version: 66.04
glider: 5
mission: 7
dive: 265
start: 10 8 109 11 32 39
data:
$ID,5
$MISSION,7
$DIVE,265
$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,-105419.41
$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,24
$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
$GPS1,112524,6359.938,-1304.664,27,1.4,44,-12.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-61.6
$GPS2,113150,6400.015,-1304.291,13,1.4,13,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.200,-0.143
$KALMAN_X,-21934.9,373.4,757.2,-212069.8,4400.7
$KALMAN_Y,-20717.2,185.9,660.0,285426.6,-5246.2
$MHEAD_RNG_PITCHd_Wd,246.9,23460,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.30,0.000,2,0.000,0.000,424,2147,2638
$GC,83,-1.22,-146.6,2.5,-2.6,3,133,11.35,2.55,-30.70,0.000,4,0.164,0.077,2469,3534,3428
$GC,387,-1.14,-146.6,43.8,-15.9,16,394,0.12,2.53,0.00,0.000,6,0.108,0.048,2493,2114,3428
$GC,706,-1.10,-146.6,86.0,-12.1,32,710,0.00,2.62,0.00,0.000,4,0.000,0.067,2493,3530,3429
$GC,868,-1.07,-146.6,103.5,-9.1,39,872,0.00,2.47,0.00,0.000,6,0.000,0.048,2493,2140,3429
$GC,1185,-1.02,-146.6,140.7,-11.9,54,1190,0.12,2.53,0.00,0.000,4,0.104,0.061,2519,721,3429
$GC,1236,-1.07,-146.6,146.7,-11.5,56,1240,0.00,2.53,0.00,0.000,6,0.000,0.049,2519,2141,3429
$GC,1566,-1.07,-146.6,179.1,-9.3,76,1570,0.00,2.58,0.00,0.000,4,0.000,0.061,2519,722,3429
$GC,1638,-1.13,-146.6,185.7,-9.5,80,1645,0.00,2.50,0.00,0.000,6,0.000,0.050,2519,2130,3429
$GC,1958,-1.13,-146.6,210.7,-7.7,101,1962,0.00,2.58,0.00,0.000,4,0.000,0.063,2519,714,3429
$GC,1992,-1.17,-146.6,213.2,-7.5,103,1997,0.15,2.50,0.00,0.000,6,0.057,0.051,2479,2115,3429
$GC,2314,-1.12,-146.6,250.0,-11.6,123,2316,0.12,0.00,0.00,0.000,6,0.095,0.000,2504,2115,3429
$GC,2624,-1.12,-146.6,281.9,-9.8,143,2628,0.00,2.60,0.00,0.000,4,0.000,0.068,2503,3541,3429
$GC,2663,-1.12,-146.6,285.9,-10.2,145,2669,0.00,2.60,0.00,0.000,6,0.000,0.055,2504,2097,3429
$GC,2982,-1.12,-146.6,316.5,-10.0,166,2986,0.00,2.67,0.00,0.000,4,0.000,0.068,2504,3537,3429
$GC,3011,-1.12,-146.6,319.6,-10.7,168,3016,0.00,2.60,0.00,0.000,6,0.000,0.057,2504,2103,3430
$GC,3340,-1.12,-146.6,357.0,-11.7,189,3345,0.00,2.47,0.00,0.000,4,0.000,0.065,2503,721,3430
$GC,3396,-1.12,-146.6,363.5,-11.7,192,3402,0.00,2.47,0.00,0.000,6,0.000,0.052,2504,2109,3430
$GC,3716,-1.12,-146.6,398.5,-10.8,213,3720,0.00,2.62,0.00,0.000,4,0.000,0.074,2504,3537,3430
$GC,3737,-1.12,-146.6,401.4,-12.8,214,3744,0.00,2.62,0.00,0.000,6,0.000,0.061,2504,2101,3430
$GC,4057,-1.12,-146.6,442.1,-13.5,235,4061,0.00,2.70,0.00,0.000,4,0.000,0.074,2504,3538,3430
$GC,4129,-1.12,-146.6,452.1,-13.9,239,4135,0.00,2.62,0.00,0.000,6,0.000,0.063,2504,2106,3429
