version: 66.04
glider: 5
mission: 7
dive: 271
start: 10 9 109 11 47 16
data:
$ID,5
$MISSION,7
$DIVE,271
$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,-105528.55
$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,23
$R_STBD_OVSHOOT,40
$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
$GPS1,114025,6402.332,-1300.219,87,1.8,87,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-51.9
$GPS2,114625,6402.477,-1300.172,16,1.5,16,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.242,0.040
$KALMAN_X,9686.7,-2930.0,-657.6,-235245.8,18959.6
$KALMAN_Y,5805.7,-1574.7,64.5,265875.7,15532.7
$MHEAD_RNG_PITCHd_Wd,291.7,29126,-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,-61.08,0.000,2,0.000,0.000,420,2151,2450
$GC,83,-1.22,-146.6,2.3,-2.3,3,141,11.30,2.58,-40.70,0.000,4,0.160,0.064,2471,711,3428
$GC,153,-1.04,-146.6,8.0,-17.2,5,158,0.22,2.50,0.00,0.000,6,0.099,0.047,2518,2122,3428
$GC,469,-1.04,-146.6,49.4,-12.9,20,473,0.00,2.58,0.00,0.000,4,0.000,0.064,2518,3542,3429
$GC,726,-1.04,-146.6,73.5,-9.1,31,732,0.00,2.55,0.00,0.000,6,0.000,0.049,2518,2108,3429
$GC,1042,-1.04,-146.6,107.0,-10.2,47,1047,0.00,2.62,0.00,0.000,4,0.000,0.063,2519,3537,3429
$GC,1189,-1.04,-146.6,122.6,-10.3,53,1195,0.00,2.53,0.00,0.000,6,0.000,0.048,2518,2113,3429
$GC,1510,-1.04,-146.6,156.2,-10.3,70,1514,0.00,2.47,0.00,0.000,4,0.000,0.060,2519,717,3429
$GC,1550,-1.08,-146.6,160.4,-10.7,72,1556,0.00,2.50,0.00,0.000,6,0.000,0.049,2519,2127,3429
$GC,1869,-1.08,-146.6,191.8,-9.5,93,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2126,3429
$GC,2181,-1.08,-146.6,219.7,-8.5,113,2186,0.00,2.55,0.00,0.000,4,0.000,0.061,2519,720,3429
$GC,2237,-1.13,-146.6,224.7,-9.3,116,2242,0.00,2.47,0.00,0.000,6,0.000,0.051,2519,2115,3429
$GC,2558,-1.13,-146.6,252.8,-9.1,136,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2115,3429
$GC,2871,-1.13,-146.6,282.9,-9.9,156,2875,0.00,2.53,0.00,0.000,4,0.000,0.061,2519,719,3429
$GC,2922,-1.18,-146.6,288.2,-10.0,159,2927,0.15,2.47,0.00,0.000,6,0.056,0.051,2477,2113,3429
$GC,3243,-1.12,-146.6,327.0,-12.5,179,3248,0.12,2.53,0.00,0.000,4,0.091,0.062,2503,720,3429
$GC,3333,-1.12,-146.6,338.0,-11.3,184,3339,0.00,2.42,0.00,0.000,6,0.000,0.051,2503,2084,3430
$GC,3652,-1.12,-146.6,375.9,-11.6,205,3656,0.00,2.47,0.00,0.000,4,0.000,0.064,2503,722,3430
$GC,3697,-1.12,-146.6,381.4,-11.7,208,3701,0.00,2.40,0.00,0.000,6,0.000,0.052,2503,2063,3430
$GC,4023,-1.12,-146.6,416.3,-10.1,229,4027,0.00,2.45,0.00,0.000,4,0.000,0.066,2503,723,3429
$GC,4052,-1.12,-146.6,419.3,-10.3,231,4056,0.00,2.40,0.00,0.000,6,0.000,0.054,2503,2065,3430
$GC,4377,-1.12,-146.6,450.9,-9.6,252,4381,0.00,2.45,0.00,0.000,4,0.000,0.067,2503,727,3429
$GC,4416,-1.12,-146.6,454.9,-9.9,254,4420,0.00,2.38,0.00,0.000,6,0.000,0.055,2503,2055,3429
$GC,4740,-1.12,-146.6,488.4,-9.8,275,4744,0.00,2.45,0.00,0.000,4,0.000,0.071,2503,730,3428
$GC,4780,-1.12,-146.6,492.7,-10.7,277,4786,0.00,2.38,0.00,0.000,6,0.000,0.058,2503,2047,3428
$GC,5099,-1.12,-146.6,524.4,-9.5,298,5103,0.00,2.45,0.00,0.000,4,0.000,0.071,2503,719,3427
$GC,5162,-1.16,-146.6,530.4,-9.8,302,5166,0.00,2.38,0.00,0.000,6,0.000,0.057,2503,2034,3427
$GC,5487,-1.16,-146.6,562.0,-10.2,323,5491,0.00,2.75,0.00,0.000,4,0.000,0.078,2503,3529,3427
$GC,5525,-1.16,-146.6,566.2,-10.3,325,5532,0.00,2.72,0.00,0.000,6,0.000,0.067,2503,2044,3427
$STATE,5669,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5670,begin apogee
$GC,5677,-0.33,0.0,580.5,9.7,335,5809,0.80,0.00,128.27,1.226,6,0.082,0.000,2672,1849,2831
$STATE,5810,end apogee,CONTROL_FINISHED_OK
$STATE,5810,begin climb
$GC,5813,1.22,146.6,585.1,0.0,344,5946,1.55,0.00,128.07,1.180,6,0.069,0.000,3005,1849,2233
$GC,6252,1.21,169.3,559.0,7.2,372,6278,0.00,2.70,21.10,1.113,4,0.000,0.071,3005,3258,2140
