version: 66.04
glider: 5
mission: 7
dive: 340
start: 10 21 109 4 54 8
data:
$ID,5
$MISSION,7
$DIVE,340
$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,-106837.85
$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,23
$R_STBD_OVSHOOT,34
$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
$GPS1,044737,6254.071,-1228.859,33,1.8,33,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-58.7
$GPS2,045319,6254.064,-1228.991,13,1.7,13,-11.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.233,-0.077
$KALMAN_X,-58522.1,1766.5,334.0,81259.8,-17997.6
$KALMAN_Y,44412.5,19.1,-593.8,-107189.2,1182.0
$MHEAD_RNG_PITCHd_Wd,120.0,40907,-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,14,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,81,0.00,0.00,-60.92,0.000,2,0.000,0.000,418,2165,2825
$GC,85,-1.22,-146.6,3.2,-4.4,3,120,11.48,2.62,-17.77,0.000,4,0.163,0.066,2472,715,3429
$GC,189,-1.17,-146.6,17.3,-12.7,7,196,0.00,2.50,0.00,0.000,6,0.000,0.048,2472,2126,3430
$GC,506,-1.06,-146.6,54.9,-11.7,23,511,0.17,2.58,0.00,0.000,4,0.104,0.067,2513,3538,3430
$GC,534,-1.01,-146.6,58.0,-10.3,24,538,0.00,2.55,0.00,0.000,6,0.000,0.050,2513,2114,3430
$GC,851,-0.98,-146.6,85.1,-8.4,39,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2110,3430
$GC,1159,-0.98,-146.6,110.7,-9.1,54,1163,0.00,2.62,0.00,0.000,4,0.000,0.065,2513,3538,3430
$GC,1187,-0.98,-146.6,113.7,-10.0,55,1191,0.00,2.53,0.00,0.000,6,0.000,0.049,2513,2123,3431
$GC,1505,-0.98,-146.6,145.6,-10.7,70,1509,0.00,2.50,0.00,0.000,4,0.000,0.060,2513,715,3431
$GC,1532,-0.98,-146.6,149.0,-11.4,71,1537,0.00,2.50,0.00,0.000,6,0.000,0.048,2513,2133,3431
$GC,1858,-0.98,-146.6,183.5,-11.1,91,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2131,3431
$GC,2169,-0.98,-146.6,219.6,-11.6,111,2174,0.00,2.55,0.00,0.000,4,0.000,0.061,2513,712,3431
$GC,2237,-0.98,-146.6,227.3,-10.8,115,2241,0.00,2.50,0.00,0.000,6,0.000,0.048,2513,2126,3431
$GC,2562,-0.98,-146.6,260.9,-10.2,136,2566,0.00,2.58,0.00,0.000,4,0.000,0.064,2513,711,3431
$GC,2590,-0.98,-146.6,263.9,-10.5,138,2595,0.00,2.53,0.00,0.000,6,0.000,0.050,2513,2133,3431
$GC,2917,-0.98,-146.6,297.1,-9.8,159,2922,0.00,2.58,0.00,0.000,4,0.000,0.062,2513,710,3431
$GC,2964,-0.98,-146.6,302.4,-11.2,162,2968,0.00,2.50,0.00,0.000,6,0.000,0.051,2513,2120,3431
$GC,3289,-0.98,-146.6,339.4,-12.2,183,3293,0.00,2.53,0.00,0.000,4,0.000,0.062,2512,720,3431
$GC,3351,-1.01,-146.6,347.5,-13.0,186,3357,0.00,2.45,0.00,0.000,6,0.000,0.051,2513,2099,3431
