version: 66.04
glider: 5
mission: 7
dive: 289
start: 10 12 109 20 19 26
data:
$ID,5
$MISSION,7
$DIVE,289
$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,-105910.78
$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,22
$R_STBD_OVSHOOT,24
$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
$GPS1,201224,6344.125,-1311.037,36,1.7,36,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-58.3
$GPS2,201836,6344.091,-1311.239,30,1.9,30,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,JE
$TGT_LATLONG,6345.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.242,-0.040
$KALMAN_X,25103.9,585.4,49.0,-264728.2,-1777.7
$KALMAN_Y,14485.5,-94.2,-415.2,222119.1,1475.8
$MHEAD_RNG_PITCHd_Wd,111.7,13408,-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,-41.47,0.000,2,0.000,0.000,426,2128,2436
$GC,63,-1.22,-146.6,2.4,-4.1,2,126,10.98,2.58,-43.10,0.000,4,0.153,0.076,2472,3530,3429
$GC,133,-1.03,-146.6,6.2,-11.6,5,138,0.22,2.53,0.00,0.000,6,0.096,0.048,2519,2112,3429
$GC,455,-1.03,-146.6,43.0,-10.8,21,459,0.00,2.47,0.00,0.000,4,0.000,0.059,2519,718,3430
$GC,506,-1.06,-146.6,48.9,-11.2,23,510,0.00,2.50,0.00,0.000,6,0.000,0.049,2519,2124,3429
$GC,822,-1.06,-146.6,83.5,-11.2,38,826,0.00,2.55,0.00,0.000,4,0.000,0.061,2519,719,3429
$GC,867,-1.10,-146.6,88.5,-10.9,40,871,0.00,2.47,0.00,0.000,6,0.000,0.049,2519,2115,3429
$GC,1189,-1.10,-146.6,123.4,-11.2,56,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2114,3429
$GC,1498,-1.10,-146.6,157.2,-10.6,72,1502,0.00,2.53,0.00,0.000,4,0.000,0.061,2519,719,3429
$GC,1577,-1.13,-146.6,166.1,-11.1,77,1581,0.00,2.45,0.00,0.000,6,0.000,0.049,2519,2102,3429
$GC,1902,-1.13,-146.6,200.8,-10.2,98,1906,0.00,2.50,0.00,0.000,4,0.000,0.062,2519,722,3429
$GC,1957,-1.17,-146.6,206.8,-11.2,101,1964,0.15,2.42,0.00,0.000,6,0.057,0.050,2480,2088,3429
$GC,2280,-1.10,-146.6,246.2,-12.5,122,2282,0.12,0.00,0.00,0.000,6,0.097,0.000,2505,2088,3429
$GC,2589,-1.10,-146.6,283.1,-11.9,142,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2088,3429
$GC,2902,-1.10,-146.6,321.9,-12.4,162,2906,0.00,2.47,0.00,0.000,4,0.000,0.061,2505,721,3429
$GC,2940,-1.10,-146.6,327.1,-12.6,164,2946,0.00,2.42,0.00,0.000,6,0.000,0.050,2505,2088,3429
$GC,3259,-1.10,-146.6,367.0,-12.7,185,3263,0.00,2.47,0.00,0.000,4,0.000,0.061,2505,721,3429
$GC,3289,-1.10,-146.6,370.5,-12.5,187,3293,0.00,2.40,0.00,0.000,6,0.000,0.051,2506,2074,3429
$GC,3614,-1.10,-146.6,409.1,-11.9,208,3615,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2074,3429
$GC,3926,-1.10,-146.6,446.1,-11.9,228,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2074,3429
$GC,4238,-1.10,-146.6,482.4,-11.9,248,4242,0.00,2.45,0.00,0.000,4,0.000,0.064,2505,724,3429
$GC,4266,-1.10,-146.6,485.8,-12.2,250,4270,0.00,2.38,0.00,0.000,6,0.000,0.051,2505,2061,3429
$GC,4593,-1.10,-146.6,524.6,-12.0,271,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2062,3429
