version: 66.04
glider: 5
mission: 7
dive: 258
start: 10 7 109 12 23 56
data:
$ID,5
$MISSION,7
$DIVE,258
$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,-105314.02
$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,25
$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
$GPS1,121634,6402.295,-1240.945,40,2.0,40,-12.3
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-54.7
$GPS2,122309,6402.375,-1240.771,14,2.6,33,-12.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.201,0.140
$KALMAN_X,-15868.7,-3857.7,-59.0,-192358.6,30225.3
$KALMAN_Y,-10683.4,-1760.6,431.8,281922.9,13114.8
$MHEAD_RNG_PITCHd_Wd,317.1,40410,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-60.62,0.000,2,0.000,0.000,419,2138,2701
$GC,83,-1.22,-146.6,2.6,-2.3,3,126,11.18,2.55,-24.62,0.000,4,0.153,0.077,2470,3534,3427
$GC,263,-1.15,-146.6,30.2,-14.7,11,268,0.10,2.53,0.00,0.000,6,0.112,0.048,2490,2120,3428
$GC,591,-1.12,-146.6,74.4,-15.7,27,596,0.00,2.60,0.00,0.000,4,0.000,0.064,2490,3534,3428
$GC,677,-1.12,-146.6,87.8,-15.1,31,681,0.00,2.47,0.00,0.000,6,0.000,0.048,2490,2144,3428
$GC,1004,-1.08,-146.6,131.1,-12.0,47,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2130,3428
$GC,1325,-1.05,-146.6,165.6,-9.8,65,1327,0.12,0.00,0.00,0.000,6,0.097,0.000,2517,2130,3428
$GC,1637,-1.05,-146.6,193.2,-9.0,85,1641,0.00,2.58,0.00,0.000,4,0.000,0.066,2517,3537,3428
$GC,1665,-1.05,-146.6,195.8,-9.6,87,1669,0.00,2.47,0.00,0.000,6,0.000,0.051,2517,2150,3428
$GC,1989,-1.05,-146.6,228.2,-10.3,108,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2139,3428
$GC,2301,-1.05,-146.6,258.0,-8.8,128,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2135,3429
$GC,2614,-1.05,-146.6,286.3,-9.2,148,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2135,3428
$GC,2926,-1.05,-146.6,318.4,-10.7,168,2930,0.00,2.58,0.00,0.000,4,0.000,0.068,2517,3541,3428
$GC,2959,-1.05,-146.6,322.2,-10.9,170,2963,0.00,2.50,0.00,0.000,6,0.000,0.054,2517,2150,3428
$GC,3278,-1.05,-146.6,352.1,-8.5,190,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2139,3428
$GC,3590,-1.05,-146.6,379.3,-8.6,210,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2139,3428
$GC,3903,-1.05,-146.6,409.3,-10.7,230,3907,0.00,2.55,0.00,0.000,4,0.000,0.065,2517,723,3428
$GC,3948,-1.10,-146.6,414.4,-11.1,233,3953,0.00,2.55,0.00,0.000,6,0.000,0.052,2517,2160,3428
$GC,4276,-1.13,-146.6,441.6,-6.9,254,4280,0.00,2.62,0.00,0.000,4,0.000,0.066,2517,722,3428
$GC,4436,-1.17,-146.6,453.7,-7.9,263,4443,0.12,2.53,0.00,0.000,6,0.063,0.053,2484,2139,3428
$GC,4758,-1.14,-146.6,489.9,-11.7,284,4763,0.00,2.60,0.00,0.000,4,0.000,0.071,2484,724,3428
$GC,4825,-1.14,-146.6,497.7,-10.3,288,4830,0.00,2.50,0.00,0.000,6,0.000,0.057,2483,2117,3428
$GC,5144,-1.14,-146.6,533.5,-11.5,308,5148,0.00,2.58,0.00,0.000,4,0.000,0.074,2483,723,3427
$GC,5178,-1.14,-146.6,537.5,-12.6,310,5182,0.00,2.53,0.00,0.000,6,0.000,0.059,2483,2122,3427
$STATE,5416,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5416,begin apogee
$GC,5423,-0.33,0.0,564.4,10.8,325,5556,0.88,0.00,129.35,1.217,6,0.083,0.000,2669,1842,2831
$STATE,5557,end apogee,CONTROL_FINISHED_OK
$STATE,5557,begin climb
$GC,5560,1.22,146.6,570.1,0.0,334,5701,1.55,2.72,128.43,1.174,4,0.064,0.071,3007,3255,2231
$GC,5739,1.21,166.9,563.3,7.3,345,5764,0.00,2.65,18.85,1.086,6,0.000,0.071,3007,1853,2149
$GC,6089,1.20,188.0,538.1,7.2,367,6114,0.00,2.75,19.25,1.108,4,0.000,0.083,3006,416,2064
$GC,6172,1.12,188.0,530.9,8.6,372,6177,0.00,2.65,0.00,0.000,6,0.000,0.062,3007,1857,2064