$GC,6318,1.22,174.7,554.1,7.8,375,6330,0.00,2.62,6.45,0.916,6,0.000,0.067,3005,1858,2118
$GC,6646,1.21,190.8,531.4,7.4,396,6666,0.00,2.65,14.95,1.097,4,0.000,0.071,3005,3249,2053
$GC,6775,1.21,190.8,520.8,8.4,404,6780,0.00,2.55,0.00,0.000,6,0.000,0.067,3005,1877,2053
$GC,7101,1.22,197.2,494.9,7.8,425,7117,0.00,2.75,7.18,0.978,4,0.000,0.077,3005,436,2026
$GC,7163,1.15,197.2,489.2,9.6,428,7169,0.00,2.62,0.00,0.000,6,0.000,0.058,3004,1878,2026
$GC,7482,1.15,197.2,462.3,8.3,449,7486,0.00,2.70,0.00,0.000,4,0.000,0.075,3005,438,2025
$GC,7566,1.09,197.2,454.2,9.6,454,7571,0.12,2.58,0.00,0.000,6,0.097,0.057,2982,1860,2025
$GC,7888,1.12,197.2,428.3,8.1,474,7892,0.00,2.65,0.00,0.000,4,0.000,0.074,2982,440,2025
$GC,7934,1.12,197.2,424.3,8.4,477,7938,0.00,2.55,0.00,0.000,6,0.000,0.057,2982,1850,2025
$GC,8258,1.23,242.8,401.9,6.3,498,8303,0.15,0.00,39.75,1.118,6,0.059,0.000,3020,1866,1841
$GC,8616,1.23,242.8,368.8,10.5,521,8620,0.00,2.65,0.00,0.000,4,0.000,0.075,3020,438,1841
$GC,8696,1.17,242.8,360.4,10.6,526,8700,0.00,2.53,0.00,0.000,6,0.000,0.056,3020,1837,1841
$GC,9020,1.13,242.8,331.6,8.5,547,9022,0.15,0.00,0.00,0.000,6,0.094,0.000,2992,1853,1841
$GC,9333,1.21,288.8,311.3,6.3,567,9380,0.00,2.67,39.53,1.058,4,0.000,0.070,2992,433,1653
$GC,9437,1.26,296.1,303.3,7.7,573,9452,0.12,2.53,8.07,0.903,6,0.058,0.054,3024,1842,1622
$GC,9782,1.26,296.1,270.8,9.9,595,9786,0.00,2.55,0.00,0.000,4,0.000,0.063,3024,3244,1623
$GC,9810,1.26,296.1,267.3,10.6,597,9815,0.00,2.60,0.00,0.000,6,0.000,0.057,3024,1815,1623
$GC,10135,1.26,296.1,237.0,8.3,618,10137,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1815,1623
$GC,10447,1.26,296.1,209.6,8.8,638,10451,0.00,2.62,0.00,0.000,4,0.000,0.060,3024,3252,1624
$GC,10493,1.26,296.1,205.5,9.2,641,10497,0.00,2.58,0.00,0.000,6,0.000,0.054,3024,1824,1624
$GC,10817,1.26,296.1,175.4,9.5,662,10822,0.00,2.60,0.00,0.000,4,0.000,0.060,3024,3249,1624
$GC,10851,1.26,296.1,171.9,9.7,664,10855,0.00,2.53,0.00,0.000,6,0.000,0.051,3024,1841,1624
$GC,11179,1.26,296.1,139.8,9.4,683,11184,0.00,2.55,0.00,0.000,4,0.000,0.058,3024,3245,1625
$GC,11221,1.29,296.1,135.7,10.1,685,11225,0.00,2.50,0.00,0.000,6,0.000,0.051,3024,1843,1625
$GC,11548,1.29,296.1,102.0,11.6,701,11549,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1842,1625
$GC,11857,1.29,296.1,68.5,9.9,716,11858,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1842,1626
$GC,12167,1.29,296.1,38.7,8.4,731,12168,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1842,1626
$GC,12477,1.29,296.1,10.7,13.4,746,12481,0.00,2.55,0.00,0.000,4,0.000,0.058,3024,3252,1626
$GC,12533,1.68,539.9,8.1,-0.9,748,12592,0.38,2.53,51.88,0.814,2,0.046,0.057,3117,1839,1362
$STATE,12593,end climb,SURFACE_DEPTH_REACHED
$STATE,12593,begin surface coast
$FINISH,2.0,1.027221
$STATE,12596,end surface coast,CONTROL_FINISHED_OK
$STATE,12596,begin surface
$SM_CCo,12681,0.00,0.000,0,0,1362,360.35
$SM_GC,1.18,11.90,0.00,0.00,0.039,0.000,0.000,424,2145,1362,-10.60,0.42,360.35
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1807
$TCM_TEMP,19.00
$XPDR_PINGS,29
$ALTIM_BOTTOM_PING,545.1,44.8
$24V_AH,23.8,44.716
$10V_AH,10.1,19.763
$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,26.975,128.125,445.250,0.000,0.000,37.760,28.572,159.196,12.250,0.000,0.000,16.734,1345.175,8989.506,552.459,1644.145,507.264,33.366,1401.472,0.000,1597.361,0.000,36.323,0.000
$DEVICE_MAMPS,159.536,78.234,1225.666,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,514.380,545.043,451.022,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38001,751
$CAP_FILE_SIZE,108671,0
$CFSIZE,254472192,237654016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,091009,151955,6404.272,-1300.303,41,1.5,41,-12.5