version: 66.04
glider: 5
mission: 7
dive: 345
start: 10 21 109 22 9 33
data:
$ID,5
$MISSION,7
$DIVE,345
$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,-106930.84
$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,29
$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
$GPS1,220307,6253.652,-1224.344,36,1.2,36,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-61.3
$GPS2,220844,6253.687,-1224.410,13,1.4,13,-11.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.234,-0.075
$KALMAN_X,-73289.6,1995.2,1559.6,98339.1,-23058.8
$KALMAN_Y,46879.2,-411.8,337.6,-110893.0,1687.8
$MHEAD_RNG_PITCHd_Wd,119.3,37090,-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,-146.6,0.0,0.0,0,61,0.00,0.00,-41.12,0.000,2,0.000,0.000,424,2129,2416
$GC,65,-1.22,-146.6,2.2,-4.2,2,136,11.27,2.60,-53.20,0.000,4,0.157,0.072,2470,717,3430
$GC,154,-1.10,-146.6,6.6,-15.8,6,160,0.17,2.50,0.00,0.000,6,0.097,0.047,2507,2128,3429
$GC,477,-1.06,-146.6,44.0,-11.2,22,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2128,3430
$GC,786,-1.03,-146.6,76.4,-9.9,37,790,0.00,2.58,0.00,0.000,4,0.000,0.061,2507,711,3430
$GC,814,-1.03,-146.6,79.2,-9.8,38,818,0.00,2.50,0.00,0.000,6,0.000,0.048,2507,2123,3430
$GC,1131,-1.03,-146.6,111.6,-10.9,53,1136,0.00,2.58,0.00,0.000,4,0.000,0.061,2507,705,3430
$GC,1172,-1.03,-146.6,116.2,-11.3,55,1176,0.00,2.50,0.00,0.000,6,0.000,0.048,2507,2117,3430
$GC,1495,-1.03,-146.6,152.1,-11.4,71,1499,0.00,2.55,0.00,0.000,4,0.000,0.061,2507,708,3431
$GC,1540,-1.03,-146.6,157.6,-11.7,74,1545,0.00,2.47,0.00,0.000,6,0.000,0.048,2508,2102,3431
$GC,1866,-1.03,-146.6,194.6,-11.5,95,1870,0.00,2.53,0.00,0.000,4,0.000,0.063,2507,712,3431
$GC,1904,-1.03,-146.6,199.4,-12.0,97,1908,0.00,2.45,0.00,0.000,6,0.000,0.049,2507,2096,3430
$GC,2223,-1.03,-146.6,236.3,-11.8,117,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2096,3431
$GC,2536,-1.03,-146.6,273.3,-12.1,137,2540,0.00,2.50,0.00,0.000,4,0.000,0.061,2507,716,3431
$GC,2587,-1.03,-146.6,279.7,-11.9,140,2591,0.00,2.42,0.00,0.000,6,0.000,0.050,2507,2084,3430
$GC,2911,-1.03,-146.6,316.0,-11.0,161,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2084,3431
$GC,3226,-1.03,-146.6,349.3,-10.3,181,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2084,3431
$GC,3538,-1.03,-146.6,380.6,-10.4,201,3542,0.00,2.50,0.00,0.000,4,0.000,0.065,2507,715,3430
$GC,3601,-1.03,-146.6,387.5,-10.5,205,3605,0.00,2.42,0.00,0.000,6,0.000,0.051,2507,2074,3431
$GC,3926,-1.03,-146.6,420.5,-9.9,226,3931,0.00,2.67,0.00,0.000,4,0.000,0.071,2507,3538,3430
$GC,3972,-1.03,-146.6,425.4,-10.0,229,3977,0.00,2.67,0.00,0.000,6,0.000,0.060,2507,2066,3430
$GC,4297,-1.03,-146.6,459.8,-11.4,250,4302,0.00,2.42,0.00,0.000,4,0.000,0.065,2507,713,3430
$GC,4344,-1.06,-146.6,465.2,-11.4,253,4348,0.00,2.42,0.00,0.000,6,0.000,0.051,2507,2077,3430
$GC,4669,-1.06,-146.6,501.2,-10.7,274,4673,0.00,2.65,0.00,0.000,4,0.000,0.073,2507,3527,3430
$GC,4698,-1.06,-146.6,504.4,-11.4,276,4702,0.00,2.65,0.00,0.000,6,0.000,0.061,2507,2064,3430
$GC,5022,-1.06,-146.6,534.0,-8.4,297,5026,0.00,2.42,0.00,0.000,4,0.000,0.068,2507,716,3430
$GC,5067,-1.11,-146.6,537.9,-8.5,299,5073,0.00,2.40,0.00,0.000,6,0.000,0.052,2507,2063,3430
$GC,5386,-1.11,-146.6,566.6,-9.4,320,5391,0.00,2.70,0.00,0.000,4,0.000,0.074,2507,3535,3430
$GC,5442,-1.11,-146.6,571.7,-9.4,323,5448,0.00,2.67,0.00,0.000,6,0.000,0.061,2507,2062,3430
$STATE,5697,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5697,begin apogee
$GC,5706,-0.33,0.0,596.6,10.3,340,5841,0.77,0.00,131.48,1.215,6,0.079,0.000,2672,1843,2831
$STATE,5841,end apogee,CONTROL_FINISHED_OK
$STATE,5841,begin climb
$GC,5845,1.22,146.6,602.4,0.0,349,5990,1.52,2.65,133.52,1.168,4,0.055,0.074,3010,458,2233
$GC,6039,1.19,198.7,594.9,6.1,361,6092,0.00,2.53,45.60,1.154,6,0.000,0.054,3009,1862,2020
