version: 66.04
glider: 5
mission: 7
dive: 293
start: 10 13 109 12 52 41
data:
$ID,5
$MISSION,7
$DIVE,293
$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,-105964.55
$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,21
$R_STBD_OVSHOOT,35
$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
$GPS1,124554,6339.902,-1255.772,42,1.0,42,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-64.1
$GPS2,125150,6339.922,-1255.817,12,1.0,12,-12.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,IE
$TGT_LATLONG,6330.000,-1257.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.182,-0.160
$KALMAN_X,19426.8,1165.6,62.9,-246056.4,-5036.2
$KALMAN_Y,7276.2,914.9,627.8,219526.8,-5301.4
$MHEAD_RNG_PITCHd_Wd,143.4,18402,-15.0,-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,-1.23,-143.2,0.0,0.0,0,79,0.00,0.00,-60.88,0.000,2,0.000,0.000,418,2149,2688
$GC,83,-1.24,-146.6,2.7,-3.1,3,129,11.25,2.53,-27.90,0.000,4,0.162,0.076,2469,3520,3429
$GC,293,-1.14,-146.6,27.8,-13.0,12,298,0.12,2.50,0.00,0.000,6,0.109,0.047,2492,2118,3430
$GC,609,-1.09,-146.6,65.7,-11.7,27,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2103,3430
$GC,919,-1.05,-146.6,103.4,-12.4,42,924,0.10,2.58,0.00,0.000,4,0.106,0.064,2514,3520,3430
$GC,941,-1.00,-146.6,106.5,-12.2,43,946,0.00,2.47,0.00,0.000,6,0.000,0.048,2514,2131,3430
$GC,1264,-1.00,-146.6,140.9,-10.2,59,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2118,3430
$GC,1585,-1.00,-146.6,176.3,-11.0,78,1589,0.00,2.50,0.00,0.000,4,0.000,0.059,2514,718,3430
$GC,1631,-1.04,-146.6,181.3,-11.1,81,1635,0.00,2.50,0.00,0.000,6,0.000,0.049,2514,2127,3430
$GC,1957,-1.04,-146.6,216.2,-10.5,102,1961,0.00,2.55,0.00,0.000,4,0.000,0.061,2514,717,3430
$GC,1991,-1.04,-146.6,220.1,-11.1,104,1995,0.00,2.50,0.00,0.000,6,0.000,0.050,2514,2127,3429
$GC,2310,-1.04,-146.6,256.0,-11.7,124,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2125,3430
$GC,2623,-1.04,-146.6,291.1,-11.0,144,2627,0.00,2.55,0.00,0.000,4,0.000,0.063,2514,719,3430
$GC,2662,-1.07,-146.6,295.4,-11.0,146,2669,0.00,2.47,0.00,0.000,6,0.000,0.051,2514,2119,3430
$GC,2982,-1.07,-146.6,327.7,-10.2,167,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2120,3430
$GC,3294,-1.07,-146.6,358.8,-9.5,187,3298,0.00,2.53,0.00,0.000,4,0.000,0.061,2514,719,3430
$GC,3339,-1.11,-146.6,363.3,-9.7,190,3344,0.00,2.45,0.00,0.000,6,0.000,0.051,2514,2103,3430
$GC,3665,-1.11,-146.6,392.8,-9.1,211,3669,0.00,2.50,0.00,0.000,4,0.000,0.064,2514,722,3430
$GC,3710,-1.15,-146.6,397.4,-9.9,213,3716,0.00,2.42,0.00,0.000,6,0.000,0.051,2514,2088,3430
$GC,4029,-1.15,-146.6,430.1,-11.3,234,4034,0.00,2.62,0.00,0.000,4,0.000,0.068,2514,3533,3430