$GC,4448,-1.12,-146.6,492.4,-11.5,260,4452,0.00,2.53,0.00,0.000,4,0.000,0.071,2504,715,3429
$GC,4471,-1.12,-146.6,495.1,-11.5,261,4477,0.00,2.53,0.00,0.000,6,0.000,0.057,2504,2117,3429
$GC,4790,-1.12,-146.6,525.9,-9.0,282,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2117,3428
$GC,5105,-1.12,-146.6,550.8,-7.2,302,5109,0.00,2.60,0.00,0.000,4,0.000,0.076,2504,721,3427
$GC,5151,-1.15,-146.6,554.3,-7.5,305,5155,0.00,2.53,0.00,0.000,6,0.000,0.061,2504,2115,3428
$GC,5476,-1.15,-146.6,578.5,-7.2,326,5480,0.00,2.67,0.00,0.000,4,0.000,0.084,2504,3540,3427
$GC,5538,-1.15,-146.6,583.3,-7.5,330,5543,0.00,2.65,0.00,0.000,6,0.000,0.071,2504,2111,3427
$GC,5863,-1.15,-146.6,609.8,-8.6,351,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2099,3426
$GC,6176,-1.15,-146.6,639.6,-10.2,371,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2098,3425
$STATE,6407,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6407,begin apogee
$GC,6414,-0.33,0.0,661.8,10.0,386,6548,0.80,0.00,129.95,1.346,6,0.090,0.000,2668,1848,2831
$STATE,6548,end apogee,CONTROL_FINISHED_OK
$STATE,6548,begin climb
$GC,6551,1.22,146.6,669.5,0.0,395,6690,1.58,0.00,133.55,1.289,6,0.068,0.000,3007,1848,2233
$GC,7003,1.22,188.1,643.4,6.5,424,7051,0.00,2.78,38.03,1.252,4,0.000,0.090,3007,446,2064
$GC,7057,1.14,188.1,639.2,8.4,427,7061,0.00,2.62,0.00,0.000,6,0.000,0.065,3007,1848,2064
$GC,7377,1.11,188.1,613.7,8.1,447,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1863,2063
$GC,7689,1.07,188.1,587.3,8.6,467,7691,0.15,0.00,0.00,0.000,6,0.099,0.000,2979,1863,2062
$GC,8001,1.08,193.2,562.9,7.8,487,8009,0.00,0.00,5.85,1.017,6,0.000,0.000,2979,1863,2043
$GC,8313,1.15,238.1,540.2,6.4,507,8360,0.00,2.70,40.95,1.276,4,0.000,0.081,2979,3255,1860
$GC,8430,1.34,317.0,533.9,5.1,514,8509,0.28,2.62,70.93,1.259,6,0.058,0.076,3041,1870,1538
$GC,8821,1.30,317.0,499.3,9.4,539,8826,0.00,2.70,0.00,0.000,4,0.000,0.085,3041,433,1539
$GC,8844,1.24,317.0,496.8,11.1,540,8851,0.15,2.65,0.00,0.000,6,0.104,0.064,3014,1874,1538
$GC,9165,1.24,317.0,465.9,10.5,561,9169,0.00,2.55,0.00,0.000,4,0.000,0.074,3014,3264,1539
$GC,9210,1.30,317.0,460.9,10.5,564,9215,0.00,2.62,0.00,0.000,6,0.000,0.071,3014,1863,1539
$GC,9535,1.30,317.0,429.2,10.0,585,9540,0.00,2.65,0.00,0.000,4,0.000,0.080,3014,433,1539
$GC,9580,1.30,317.0,424.9,8.8,588,9585,0.00,2.60,0.00,0.000,6,0.000,0.060,3014,1864,1539
$GC,9905,1.30,317.0,394.8,8.8,609,9909,0.00,2.55,0.00,0.000,4,0.000,0.071,3014,3256,1539
$GC,9927,1.34,317.0,392.7,9.3,610,9934,0.00,2.58,0.00,0.000,6,0.000,0.064,3014,1860,1539
$GC,10247,1.34,317.0,363.6,10.0,631,10251,0.00,2.60,0.00,0.000,4,0.000,0.067,3014,3261,1540