$GC,3670,-1.01,-146.6,394.3,-15.8,207,3675,0.00,2.50,0.00,0.000,4,0.000,0.063,2513,717,3431
$GC,3715,-1.05,-146.6,402.3,-18.3,209,3721,0.00,2.42,0.00,0.000,6,0.000,0.051,2513,2082,3431
$GC,4035,-1.05,-146.6,460.3,-17.7,230,4039,0.00,2.67,0.00,0.000,4,0.000,0.074,2513,3538,3430
$GC,4118,-1.05,-146.6,472.9,-15.8,235,4122,0.00,2.60,0.00,0.000,6,0.000,0.060,2513,2103,3430
$GC,4439,-1.05,-146.6,521.5,-18.6,255,4443,0.00,2.47,0.00,0.000,4,0.000,0.063,2513,713,3430
$GC,4545,-1.09,-146.6,539.7,-16.4,261,4551,0.00,2.47,0.00,0.000,6,0.000,0.051,2513,2107,3430
$GC,4865,-1.09,-146.6,583.8,-11.0,282,4869,0.00,2.62,0.00,0.000,4,0.000,0.075,2513,3534,3430
$GC,4912,-1.09,-146.6,588.9,-11.7,285,4916,0.00,2.62,0.00,0.000,6,0.000,0.063,2513,2095,3430
$STATE,5124,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5124,begin apogee
$GC,5131,-0.33,0.0,609.1,8.6,299,5267,0.75,0.00,132.57,1.216,6,0.074,0.000,2675,1843,2831
$STATE,5268,end apogee,CONTROL_FINISHED_OK
$STATE,5268,begin climb
$GC,5272,1.22,146.6,613.7,0.0,308,5414,1.52,2.62,132.35,1.176,4,0.059,0.074,3011,453,2233
$GC,5608,1.11,146.6,592.9,11.1,328,5613,0.15,2.53,0.00,0.000,6,0.096,0.054,2983,1847,2232
$GC,5927,1.11,146.6,556.6,14.2,348,5931,0.00,2.60,0.00,0.000,4,0.000,0.073,2983,3261,2231
$GC,5978,1.11,146.6,549.0,15.6,351,5983,0.00,2.60,0.00,0.000,6,0.000,0.066,2983,1859,2231
$GC,6298,1.11,146.6,513.1,11.0,371,6303,0.00,2.62,0.00,0.000,4,0.000,0.070,2983,3262,2230
$GC,6354,1.11,146.6,506.0,12.4,374,6360,0.00,2.58,0.00,0.000,6,0.000,0.065,2983,1869,2230
$GC,6673,1.11,146.6,472.9,10.0,395,6678,0.00,2.62,0.00,0.000,4,0.000,0.073,2983,432,2230
$GC,6689,1.11,146.6,471.1,9.8,396,6694,0.00,2.65,0.00,0.000,6,0.000,0.055,2983,1899,2230
$GC,7009,1.25,236.4,449.1,4.7,416,7096,0.17,2.60,78.35,1.136,4,0.056,0.067,3030,3261,1867
$GC,7114,1.21,236.4,441.4,9.4,422,7121,0.12,2.55,0.00,0.000,6,0.100,0.062,3007,1893,1867
$GC,7433,1.22,243.3,415.7,7.7,443,7449,0.00,2.58,7.62,0.931,4,0.000,0.065,3008,3251,1839
$GC,7486,1.22,243.3,411.5,8.4,446,7490,0.00,2.47,0.00,0.000,6,0.000,0.059,3007,1900,1839
$GC,7810,1.22,243.3,384.8,8.7,467,7813,0.00,2.53,0.00,0.000,4,0.000,0.065,3008,3264,1839
$GC,7844,1.22,243.3,381.7,9.4,469,7848,0.00,2.45,0.00,0.000,6,0.000,0.058,3008,1917,1839
$GC,8169,1.22,243.4,354.4,8.0,490,8173,0.00,2.47,0.00,0.000,4,0.000,0.064,3008,3262,1839
$GC,8203,1.22,243.4,351.4,8.5,492,8207,0.00,2.42,0.00,0.000,6,0.000,0.059,3007,1921,1839
$GC,8533,1.22,243.4,325.9,8.2,513,8537,0.00,2.45,0.00,0.000,4,0.000,0.064,3008,3262,1839