$GC,4075,-1.15,-146.6,435.4,-11.9,237,4080,0.00,2.62,0.00,0.000,6,0.000,0.056,2514,2070,3430
$GC,4400,-1.15,-146.6,469.8,-11.7,258,4405,0.00,2.70,0.00,0.000,4,0.000,0.069,2514,3533,3429
$GC,4445,-1.15,-146.6,475.5,-13.5,260,4451,0.00,2.58,0.00,0.000,6,0.000,0.055,2514,2099,3430
$GC,4764,-1.15,-146.6,511.7,-11.0,281,4768,0.00,2.45,0.00,0.000,4,0.000,0.064,2514,718,3429
$GC,4814,-1.19,-146.6,516.9,-9.3,284,4819,0.12,2.45,0.00,0.000,6,0.061,0.051,2479,2103,3429
$GC,5136,-1.15,-146.6,553.1,-11.7,304,5141,0.00,2.53,0.00,0.000,4,0.000,0.066,2479,716,3429
$GC,5209,-1.15,-146.6,562.6,-12.1,308,5216,0.00,2.42,0.00,0.000,6,0.000,0.052,2479,2082,3429
$GC,5532,-1.10,-146.6,598.9,-10.5,329,5537,0.12,2.50,0.00,0.000,4,0.100,0.068,2505,719,3430
$GC,5588,-1.15,-146.6,605.3,-10.4,332,5594,0.00,2.33,0.00,0.000,6,0.000,0.054,2505,2021,3429
$STATE,5763,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5764,begin apogee
$GC,5772,-0.33,0.0,623.0,10.7,344,5906,0.77,0.00,130.98,1.220,6,0.072,0.000,2674,1829,2831
$STATE,5907,end apogee,CONTROL_FINISHED_OK
$STATE,5907,begin climb
$GC,5910,1.24,146.6,627.2,0.0,353,6049,1.52,0.00,131.38,1.178,6,0.057,0.000,3010,1828,2233
$GC,6364,1.20,159.8,599.4,7.5,382,6379,0.00,0.00,13.23,1.066,6,0.000,0.000,3010,1828,2179
$GC,6690,1.17,169.9,574.8,7.6,403,6707,0.00,2.58,10.35,1.043,4,0.000,0.074,3010,460,2138
$GC,6747,1.07,169.9,569.8,9.5,406,6753,0.17,2.50,0.00,0.000,6,0.092,0.056,2978,1836,2138
$GC,7070,1.13,182.5,546.1,7.5,426,7087,0.00,2.70,12.45,1.083,4,0.000,0.067,2978,3258,2086
$GC,7139,1.19,182.5,540.1,8.5,430,7145,0.12,2.55,0.00,0.000,6,0.061,0.064,3010,1881,2086
$GC,7465,1.21,194.4,512.4,7.6,451,7482,0.00,2.75,11.62,1.067,4,0.000,0.071,3010,432,2038
$GC,7545,1.13,194.4,505.9,8.4,455,7551,0.00,2.60,0.00,0.000,6,0.000,0.054,3010,1869,2038
$GC,7865,1.15,205.7,483.0,7.6,476,7882,0.00,2.70,11.43,1.049,4,0.000,0.069,3010,439,1992
$GC,7905,1.11,205.7,479.4,8.6,478,7910,0.12,2.58,0.00,0.000,6,0.097,0.053,2986,1863,1992
$GC,8225,1.14,205.7,454.7,8.1,498,8230,0.00,2.50,0.00,0.000,4,0.000,0.065,2986,3258,1992
$GC,8248,1.19,205.7,452.7,8.1,499,8254,0.00,2.55,0.00,0.000,6,0.000,0.060,2986,1862,1992
$GC,8568,1.23,211.8,428.1,7.8,520,8585,0.12,2.62,7.00,0.920,4,0.058,0.063,3019,3255,1967
$GC,8591,1.23,211.8,425.9,8.9,521,8596,0.00,2.55,0.00,0.000,6,0.000,0.058,3019,1863,1967
$GC,8911,1.20,211.8,396.8,9.1,541,8916,0.00,2.55,0.00,0.000,4,0.000,0.061,3020,3254,1967
$GC,8928,1.20,211.8,395.2,8.9,542,8932,0.00,2.50,0.00,0.000,6,0.000,0.056,3020,1874,1967
$GC,9248,1.20,211.8,365.3,9.5,562,9251,0.00,2.53,0.00,0.000,4,0.000,0.061,3020,3257,1967
$GC,9275,1.20,211.8,362.3,10.2,563,9281,0.00,2.47,0.00,0.000,6,0.000,0.055,3020,1885,1967
