version: 66.04
glider: 5
mission: 7
dive: 353
start: 10 23 109 4 58 27
data:
$ID,5
$MISSION,7
$DIVE,353
$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,-107041.51
$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,27
$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
$GPS1,044940,6247.003,-1206.589,41,2.0,50,-11.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-66.5
$GPS2,045738,6246.957,-1206.707,12,1.8,12,-11.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.220,0.109
$KALMAN_X,-89025.4,1432.1,442.1,130415.9,-13233.2
$KALMAN_Y,41757.7,-130.0,-416.7,-117745.2,-1124.1
$MHEAD_RNG_PITCHd_Wd,75.1,18760,-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,-61.17,0.000,2,0.000,0.000,417,2125,2734
$GC,83,-1.22,-146.6,2.8,-3.6,3,126,11.40,2.55,-24.25,0.000,4,0.163,0.075,2473,3533,3430
$GC,183,-1.11,-146.6,13.6,-12.9,7,188,0.15,2.53,0.00,0.000,6,0.104,0.048,2503,2118,3431
$GC,500,-1.05,-146.6,50.3,-11.7,22,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2105,3431
$GC,810,-1.01,-146.6,87.3,-12.0,37,812,0.10,0.00,0.00,0.000,6,0.096,0.000,2523,2105,3431
$GC,1119,-1.01,-146.6,115.8,-8.1,52,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2105,3431
$GC,1428,-1.01,-146.6,140.6,-7.7,67,1432,0.00,2.60,0.00,0.000,4,0.000,0.065,2523,3530,3432
$GC,1462,-1.01,-146.6,143.5,-8.1,68,1468,0.00,2.53,0.00,0.000,6,0.000,0.051,2523,2116,3432
$GC,1785,-1.01,-146.6,169.7,-8.6,88,1790,0.00,2.47,0.00,0.000,4,0.000,0.060,2523,720,3432
$GC,1842,-1.06,-146.6,174.9,-9.0,91,1847,0.00,2.50,0.00,0.000,6,0.000,0.048,2523,2135,3432
$GC,2162,-1.06,-146.6,204.0,-9.1,111,2167,0.00,2.55,0.00,0.000,4,0.000,0.059,2523,720,3432
$GC,2213,-1.10,-146.6,208.8,-9.2,114,2217,0.00,2.47,0.00,0.000,6,0.000,0.048,2523,2118,3432
$GC,2534,-1.10,-146.6,238.2,-9.6,134,2539,0.00,2.53,0.00,0.000,4,0.000,0.061,2523,718,3432
$GC,2574,-1.14,-146.6,242.5,-10.5,136,2581,0.15,2.45,0.00,0.000,6,0.057,0.048,2482,2101,3432
$GC,2896,-1.07,-146.6,280.0,-12.0,157,2898,0.12,0.00,0.00,0.000,6,0.097,0.000,2509,2102,3432
$GC,3205,-1.07,-146.6,313.1,-10.5,177,3209,0.00,2.53,0.00,0.000,4,0.000,0.063,2509,713,3432
$GC,3275,-1.07,-146.6,320.6,-11.1,181,3279,0.00,2.45,0.00,0.000,6,0.000,0.050,2509,2095,3432
$GC,3599,-1.07,-146.6,356.0,-11.0,202,3604,0.00,2.50,0.00,0.000,4,0.000,0.062,2509,716,3432
$GC,3639,-1.07,-146.6,360.5,-11.3,204,3645,0.00,2.42,0.00,0.000,6,0.000,0.050,2509,2081,3432
$GC,3958,-1.07,-146.6,394.7,-10.6,225,3965,0.00,2.47,0.00,0.000,4,0.000,0.064,2509,721,3432
$GC,3989,-1.07,-146.6,398.0,-10.9,226,3995,0.00,2.40,0.00,0.000,6,0.000,0.051,2509,2071,3432
$GC,4309,-1.07,-146.6,433.3,-11.4,247,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2071,3431
$GC,4620,-1.07,-146.6,468.4,-10.8,267,4625,0.00,2.45,0.00,0.000,4,0.000,0.063,2509,720,3431
