.6,-11.5,35,767,0.00,2.58,0.00,0.000,4,0.000,0.064,2508,3515,3430
$GC,807,-0.99,-146.6,91.2,-11.9,37,812,0.10,2.47,0.00,0.000,6,0.094,0.049,2528,2131,3431
$GC,1129,-0.99,-146.6,123.5,-8.6,53,1133,0.00,2.53,0.00,0.000,4,0.000,0.061,2527,714,3430
$GC,1198,-1.03,-146.6,132.1,-13.5,56,1202,0.00,2.45,0.00,0.000,6,0.000,0.048,2528,2099,3431
$GC,1525,-1.03,-146.6,171.8,-12.7,74,1529,0.00,2.53,0.00,0.000,4,0.000,0.063,2528,712,3431
$GC,1547,-1.03,-146.6,175.1,-12.5,75,1553,0.00,2.47,0.00,0.000,6,0.000,0.048,2528,2109,3431
$GC,1867,-1.03,-146.6,213.7,-11.6,96,1871,0.00,2.60,0.00,0.000,4,0.000,0.068,2528,3538,3431
$GC,1895,-1.03,-146.6,217.4,-12.9,98,1899,0.00,2.58,0.00,0.000,6,0.000,0.054,2528,2105,3431
$GC,2219,-1.03,-146.6,256.7,-11.7,119,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2090,3431
$GC,2532,-1.03,-146.6,293.3,-11.6,139,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2091,3430
$GC,2844,-1.03,-146.6,328.7,-10.6,159,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2091,3431
$GC,3157,-1.03,-146.6,361.1,-11.1,179,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2091,3431
$GC,3468,-1.03,-146.6,392.5,-9.2,199,3473,0.00,2.65,0.00,0.000,4,0.000,0.071,2528,3528,3431
$GC,3502,-1.03,-146.6,395.7,-9.4,201,3506,0.00,2.60,0.00,0.000,6,0.000,0.058,2528,2090,3430
$GC,3822,-1.03,-146.6,418.7,-6.0,221,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2071,3430
$GC,4133,-1.03,-146.6,444.4,-8.7,241,4138,0.00,2.45,0.00,0.000,4,0.000,0.064,2528,718,3430
$GC,4168,-1.09,-146.6,447.4,-8.7,243,4172,0.00,2.45,0.00,0.000,6,0.000,0.051,2528,2101,3430
$GC,4498,-1.09,-146.6,475.5,-8.2,264,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2101,3430
$GC,4811,-1.12,-146.6,498.0,-6.8,284,4816,0.15,2.53,0.00,0.000,4,0.058,0.067,2487,722,3430
$GC,4901,-1.12,-146.6,506.0,-9.3,289,4907,0.00,2.47,0.00,0.000,6,0.000,0.053,2487,2109,3430
$GC,5223,-1.09,-146.6,533.9,-9.4,310,5227,0.00,2.55,0.00,0.000,4,0.000,0.067,2487,717,3429
$GC,5279,-1.09,-146.6,539.7,-9.8,313,5286,0.10,2.47,0.00,0.000,6,0.102,0.054,2508,2104,3429
$GC,5598,-1.09,-146.6,568.5,-8.8,334,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2105,3429
$GC,5911,-1.09,-146.6,595.4,-7.5,354,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2107,3428
$STATE,5954,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5954,begin apogee
$GC,5963,-0.33,0.0,600.1,10.0,357,6099,0.77,0.00,132.45,1.225,6,0.080,0.000,2673,1831,2832
$STATE,6099,end apogee,CONTROL_FINISHED_OK
$STATE,6099,begin climb
$GC,6103,1.22,146.6,604.8,0.0,366,6244,1.52,2.70,132.85,1.179,4,0.058,0.074,3007,439,2233
$GC,6505,1.10,146.6,577.1,11.4,390,6510,0.12,2.58,0.00,0.000,6,0.098,0.057,2985,1859,2233
$GC,6831,1.19,202.7,555.4,6.0,411,6887,0.00,2.72,50.62,1.164,4,0.000,0.074,2985,442,2004
$GC,6898,1.24,233.5,550.4,6.9,414,6937,0.12,2.60,28.52,1.127,6,0.061,0.058,3017,1869,1879
$GC,7250,1.20,233.5,520.7,9.2,437,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1869,1878
$GC,7562,1.15,233.5,493.3,8.8,457,7564,0.12,0.00,0.00,0.000,6,0.099,0.000,2996,1869,1878
$GC,7874,1.15,233.5,467.9,8.5,477,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1869,1877
$GC,8187,1.15,233.5,444.0,8.3,497,8191,0.00,2.62,0.00,0.000,4,0.000,0.071,2996,443,1877
$GC,8225,1.15,233.5,440.2,9.4,499,8231,0.00,2.55,0.00,0.000,6,0.000,0.054,2996,1858,1876
