version: 66.04
glider: 5
mission: 7
dive: 285
start: 10 11 109 22 34 14
data:
$ID,5
$MISSION,7
$DIVE,285
$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,-105835.27
$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,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
$GPS1,222607,6350.898,-1327.244,36,1.1,36,-12.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-58.5
$GPS2,223325,6350.917,-1327.235,13,1.5,13,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,JE
$TGT_LATLONG,6345.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.074,-0.234
$KALMAN_X,31192.8,-875.0,-1245.3,-282084.1,6177.1
$KALMAN_Y,12853.2,101.3,-527.9,236325.3,2683.6
$MHEAD_RNG_PITCHd_Wd,175.0,28588,-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,-61.17,0.000,2,0.000,0.000,421,2159,2772
$GC,83,-1.22,-146.6,3.2,-3.7,3,121,11.30,2.62,-19.98,0.000,4,0.165,0.073,2471,718,3429
$GC,335,-1.15,-146.6,43.4,-16.0,13,340,0.10,2.53,0.00,0.000,6,0.117,0.049,2490,2138,3429
$GC,652,-1.10,-146.6,83.1,-13.2,28,656,0.00,2.58,0.00,0.000,4,0.000,0.059,2490,712,3429
$GC,692,-1.10,-146.6,89.2,-15.5,30,696,0.00,2.50,0.00,0.000,6,0.000,0.049,2490,2123,3429
$GC,1020,-1.04,-146.6,128.0,-10.3,46,1022,0.12,0.00,0.00,0.000,6,0.102,0.000,2517,2123,3429
$GC,1339,-1.04,-146.6,160.2,-10.2,63,1343,0.00,2.58,0.00,0.000,4,0.000,0.066,2517,3544,3429
$GC,1411,-1.04,-146.6,167.9,-10.2,67,1417,0.00,2.55,0.00,0.000,6,0.000,0.050,2517,2114,3429
$GC,1731,-1.04,-146.6,200.4,-10.0,88,1735,0.00,2.47,0.00,0.000,4,0.000,0.060,2517,717,3430
$GC,1777,-1.08,-146.6,205.0,-10.1,91,1781,0.00,2.50,0.00,0.000,6,0.000,0.049,2517,2127,3430
$GC,2101,-1.08,-146.6,236.1,-9.5,112,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2127,3430
$GC,2413,-1.08,-146.6,265.5,-9.7,132,2417,0.00,2.55,0.00,0.000,4,0.000,0.062,2517,718,3430
$GC,2464,-1.11,-146.6,270.6,-9.9,135,2468,0.00,2.47,0.00,0.000,6,0.000,0.050,2517,2114,3430
$GC,2783,-1.11,-146.6,302.5,-9.9,155,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2114,3430
$GC,3095,-1.11,-146.6,334.6,-10.5,175,3099,0.00,2.53,0.00,0.000,4,0.000,0.061,2517,715,3430
$GC,3141,-1.16,-146.6,339.6,-10.8,178,3147,0.12,2.47,0.00,0.000,6,0.058,0.050,2482,2107,3430
$GC,3469,-1.10,-146.6,379.3,-12.8,199,3474,0.12,2.60,0.00,0.000,4,0.096,0.069,2509,3533,3430
$GC,3491,-1.06,-146.6,382.5,-12.0,200,3498,0.00,2.60,0.00,0.000,6,0.000,0.057,2508,2086,3429
$GC,3811,-1.06,-146.6,417.8,-10.8,221,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2072,3429
$GC,4124,-1.06,-146.6,452.2,-11.0,241,4129,0.00,2.67,0.00,0.000,4,0.000,0.068,2508,3537,3429
$GC,4175,-1.06,-146.6,458.2,-11.2,244,4179,0.00,2.60,0.00,0.000,6,0.000,0.056,2509,2088,3429
$GC,4494,-1.06,-146.6,493.1,-11.0,264,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2074,3429
$GC,4806,-1.06,-146.6,525.8,-10.5,284,4810,0.00,2.65,0.00,0.000,4,0.000,0.068,2508,3537,3429
$GC,4845,-1.06,-146.6,530.1,-11.2,286,4851,0.00,2.58,0.00,0.000,6,0.000,0.056,2509,2104,3429
$GC,5164,-1.06,-146.6,562.0,-9.7,307,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2093,3429
$GC,5478,-1.06,-146.6,592.8,-9.9,327,5482,0.00,2.65,0.00,0.000,4,0.000,0.069,2509,3535,3429
$GC,5517,-1.06,-146.6,597.0,-10.2,329,5523,0.00,2.55,0.00,0.000,6,0.000,0.056,2509,2116,3428
$GC,5836,-1.06,-146.6,627.1,-9.3,350,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2105,3428
$GC,6148,-1.06,-146.6,654.7,-9.1,370,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2105,3428