$GC,4666,-1.07,-146.6,473.3,-11.0,270,4670,0.00,2.42,0.00,0.000,6,0.000,0.051,2509,2081,3431
$GC,4991,-1.07,-146.6,507.5,-10.9,291,4995,0.00,2.50,0.00,0.000,4,0.000,0.066,2509,716,3431
$GC,5048,-1.07,-146.6,513.9,-11.0,294,5052,0.00,2.40,0.00,0.000,6,0.000,0.053,2509,2059,3431
$GC,5367,-1.07,-146.6,548.0,-10.5,314,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2060,3431
$GC,5679,-1.07,-146.6,578.1,-8.9,334,5683,0.00,2.45,0.00,0.000,4,0.000,0.067,2509,721,3431
$GC,5714,-1.10,-146.6,581.3,-9.1,336,5718,0.00,2.40,0.00,0.000,6,0.000,0.054,2509,2063,3431
$GC,6033,-1.10,-146.6,610.0,-8.7,356,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2064,3431
$GC,6346,-1.10,-146.6,636.6,-8.2,376,6350,0.00,2.50,0.00,0.000,4,0.000,0.074,2509,716,3430
$GC,6448,-1.14,-146.6,645.8,-8.4,382,6453,0.00,2.42,0.00,0.000,6,0.000,0.058,2509,2061,3430
$STATE,6718,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6718,begin apogee
$GC,6726,-0.33,0.0,671.1,11.1,399,6863,0.75,0.00,133.70,1.276,6,0.077,0.000,2669,1832,2832
$STATE,6864,end apogee,CONTROL_FINISHED_OK
$STATE,6864,begin climb
$GC,6867,1.22,146.6,674.3,0.0,408,7014,1.55,2.67,135.57,1.223,4,0.059,0.081,3009,460,2233
$GC,7139,1.10,146.6,659.4,8.6,424,7145,0.12,2.55,0.00,0.000,6,0.096,0.058,2986,1856,2233
$GC,7458,1.16,182.7,638.6,6.7,445,7498,0.00,2.67,33.38,1.200,4,0.000,0.073,2986,3253,2086
$GC,7559,1.19,203.6,631.7,7.2,451,7584,0.00,2.60,20.40,1.167,6,0.000,0.071,2986,1872,2000
$GC,7901,1.22,220.3,606.1,7.4,472,7919,0.10,0.00,15.62,1.148,6,0.065,0.000,3012,1872,1933
$GC,8227,1.18,220.3,576.0,9.4,493,8228,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1872,1932
$GC,8538,1.14,220.3,546.5,9.6,513,8542,0.00,2.60,0.00,0.000,4,0.000,0.073,3012,3258,1932
$GC,8571,1.14,220.3,543.2,10.5,515,8575,0.00,2.60,0.00,0.000,6,0.000,0.068,3012,1861,1931
$GC,8891,1.11,220.3,515.9,8.7,535,8896,0.15,2.60,0.00,0.000,4,0.097,0.069,2983,3254,1930
$GC,8976,1.18,231.2,509.0,7.6,540,8992,0.00,2.53,10.80,1.085,6,0.000,0.064,2983,1883,1888
$GC,9316,1.22,231.2,481.9,9.0,562,9318,0.12,0.00,0.00,0.000,6,0.060,0.000,3016,1883,1888
$GC,9624,1.19,231.2,449.0,10.0,582,9628,0.00,2.55,0.00,0.000,4,0.000,0.066,3016,3261,1888
$GC,9663,1.19,231.2,445.1,10.2,584,9669,0.00,2.53,0.00,0.000,6,0.000,0.061,3015,1880,1888
$GC,9982,1.19,231.2,415.8,9.2,605,9986,0.00,2.55,0.00,0.000,4,0.000,0.064,3016,3263,1887
$GC,10027,1.19,231.2,411.6,9.2,608,10031,0.00,2.47,0.00,0.000,6,0.000,0.059,3016,1900,1888
$GC,10352,1.19,231.2,383.7,8.7,629,10356,0.00,2.50,0.00,0.000,4,0.000,0.064,3016,3261,1888
$GC,10390,1.19,231.2,380.0,9.3,631,10396,0.00,2.45,0.00,0.000,6,0.000,0.058,3016,1909,1888
$GC,10709,1.19,231.2,352.3,8.7,652,10713,0.00,2.47,0.00,0.000,4,0.000,0.063,3016,3258,1888
$GC,10743,1.19,231.2,349.1,9.1,654,10748,0.00,2.42,0.00,0.000,6,0.000,0.057,3016,1917,1888