$GC,6497,1.12,188.0,505.8,8.4,393,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1870,2062
$GC,6809,1.12,188.0,478.7,9.0,413,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1871,2062
$GC,7122,1.12,188.0,453.0,8.3,433,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1872,2061
$GC,7435,1.13,194.8,426.4,7.8,453,7451,0.00,2.70,6.75,0.969,4,0.000,0.077,3007,438,2035
$GC,7503,1.07,194.8,421.0,8.4,457,7508,0.15,2.55,0.00,0.000,6,0.102,0.061,2979,1837,2035
$GC,7827,1.21,281.9,402.9,4.8,478,7908,0.12,2.70,74.78,1.148,4,0.065,0.075,3010,432,1682
$GC,7937,1.17,281.9,393.8,10.1,485,7941,0.00,2.58,0.00,0.000,6,0.000,0.058,3010,1834,1681
$GC,8256,1.17,281.9,364.7,8.3,505,8260,0.00,2.62,0.00,0.000,4,0.000,0.074,3010,433,1682
$GC,8312,1.17,281.9,359.5,9.7,508,8318,0.00,2.50,0.00,0.000,6,0.000,0.058,3010,1811,1682
$GC,8631,1.17,281.9,328.4,10.1,529,8632,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1828,1682
$GC,8944,1.17,281.9,298.1,9.3,549,8945,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1828,1681
$GC,9256,1.17,281.9,268.7,9.7,569,9260,0.00,2.55,0.00,0.000,4,0.000,0.070,3010,432,1681
$GC,9305,1.17,281.9,263.6,10.0,572,9309,0.00,2.42,0.00,0.000,6,0.000,0.052,3010,1787,1681
$GC,9625,1.17,281.9,234.3,8.9,592,9629,0.00,2.65,0.00,0.000,4,0.000,0.061,3010,3264,1682
$GC,9670,1.22,281.9,229.8,10.1,595,9675,0.00,2.70,0.00,0.000,6,0.000,0.056,3010,1773,1682
$GC,9995,1.22,281.9,197.5,9.9,616,10000,0.00,2.72,0.00,0.000,4,0.000,0.061,3010,3264,1683
$GC,10044,1.27,281.9,192.8,10.1,619,10048,0.00,2.65,0.00,0.000,6,0.000,0.054,3010,1793,1683
$GC,10368,1.30,298.9,168.0,7.4,640,10389,0.00,2.72,16.25,0.896,4,0.000,0.058,3010,3261,1611
$GC,10424,1.36,298.9,163.8,8.2,643,10431,0.15,2.65,0.00,0.000,6,0.053,0.052,3049,1800,1611
$GC,10758,1.31,298.9,127.7,12.3,662,10762,0.00,2.65,0.00,0.000,4,0.000,0.058,3049,3257,1611
$GC,10820,1.31,298.9,119.7,12.4,665,10824,0.00,2.55,0.00,0.000,6,0.000,0.051,3049,1834,1612
$GC,11148,1.27,298.9,76.6,13.4,681,11150,0.15,0.00,0.00,0.000,6,0.091,0.000,3020,1833,1613
$GC,11456,1.27,298.9,43.9,12.9,696,11461,0.00,2.60,0.00,0.000,4,0.000,0.058,3020,3265,1613
$GC,11520,1.33,298.9,38.7,8.2,699,11524,0.00,2.55,0.00,0.000,6,0.000,0.051,3020,1838,1613
$GC,11847,1.33,298.9,13.2,9.7,715,11851,0.00,2.50,0.00,0.000,4,0.000,0.063,3020,435,1614
$GC,11888,1.33,298.9,8.0,13.7,717,11892,0.00,2.47,0.00,0.000,6,0.000,0.048,3020,1836,1614
$STATE,11943,end climb,SURFACE_DEPTH_REACHED
$STATE,11944,begin surface coast
$FINISH,0.5,1.027234
$STATE,11966,end surface coast,CONTROL_FINISHED_OK
$STATE,11966,begin surface
$SM_CCo,11990,1.12,0.130,0,0,1608,300.00
$SM_GC,1.66,0.00,0.00,1.12,0.000,0.000,0.130,418,2136,1608,-10.70,0.20,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1830
$TCM_TEMP,17.20
$XPDR_PINGS,36
$ALTIM_BOTTOM_PING,520.6,53.7
$24V_AH,23.8,42.595
$10V_AH,10.1,18.845
$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,25.825,104.550,393.650,1.125,0.000,37.762,34.751,174.625,13.500,0.000,0.000,36.151,1269.861,8605.045,481.589,1521.129,507.865,33.366,1247.583,0.000,1466.216,0.000,31.847,0.000
$DEVICE_MAMPS,152.633,82.836,1217.229,129.623,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,494.779,521.748,418.196,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38022,721
$CAP_FILE_SIZE,100004,0
$CFSIZE,254472192,238379008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,071009,154506,6405.155,-1239.456,38,1.2,38,-12.3