$GC,4904,-1.10,-146.6,562.8,-12.5,291,4908,0.00,2.42,0.00,0.000,4,0.000,0.064,2505,727,3429
$GC,4943,-1.10,-146.6,568.3,-13.3,293,4949,0.00,2.35,0.00,0.000,6,0.000,0.051,2505,2049,3429
$GC,5263,-1.10,-146.6,606.0,-11.5,314,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2049,3428
$GC,5575,-1.10,-146.6,636.5,-9.0,334,5579,0.00,2.70,0.00,0.000,4,0.000,0.070,2505,3537,3428
$GC,5709,-1.10,-146.6,648.5,-8.3,342,5713,0.00,2.72,0.00,0.000,6,0.000,0.058,2505,2023,3428
$GC,6028,-1.10,-146.6,671.6,-8.1,362,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2023,3428
$GC,6340,-1.10,-146.6,699.8,-10.2,382,6344,0.00,2.33,0.00,0.000,4,0.000,0.069,2505,729,3428
$GC,6386,-1.15,-146.6,704.3,-10.0,385,6390,0.00,2.35,0.00,0.000,6,0.000,0.053,2505,2043,3428
$GC,6711,-1.15,-146.6,735.7,-9.7,406,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2042,3428
$STATE,6723,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6723,begin apogee
$GC,6730,-0.33,0.0,737.2,9.9,407,6866,0.77,0.00,132.10,1.302,6,0.076,0.000,2673,1846,2831
$STATE,6867,end apogee,CONTROL_FINISHED_OK
$STATE,6867,begin climb
$GC,6871,1.22,146.6,742.1,0.0,416,7012,1.52,2.70,132.73,1.260,4,0.060,0.074,3007,442,2233
$GC,7077,1.11,146.6,732.0,8.6,428,7084,0.00,2.55,0.00,0.000,6,0.000,0.055,3007,1854,2233
$GC,7397,1.12,194.9,711.0,6.2,449,7448,0.00,2.72,43.85,1.225,4,0.000,0.074,3007,455,2036
$GC,7455,1.09,219.0,707.2,7.1,452,7486,0.15,2.55,23.05,1.180,6,0.093,0.055,2979,1863,1938
$GC,7807,1.15,235.4,680.1,7.4,475,7829,0.00,2.67,16.15,1.160,4,0.000,0.074,2980,449,1871
$GC,7857,1.15,235.4,675.7,8.0,478,7861,0.00,2.50,0.00,0.000,6,0.000,0.057,2979,1819,1871
$GC,8177,1.25,264.7,652.2,6.9,498,8210,0.17,2.75,27.00,1.210,4,0.055,0.067,3027,3258,1751
$GC,8229,1.21,264.7,647.4,10.6,501,8234,0.00,2.67,0.00,0.000,6,0.000,0.064,3026,1826,1751
$GC,8554,1.17,264.7,615.7,9.6,522,8559,0.15,2.67,0.00,0.000,4,0.097,0.066,2998,3263,1751
$GC,8576,1.17,264.7,613.4,9.7,523,8582,0.00,2.65,0.00,0.000,6,0.000,0.061,2998,1824,1751
$GC,8895,1.17,264.7,585.0,9.7,544,8900,0.00,2.62,0.00,0.000,4,0.000,0.064,2998,3254,1751
$GC,8942,1.22,264.7,580.7,9.3,547,8947,0.00,2.58,0.00,0.000,6,0.000,0.060,2998,1840,1751
$GC,9266,1.25,284.9,555.0,7.3,568,9291,0.00,2.67,18.75,1.135,4,0.000,0.062,2998,3254,1669
$GC,9316,1.31,284.9,550.9,8.8,571,9321,0.15,2.55,0.00,0.000,6,0.056,0.058,3036,1863,1669
$GC,9643,1.26,284.9,513.9,12.0,592,9645,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1863,1669
$GC,9953,1.21,284.9,479.2,10.2,612,9958,0.15,2.58,0.00,0.000,4,0.091,0.061,3006,3262,1669
$GC,9999,1.27,284.9,475.2,8.2,615,10004,0.00,2.53,0.00,0.000,6,0.000,0.056,3007,1868,1669
$GC,10324,1.27,284.9,447.0,8.8,636,10328,0.00,2.55,0.00,0.000,4,0.000,0.061,3006,3258,1669
$GC,10340,1.27,284.9,445.3,9.7,637,10344,0.00,2.50,0.00,0.000,6,0.000,0.055,3007,1875,1669
$GC,10659,1.27,284.9,416.2,9.4,657,10664,0.00,2.53,0.00,0.000,4,0.000,0.061,3006,3256,1669