$GC,11062,1.19,231.2,321.2,8.7,674,11067,0.00,2.45,0.00,0.000,4,0.000,0.063,3016,3257,1888
$GC,11096,1.19,231.2,318.2,8.3,676,11100,0.00,2.40,0.00,0.000,6,0.000,0.056,3016,1925,1888
$GC,11416,1.20,239.9,293.1,7.7,696,11433,0.00,2.47,9.73,0.904,4,0.000,0.062,3016,3263,1852
$GC,11468,1.22,249.7,289.1,7.6,699,11485,0.00,2.38,9.68,0.903,6,0.000,0.054,3016,1951,1813
$GC,11800,1.24,260.9,263.7,7.6,720,11813,0.00,0.00,11.43,0.904,6,0.000,0.000,3016,1951,1767
$GC,12125,1.25,269.7,238.1,7.7,741,12141,0.00,2.45,8.88,0.858,4,0.000,0.061,3015,3258,1731
$GC,12164,1.25,269.7,234.8,8.4,743,12168,0.00,2.38,0.00,0.000,6,0.000,0.054,3016,1948,1731
$GC,12484,1.25,269.7,208.7,8.3,763,12485,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1948,1731
$GC,12795,1.25,269.7,182.5,8.6,783,12799,0.00,2.40,0.00,0.000,4,0.000,0.061,3016,3262,1731
$GC,12824,1.25,269.7,179.9,9.5,785,12828,0.00,2.35,0.00,0.000,6,0.000,0.052,3016,1949,1731
$GC,13149,1.25,269.7,150.9,8.9,806,13153,0.00,2.38,0.00,0.000,4,0.000,0.060,3016,3254,1731
$GC,13171,1.25,269.7,148.7,9.6,808,13176,0.00,2.30,0.00,0.000,6,0.000,0.051,3016,1966,1731
$GC,13494,1.25,269.7,119.4,8.8,824,13499,0.00,2.72,0.00,0.000,4,0.000,0.064,3015,443,1732
$GC,13557,1.25,269.7,113.6,9.0,827,13562,0.00,2.67,0.00,0.000,6,0.000,0.048,3016,1956,1732
$GC,13887,1.28,290.5,88.0,7.2,843,13913,0.00,2.85,18.73,0.831,4,0.000,0.062,3016,445,1646
$GC,13927,1.28,290.5,84.7,8.3,845,13932,0.00,2.70,0.00,0.000,6,0.000,0.048,3016,1952,1646
$GC,14255,1.28,290.5,59.2,8.0,861,14260,0.00,2.78,0.00,0.000,4,0.000,0.063,3016,436,1646
$GC,14282,1.28,290.5,56.8,8.6,862,14287,0.00,2.65,0.00,0.000,6,0.000,0.048,3016,1928,1645
$GC,14599,1.28,290.5,31.1,8.4,877,14600,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1928,1646
$GC,14908,1.28,290.5,4.1,8.9,892,14912,0.00,2.72,0.00,0.000,4,0.000,0.061,3016,432,1646
$STATE,14915,end climb,SURFACE_DEPTH_REACHED
$STATE,14916,begin surface coast
$FINISH,1.2,1.027265
$STATE,14933,end surface coast,CONTROL_FINISHED_OK
$STATE,14933,begin surface
$SM_CCo,14960,5.03,0.603,0,0,1607,300.00
$SM_GC,2.41,0.00,0.00,5.03,0.000,0.000,0.603,418,2143,1607,-10.70,0.37,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1828
$TCM_TEMP,19.10
$XPDR_PINGS,57
$ALTIM_BOTTOM_PING,645.3,34.5
$24V_AH,23.7,57.562
$10V_AH,10.1,25.988
$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,26.025,146.800,407.900,5.025,0.000,75.523,55.918,150.080,20.500,0.000,0.000,12.379,1566.725,10914.716,534.657,1816.430,609.435,33.352,1459.068,0.000,1775.145,0.000,45.553,0.000
$DEVICE_MAMPS,162.604,80.535,1275.521,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,611.709,651.302,526.226,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44290,893
$CAP_FILE_SIZE,123178,0
$CFSIZE,254472192,232796160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,231009,090907,6247.027,-1206.724,34,0.9,34,-11.4