$GC,8572,1.22,243.4,322.7,8.2,515,8578,0.00,2.40,0.00,0.000,6,0.000,0.055,3008,1933,1839
$GC,8891,1.22,243.4,295.4,9.0,536,8895,0.00,2.42,0.00,0.000,4,0.000,0.063,3007,3255,1839
$GC,8908,1.22,243.4,293.9,8.6,537,8912,0.00,2.35,0.00,0.000,6,0.000,0.054,3008,1950,1839
$GC,9227,1.22,243.4,265.7,8.1,557,9232,0.00,2.40,0.00,0.000,4,0.000,0.062,3007,3259,1840
$GC,9261,1.22,243.4,262.5,9.1,559,9265,0.00,2.33,0.00,0.000,6,0.000,0.054,3008,1969,1840
$GC,9580,1.22,243.4,232.1,9.7,579,9584,0.00,2.38,0.00,0.000,4,0.000,0.062,3007,3264,1840
$GC,9596,1.22,243.4,230.4,9.9,580,9600,0.00,2.30,0.00,0.000,6,0.000,0.052,3008,1980,1840
$GC,9922,1.24,259.6,202.4,7.4,601,9939,0.00,0.00,15.62,0.904,6,0.000,0.000,3008,1980,1772
$GC,10249,1.46,392.5,186.2,3.2,622,10362,0.25,0.00,110.90,0.930,6,0.048,0.000,3071,1980,1231
$GC,10671,1.36,392.5,142.0,12.7,648,10676,0.15,2.80,0.00,0.000,4,0.091,0.065,3042,434,1233
$GC,10689,1.27,392.5,139.1,12.9,649,10695,0.10,2.78,0.00,0.000,6,0.097,0.048,3021,1995,1234
$GC,11018,1.30,392.5,104.6,11.8,665,11023,0.00,2.85,0.00,0.000,4,0.000,0.064,3021,444,1234
$GC,11059,1.30,392.5,99.4,12.2,667,11063,0.00,2.70,0.00,0.000,6,0.000,0.048,3021,1964,1234
$GC,11387,1.34,392.5,61.2,11.6,683,11392,0.00,2.80,0.00,0.000,4,0.000,0.064,3021,439,1235
$GC,11405,1.38,392.5,59.0,11.3,684,11410,0.12,2.67,0.00,0.000,6,0.055,0.048,3055,1943,1234
$GC,11733,1.38,392.5,17.9,12.4,700,11737,0.00,2.75,0.00,0.000,4,0.000,0.062,3055,435,1235
$GC,11767,1.32,392.5,13.1,13.7,701,11774,0.12,2.65,0.00,0.000,6,0.090,0.048,3030,1933,1235
$STATE,11853,end climb,SURFACE_DEPTH_REACHED
$STATE,11853,begin surface coast
$FINISH,0.4,1.014494
$STATE,11875,end surface coast,CONTROL_FINISHED_OK
$STATE,11875,begin surface
$SM_CCo,11959,0.00,0.000,0,0,1234,391.74
$SM_GC,1.38,11.35,0.00,0.00,0.038,0.000,0.000,419,2156,1234,-10.60,0.74,391.74
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1822
$TCM_TEMP,17.20
$XPDR_PINGS,56
$ALTIM_BOTTOM_PING,595.9,22.5
$24V_AH,23.8,55.605
$10V_AH,10.1,25.062
$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,26.475,143.650,477.425,0.000,0.000,37.763,30.956,146.694,19.750,0.000,0.000,13.940,1264.439,8454.615,577.820,1506.178,494.085,33.364,1372.098,0.000,1463.979,0.000,42.330,0.000
$DEVICE_MAMPS,162.604,75.166,1215.695,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.385,517.652,426.502,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34835,707
$CAP_FILE_SIZE,105379,0
$CFSIZE,254472192,233525248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,211009,081437,6253.800,-1230.042,33,1.7,33,-11.7