version: 66.04
glider: 5
mission: 7
dive: 282
start: 10 11 109 7 52 33
data:
$ID,5
$MISSION,7
$DIVE,282
$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,-105770.38
$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,29
$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
$GPS1,074224,6355.639,-1315.516,24,1.2,42,-12.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-47.3
$GPS2,075144,6355.620,-1315.533,13,1.2,13,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.192,-0.153
$KALMAN_X,32101.4,-1337.2,-1370.5,-272109.5,13405.8
$KALMAN_Y,9810.2,-86.3,-1019.5,248760.7,3746.6
$MHEAD_RNG_PITCHd_Wd,243.9,11790,-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,-61.33,0.000,2,0.000,0.000,422,2144,2486
$GC,83,-1.22,-146.6,2.2,-1.8,3,146,11.12,2.60,-42.03,0.000,4,0.160,0.075,2470,3537,3430
$GC,400,-1.14,-146.6,37.4,-7.9,17,405,0.12,2.53,0.00,0.000,6,0.103,0.048,2494,2119,3430
$GC,724,-1.08,-146.6,80.8,-12.5,33,729,0.00,2.60,0.00,0.000,4,0.000,0.063,2494,3536,3431
$GC,798,-1.03,-146.6,90.7,-12.9,36,803,0.12,2.50,0.00,0.000,6,0.095,0.050,2521,2134,3431
$GC,1114,-1.03,-146.6,124.8,-9.1,51,1119,0.00,2.53,0.00,0.000,4,0.000,0.059,2521,711,3431
$GC,1182,-1.03,-146.6,130.2,-8.0,54,1186,0.00,2.47,0.00,0.000,6,0.000,0.050,2521,2102,3431
$GC,1509,-1.03,-146.6,154.4,-9.1,71,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2102,3430
$GC,1822,-1.03,-146.6,181.9,-9.3,91,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2102,3431
$GC,2133,-1.03,-146.6,211.7,-10.1,111,2138,0.00,2.50,0.00,0.000,4,0.000,0.061,2521,722,3431
$GC,2156,-1.03,-146.6,214.1,-10.1,112,2162,0.00,2.50,0.00,0.000,6,0.000,0.051,2521,2130,3431
$GC,2477,-1.03,-146.6,246.1,-10.0,133,2482,0.00,2.55,0.00,0.000,4,0.000,0.061,2521,720,3431
$GC,2512,-1.07,-146.6,250.0,-10.1,135,2516,0.00,2.47,0.00,0.000,6,0.000,0.051,2521,2115,3431
$GC,2831,-1.07,-146.6,282.3,-10.1,155,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2115,3430
$GC,3143,-1.07,-146.6,314.5,-10.4,175,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2115,3431
$GC,3455,-1.07,-146.6,347.8,-11.0,195,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2115,3431
$GC,3768,-1.07,-146.6,381.4,-11.1,215,3772,0.00,2.53,0.00,0.000,4,0.000,0.062,2520,720,3431
$GC,3808,-1.12,-146.6,386.1,-11.5,217,3814,0.00,2.47,0.00,0.000,6,0.000,0.051,2521,2112,3431
$GC,4130,-1.12,-146.6,421.2,-11.1,238,4134,0.00,2.53,0.00,0.000,4,0.000,0.062,2521,716,3430
$GC,4176,-1.18,-146.6,426.4,-10.9,241,4181,0.15,2.45,0.00,0.000,6,0.058,0.051,2482,2097,3431
$GC,4503,-1.13,-146.6,465.0,-11.7,262,4507,0.00,2.62,0.00,0.000,4,0.000,0.068,2482,3541,3431
$GC,4526,-1.06,-146.6,468.1,-11.8,263,4532,0.15,2.62,0.00,0.000,6,0.090,0.058,2514,2087,3430
$GC,4847,-1.06,-146.6,498.4,-9.1,284,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2076,3430
$GC,5157,-1.06,-146.6,527.0,-9.0,304,5159,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2076,3430
$GC,5469,-1.06,-146.6,557.7,-10.5,324,5474,0.00,2.67,0.00,0.000,4,0.000,0.070,2514,3534,3430
