version: 66.04
glider: 5
mission: 7
dive: 292
start: 10 13 109 8 37 9
data:
$ID,5
$MISSION,7
$DIVE,292
$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,-105951.29
$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,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
$GPS1,083107,6343.119,-1256.603,25,1.6,25,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-62.2
$GPS2,083620,6343.062,-1256.611,11,1.8,11,-12.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,IE
$TGT_LATLONG,6330.000,-1257.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.085,-0.260
$KALMAN_X,21529.3,489.2,-75.7,-248053.9,-2235.9
$KALMAN_Y,7762.9,203.1,-261.4,226478.6,-4060.5
$MHEAD_RNG_PITCHd_Wd,174.3,24193,-12.9,-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,-1.09,-146.6,0.0,0.0,0,79,0.00,0.00,-60.97,0.000,2,0.000,0.000,421,2153,2819
$GC,82,-1.09,-146.6,2.9,-3.6,3,120,11.23,2.53,-20.12,0.000,4,0.156,0.079,2497,3530,3428
$GC,145,-0.93,-146.6,10.2,-14.4,5,150,0.20,2.53,0.00,0.000,6,0.090,0.049,2540,2121,3428
$GC,473,-0.93,-146.6,43.6,-9.7,21,477,0.00,2.50,0.00,0.000,4,0.000,0.060,2540,716,3428
$GC,523,-0.93,-146.6,48.7,-9.5,23,527,0.00,2.47,0.00,0.000,6,0.000,0.049,2539,2114,3428
$GC,840,-0.90,-146.6,78.7,-9.0,38,844,0.00,2.53,0.00,0.000,4,0.000,0.060,2539,717,3428
$GC,902,-0.90,-146.6,84.8,-9.0,41,907,0.00,2.45,0.00,0.000,6,0.000,0.050,2540,2095,3428
$GC,1229,-0.90,-146.6,114.3,-9.0,57,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2095,3428
$GC,1539,-0.90,-146.6,143.0,-9.5,72,1543,0.00,2.50,0.00,0.000,4,0.000,0.061,2540,714,3429
$GC,1602,-0.90,-146.6,149.5,-9.9,75,1607,0.00,2.42,0.00,0.000,6,0.000,0.051,2539,2084,3428
$GC,1933,-0.90,-146.6,180.7,-9.4,96,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2084,3428
$GC,2245,-0.90,-146.6,209.4,-8.8,116,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2084,3429
$GC,2557,-0.90,-146.6,239.3,-9.8,136,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2084,3429
$GC,2871,-0.90,-146.6,268.9,-9.4,156,2875,0.00,2.47,0.00,0.000,4,0.000,0.062,2540,716,3429
$GC,2904,-0.90,-146.6,272.3,-9.1,158,2908,0.00,2.40,0.00,0.000,6,0.000,0.051,2540,2067,3428
$GC,3223,-0.90,-146.6,302.5,-9.5,178,3227,0.00,2.65,0.00,0.000,4,0.000,0.067,2540,3530,3429
$GC,3256,-0.90,-146.6,305.8,-9.7,180,3261,0.00,2.62,0.00,0.000,6,0.000,0.054,2540,2066,3429
$GC,3577,-0.90,-146.6,337.0,-9.6,200,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2066,3428
$GC,3888,-0.90,-146.6,368.1,-10.0,220,3892,0.00,2.70,0.00,0.000,4,0.000,0.069,2539,3528,3429
$GC,3921,-0.90,-146.6,371.7,-10.4,222,3925,0.00,2.62,0.00,0.000,6,0.000,0.055,2540,2065,3428
$GC,4240,-0.90,-146.6,400.9,-8.6,242,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2065,3428
$GC,4555,-0.90,-146.6,426.9,-7.9,262,4559,0.00,2.72,0.00,0.000,4,0.000,0.070,2539,3538,3429