$GC,8544,1.15,233.5,413.2,8.3,520,8548,0.00,2.53,0.00,0.000,4,0.000,0.066,2995,3255,1876
$GC,8578,1.19,233.5,410.4,8.7,522,8582,0.00,2.55,0.00,0.000,6,0.000,0.062,2995,1863,1876
$GC,8897,1.21,244.5,384.8,7.6,542,8914,0.00,2.62,10.75,0.989,4,0.000,0.064,2996,3262,1834
$GC,8969,1.26,244.5,379.2,8.1,546,8974,0.12,2.53,0.00,0.000,6,0.061,0.058,3027,1880,1834
$GC,9296,1.21,244.5,349.2,9.1,567,9300,0.00,2.55,0.00,0.000,4,0.000,0.064,3027,3265,1833
$GC,9335,1.21,244.5,345.3,9.5,569,9341,0.00,2.47,0.00,0.000,6,0.000,0.058,3027,1901,1833
$GC,9655,1.17,244.5,315.5,10.0,590,9660,0.15,2.50,0.00,0.000,4,0.091,0.062,2999,3261,1834
$GC,9683,1.17,244.5,312.9,8.9,592,9687,0.00,2.45,0.00,0.000,6,0.000,0.057,2999,1905,1834
$GC,10009,1.17,244.5,286.3,8.4,613,10014,0.00,2.47,0.00,0.000,4,0.000,0.063,2999,3255,1834
$GC,10045,1.22,244.5,283.2,8.7,615,10050,0.00,2.40,0.00,0.000,6,0.000,0.054,2998,1922,1834
$GC,10364,1.22,244.5,255.7,8.9,635,10369,0.00,2.45,0.00,0.000,4,0.000,0.062,2999,3261,1835
$GC,10405,1.27,244.5,251.9,9.8,637,10411,0.12,2.40,0.00,0.000,6,0.058,0.054,3032,1925,1835
$GC,10725,1.22,244.5,217.3,11.1,658,10729,0.00,2.45,0.00,0.000,4,0.000,0.061,3032,3265,1835
$GC,10758,1.22,244.5,213.3,11.3,660,10762,0.00,2.38,0.00,0.000,6,0.000,0.052,3031,1945,1835
$GC,11078,1.18,244.5,178.9,10.5,680,11083,0.15,2.40,0.00,0.000,4,0.089,0.060,3002,3259,1836
$GC,11117,1.22,244.5,174.5,10.5,682,11123,0.00,2.35,0.00,0.000,6,0.000,0.051,3002,1945,1836
$GC,11438,1.26,244.5,142.3,10.4,702,11440,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1945,1836
$GC,11746,1.26,244.5,111.6,9.6,717,11750,0.00,2.40,0.00,0.000,4,0.000,0.060,3002,3262,1836
$GC,11769,1.30,244.5,109.1,9.8,718,11774,0.12,2.33,0.00,0.000,6,0.056,0.049,3036,1960,1836
$GC,12093,1.25,244.5,74.0,11.0,734,12097,0.00,2.38,0.00,0.000,4,0.000,0.059,3036,3267,1836
$GC,12120,1.25,244.5,70.4,10.7,735,12124,0.00,2.33,0.00,0.000,6,0.000,0.048,3036,1961,1836
$GC,12437,1.21,244.5,37.8,10.4,750,12442,0.15,2.38,0.00,0.000,4,0.091,0.058,3006,3265,1837
$GC,12482,1.26,244.5,33.2,9.2,752,12486,0.00,2.28,0.00,0.000,6,0.000,0.048,3006,1981,1837
$GC,12810,1.26,244.5,4.7,8.4,768,12811,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1978,1837
$STATE,12848,end climb,SURFACE_DEPTH_REACHED
$STATE,12848,begin surface coast
$FINISH,0.9,1.027240
$STATE,12870,end surface coast,CONTROL_FINISHED_OK
$STATE,12870,begin surface
$SM_CCo,12894,30.25,0.782,0,0,1608,300.00
$SM_GC,1.50,0.00,0.00,30.25,0.000,0.000,0.782,418,2164,1608,-10.70,0.99,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1836
$TCM_TEMP,17.30
$XPDR_PINGS,48
$ALTIM_BOTTOM_PING,521.3,88.6
$24V_AH,23.8,55.440
$10V_AH,10.1,24.994
$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,26.600,115.525,355.200,30.250,0.000,37.763,37.982,164.568,16.500,0.000,0.000,13.381,1361.889,9354.913,498.276,1551.084,527.482,33.384,1290.759,0.000,1519.498,0.000,31.959,0.000
$DEVICE_MAMPS,162.604,79.768,1224.899,781.573,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,527.505,562.634,452.499,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38013,771
$CAP_FILE_SIZE,107174,0
$CFSIZE,254472192,233570304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211009,044737,6254.071,-1228.859,33,1.8,33,-11.7