$GC,5508,-1.06,-146.6,562.1,-10.7,326,5514,0.00,2.60,0.00,0.000,6,0.000,0.058,2513,2089,3429
$GC,5830,-1.06,-146.6,596.3,-10.5,347,5835,0.00,2.67,0.00,0.000,4,0.000,0.071,2514,3533,3429
$GC,5897,-1.06,-146.6,604.7,-12.9,351,5901,0.00,2.55,0.00,0.000,6,0.000,0.058,2514,2113,3429
$GC,6216,-1.06,-146.6,644.9,-12.4,371,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2089,3429
$GC,6530,-1.06,-146.6,677.4,-9.0,391,6534,0.00,2.50,0.00,0.000,4,0.000,0.067,2514,720,3429
$GC,6592,-1.12,-146.6,683.6,-10.1,395,6597,0.00,2.50,0.00,0.000,6,0.000,0.054,2514,2125,3429
$GC,6918,-1.12,-146.6,712.3,-8.3,416,6922,0.00,2.58,0.00,0.000,4,0.000,0.071,2514,724,3428
$GC,6964,-1.16,-146.6,716.1,-9.1,419,6968,0.00,2.47,0.00,0.000,6,0.000,0.056,2514,2104,3428
$GC,7289,-1.16,-146.6,742.7,-8.2,440,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2104,3428
$GC,7601,-1.16,-146.6,766.7,-7.9,460,7605,0.00,2.55,0.00,0.000,4,0.000,0.074,2514,724,3427
$GC,7685,-1.20,-146.6,773.9,-8.3,465,7690,0.12,2.50,0.00,0.000,6,0.069,0.060,2481,2113,3427
$STATE,7751,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7751,begin apogee
$GC,7759,-0.33,0.0,781.5,11.2,469,7895,0.88,0.00,132.57,1.362,6,0.079,0.000,2669,1846,2831
$STATE,7896,end apogee,CONTROL_FINISHED_OK
$STATE,7896,begin climb
$GC,7899,1.22,146.6,785.5,0.0,478,8044,1.55,2.70,132.55,1.314,4,0.064,0.077,3007,452,2233
$GC,8072,1.11,163.7,779.5,7.4,489,8095,0.00,2.58,16.95,1.200,6,0.000,0.058,3006,1868,2164
$GC,8410,1.05,163.7,749.4,8.5,511,8415,0.17,2.67,0.00,0.000,4,0.100,0.078,2971,443,2163
$GC,8517,1.16,228.6,741.9,5.6,517,8586,0.12,2.50,58.75,1.282,6,0.064,0.058,3001,1832,1899
$GC,8898,1.16,228.6,709.5,8.8,542,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1832,1898
$GC,9211,1.16,230.6,684.6,7.9,562,9215,0.00,2.58,0.00,0.000,4,0.000,0.078,3001,450,1897
$GC,9250,1.12,230.6,681.1,9.5,564,9256,0.00,2.47,0.00,0.000,6,0.000,0.060,3001,1810,1897
$GC,9569,1.12,230.6,654.0,8.4,585,9574,0.00,2.65,0.00,0.000,4,0.000,0.069,3001,3261,1897
$GC,9625,1.12,230.6,649.4,8.2,588,9632,0.00,2.62,0.00,0.000,6,0.000,0.064,3001,1838,1896
$GC,9944,1.12,230.6,624.7,8.3,609,9949,0.00,2.65,0.00,0.000,4,0.000,0.068,3001,3265,1896
$GC,9984,1.12,230.6,621.3,8.3,611,9990,0.00,2.62,0.00,0.000,6,0.000,0.062,3001,1840,1896
$GC,10303,1.12,230.6,594.1,8.5,632,10307,0.00,2.62,0.00,0.000,4,0.000,0.078,3001,3258,1896
$GC,10324,1.12,230.6,592.2,8.7,633,10331,0.00,2.60,0.00,0.000,6,0.000,0.060,3001,1833,1896
$GC,10644,1.12,230.6,566.2,8.4,654,10648,0.00,2.53,0.00,0.000,4,0.000,0.072,3001,440,1896
$GC,10673,1.12,230.6,563.4,9.4,656,10677,0.00,2.50,0.00,0.000,6,0.000,0.053,3001,1837,1897
$GC,10996,1.12,230.6,532.2,9.5,677,11001,0.00,2.55,0.00,0.000,4,0.000,0.063,3001,3261,1896
$GC,11036,1.16,230.6,528.4,9.5,679,11043,0.00,2.60,0.00,0.000,6,0.000,0.058,3002,1829,1896
$GC,11355,1.16,230.6,501.5,8.2,700,11360,0.00,2.62,0.00,0.000,4,0.000,0.062,3001,3262,1896
$GC,11389,1.19,230.6,498.4,8.3,702,11394,0.00,2.58,0.00,0.000,6,0.000,0.056,3001,1840,1896
