version: 66.04
glider: 5
mission: 7
dive: 263
start: 10 8 109 4 11 59
data:
$ID,5
$MISSION,7
$DIVE,263
$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,-105390.53
$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,20
$R_STBD_OVSHOOT,28
$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
$GPS1,040507,6404.004,-1258.923,30,1.2,30,-12.4
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-58.8
$GPS2,041108,6403.856,-1258.979,17,1.3,17,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.180,-0.167
$KALMAN_X,-23265.4,-1452.8,-1165.4,-202241.4,10132.1
$KALMAN_Y,-14583.6,-1666.8,-562.7,289559.3,1420.2
$MHEAD_RNG_PITCHd_Wd,239.5,31773,-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,-61.12,0.000,2,0.000,0.000,421,2153,2435
$GC,83,-1.22,-146.6,2.2,-2.2,3,155,11.68,2.62,-52.28,0.000,4,0.172,0.081,2473,3540,3429
$GC,363,-1.16,-146.6,33.3,-15.9,15,369,0.00,2.55,0.00,0.000,6,0.000,0.053,2473,2122,3429
$GC,681,-1.09,-146.6,75.1,-11.1,31,686,0.17,2.65,0.00,0.000,4,0.110,0.071,2513,3536,3429
$GC,714,-1.09,-146.6,80.0,-12.9,32,721,0.00,2.53,0.00,0.000,6,0.000,0.055,2512,2137,3429
$GC,1032,-1.09,-146.6,119.4,-11.0,48,1037,0.00,2.58,0.00,0.000,4,0.000,0.067,2513,715,3429
$GC,1059,-1.09,-146.6,122.9,-11.7,49,1064,0.00,2.55,0.00,0.000,6,0.000,0.054,2513,2132,3429
$GC,1376,-1.09,-146.6,155.2,-12.4,65,1380,0.00,2.55,0.00,0.000,4,0.000,0.065,2513,3539,3429
$GC,1411,-1.09,-146.6,160.2,-13.1,67,1415,0.00,2.53,0.00,0.000,6,0.000,0.056,2512,2142,3430
$GC,1735,-1.09,-146.6,212.8,-19.9,88,1740,0.00,2.58,0.00,0.000,4,0.000,0.068,2513,716,3429
$GC,1770,-1.14,-146.6,220.6,-21.9,90,1774,0.00,2.58,0.00,0.000,6,0.000,0.054,2513,2150,3430
$GC,2091,-1.14,-146.6,265.0,-6.5,110,2095,0.00,2.60,0.00,0.000,4,0.000,0.070,2512,720,3430
$GC,2154,-1.18,-146.6,267.6,-4.2,114,2159,0.12,2.55,0.00,0.000,6,0.066,0.057,2480,2134,3430
$GC,2481,-1.14,-146.6,287.0,-6.9,135,2486,0.00,2.60,0.00,0.000,4,0.000,0.068,2480,721,3430
$GC,2538,-1.14,-146.6,292.1,-8.9,138,2544,0.00,2.50,0.00,0.000,6,0.000,0.056,2480,2112,3430
$GC,2860,-1.09,-146.6,327.7,-14.1,159,2864,0.12,2.58,0.00,0.000,4,0.104,0.071,2505,720,3430
$GC,2883,-1.09,-146.6,331.7,-15.6,160,2889,0.00,2.47,0.00,0.000,6,0.000,0.058,2505,2093,3430
$GC,3202,-1.09,-146.6,383.1,-15.3,181,3206,0.00,2.55,0.00,0.000,4,0.000,0.073,2504,717,3430
$GC,3230,-1.09,-146.6,387.3,-14.4,182,3236,0.00,2.47,0.00,0.000,6,0.000,0.058,2505,2086,3430
$GC,3551,-1.09,-146.6,412.6,-5.0,203,3556,0.00,2.67,0.00,0.000,4,0.000,0.077,2505,3533,3430
$GC,3602,-1.09,-146.6,415.4,-5.2,206,3606,0.00,2.65,0.00,0.000,6,0.000,0.066,2504,2097,3430
$GC,3921,-1.09,-146.6,440.8,-10.0,226,3925,0.00,2.70,0.00,0.000,4,0.000,0.078,2505,3531,3430
$GC,3971,-1.09,-146.6,446.2,-10.6,229,3975,0.00,2.62,0.00,0.000,6,0.000,0.067,2505,2109,3430
$GC,4290,-1.09,-146.6,489.4,-17.1,249,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2097,3430
$GC,4602,-1.09,-146.6,549.4,-16.4,269,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2097,3430
$GC,4915,-1.09,-146.6,577.5,-6.6,289,4919,0.00,2.72,0.00,0.000,4,0.000,0.084,2505,3534,3429
$GC,4944,-1.09,-146.6,579.2,-5.8,291,4948,0.00,2.62,0.00,0.000,6,0.000,0.072,2505,2127,3429
$GC,5269,-1.09,-146.6,594.8,-5.1,312,5276,0.00,2.70,0.00,0.000,4,0.000,0.085,2505,3537,3428
$GC,5344,-1.09,-146.6,598.6,-4.8,316,5348,0.00,2.60,0.00,0.000,6,0.000,0.071,2505,2144,3428
$GC,5664,-1.13,-146.6,627.6,-10.6,336,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2117,3428
$STATE,5722,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5722,begin apogee