$GC,6460,-1.06,-146.6,684.7,-9.7,390,6465,0.00,2.62,0.00,0.000,4,0.000,0.070,2509,3534,3428
$GC,6516,-1.06,-146.6,690.2,-10.1,393,6523,0.00,2.55,0.00,0.000,6,0.000,0.057,2509,2119,3428
$GC,6836,-1.06,-146.6,713.2,-6.0,414,6841,0.00,2.50,0.00,0.000,4,0.000,0.066,2509,720,3428
$GC,6870,-1.06,-146.6,715.3,-6.7,416,6875,0.00,2.47,0.00,0.000,6,0.000,0.052,2509,2115,3428
$GC,7191,-1.06,-146.6,736.8,-7.7,436,7195,0.00,2.53,0.00,0.000,4,0.000,0.066,2508,716,3428
$GC,7252,-1.09,-146.6,742.4,-9.0,439,7258,0.00,2.42,0.00,0.000,6,0.000,0.052,2509,2079,3428
$GC,7571,-1.09,-146.6,772.4,-9.5,460,7576,0.00,2.50,0.00,0.000,4,0.000,0.069,2509,717,3427
$GC,7635,-1.13,-146.6,778.5,-9.8,464,7639,0.00,2.40,0.00,0.000,6,0.000,0.054,2509,2055,3427
$GC,7959,-1.13,-146.6,809.8,-9.1,485,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2060,3427
$GC,8271,-1.13,-146.6,838.7,-9.4,505,8276,0.00,2.70,0.00,0.000,4,0.000,0.073,2508,3535,3427
$GC,8345,-1.13,-146.6,845.5,-9.5,509,8351,0.00,2.70,0.00,0.000,6,0.000,0.061,2508,2044,3427
$GC,8666,-1.13,-146.6,873.6,-8.8,530,8670,0.00,2.78,0.00,0.000,4,0.000,0.073,2508,3537,3426
$GC,8767,-1.13,-146.6,882.3,-9.5,536,8771,0.00,2.65,0.00,0.000,6,0.000,0.062,2508,2081,3426
$GC,9086,-1.13,-146.6,910.0,-9.3,556,9090,0.00,2.72,0.00,0.000,4,0.000,0.077,2509,3532,3426
$GC,9136,-1.13,-146.6,915.2,-10.5,559,9140,0.00,2.58,0.00,0.000,6,0.000,0.062,2508,2117,3426
$STATE,9264,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9264,begin apogee
$GC,9273,-0.33,0.0,927.3,8.7,567,9411,0.77,0.00,135.30,1.449,6,0.080,0.000,2673,1848,2831
$STATE,9412,end apogee,CONTROL_FINISHED_OK
$STATE,9412,begin climb
$GC,9415,1.22,146.6,932.9,0.0,576,9561,1.52,2.72,137.75,1.402,4,0.064,0.077,3006,442,2233
$GC,9624,1.09,146.6,923.0,8.7,589,9630,0.12,2.58,0.00,0.000,6,0.098,0.058,2983,1853,2233
$GC,9943,1.10,157.5,899.2,7.6,610,9961,0.00,2.60,11.48,1.233,4,0.000,0.068,2983,3252,2188
$GC,10023,1.10,157.5,892.3,8.4,614,10030,0.00,2.60,0.00,0.000,6,0.000,0.064,2983,1854,2188
$GC,10343,1.20,218.7,871.8,5.8,635,10407,0.10,2.67,55.80,1.391,4,0.067,0.070,3010,3254,1939
$GC,10504,1.20,218.7,858.3,8.6,644,10510,0.00,2.55,0.00,0.000,6,0.000,0.064,3010,1880,1938
$GC,10823,1.17,218.7,828.0,9.7,665,10828,0.00,2.58,0.00,0.000,4,0.000,0.069,3010,3261,1938
$GC,10880,1.17,218.7,822.4,10.1,668,10886,0.00,2.50,0.00,0.000,6,0.000,0.063,3010,1906,1938
$GC,11199,1.17,218.7,794.5,8.5,689,11203,0.00,2.70,0.00,0.000,4,0.000,0.077,3010,442,1937
$GC,11267,1.10,218.7,788.1,9.7,693,11272,0.12,2.62,0.00,0.000,6,0.100,0.057,2986,1892,1936
$GC,11589,1.16,252.9,765.3,6.8,713,11626,0.00,2.80,31.30,1.329,4,0.000,0.076,2986,442,1800
$GC,11643,1.19,274.4,761.4,7.2,716,11669,0.00,2.62,20.67,1.286,6,0.000,0.056,2985,1889,1712
$GC,11993,1.24,274.4,734.8,8.9,739,11995,0.12,0.00,0.00,0.000,6,0.061,0.000,3018,1892,1712
$GC,12301,1.24,274.4,701.9,11.6,759,12302,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1892,1712
$GC,12614,1.24,274.4,666.7,10.9,779,12618,0.00,2.67,0.00,0.000,4,0.000,0.071,3018,439,1712
$GC,12643,1.19,274.4,663.2,12.9,781,12647,0.00,2.55,0.00,0.000,6,0.000,0.053,3018,1859,1712
$GC,12968,1.19,274.4,627.6,10.8,802,12973,0.00,2.53,0.00,0.000,4,0.000,0.063,3018,3264,1713
$GC,12986,1.19,274.4,625.4,11.0,803,12990,0.00,2.53,0.00,0.000,6,0.000,0.055,3018,1869,1713
$GC,13304,1.19,274.4,590.0,11.1,823,13309,0.00,2.55,0.00,0.000,4,0.000,0.061,3018,3261,1713
$GC,13327,1.19,274.4,587.1,12.5,824,13333,0.00,2.53,0.00,0.000,6,0.000,0.055,3018,1863,1713