$GC,4584,-0.90,-146.6,429.4,-8.3,264,4589,0.00,2.62,0.00,0.000,6,0.000,0.056,2539,2082,3428
$GC,4909,-0.90,-146.6,453.8,-7.3,285,4914,0.00,2.42,0.00,0.000,4,0.000,0.063,2539,719,3428
$GC,4939,-0.90,-146.6,456.1,-7.5,287,4944,0.00,2.42,0.00,0.000,6,0.000,0.051,2539,2088,3428
$GC,5266,-0.90,-146.6,481.1,-7.7,308,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2089,3428
$GC,5577,-0.90,-146.6,504.1,-7.2,328,5581,0.00,2.47,0.00,0.000,4,0.000,0.064,2540,723,3428
$GC,5623,-0.90,-146.6,507.5,-7.7,331,5627,0.00,2.40,0.00,0.000,6,0.000,0.051,2539,2077,3428
$GC,5947,-0.90,-146.6,532.2,-7.9,352,5952,0.00,2.67,0.00,0.000,4,0.000,0.073,2539,3540,3428
$GC,5981,-0.90,-146.6,535.1,-8.4,354,5985,0.00,2.65,0.00,0.000,6,0.000,0.058,2540,2068,3428
$GC,6300,-0.90,-146.6,562.5,-9.0,374,6304,0.00,2.72,0.00,0.000,4,0.000,0.071,2539,3540,3428
$GC,6414,-0.90,-146.6,573.7,-10.2,381,6418,0.00,2.55,0.00,0.000,6,0.000,0.057,2539,2123,3428
$GC,6738,-0.90,-146.6,601.2,-7.7,402,6743,0.00,2.53,0.00,0.000,4,0.000,0.067,2540,714,3428
$GC,6812,-0.95,-146.6,608.2,-9.0,406,6818,0.00,2.50,0.00,0.000,6,0.000,0.052,2540,2120,3428
$STATE,7131,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7131,begin apogee
$GC,7139,-0.33,0.0,635.6,8.3,427,7275,0.57,0.00,133.12,1.226,6,0.077,0.000,2666,1837,2831
$STATE,7276,end apogee,CONTROL_FINISHED_OK
$STATE,7276,begin climb
$GC,7279,1.09,146.6,641.1,0.0,436,7420,1.42,2.62,131.57,1.194,4,0.063,0.075,2979,445,2233
$GC,7514,1.03,173.1,631.4,7.2,450,7544,0.00,2.58,24.98,1.127,6,0.000,0.055,2979,1863,2124
$GC,7874,1.03,203.6,607.0,7.1,473,7904,0.00,0.00,27.95,1.148,6,0.000,0.000,2979,1877,2001
$GC,8212,1.06,225.2,581.4,7.4,495,8237,0.00,2.72,20.05,1.136,4,0.000,0.077,2980,454,1912
$GC,8283,1.02,225.2,575.8,8.4,498,8290,0.00,2.53,0.00,0.000,6,0.000,0.057,2979,1839,1912
$GC,8603,1.05,262.7,553.4,6.9,519,8639,0.00,0.00,33.95,1.169,6,0.000,0.000,2979,1855,1760
$GC,8946,1.08,282.0,528.0,7.5,541,8970,0.00,2.65,18.02,1.118,4,0.000,0.067,2980,3254,1681
$GC,8996,1.18,325.2,524.3,6.8,544,9044,0.10,2.60,38.50,1.148,6,0.063,0.063,3007,1853,1505
$GC,9357,1.14,325.2,490.6,9.4,567,9362,0.00,2.60,0.00,0.000,4,0.000,0.065,3007,3255,1506
$GC,9424,1.14,325.2,484.3,9.3,571,9429,0.00,2.53,0.00,0.000,6,0.000,0.059,3007,1875,1506
$GC,9744,1.11,325.2,455.3,9.4,591,9749,0.00,2.55,0.00,0.000,4,0.000,0.064,3007,3258,1506
$GC,9763,1.11,325.2,453.6,9.6,592,9767,0.00,2.50,0.00,0.000,6,0.000,0.058,3007,1884,1506
$GC,10082,1.08,325.2,423.6,9.6,612,10084,0.15,0.00,0.00,0.000,6,0.087,0.000,2978,1884,1506
$GC,10397,1.12,325.2,397.4,8.3,632,10401,0.00,2.53,0.00,0.000,4,0.000,0.062,2978,3258,1506
$GC,10419,1.18,325.2,395.2,9.0,633,10425,0.10,2.47,0.00,0.000,6,0.061,0.056,3006,1892,1506
