version: 66.04
glider: 5
mission: 7
dive: 341
start: 10 21 109 8 24 33
data:
$ID,5
$MISSION,7
$DIVE,341
$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,-106851.91
$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,40
$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
$GPS1,081437,6253.800,-1230.042,33,1.7,33,-11.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-56.6
$GPS2,082344,6253.857,-1230.220,13,1.7,13,-11.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.236,-0.068
$KALMAN_X,-64533.6,1575.5,1165.2,85614.9,-24353.7
$KALMAN_Y,45573.9,-860.6,659.3,-109134.8,1291.4
$MHEAD_RNG_PITCHd_Wd,117.7,41707,-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,15,-1.22,-146.6,0.0,0.0,0,99,0.00,0.00,-81.25,0.000,2,0.000,0.000,418,2146,2844
$GC,103,-1.22,-146.6,3.1,-3.0,4,138,11.35,2.62,-17.65,0.000,4,0.159,0.071,2470,720,3430
$GC,243,-1.14,-146.6,23.2,-13.5,10,248,0.12,2.50,0.00,0.000,6,0.100,0.048,2495,2128,3431
$GC,565,-1.08,-146.6,63.4,-12.8,26,569,0.00,2.58,0.00,0.000,4,0.000,0.063,2495,716,3431
$GC,631,-1.08,-146.6,72.4,-13.1,29,636,0.00,2.47,0.00,0.000,6,0.000,0.049,2495,2108,3431
$GC,956,-1.02,-146.6,111.8,-12.1,45,961,0.12,2.60,0.00,0.000,4,0.097,0.066,2522,3538,3431
$GC,983,-1.02,-146.6,115.5,-11.1,46,988,0.00,2.58,0.00,0.000,6,0.000,0.051,2522,2101,3431
$GC,1301,-1.02,-146.6,149.9,-10.7,61,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2085,3431
$GC,1619,-1.02,-146.6,183.2,-10.8,81,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2083,3431
$GC,1929,-1.02,-146.6,215.7,-10.1,101,1934,0.00,2.65,0.00,0.000,4,0.000,0.067,2522,3534,3431
$GC,1963,-1.02,-146.6,219.6,-10.9,103,1968,0.00,2.58,0.00,0.000,6,0.000,0.054,2522,2099,3431
$GC,2287,-1.02,-146.6,254.6,-10.5,124,2292,0.00,2.47,0.00,0.000,4,0.000,0.063,2522,715,3431
$GC,2317,-1.02,-146.6,257.5,-10.3,126,2321,0.00,2.50,0.00,0.000,6,0.000,0.050,2522,2123,3431
$GC,2642,-1.02,-146.6,290.2,-10.3,147,2646,0.00,2.58,0.00,0.000,4,0.000,0.065,2522,709,3431
$GC,2680,-1.07,-146.6,294.4,-10.5,149,2686,0.00,2.47,0.00,0.000,6,0.000,0.051,2522,2100,3431
$GC,3000,-1.07,-146.6,326.8,-10.4,170,3004,0.00,2.53,0.00,0.000,4,0.000,0.066,2522,718,3431
$GC,3034,-1.10,-146.6,330.6,-10.8,172,3038,0.00,2.45,0.00,0.000,6,0.000,0.051,2522,2097,3431
$GC,3353,-1.10,-146.6,366.2,-11.8,192,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2097,3431
$GC,3668,-1.10,-146.6,405.7,-13.0,212,3672,0.00,2.53,0.00,0.000,4,0.000,0.065,2522,714,3431
$GC,3707,-1.15,-146.6,411.2,-12.8,214,3714,0.15,2.42,0.00,0.000,6,0.054,0.051,2482,2077,3431
$GC,4029,-1.08,-146.6,457.3,-14.3,235,4034,0.12,2.50,0.00,0.000,4,0.094,0.067,2508,715,3431
$GC,4068,-1.08,-146.6,463.1,-12.8,237,4074,0.00,2.42,0.00,0.000,6,0.000,0.052,2507,2073,3431
$GC,4387,-1.08,-146.6,500.8,-12.1,258,4392,0.00,2.67,0.00,0.000,4,0.000,0.071,2508,3540,3431
$GC,4468,-1.08,-146.6,509.9,-10.9,263,4472,0.00,2.67,0.00,0.000,6,0.000,0.060,2508,2057,3430
$GC,4792,-1.08,-146.6,537.4,-7.9,284,4796,0.00,2.72,0.00,0.000,4,0.000,0.071,2508,3534,3431
$GC,4906,-1.08,-146.6,546.3,-8.3,291,4910,0.00,2.60,0.00,0.000,6,0.000,0.059,2508,2090,3431
$GC,5230,-1.08,-146.6,569.5,-6.9,312,5235,0.00,2.67,0.00,0.000,4,0.000,0.074,2508,3530,3430
$GC,5319,-1.08,-146.6,575.3,-6.9,317,5325,0.00,2.58,0.00,0.000,6,0.000,0.063,2507,2123,3430
$STATE,5604,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5604,begin apogee
