version: 66.04
glider: 5
mission: 7
dive: 283
start: 10 11 109 12 41 37
data:
$ID,5
$MISSION,7
$DIVE,283
$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,-105802.64
$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,25
$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
$GPS1,123336,6354.340,-1319.467,30,1.5,30,-12.6
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,2
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-49.5
$GPS2,124049,6354.307,-1319.450,14,1.8,31,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.188,-0.158
$KALMAN_X,31370.5,-1315.6,-618.0,-275582.9,8203.4
$KALMAN_Y,9496.2,-239.0,532.5,245228.8,-242.2
$MHEAD_RNG_PITCHd_Wd,242.5,8549,-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,-60.90,0.000,2,0.000,0.000,426,2140,2465
$GC,83,-1.22,-146.6,2.5,-2.4,3,139,10.98,2.58,-39.50,0.000,4,0.153,0.078,2471,3534,3430
$GC,395,-1.14,-146.6,37.0,-13.5,17,400,0.12,2.50,0.00,0.000,6,0.104,0.046,2495,2125,3430
$GC,724,-1.10,-146.6,80.1,-12.9,33,728,0.00,2.60,0.00,0.000,4,0.000,0.064,2495,3537,3430
$GC,774,-1.04,-146.6,86.5,-12.0,35,779,0.10,2.53,0.00,0.000,6,0.103,0.048,2516,2117,3430
$GC,1093,-1.04,-146.6,120.6,-10.4,50,1098,0.00,2.60,0.00,0.000,4,0.000,0.064,2516,3532,3430
$GC,1166,-1.04,-146.6,129.0,-10.6,53,1170,0.00,2.47,0.00,0.000,6,0.000,0.047,2516,2138,3430
$GC,1488,-1.04,-146.6,163.2,-10.7,70,1492,0.00,2.58,0.00,0.000,4,0.000,0.064,2516,3537,3430
$GC,1527,-1.04,-146.6,167.7,-11.2,72,1533,0.00,2.47,0.00,0.000,6,0.000,0.049,2517,2146,3430
$GC,1846,-1.04,-146.6,202.5,-10.9,93,1850,0.00,2.53,0.00,0.000,4,0.000,0.059,2516,721,3430
$GC,1885,-1.07,-146.6,207.1,-11.5,95,1891,0.00,2.53,0.00,0.000,6,0.000,0.049,2516,2147,3430
$GC,2205,-1.07,-146.6,243.5,-11.2,116,2209,0.00,2.58,0.00,0.000,4,0.000,0.062,2516,726,3430
$GC,2261,-1.12,-146.6,250.1,-11.6,119,2267,0.00,2.53,0.00,0.000,6,0.000,0.051,2516,2146,3430
$GC,2581,-1.12,-146.6,285.8,-10.8,140,2585,0.00,2.60,0.00,0.000,4,0.000,0.064,2516,716,3430
$GC,2597,-1.12,-146.6,287.8,-10.9,141,2601,0.00,2.53,0.00,0.000,6,0.000,0.051,2516,2134,3430
$GC,2916,-1.12,-146.6,323.1,-10.8,161,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2133,3430
$GC,3229,-1.12,-146.6,354.7,-9.6,181,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2134,3430
$GC,3541,-1.12,-146.6,383.4,-9.4,201,3545,0.00,2.55,0.00,0.000,4,0.000,0.062,2516,725,3430
$GC,3580,-1.16,-146.6,387.3,-10.0,203,3587,0.12,2.47,0.00,0.000,6,0.059,0.051,2482,2120,3430
$GC,3902,-1.11,-146.6,423.6,-11.6,224,3907,0.10,2.58,0.00,0.000,4,0.102,0.069,2502,3541,3430
$GC,3941,-1.11,-146.6,428.5,-10.9,226,3947,0.00,2.55,0.00,0.000,6,0.000,0.057,2503,2124,3429
$GC,4261,-1.11,-146.6,460.8,-10.4,247,4265,0.00,2.62,0.00,0.000,4,0.000,0.069,2502,3540,3429
$GC,4293,-1.11,-146.6,464.6,-11.6,249,4298,0.00,2.55,0.00,0.000,6,0.000,0.058,2503,2126,3430
$GC,4613,-1.11,-146.6,497.7,-10.6,269,4617,0.00,2.62,0.00,0.000,4,0.000,0.069,2503,3541,3430
$GC,4635,-1.11,-146.6,500.2,-10.3,270,4641,0.00,2.53,0.00,0.000,6,0.000,0.058,2503,2144,3429
$GC,4954,-1.11,-146.6,533.5,-10.5,291,4958,0.00,2.53,0.00,0.000,4,0.000,0.064,2502,723,3429
$GC,4975,-1.11,-146.6,536.0,-10.6,292,4982,0.00,2.53,0.00,0.000,6,0.000,0.051,2503,2144,3429