$GC,10738,1.18,325.2,363.1,10.0,654,10739,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1892,1506
$GC,11051,1.18,325.2,332.7,9.6,674,11055,0.00,2.50,0.00,0.000,4,0.000,0.061,3006,3258,1507
$GC,11067,1.18,325.2,330.8,9.8,675,11071,0.00,2.45,0.00,0.000,6,0.000,0.054,3006,1898,1507
$GC,11386,1.18,325.2,301.4,9.0,695,11387,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1898,1507
$GC,11699,1.18,325.2,274.6,8.5,715,11703,0.00,2.47,0.00,0.000,4,0.000,0.061,3007,3256,1507
$GC,11727,1.18,325.2,272.1,8.5,717,11731,0.00,2.42,0.00,0.000,6,0.000,0.053,3006,1905,1507
$GC,12051,1.18,325.2,243.1,9.3,738,12052,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1905,1507
$GC,12364,1.18,325.2,213.6,9.6,758,12365,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1905,1508
$GC,12676,1.18,325.2,184.6,8.8,778,12680,0.00,2.47,0.00,0.000,4,0.000,0.059,3006,3267,1508
$GC,12709,1.18,325.2,181.6,8.6,780,12713,0.00,2.42,0.00,0.000,6,0.000,0.050,3006,1908,1508
$GC,13028,1.18,328.0,155.2,7.9,800,13038,0.00,2.65,4.95,0.681,4,0.000,0.064,3006,439,1493
$GC,13061,1.18,328.0,152.2,9.7,801,13065,0.00,2.65,0.00,0.000,6,0.000,0.048,3007,1928,1493
$GC,13390,1.18,328.0,123.5,9.2,817,13391,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1943,1493
$GC,13697,1.18,328.0,96.1,9.2,832,13701,0.00,2.72,0.00,0.000,4,0.000,0.064,3006,435,1493
$GC,13715,1.18,328.0,94.1,10.3,833,13719,0.00,2.62,0.00,0.000,6,0.000,0.048,3006,1918,1493
$GC,14043,1.18,328.0,65.5,8.2,849,14044,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1935,1493
$GC,14352,1.18,328.0,37.3,8.5,864,14353,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1935,1493
$GC,14660,1.18,328.0,9.6,8.8,879,14661,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1935,1494
$STATE,14741,end climb,SURFACE_DEPTH_REACHED
$STATE,14741,begin surface coast
$FINISH,0.6,1.026732
$STATE,14762,end surface coast,CONTROL_FINISHED_OK
$STATE,14762,begin surface
$SM_CCo,14846,0.00,0.000,0,0,1492,327.97
$SM_GC,1.50,11.18,0.00,0.00,0.036,0.000,0.000,419,2148,1492,-10.60,0.57,327.97
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1826
$TCM_TEMP,17.20
$XPDR_PINGS,55
$ALTIM_BOTTOM_PING,621.0,23.4
$24V_AH,23.8,48.258
$10V_AH,10.1,21.501
$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,24.950,123.250,433.100,0.000,0.000,37.760,26.310,132.894,19.250,0.000,0.000,11.083,1537.525,10875.463,523.496,1732.020,488.103,33.360,1402.403,0.000,1698.623,0.000,38.113,0.000
$DEVICE_MAMPS,155.701,79.001,1226.433,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,605.093,646.464,519.361,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44335,884
$CAP_FILE_SIZE,115568,0
$CFSIZE,254472192,236298240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,131009,124554,6339.902,-1255.772,42,1.0,42,-12.2