$GC,5613,-0.33,0.0,598.6,8.2,336,5749,0.77,0.00,132.75,1.221,6,0.078,0.000,2673,1834,2831
$STATE,5750,end apogee,CONTROL_FINISHED_OK
$STATE,5750,begin climb
$GC,5753,1.22,146.6,604.2,0.0,345,5892,1.55,0.00,134.95,1.170,6,0.065,0.000,3007,1834,2234
$GC,6205,1.13,146.6,573.8,8.2,374,6209,0.00,2.65,0.00,0.000,4,0.000,0.070,3007,3255,2232
$GC,6285,1.09,154.5,567.3,7.7,379,6302,0.15,2.55,8.57,0.992,6,0.096,0.066,2980,1872,2199
$GC,6617,1.15,194.4,544.1,6.6,400,6657,0.00,2.62,35.05,1.162,4,0.000,0.070,2980,3249,2038
$GC,6718,1.24,224.2,537.4,6.9,406,6751,0.15,2.58,27.20,1.141,6,0.059,0.066,3018,1868,1916
$GC,7063,1.35,322.4,517.5,4.4,428,7157,0.00,2.65,85.40,1.167,4,0.000,0.070,3018,3256,1516
$GC,7222,1.38,322.4,504.3,11.1,437,7229,0.12,2.55,0.00,0.000,6,0.061,0.065,3049,1878,1517
$GC,7541,1.30,322.4,458.6,15.2,458,7546,0.12,2.58,0.00,0.000,4,0.096,0.067,3026,3258,1517
$GC,7588,1.30,322.4,452.4,12.8,461,7592,0.00,2.50,0.00,0.000,6,0.000,0.064,3026,1899,1517
$GC,7912,1.30,322.4,416.1,9.9,482,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1899,1517
$GC,8226,1.30,322.4,387.9,8.9,502,8230,0.00,2.50,0.00,0.000,4,0.000,0.065,3026,3252,1517
$GC,8261,1.30,322.4,384.7,8.9,504,8265,0.00,2.42,0.00,0.000,6,0.000,0.059,3026,1924,1518
$GC,8580,1.30,322.4,355.3,9.8,524,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1924,1518
$GC,8892,1.30,322.4,321.5,11.4,544,8896,0.00,2.45,0.00,0.000,4,0.000,0.063,3026,3258,1518
$GC,8931,1.30,322.4,317.0,11.3,546,8937,0.00,2.40,0.00,0.000,6,0.000,0.056,3026,1932,1518
$GC,9250,1.30,322.4,279.5,12.2,567,9251,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1931,1518
$GC,9562,1.30,322.4,241.2,12.7,587,9566,0.00,2.42,0.00,0.000,4,0.000,0.061,3026,3258,1519
$GC,9596,1.30,322.4,236.9,12.5,589,9601,0.00,2.38,0.00,0.000,6,0.000,0.054,3026,1937,1519
$GC,9915,1.30,322.4,195.1,14.0,609,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1937,1519
$GC,10228,1.30,322.4,149.9,14.1,629,10232,0.00,2.40,0.00,0.000,4,0.000,0.061,3026,3264,1519
$GC,10269,1.34,322.4,143.9,14.8,631,10273,0.00,2.35,0.00,0.000,6,0.000,0.051,3027,1954,1519
$GC,10602,1.34,322.4,92.8,15.1,647,10603,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1954,1520
$GC,10913,1.34,322.4,54.1,12.4,662,10915,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1953,1520
$GC,11220,1.34,322.4,20.8,10.3,677,11222,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1953,1520
$STATE,11403,end climb,SURFACE_DEPTH_REACHED
$STATE,11403,begin surface coast
$FINISH,0.5,1.027228
$STATE,11425,end surface coast,CONTROL_FINISHED_OK
$STATE,11425,begin surface
$SM_CCo,11509,0.00,0.000,0,0,1519,321.59
$SM_GC,1.41,11.27,0.00,0.00,0.035,0.000,0.000,418,2156,1519,-10.61,0.76,321.59
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1853
$TCM_TEMP,17.10
$XPDR_PINGS,47
$ALTIM_BOTTOM_PING,570.2,37.6
$24V_AH,23.8,55.766
$10V_AH,10.1,25.127
$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,26.025,102.200,423.925,0.000,0.000,75.528,61.937,216.026,16.750,0.000,0.000,13.427,1204.040,8293.212,517.609,1419.639,617.271,33.356,1252.014,0.000,1382.694,0.000,36.187,0.000
$DEVICE_MAMPS,158.769,74.399,1221.064,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,469.255,500.848,400.726,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34863,687
$CAP_FILE_SIZE,98135,0
$CFSIZE,254472192,233480192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,211009,113806,6254.431,-1227.570,47,2.2,66,-11.7