$GC,5730,-0.33,0.0,635.1,12.0,340,5864,0.80,0.00,130.52,1.335,6,0.088,0.000,2671,1845,2831
$STATE,5864,end apogee,CONTROL_FINISHED_OK
$STATE,5864,begin climb
$GC,5867,1.22,146.6,640.4,0.0,349,6004,1.58,0.00,131.57,1.279,6,0.067,0.000,3009,1845,2233
$GC,6311,1.15,146.6,611.0,8.1,378,6315,0.00,2.67,0.00,0.000,4,0.000,0.091,3009,437,2232
$GC,6333,1.07,146.6,609.1,8.5,379,6340,0.17,2.62,0.00,0.000,6,0.104,0.066,2978,1855,2232
$GC,6652,1.16,205.6,588.4,5.9,400,6711,0.00,0.00,52.42,1.270,6,0.000,0.000,2978,1871,1992
$GC,7025,1.34,316.9,574.0,4.0,424,7129,0.28,0.00,97.30,1.274,6,0.060,0.000,3039,1871,1538
$GC,7445,1.30,331.1,542.0,7.5,451,7462,0.00,0.00,14.02,1.168,6,0.000,0.000,3039,1873,1481
$GC,7775,1.27,331.1,517.1,8.6,472,7779,0.00,2.72,0.00,0.000,4,0.000,0.087,3039,439,1481
$GC,7842,1.18,331.1,512.1,8.1,476,7847,0.20,2.60,0.00,0.000,6,0.106,0.065,3003,1845,1481
$GC,8165,1.30,381.5,498.2,6.2,496,8215,0.12,2.78,44.80,1.246,4,0.068,0.087,3032,445,1275
$GC,8250,1.31,387.7,491.6,7.8,501,8262,0.00,2.58,7.25,1.029,6,0.000,0.065,3032,1835,1250
$GC,8574,1.31,387.7,459.8,12.1,522,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1842,1250
$GC,8886,1.31,387.7,409.9,17.9,542,8891,0.00,2.62,0.00,0.000,4,0.000,0.074,3032,3248,1250
$GC,8921,1.36,387.7,403.5,18.3,544,8925,0.00,2.65,0.00,0.000,6,0.000,0.071,3031,1833,1250
$GC,9240,1.36,387.7,354.3,12.0,564,9244,0.00,2.60,0.00,0.000,4,0.000,0.081,3032,432,1250
$GC,9272,1.36,387.7,350.5,11.4,566,9277,0.00,2.53,0.00,0.000,6,0.000,0.060,3032,1816,1250
$GC,9592,1.50,476.1,328.3,4.8,586,9676,0.17,2.78,75.78,1.122,4,0.061,0.069,3074,3258,890
$GC,9688,1.46,476.1,318.4,12.3,592,9693,0.00,2.72,0.00,0.000,6,0.000,0.066,3074,1814,890
$GC,10008,1.39,476.1,265.4,25.6,612,10013,0.15,2.70,0.00,0.000,4,0.099,0.067,3046,3259,891
$GC,10054,1.47,476.1,253.1,24.7,615,10059,0.00,2.62,0.00,0.000,6,0.000,0.062,3046,1837,891
$GC,10380,1.47,476.1,187.7,15.6,636,10383,0.00,2.58,0.00,0.000,4,0.000,0.078,3046,440,892
$GC,10414,1.47,476.1,182.7,13.8,638,10418,0.00,2.58,0.00,0.000,6,0.000,0.056,3046,1862,891
$GC,10744,1.47,476.1,147.3,12.3,659,10748,0.00,2.53,0.00,0.000,4,0.000,0.066,3046,3257,892
$GC,10807,1.57,476.1,138.5,13.0,662,10813,0.17,2.53,0.00,0.000,6,0.056,0.058,3091,1871,892
$GC,11137,1.50,476.1,78.9,17.5,678,11138,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1871,892
$GC,11445,1.42,476.1,29.6,15.9,693,11449,0.17,2.55,0.00,0.000,4,0.088,0.061,3052,3263,893
$GC,11473,1.42,476.1,25.8,12.9,694,11477,0.00,2.47,0.00,0.000,6,0.000,0.054,3052,1890,893
$STATE,11684,end climb,SURFACE_DEPTH_REACHED
$STATE,11684,begin surface coast
$FINISH,0.5,1.027262
$STATE,11705,end surface coast,CONTROL_FINISHED_OK
$STATE,11705,begin surface
$SM_CCo,11789,0.00,0.000,0,0,894,475.15
$SM_GC,1.12,11.48,0.00,0.00,0.038,0.000,0.000,425,2148,894,-10.59,0.54,475.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1858
$TCM_TEMP,16.60
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,595.3,48.2
$24V_AH,23.7,43.410
$10V_AH,10.1,19.156
$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,27.400,120.725,553.675,0.000,0.000,37.761,33.922,172.558,10.750,0.000,0.000,17.006,1242.245,8290.283,673.468,1445.715,500.456,33.361,1437.076,0.000,1402.612,0.000,41.771,0.000
$DEVICE_MAMPS,171.808,91.273,1334.580,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,484.838,517.167,396.238,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37900,705
$CAP_FILE_SIZE,102049,0
$CFSIZE,254472192,238141440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,081009,072937,6359.578,-1304.394,32,1.0,32,-12.5