$GC,5295,-1.11,-146.6,568.1,-9.7,313,5299,0.00,2.58,0.00,0.000,4,0.000,0.064,2503,723,3429
$GC,5350,-1.11,-146.6,574.0,-10.7,316,5357,0.00,2.50,0.00,0.000,6,0.000,0.052,2503,2132,3428
$GC,5670,-1.11,-146.6,605.8,-9.9,337,5674,0.00,2.58,0.00,0.000,4,0.000,0.065,2503,716,3429
$GC,5733,-1.11,-146.6,612.1,-9.9,341,5737,0.00,2.47,0.00,0.000,6,0.000,0.051,2503,2102,3428
$GC,6057,-1.11,-146.6,642.9,-9.5,362,6061,0.00,2.53,0.00,0.000,4,0.000,0.067,2503,723,3428
$GC,6090,-1.11,-146.6,646.2,-9.7,364,6095,0.00,2.45,0.00,0.000,6,0.000,0.054,2503,2096,3429
$GC,6409,-1.11,-146.6,675.4,-8.8,384,6413,0.00,2.50,0.00,0.000,4,0.000,0.066,2503,723,3428
$GC,6425,-1.11,-146.6,676.9,-8.9,385,6429,0.00,2.42,0.00,0.000,6,0.000,0.054,2503,2082,3428
$GC,6745,-1.11,-146.6,706.1,-8.9,405,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2082,3428
$GC,7056,-1.11,-146.6,736.8,-10.0,425,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2084,3427
$GC,7369,-1.11,-146.6,766.8,-8.2,445,7374,0.00,2.67,0.00,0.000,4,0.000,0.076,2503,3537,3426
$GC,7416,-1.11,-146.6,770.9,-9.2,448,7420,0.00,2.65,0.00,0.000,6,0.000,0.064,2503,2086,3426
$STATE,7737,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7737,begin apogee
$GC,7747,-0.33,0.0,794.7,8.5,469,7889,0.80,0.00,134.88,1.364,6,0.080,0.000,2674,1843,2831
$STATE,7890,end apogee,CONTROL_FINISHED_OK
$STATE,7890,begin climb
$GC,7893,1.22,146.6,799.1,0.0,479,8040,1.50,2.72,136.55,1.318,4,0.057,0.070,3008,3261,2233
$GC,8069,1.16,146.6,785.8,16.5,490,8073,0.00,2.65,0.00,0.000,6,0.000,0.069,3008,1855,2233
$GC,8388,1.11,155.5,762.1,7.7,510,8404,0.00,0.00,9.40,1.120,6,0.000,0.000,3008,1854,2197
$GC,8718,1.05,155.5,731.1,9.4,531,8723,0.17,2.62,0.00,0.000,4,0.098,0.070,2973,3255,2196
$GC,8786,1.08,155.5,725.0,9.0,535,8790,0.00,2.60,0.00,0.000,6,0.000,0.065,2973,1851,2196
$GC,9105,1.10,164.0,700.5,7.7,555,9122,0.00,2.67,9.05,1.137,4,0.000,0.071,2973,3251,2162
$GC,9230,1.15,164.0,690.7,8.1,562,9235,0.00,2.55,0.00,0.000,6,0.000,0.064,2973,1870,2161
$GC,9550,1.19,168.2,666.5,7.8,582,9561,0.15,2.65,5.28,0.964,4,0.062,0.076,3008,442,2144
$GC,9607,1.09,168.2,661.2,10.3,584,9614,0.15,2.60,0.00,0.000,6,0.101,0.058,2980,1872,2144
$GC,9926,1.14,196.7,638.4,7.0,605,9959,0.00,2.58,26.25,1.254,4,0.000,0.067,2980,3254,2028
$GC,10013,1.22,212.5,632.1,7.4,610,10034,0.12,2.55,15.45,1.197,6,0.064,0.062,3012,1871,1964
$GC,10353,1.22,212.5,603.0,8.2,632,10357,0.00,2.62,0.00,0.000,4,0.000,0.074,3012,439,1963
$GC,10387,1.15,212.5,600.0,8.6,634,10391,0.00,2.60,0.00,0.000,6,0.000,0.054,3012,1883,1963
$GC,10707,1.15,212.5,573.5,8.8,654,10712,0.00,2.70,0.00,0.000,4,0.000,0.072,3012,436,1963
$GC,10763,1.09,212.5,567.7,10.4,657,10770,0.15,2.55,0.00,0.000,6,0.094,0.054,2983,1857,1963
$GC,11085,1.14,212.5,541.1,8.5,678,11089,0.00,2.53,0.00,0.000,4,0.000,0.064,2983,3261,1963
$GC,11138,1.20,212.5,536.3,8.7,681,11143,0.10,2.55,0.00,0.000,6,0.067,0.058,3010,1855,1963
$GC,11465,1.20,212.5,503.5,10.4,702,11466,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1855,1963
$GC,11774,1.20,212.5,472.7,9.7,722,11779,0.00,2.58,0.00,0.000,4,0.000,0.061,3010,3264,1963
$GC,11830,1.20,212.5,466.9,10.3,725,11837,0.00,2.53,0.00,0.000,6,0.000,0.055,3010,1864,1964