$GC,10689,1.30,284.9,413.1,10.8,659,10694,0.10,2.45,0.00,0.000,6,0.061,0.055,3034,1892,1669
$GC,11016,1.27,284.9,378.1,11.0,680,11017,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1892,1670
$GC,11326,1.23,284.9,343.4,10.9,700,11330,0.00,2.50,0.00,0.000,4,0.000,0.061,3034,3258,1670
$GC,11354,1.23,284.9,340.3,10.9,702,11358,0.00,2.45,0.00,0.000,6,0.000,0.054,3034,1896,1670
$GC,11678,1.23,284.9,309.1,8.9,723,11682,0.00,2.47,0.00,0.000,4,0.000,0.061,3034,3255,1670
$GC,11713,1.23,284.9,305.7,9.0,725,11717,0.00,2.40,0.00,0.000,6,0.000,0.053,3034,1907,1670
$GC,12038,1.20,284.9,276.2,9.2,746,12040,0.15,0.00,0.00,0.000,6,0.088,0.000,3004,1907,1670
$GC,12350,1.25,292.7,252.1,7.7,766,12367,0.00,2.50,8.60,0.848,4,0.000,0.061,3004,3252,1637
$GC,12390,1.33,301.6,248.7,7.7,768,12405,0.15,2.42,9.10,0.855,6,0.054,0.052,3044,1906,1601
$GC,12733,1.29,301.6,214.1,10.7,790,12734,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1906,1601
$GC,13043,1.25,301.6,178.5,12.1,810,13047,0.15,2.47,0.00,0.000,4,0.089,0.058,3013,3266,1601
$GC,13072,1.29,301.6,175.4,10.1,812,13076,0.00,2.40,0.00,0.000,6,0.000,0.050,3013,1920,1601
$GC,13391,1.29,301.6,145.1,9.4,832,13395,0.00,2.42,0.00,0.000,4,0.000,0.059,3013,3256,1601
$GC,13431,1.35,301.6,141.0,9.9,834,13436,0.12,2.35,0.00,0.000,6,0.058,0.049,3047,1934,1601
$GC,13765,1.31,301.6,102.5,11.0,850,13769,0.00,2.40,0.00,0.000,4,0.000,0.059,3047,3261,1601
$GC,13782,1.26,301.6,100.3,11.0,850,13788,0.15,2.33,0.00,0.000,6,0.089,0.048,3017,1948,1601
$GC,14100,1.26,301.6,69.3,9.7,866,14101,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1949,1601
$GC,14407,1.26,301.6,39.9,10.4,881,14411,0.00,2.38,0.00,0.000,4,0.000,0.058,3017,3258,1601
$GC,14435,1.32,301.6,36.9,10.6,882,14439,0.00,2.33,0.00,0.000,6,0.000,0.049,3017,1949,1602
$GC,14752,1.32,301.6,4.8,8.4,897,14753,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1937,1602
$STATE,14769,end climb,SURFACE_DEPTH_REACHED
$STATE,14769,begin surface coast
$FINISH,0.7,1.027273
$STATE,14790,end surface coast,CONTROL_FINISHED_OK
$STATE,14790,begin surface
$SM_CCo,14874,0.00,0.000,0,0,1601,301.72
$SM_GC,1.66,11.40,0.00,0.00,0.047,0.000,0.000,426,2146,1601,-10.58,0.48,301.72
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1818
$TCM_TEMP,17.20
$XPDR_PINGS,62
$ALTIM_BOTTOM_PING,696.6,49.2
$24V_AH,23.8,47.801
$10V_AH,10.1,21.275
$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,26.775,141.025,411.325,0.000,0.000,37.759,26.123,153.737,21.750,0.000,0.000,30.905,1569.843,10823.653,514.816,1792.532,536.763,33.367,1429.929,0.000,1733.342,0.000,42.937,0.000
$DEVICE_MAMPS,153.400,75.933,1302.366,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,614.777,654.185,496.849,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44198,899
$CAP_FILE_SIZE,125401,0
$CFSIZE,254472192,236466176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,131009,002836,6342.235,-1308.106,39,1.2,39,-12.4