version: 66.04
glider: 5
mission: 7
dive: 287
start: 10 12 109 9 52 38
data:
$ID,5
$MISSION,7
$DIVE,287
$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,-105864.31
$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,31
$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
$GPS1,093930,6346.923,-1321.853,40,2.0,40,-12.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-64.7
$GPS2,095149,6347.054,-1322.122,15,2.0,15,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,JE
$TGT_LATLONG,6345.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.141,-0.201
$KALMAN_X,26668.6,-498.2,-521.8,-274194.3,1296.9
$KALMAN_Y,15161.1,-545.9,-638.3,227605.6,4202.0
$MHEAD_RNG_PITCHd_Wd,157.5,22540,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.62,0.000,2,0.000,0.000,420,2144,2457
$GC,63,-1.22,-146.6,2.6,-4.0,2,127,11.10,2.60,-44.30,0.000,4,0.156,0.071,2471,723,3430
$GC,263,-1.16,-146.6,23.6,-12.9,11,268,0.00,2.50,0.00,0.000,6,0.000,0.048,2471,2131,3430
$GC,592,-1.04,-146.6,66.7,-11.9,27,597,0.17,2.58,0.00,0.000,4,0.108,0.061,2511,718,3430
$GC,632,-1.04,-146.6,71.6,-11.2,29,637,0.00,2.50,0.00,0.000,6,0.000,0.049,2511,2124,3430
$GC,960,-1.04,-146.6,108.3,-11.4,45,964,0.00,2.55,0.00,0.000,4,0.000,0.061,2511,720,3430
$GC,1000,-1.04,-146.6,113.1,-11.8,47,1004,0.00,2.47,0.00,0.000,6,0.000,0.050,2511,2114,3430
$GC,1328,-1.04,-146.6,149.9,-10.5,63,1332,0.00,2.58,0.00,0.000,4,0.000,0.065,2511,3538,3430
$GC,1390,-1.04,-146.6,156.5,-9.8,67,1394,0.00,2.55,0.00,0.000,6,0.000,0.051,2511,2107,3430
$GC,1714,-1.04,-146.6,189.8,-9.9,88,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2092,3430
$GC,2027,-1.04,-146.6,221.1,-9.9,108,2031,0.00,2.62,0.00,0.000,4,0.000,0.066,2511,3532,3430
$GC,2077,-1.04,-146.6,226.4,-10.3,111,2081,0.00,2.53,0.00,0.000,6,0.000,0.051,2511,2118,3430
$GC,2398,-1.04,-146.6,260.2,-10.9,131,2402,0.00,2.47,0.00,0.000,4,0.000,0.061,2511,723,3430
$GC,2437,-1.04,-146.6,264.9,-10.8,133,2443,0.00,2.47,0.00,0.000,6,0.000,0.049,2511,2121,3430
$GC,2756,-1.04,-146.6,299.1,-10.5,154,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2121,3430
$GC,3068,-1.04,-146.6,330.7,-9.8,174,3072,0.00,2.53,0.00,0.000,4,0.000,0.061,2511,720,3430
$GC,3117,-1.04,-146.6,335.7,-9.9,177,3122,0.00,2.47,0.00,0.000,6,0.000,0.050,2511,2118,3430
$GC,3437,-1.04,-146.6,366.1,-9.3,197,3441,0.00,2.53,0.00,0.000,4,0.000,0.061,2511,719,3430
$GC,3483,-1.04,-146.6,370.4,-9.9,200,3487,0.00,2.45,0.00,0.000,6,0.000,0.050,2511,2099,3430
$GC,3808,-1.04,-146.6,400.8,-9.4,221,3812,0.00,2.50,0.00,0.000,4,0.000,0.062,2511,715,3430
$GC,3830,-1.04,-146.6,403.2,-10.0,222,3834,0.00,2.45,0.00,0.000,6,0.000,0.051,2511,2093,3430