$GC,6405,1.15,198.7,563.2,8.9,385,6410,0.00,2.58,0.00,0.000,4,0.000,0.073,3009,3244,2020
$GC,6458,1.15,198.7,558.1,9.7,388,6462,0.00,2.55,0.00,0.000,6,0.000,0.066,3009,1871,2019
$GC,6777,1.11,198.7,528.1,9.0,408,6782,0.12,2.58,0.00,0.000,4,0.095,0.070,2986,3245,2018
$GC,6833,1.11,198.7,522.9,8.8,411,6839,0.00,2.53,0.00,0.000,6,0.000,0.067,2986,1882,2018
$GC,7153,1.11,198.7,495.6,8.2,432,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1882,2017
$GC,7464,1.11,198.7,466.2,10.4,452,7468,0.00,2.53,0.00,0.000,4,0.000,0.069,2986,3238,2016
$GC,7579,1.11,198.7,454.2,10.7,459,7583,0.00,2.47,0.00,0.000,6,0.000,0.062,2986,1885,2016
$GC,7903,1.11,198.7,420.0,11.4,480,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1885,2016
$GC,8215,1.11,198.7,386.7,10.4,500,8219,0.00,2.50,0.00,0.000,4,0.000,0.065,2987,3248,2016
$GC,8255,1.16,198.7,382.6,10.0,502,8261,0.00,2.47,0.00,0.000,6,0.000,0.058,2987,1884,2016
$GC,8574,1.16,198.7,354.6,8.6,523,8579,0.00,2.50,0.00,0.000,4,0.000,0.064,2986,3244,2016
$GC,8632,1.20,198.7,349.5,9.0,526,8638,0.00,2.42,0.00,0.000,6,0.000,0.057,2986,1901,2015
$GC,8951,1.24,204.4,323.9,7.8,547,8963,0.12,2.47,5.90,0.831,4,0.059,0.062,3021,3238,1997
$GC,8991,1.24,204.4,320.1,9.1,548,8997,0.00,2.40,0.00,0.000,6,0.000,0.055,3021,1914,1996
$GC,9311,1.21,204.4,289.7,9.5,569,9315,0.00,2.45,0.00,0.000,4,0.000,0.062,3021,3250,1996
$GC,9350,1.21,204.4,285.6,9.4,571,9356,0.00,2.40,0.00,0.000,6,0.000,0.054,3021,1913,1996
$GC,9670,1.17,204.4,255.0,10.1,592,9674,0.00,2.42,0.00,0.000,4,0.000,0.061,3021,3238,1997
$GC,9698,1.17,204.4,252.0,10.3,594,9702,0.00,2.35,0.00,0.000,6,0.000,0.053,3021,1927,1997
$GC,10023,1.14,204.4,220.1,9.7,615,10024,0.15,0.00,0.00,0.000,6,0.089,0.000,2992,1927,1997
$GC,10335,1.17,204.4,193.5,8.1,635,10340,0.00,2.40,0.00,0.000,4,0.000,0.061,2992,3242,1997
$GC,10382,1.23,204.4,189.4,8.9,638,10386,0.00,2.35,0.00,0.000,6,0.000,0.051,2992,1923,1998
$GC,10707,1.27,210.0,163.5,7.8,659,10723,0.15,2.42,6.65,0.770,4,0.054,0.060,3032,3238,1973
$GC,10769,1.24,210.0,157.4,10.9,662,10775,0.00,2.33,0.00,0.000,6,0.000,0.050,3032,1938,1973
$GC,11102,1.19,210.0,124.5,10.0,680,11107,0.15,2.38,0.00,0.000,4,0.087,0.059,3002,3243,1973
$GC,11136,1.22,210.0,121.2,8.7,681,11142,0.00,2.30,0.00,0.000,6,0.000,0.050,3002,1950,1973
$GC,11454,1.22,210.0,93.2,8.8,697,11458,0.00,2.35,0.00,0.000,4,0.000,0.059,3002,3244,1973
$GC,11510,1.26,210.0,88.3,8.5,699,11516,0.00,2.28,0.00,0.000,6,0.000,0.048,3002,1979,1974
$GC,11827,1.26,210.0,62.3,8.5,715,11828,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1979,1974
$GC,12135,1.30,234.6,38.4,7.1,730,12162,0.12,2.35,21.12,0.814,4,0.056,0.058,3036,3245,1873
$GC,12179,1.30,234.6,34.0,10.5,732,12183,0.00,2.28,0.00,0.000,6,0.000,0.048,3036,1979,1873
$STATE,12498,end climb,SURFACE_DEPTH_REACHED
$STATE,12498,begin surface coast
$FINISH,0.5,1.027222
$STATE,12519,end surface coast,CONTROL_FINISHED_OK
$STATE,12523,begin surface
$SM_CCo,12546,34.30,0.798,0,0,1608,300.00
$SM_GC,1.45,0.00,0.00,34.30,0.000,0.000,0.798,421,2134,1608,-10.69,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1821
$TCM_TEMP,17.40
$XPDR_PINGS,47
$ALTIM_BOTTOM_PING,520.8,84.4
$24V_AH,23.8,56.350
$10V_AH,10.1,25.397
$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,25.950,129.650,344.275,34.300,0.000,37.761,30.819,140.763,16.250,0.000,0.000,13.382,1328.005,9053.146,512.125,1532.241,491.987,33.356,1301.303,0.000,1501.697,0.000,31.947,0.000
$DEVICE_MAMPS,157.235,73.632,1214.928,797.680,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,511.882,545.859,465.860,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37929,749
$CAP_FILE_SIZE,106045,0
$CFSIZE,254472192,233271296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,221009,014046,6253.376,-1220.788,44,1.7,52,-11.6