$GC,12150,1.20,212.5,436.8,9.2,746,12151,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1865,1964
$GC,12462,1.20,212.5,406.9,9.7,766,12463,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1865,1964
$GC,12775,1.20,212.5,378.1,9.2,786,12779,0.00,2.55,0.00,0.000,4,0.000,0.061,3010,3264,1965
$GC,12825,1.20,212.5,373.2,9.3,789,12829,0.00,2.47,0.00,0.000,6,0.000,0.054,3009,1884,1965
$GC,13144,1.20,212.5,344.1,9.2,809,13148,0.00,2.60,0.00,0.000,4,0.000,0.066,3010,435,1965
$GC,13173,1.17,212.5,341.4,9.3,811,13178,0.00,2.60,0.00,0.000,6,0.000,0.050,3010,1901,1965
$GC,13498,1.17,212.5,310.0,9.0,832,13499,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1915,1965
$GC,13810,1.17,212.5,280.2,9.3,852,13814,0.00,2.67,0.00,0.000,4,0.000,0.065,3010,439,1966
$GC,13856,1.14,212.5,275.7,10.1,855,13861,0.00,2.58,0.00,0.000,6,0.000,0.049,3010,1893,1966
$GC,14181,1.14,212.5,245.9,8.9,876,14183,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1905,1966
$GC,14494,1.14,212.5,219.2,8.4,896,14499,0.00,2.67,0.00,0.000,4,0.000,0.066,3010,432,1966
$GC,14533,1.11,212.5,215.6,9.3,898,14540,0.12,2.55,0.00,0.000,6,0.095,0.049,2985,1875,1967
$GC,14855,1.22,246.8,192.7,6.8,919,14888,0.12,0.00,29.95,0.925,6,0.060,0.000,3019,1892,1825
$GC,15198,1.23,250.2,165.4,7.9,941,15208,0.00,2.65,4.78,0.678,4,0.000,0.064,3019,444,1810
$GC,15253,1.23,250.2,160.5,8.7,943,15259,0.00,2.55,0.00,0.000,6,0.000,0.049,3019,1874,1810
$GC,15586,1.23,250.2,133.9,8.1,962,15591,0.00,2.45,0.00,0.000,4,0.000,0.058,3019,3254,1810
$GC,15605,1.23,250.2,132.3,8.3,963,15610,0.00,2.50,0.00,0.000,6,0.000,0.051,3019,1849,1809
$GC,15933,1.29,289.0,108.4,6.6,979,15972,0.00,0.00,32.80,0.875,6,0.000,0.000,3020,1849,1651
$GC,16284,1.29,289.0,77.5,9.8,996,16288,0.00,2.53,0.00,0.000,4,0.000,0.062,3019,436,1651
$GC,16328,1.29,289.0,72.8,10.0,998,16332,0.00,2.53,0.00,0.000,6,0.000,0.047,3019,1864,1652
$GC,16649,1.29,289.0,38.5,10.9,1014,16653,0.00,2.47,0.00,0.000,4,0.000,0.059,3019,3254,1651
$GC,16677,1.33,289.0,35.9,9.8,1015,16682,0.00,2.50,0.00,0.000,6,0.000,0.050,3019,1855,1652
$GC,16994,1.43,353.8,11.6,5.6,1030,17056,0.17,2.60,52.62,0.809,4,0.052,0.054,3066,3255,1388
$GC,17084,1.43,353.8,3.6,13.9,1034,17089,0.00,2.55,0.00,0.000,6,0.000,0.051,3066,1850,1388
$STATE,17093,end climb,SURFACE_DEPTH_REACHED
$STATE,17093,begin surface coast
$FINISH,0.8,1.011242
$STATE,17116,end surface coast,CONTROL_FINISHED_OK
$STATE,17116,begin surface
$SM_CCo,17199,0.00,0.000,0,0,1386,354.46
$SM_GC,1.53,11.60,0.00,0.00,0.038,0.000,0.000,418,2144,1386,-10.61,0.40,354.46
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1816
$TCM_TEMP,17.40
$XPDR_PINGS,72
$ALTIM_BOTTOM_PING,770.3,32.5
$24V_AH,23.7,46.727
$10V_AH,10.1,20.713
$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,26.600,180.300,457.000,0.000,0.000,37.761,23.992,216.832,25.000,0.000,0.000,31.637,1815.390,12419.087,630.010,2119.036,639.334,33.368,1699.559,0.000,2054.864,0.000,47.653,0.000
$DEVICE_MAMPS,152.633,78.234,1363.726,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,709.033,762.935,556.784,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53855,1036
$CAP_FILE_SIZE,145971,0
$CFSIZE,254472192,236871680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,111009,172931,6353.773,-1321.792,38,1.8,38,-12.6