$GC,4149,-1.04,-146.6,434.8,-10.2,242,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2093,3430
$GC,4463,-1.04,-146.6,466.9,-10.3,262,4467,0.00,2.47,0.00,0.000,4,0.000,0.061,2511,723,3430
$GC,4508,-1.08,-146.6,472.1,-10.5,265,4513,0.00,2.42,0.00,0.000,6,0.000,0.051,2511,2086,3430
$GC,4833,-1.08,-146.6,507.9,-10.8,286,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2086,3430
$GC,5146,-1.08,-146.6,540.5,-10.0,306,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2086,3429
$GC,5459,-1.08,-146.6,571.8,-10.0,326,5464,0.00,2.47,0.00,0.000,4,0.000,0.063,2511,720,3429
$GC,5494,-1.08,-146.6,575.4,-10.0,328,5499,0.00,2.42,0.00,0.000,6,0.000,0.051,2511,2085,3429
$GC,5814,-1.08,-146.6,607.4,-9.5,348,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2085,3429
$GC,6126,-1.08,-146.6,636.8,-9.3,368,6130,0.00,2.47,0.00,0.000,4,0.000,0.063,2511,720,3429
$GC,6172,-1.11,-146.6,641.1,-9.4,371,6176,0.00,2.40,0.00,0.000,6,0.000,0.052,2511,2070,3429
$GC,6497,-1.11,-146.6,671.8,-9.2,392,6501,0.00,2.67,0.00,0.000,4,0.000,0.071,2511,3539,3429
$GC,6535,-1.11,-146.6,675.4,-9.5,394,6541,0.00,2.65,0.00,0.000,6,0.000,0.058,2511,2066,3428
$GC,6855,-1.11,-146.6,703.3,-8.8,415,6859,0.00,2.40,0.00,0.000,4,0.000,0.066,2511,722,3428
$GC,6894,-1.15,-146.6,706.8,-9.1,417,6900,0.00,2.38,0.00,0.000,6,0.000,0.052,2511,2057,3428
$GC,7213,-1.15,-146.6,735.2,-9.5,438,7217,0.00,2.45,0.00,0.000,4,0.000,0.068,2511,719,3428
$GC,7275,-1.18,-146.6,741.4,-9.8,441,7282,0.12,2.38,0.00,0.000,6,0.062,0.054,2477,2049,3429
$GC,7597,-1.13,-146.6,777.9,-10.9,462,7602,0.10,2.72,0.00,0.000,4,0.104,0.075,2496,3536,3428
$GC,7715,-1.13,-146.6,790.6,-10.0,469,7720,0.00,2.65,0.00,0.000,6,0.000,0.060,2496,2068,3428
$GC,8034,-1.13,-146.6,823.2,-11.2,489,8038,0.00,2.42,0.00,0.000,4,0.000,0.070,2496,720,3428
$GC,8081,-1.13,-146.6,828.6,-11.9,492,8085,0.00,2.42,0.00,0.000,6,0.000,0.054,2496,2074,3428
$GC,8405,-1.13,-146.6,863.4,-9.9,513,8409,0.00,2.50,0.00,0.000,4,0.000,0.072,2496,721,3427
$GC,8485,-1.13,-146.6,871.1,-9.1,518,8489,0.00,2.38,0.00,0.000,6,0.000,0.056,2496,2042,3427
$GC,8810,-1.13,-146.6,901.1,-8.6,539,8811,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2042,3426
$STATE,8901,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8901,begin apogee
$GC,8908,-0.33,0.0,909.9,9.2,545,9047,0.82,0.00,135.15,1.436,6,0.082,0.000,2673,1846,2831
$STATE,9048,end apogee,CONTROL_FINISHED_OK
$STATE,9048,begin climb
$GC,9051,1.22,146.6,914.4,0.0,554,9193,1.50,0.00,136.95,1.392,6,0.048,0.000,3018,1845,2233
$GC,9504,1.13,146.6,883.9,8.4,583,9509,0.15,2.65,0.00,0.000,4,0.095,0.070,2991,3258,2232
$GC,9538,1.15,157.8,881.1,7.6,585,9555,0.00,2.60,11.82,1.215,6,0.000,0.067,2991,1858,2187