$GC,9594,1.20,211.8,333.1,9.3,584,9599,0.00,2.53,0.00,0.000,4,0.000,0.061,3020,3265,1967
$GC,9624,1.20,211.8,330.4,9.8,586,9629,0.00,2.47,0.00,0.000,6,0.000,0.054,3020,1892,1967
$GC,9948,1.20,211.8,300.5,9.7,607,9952,0.00,2.50,0.00,0.000,4,0.000,0.061,3020,3263,1967
$GC,9966,1.20,211.8,298.8,9.7,608,9970,0.00,2.42,0.00,0.000,6,0.000,0.054,3020,1904,1967
$GC,10291,1.20,211.8,267.2,9.7,629,10292,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1904,1967
$GC,10602,1.20,211.8,237.1,9.4,649,10606,0.00,2.47,0.00,0.000,4,0.000,0.060,3020,3261,1967
$GC,10641,1.20,211.8,233.3,9.8,651,10647,0.00,2.42,0.00,0.000,6,0.000,0.051,3020,1906,1968
$GC,10961,1.20,211.8,204.8,8.9,672,10962,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1906,1968
$GC,11272,1.20,211.8,175.5,9.5,692,11274,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1906,1968
$GC,11596,1.20,211.8,146.5,8.0,712,11600,0.00,2.45,0.00,0.000,4,0.000,0.058,3020,3261,1968
$GC,11636,1.20,211.8,142.9,9.4,713,11642,0.00,2.38,0.00,0.000,6,0.000,0.049,3020,1923,1968
$GC,11952,1.20,211.8,117.1,8.3,729,11956,0.00,2.42,0.00,0.000,4,0.000,0.058,3020,3264,1968
$GC,11997,1.20,211.8,112.9,9.3,731,12001,0.00,2.38,0.00,0.000,6,0.000,0.048,3020,1922,1968
$GC,12319,1.20,211.8,85.8,8.4,747,12323,0.00,2.42,0.00,0.000,4,0.000,0.058,3020,3264,1969
$GC,12359,1.20,211.8,82.2,8.7,749,12363,0.00,2.35,0.00,0.000,6,0.000,0.048,3020,1938,1969
$GC,12692,1.20,211.8,54.7,8.4,765,12693,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1938,1969
$GC,13001,1.20,214.6,30.2,7.9,780,13007,0.00,0.00,4.50,0.600,6,0.000,0.000,3020,1938,1956
$GC,13312,1.20,214.6,4.6,9.3,795,13316,0.00,2.40,0.00,0.000,4,0.000,0.058,3020,3265,1956
$STATE,13327,end climb,SURFACE_DEPTH_REACHED
$STATE,13327,begin surface coast
$FINISH,2.2,1.027259
$STATE,13338,end surface coast,CONTROL_FINISHED_OK
$STATE,13338,begin surface
$SM_CCo,13364,46.33,0.787,0,0,1608,300.00
$SM_GC,1.65,0.00,0.00,46.33,0.000,0.000,0.787,424,2086,1608,-10.68,-1.24,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1818
$TCM_TEMP,19.00
$XPDR_PINGS,55
$ALTIM_BOTTOM_PING,570.4,61.3
$24V_AH,23.8,48.393
$10V_AH,10.1,21.574
$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,25.975,135.500,332.925,46.325,0.000,37.762,28.626,157.059,18.750,0.000,0.000,12.644,1405.099,9708.169,518.028,1612.517,522.641,33.398,1340.988,0.000,1575.996,0.000,35.055,0.000
$DEVICE_MAMPS,161.837,75.933,1220.297,786.942,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,544.044,579.594,479.841,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41180,796
$CAP_FILE_SIZE,112809,0
$CFSIZE,254472192,236240896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,131009,163736,6338.653,-1250.996,39,1.3,44,-12.2