$GC,10286,1.39,317.0,359.6,10.0,633,10293,0.15,2.50,0.00,0.000,6,0.060,0.060,3051,1891,1540
$GC,10608,1.33,317.0,321.0,12.1,654,10612,0.00,2.53,0.00,0.000,4,0.000,0.065,3051,3261,1540
$GC,10643,1.33,317.0,316.0,13.8,656,10647,0.00,2.45,0.00,0.000,6,0.000,0.058,3050,1907,1541
$GC,10974,1.28,317.0,279.3,10.0,677,10979,0.15,2.67,0.00,0.000,4,0.094,0.069,3022,434,1541
$GC,11024,1.28,317.0,274.5,8.3,680,11028,0.00,2.65,0.00,0.000,6,0.000,0.051,3022,1916,1541
$GC,11344,1.29,318.4,249.5,7.9,700,11350,0.00,0.00,4.07,0.679,6,0.000,0.000,3022,1932,1532
$GC,11655,1.29,318.4,223.7,8.3,720,11660,0.00,2.72,0.00,0.000,4,0.000,0.068,3022,441,1532
$GC,11689,1.29,318.4,220.5,8.9,722,11694,0.00,2.60,0.00,0.000,6,0.000,0.050,3022,1900,1533
$GC,12009,1.29,318.4,192.0,9.6,742,12013,0.00,2.70,0.00,0.000,4,0.000,0.066,3022,432,1534
$GC,12054,1.29,318.4,187.5,10.1,745,12058,0.00,2.58,0.00,0.000,6,0.000,0.049,3022,1879,1534
$GC,12379,1.29,318.4,156.2,9.7,766,12380,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1893,1535
$GC,12689,1.29,318.4,123.0,10.8,782,12690,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1895,1535
$GC,12998,1.29,318.4,94.1,8.5,797,13002,0.00,2.65,0.00,0.000,4,0.000,0.064,3021,433,1535
$GC,13030,1.29,318.4,90.8,9.3,798,13037,0.00,2.53,0.00,0.000,6,0.000,0.048,3022,1864,1536
$GC,13349,1.29,318.4,62.3,9.3,814,13350,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1880,1536
$GC,13656,1.29,318.4,31.4,10.4,829,13660,0.00,2.60,0.00,0.000,4,0.000,0.064,3022,441,1537
$GC,13677,1.29,318.4,28.7,11.0,830,13682,0.00,2.50,0.00,0.000,6,0.000,0.048,3022,1852,1537
$STATE,13955,end climb,SURFACE_DEPTH_REACHED
$STATE,13955,begin surface coast
$FINISH,0.8,1.027227
$STATE,13977,end surface coast,CONTROL_FINISHED_OK
$STATE,13977,begin surface
$SM_CCo,14062,0.00,0.000,0,0,1536,317.66
$SM_GC,1.46,11.27,0.00,0.00,0.037,0.000,0.000,425,2152,1536,-10.58,0.62,317.66
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1814
$TCM_TEMP,17.30
$XPDR_PINGS,33
$ALTIM_BOTTOM_PING,621.1,50.0
$24V_AH,23.4,43.757
$10V_AH,10.1,19.306
$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,26.400,135.675,423.325,0.000,0.000,37.762,29.576,185.796,14.000,0.000,0.000,13.452,1486.211,10128.152,548.137,1731.989,548.958,33.364,1432.243,0.000,1689.824,0.000,41.103,0.000
$DEVICE_MAMPS,164.138,89.739,1346.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,580.634,616.252,473.585,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44290,845
$CAP_FILE_SIZE,117090,0
$CFSIZE,254472192,238006272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,081009,152807,6359.083,-1301.452,29,1.7,29,-12.4