$GC,9879,1.20,193.8,856.7,6.7,607,9918,0.00,0.00,33.62,1.342,6,0.000,0.000,2991,1858,2041
$GC,10232,1.21,195.7,829.1,7.9,630,10237,0.00,2.62,0.00,0.000,4,0.000,0.079,2991,439,2040
$GC,10254,1.21,195.7,827.1,8.7,631,10261,0.00,2.58,0.00,0.000,6,0.000,0.057,2991,1858,2040
$GC,10574,1.24,219.3,802.2,7.1,652,10606,0.12,2.75,23.90,1.322,4,0.063,0.074,3021,431,1937
$GC,10659,1.14,219.3,793.5,10.5,657,10664,0.15,2.55,0.00,0.000,6,0.098,0.056,2993,1831,1936
$GC,10983,1.14,219.3,766.2,8.2,678,10987,0.00,2.60,0.00,0.000,4,0.000,0.068,2994,3255,1936
$GC,11000,1.14,219.3,764.7,8.4,679,11004,0.00,2.65,0.00,0.000,6,0.000,0.063,2994,1819,1936
$GC,11319,1.14,219.3,736.8,9.7,699,11323,0.00,2.67,0.00,0.000,4,0.000,0.067,2994,3258,1935
$GC,11357,1.18,219.3,733.0,9.6,701,11363,0.00,2.58,0.00,0.000,6,0.000,0.061,2994,1855,1935
$GC,11677,1.21,239.9,709.4,7.3,722,11699,0.00,0.00,19.60,1.260,6,0.000,0.000,2994,1855,1853
$GC,12004,1.23,248.6,684.6,7.7,743,12020,0.00,2.62,9.57,1.143,4,0.000,0.071,2993,440,1817
$GC,12044,1.23,248.6,681.1,8.4,745,12048,0.00,2.60,0.00,0.000,6,0.000,0.053,2994,1876,1817
$GC,12362,1.23,248.6,654.0,8.6,765,12364,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1890,1817
$GC,12675,1.23,249.7,627.5,8.0,785,12676,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1890,1817
$GC,12988,1.23,249.7,602.0,8.4,805,12989,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1890,1817
$GC,13300,1.23,249.7,575.0,8.5,825,13304,0.00,2.65,0.00,0.000,4,0.000,0.067,2994,437,1817
$GC,13321,1.23,249.7,572.9,9.1,826,13327,0.00,2.55,0.00,0.000,6,0.000,0.051,2994,1869,1817
$GC,13641,1.26,249.7,546.3,8.2,847,13646,0.12,2.50,0.00,0.000,4,0.057,0.063,3026,3261,1817
$GC,13657,1.26,249.7,544.7,8.7,848,13661,0.00,2.55,0.00,0.000,6,0.000,0.056,3026,1852,1817
$GC,13977,1.21,249.7,513.6,9.7,868,13981,0.00,2.58,0.00,0.000,4,0.000,0.062,3026,3258,1818
$GC,14010,1.21,249.7,510.2,10.1,870,14014,0.00,2.53,0.00,0.000,6,0.000,0.055,3026,1860,1817
$GC,14329,1.18,249.7,480.2,9.4,890,14334,0.15,2.55,0.00,0.000,4,0.090,0.061,2997,3255,1818
$GC,14359,1.21,249.7,477.7,8.2,892,14363,0.00,2.50,0.00,0.000,6,0.000,0.055,2997,1867,1818
$GC,14683,1.21,249.7,450.5,8.4,913,14687,0.00,2.55,0.00,0.000,4,0.000,0.061,2997,3263,1818
$GC,14716,1.26,249.7,447.4,9.0,915,14721,0.10,2.47,0.00,0.000,6,0.061,0.054,3025,1887,1818
$GC,15039,1.23,249.7,415.1,10.5,935,15040,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1887,1819
$GC,15348,1.23,249.7,381.2,11.4,955,15352,0.00,2.50,0.00,0.000,4,0.000,0.061,3025,3258,1819
$GC,15387,1.23,249.7,376.6,11.1,957,15393,0.00,2.45,0.00,0.000,6,0.000,0.054,3025,1893,1819