$GC,13646,1.19,274.4,551.4,11.2,845,13647,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1863,1713
$GC,13958,1.19,274.4,517.1,11.2,865,13962,0.00,2.55,0.00,0.000,4,0.000,0.060,3018,3262,1713
$GC,14007,1.19,274.4,511.2,11.1,868,14012,0.00,2.50,0.00,0.000,6,0.000,0.054,3018,1873,1713
$GC,14327,1.19,274.4,476.9,10.7,888,14331,0.00,2.53,0.00,0.000,4,0.000,0.060,3018,3259,1713
$GC,14355,1.19,274.4,473.8,10.6,890,14360,0.00,2.45,0.00,0.000,6,0.000,0.054,3018,1888,1714
$GC,14681,1.19,274.4,439.9,10.1,911,14685,0.00,2.50,0.00,0.000,4,0.000,0.061,3019,3261,1714
$GC,14714,1.19,274.4,436.3,10.0,913,14718,0.00,2.45,0.00,0.000,6,0.000,0.053,3018,1897,1714
$GC,15033,1.19,274.4,404.7,9.3,933,15037,0.00,2.50,0.00,0.000,4,0.000,0.061,3018,3266,1714
$GC,15054,1.19,274.4,402.3,10.5,934,15060,0.00,2.42,0.00,0.000,6,0.000,0.052,3017,1912,1714
$GC,15374,1.19,274.4,371.6,10.0,955,15375,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1912,1715
$GC,15686,1.19,274.4,339.2,10.5,975,15690,0.00,2.45,0.00,0.000,4,0.000,0.060,3018,3259,1715
$GC,15702,1.19,274.4,337.2,10.4,976,15707,0.00,2.40,0.00,0.000,6,0.000,0.052,3017,1917,1715
$GC,16022,1.19,274.4,304.1,10.6,996,16023,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1917,1715
$GC,16334,1.19,274.4,271.8,10.7,1016,16336,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1917,1715
$GC,16647,1.19,274.4,238.9,10.2,1036,16648,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1917,1715
$GC,16959,1.19,274.4,207.4,9.7,1056,16960,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1917,1715
$GC,17271,1.19,274.4,178.0,9.0,1076,17272,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1917,1715
$GC,17584,1.19,274.4,149.1,9.5,1096,17588,0.00,2.42,0.00,0.000,4,0.000,0.058,3018,3258,1716
$GC,17617,1.22,274.4,145.7,10.4,1097,17624,0.00,2.38,0.00,0.000,6,0.000,0.049,3018,1916,1716
$GC,17934,1.22,274.4,117.1,9.0,1113,17935,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1916,1716
$GC,18243,1.26,295.9,91.4,7.2,1128,18268,0.00,2.70,19.58,0.835,4,0.000,0.062,3018,442,1624
$GC,18292,1.26,295.9,87.2,8.2,1130,18296,0.00,2.67,0.00,0.000,6,0.000,0.048,3018,1937,1624
$GC,18614,1.26,295.9,59.3,10.2,1146,18615,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1955,1624
$GC,18923,1.32,332.6,35.0,6.7,1161,18959,0.00,2.80,30.33,0.816,4,0.000,0.063,3018,443,1474
$GC,18998,1.38,370.6,28.7,6.6,1163,19036,0.12,2.65,31.50,0.803,6,0.054,0.048,3054,1943,1320
$STATE,19226,end climb,SURFACE_DEPTH_REACHED
$STATE,19226,begin surface coast
$FINISH,0.9,1.027267
$STATE,19251,end surface coast,CONTROL_FINISHED_OK
$STATE,19251,begin surface
$SM_CCo,19335,0.00,0.000,0,0,1320,370.89
$SM_GC,1.60,11.50,0.00,0.00,0.038,0.000,0.000,419,2158,1320,-10.60,0.88,370.89
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1820
$TCM_TEMP,17.30
$XPDR_PINGS,70
$ALTIM_BOTTOM_PING,870.8,66.0
$24V_AH,23.7,47.101
$10V_AH,10.1,20.902
$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,26.175,175.450,473.700,0.000,0.000,37.763,44.966,218.633,25.500,0.000,0.000,13.919,2034.436,14120.884,602.277,2328.773,676.947,33.367,1771.221,0.000,2276.150,0.000,54.078,0.000
$DEVICE_MAMPS,164.905,77.467,1448.863,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,805.106,860.151,592.686,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60080,1176
$CAP_FILE_SIZE,154510,0
$CFSIZE,254472192,236720128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,121009,035742,6348.710,-1326.296,35,1.6,35,-12.6