$GC,11708,1.19,230.6,470.8,9.0,722,11713,0.00,2.60,0.00,0.000,4,0.000,0.062,3001,3261,1896
$GC,11754,1.23,230.6,466.3,9.4,725,11759,0.00,2.53,0.00,0.000,6,0.000,0.056,3001,1855,1896
$GC,12080,1.23,230.6,434.5,9.9,746,12081,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1855,1897
$GC,12392,1.23,230.6,404.9,9.5,766,12396,0.00,2.55,0.00,0.000,4,0.000,0.061,3001,3252,1897
$GC,12420,1.27,230.6,402.2,9.3,768,12425,0.00,2.53,0.00,0.000,6,0.000,0.054,3001,1848,1897
$GC,12746,1.27,230.6,373.7,8.1,789,12747,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1848,1897
$GC,13057,1.27,230.6,347.6,8.2,809,13062,0.00,2.55,0.00,0.000,4,0.000,0.061,3001,3257,1898
$GC,13114,1.31,230.6,342.7,8.6,812,13120,0.12,2.50,0.00,0.000,6,0.060,0.054,3034,1863,1898
$GC,13436,1.26,230.6,312.0,9.8,833,13440,0.00,2.53,0.00,0.000,4,0.000,0.059,3034,3254,1898
$GC,13469,1.26,230.6,308.1,10.1,835,13473,0.00,2.47,0.00,0.000,6,0.000,0.053,3034,1871,1898
$GC,13789,1.21,230.6,275.0,10.7,855,13791,0.12,0.00,0.00,0.000,6,0.091,0.000,3011,1871,1898
$GC,14100,1.21,230.6,244.0,9.1,875,14101,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1871,1898
$GC,14413,1.21,230.6,214.6,9.2,895,14414,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1871,1898
$GC,14725,1.21,230.6,188.2,8.1,915,14726,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1871,1898
$GC,15037,1.21,230.6,162.4,8.5,935,15041,0.00,2.50,0.00,0.000,4,0.000,0.058,3010,3254,1898
$GC,15088,1.25,230.6,157.8,8.7,938,15092,0.00,2.45,0.00,0.000,6,0.000,0.049,3011,1874,1898
$GC,15415,1.25,230.6,129.3,9.2,955,15420,0.00,2.50,0.00,0.000,4,0.000,0.058,3011,3259,1899
$GC,15483,1.29,230.6,122.6,9.6,958,15487,0.00,2.40,0.00,0.000,6,0.000,0.048,3010,1903,1899
$GC,15805,1.29,230.6,89.7,11.1,974,15806,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1903,1899
$GC,16113,1.29,230.6,58.3,10.7,989,16115,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1903,1899
$GC,16423,1.56,402.5,37.9,1.8,1004,16568,0.30,0.00,141.82,0.807,6,0.048,0.000,3089,1902,1190
$STATE,16688,end climb,SURFACE_DEPTH_REACHED
$STATE,16688,begin surface coast
$FINISH,0.8,1.006236
$STATE,16712,end surface coast,CONTROL_FINISHED_OK
$STATE,16712,begin surface
$SM_CCo,16796,0.00,0.000,0,0,1191,402.29
$SM_GC,1.62,11.65,0.00,0.00,0.038,0.000,0.000,427,2139,1191,-10.58,0.25,402.29
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1801
$TCM_TEMP,17.40
$XPDR_PINGS,49
$ALTIM_BOTTOM_PING,745.1,45.8
$24V_AH,23.7,46.554
$10V_AH,10.1,20.622
$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,26.725,143.725,482.650,0.000,0.000,75.523,115.135,175.873,19.000,0.000,0.000,13.108,1763.528,12240.846,620.682,2020.816,703.162,33.370,1639.723,0.000,1975.655,0.000,46.103,0.000
$DEVICE_MAMPS,159.536,78.234,1362.192,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,696.480,746.745,544.890,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53612,1018
$CAP_FILE_SIZE,134307,0
$CFSIZE,254472192,236957696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,111009,123336,6354.340,-1319.467,30,1.5,30,-12.6