$GC,15706,1.23,249.7,340.7,11.1,978,15707,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1893,1819
$GC,16019,1.23,249.7,307.1,10.3,998,16023,0.00,2.50,0.00,0.000,4,0.000,0.062,3025,3263,1820
$GC,16036,1.23,249.7,305.2,10.5,999,16040,0.00,2.45,0.00,0.000,6,0.000,0.053,3024,1896,1820
$GC,16355,1.23,249.7,272.2,10.4,1019,16359,0.00,2.47,0.00,0.000,4,0.000,0.061,3025,3255,1820
$GC,16371,1.23,249.7,270.4,10.5,1020,16375,0.00,2.40,0.00,0.000,6,0.000,0.052,3024,1913,1820
$GC,16696,1.23,249.7,236.8,10.2,1041,16697,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1913,1820
$GC,17008,1.23,249.7,203.6,11.2,1061,17012,0.00,2.65,0.00,0.000,4,0.000,0.064,3024,431,1820
$GC,17024,1.20,249.7,201.5,11.0,1062,17029,0.00,2.65,0.00,0.000,6,0.000,0.048,3025,1932,1820
$GC,17344,1.20,249.7,164.0,11.2,1082,17348,0.00,2.35,0.00,0.000,4,0.000,0.060,3025,3261,1820
$GC,17378,1.20,249.7,159.9,11.1,1084,17382,0.00,2.40,0.00,0.000,6,0.000,0.051,3024,1913,1820
$GC,17695,1.20,249.7,125.7,9.7,1101,17699,0.00,2.45,0.00,0.000,4,0.000,0.060,3025,3264,1820
$GC,17717,1.20,249.7,123.5,10.3,1102,17721,0.00,2.40,0.00,0.000,6,0.000,0.050,3024,1914,1820
$GC,18038,1.20,249.7,95.1,9.1,1118,18043,0.00,2.42,0.00,0.000,4,0.000,0.059,3025,3255,1820
$GC,18057,1.20,249.7,93.2,9.4,1119,18060,0.00,2.38,0.00,0.000,6,0.000,0.049,3025,1916,1820
$GC,18390,1.20,249.7,60.4,10.7,1135,18394,0.00,2.42,0.00,0.000,4,0.000,0.059,3024,3258,1820
$GC,18418,1.20,249.7,57.8,9.1,1136,18422,0.00,2.35,0.00,0.000,6,0.000,0.047,3024,1927,1820
$GC,18736,1.20,249.7,28.9,8.4,1151,18737,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1927,1820
$STATE,18979,end climb,SURFACE_DEPTH_REACHED
$STATE,18979,begin surface coast
$FINISH,0.8,1.027265
$STATE,19001,end surface coast,CONTROL_FINISHED_OK
$STATE,19001,begin surface
$SM_CCo,19025,27.58,0.772,0,0,1608,300.00
$SM_GC,1.85,0.00,0.00,27.58,0.000,0.000,0.772,422,2146,1608,-10.69,0.45,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1815
$TCM_TEMP,17.20
$XPDR_PINGS,65
$ALTIM_BOTTOM_PING,845.9,72.7
$24V_AH,23.7,47.472
$10V_AH,10.1,21.105
$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,25.875,186.950,370.625,27.575,0.000,75.522,53.237,392.509,24.000,0.000,0.000,15.396,2023.465,14022.378,558.633,2262.368,915.511,33.368,1689.217,0.000,2208.444,0.000,53.715,0.000
$DEVICE_MAMPS,156.468,79.001,1435.824,772.369,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,797.855,848.200,589.417,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59969,1164
$CAP_FILE_SIZE,158358,0
$CFSIZE,254472192,236560384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,121009,151136,6344.824,-1318.237,39,1.5,44,-12.5