version: 66.04
glider: 5
mission: 7
dive: 296
start: 10 14 109 0 1 34
data:
$ID,5
$MISSION,7
$DIVE,296
$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,-106015.76
$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,25
$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
$GPS1,234937,6333.916,-1246.853,37,0.9,37,-12.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-62.6
$GPS2,000044,6333.834,-1246.920,14,1.0,14,-12.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,IE
$TGT_LATLONG,6330.000,-1257.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.216,-0.116
$KALMAN_X,26982.7,476.3,-68.7,-244960.0,4424.5
$KALMAN_Y,13568.1,-286.7,-72.6,203888.9,2126.0
$MHEAD_RNG_PITCHd_Wd,253.9,10946,-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,-41.58,0.000,2,0.000,0.000,424,2154,2434
$GC,63,-1.22,-146.6,2.2,-3.1,2,122,11.35,0.00,-44.72,0.000,6,0.163,0.000,2475,2144,3430
$GC,430,-1.12,-146.6,42.9,-12.6,20,435,0.12,2.60,0.00,0.000,4,0.108,0.058,2500,706,3430
$GC,471,-1.12,-146.6,48.0,-11.2,22,476,0.00,2.53,0.00,0.000,6,0.000,0.048,2500,2131,3430
$GC,799,-1.08,-146.6,87.1,-12.3,38,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2130,3430
$GC,1108,-1.04,-146.6,123.3,-11.4,53,1113,0.00,2.55,0.00,0.000,4,0.000,0.061,2500,717,3430
$GC,1142,-1.04,-146.6,127.4,-11.8,54,1149,0.00,2.53,0.00,0.000,6,0.000,0.050,2500,2142,3430
$GC,1460,-1.00,-146.6,164.5,-11.3,72,1462,0.12,0.00,0.00,0.000,6,0.097,0.000,2526,2143,3430
$GC,1772,-1.00,-146.6,194.9,-9.5,92,1777,0.00,2.58,0.00,0.000,4,0.000,0.060,2526,716,3430
$GC,1811,-1.05,-146.6,198.9,-9.5,94,1816,0.00,2.53,0.00,0.000,6,0.000,0.049,2526,2141,3430
$GC,2130,-1.05,-146.6,226.9,-8.3,114,2135,0.00,2.58,0.00,0.000,4,0.000,0.059,2526,710,3430
$GC,2188,-1.10,-146.6,232.1,-8.9,117,2194,0.00,2.50,0.00,0.000,6,0.000,0.049,2526,2122,3430
$GC,2507,-1.10,-146.6,257.6,-7.1,138,2511,0.00,2.55,0.00,0.000,4,0.000,0.059,2526,705,3430
$GC,2558,-1.15,-146.6,261.7,-8.1,141,2563,0.15,2.47,0.00,0.000,6,0.054,0.049,2486,2102,3430
$GC,2880,-1.09,-146.6,293.5,-10.5,161,2882,0.10,0.00,0.00,0.000,6,0.099,0.000,2507,2102,3430
$GC,3191,-1.09,-146.6,323.8,-9.7,181,3196,0.00,2.53,0.00,0.000,4,0.000,0.061,2507,706,3430
$GC,3214,-1.09,-146.6,326.3,-9.7,182,3220,0.00,2.47,0.00,0.000,6,0.000,0.051,2507,2099,3430
$GC,3533,-1.09,-146.6,358.4,-10.3,203,3537,0.00,2.50,0.00,0.000,4,0.000,0.060,2507,715,3430
$GC,3561,-1.09,-146.6,361.5,-10.8,205,3566,0.00,2.42,0.00,0.000,6,0.000,0.051,2507,2081,3430
$GC,3888,-1.09,-146.6,395.7,-10.6,226,3892,0.00,2.47,0.00,0.000,4,0.000,0.064,2507,715,3430
$GC,3910,-1.09,-146.6,398.3,-10.7,227,3914,0.00,2.42,0.00,0.000,6,0.000,0.052,2507,2077,3430
$GC,4229,-1.09,-146.6,432.7,-11.1,247,4234,0.00,2.67,0.00,0.000,4,0.000,0.071,2507,3542,3430
$GC,4252,-1.09,-146.6,435.3,-10.8,248,4258,0.00,2.67,0.00,0.000,6,0.000,0.058,2507,2061,3429
$GC,4571,-1.09,-146.6,467.5,-9.9,269,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2046,3430
$GC,4883,-1.09,-146.6,499.0,-10.3,289,4888,0.00,2.72,0.00,0.000,4,0.000,0.071,2507,3533,3430
$GC,4984,-1.09,-146.6,509.6,-10.3,295,4989,0.00,2.62,0.00,0.000,6,0.000,0.056,2507,2065,3429
$GC,5304,-1.09,-146.6,540.6,-9.5,315,5308,0.00,2.72,0.00,0.000,4,0.000,0.071,2507,3535,3429
$STATE,5491,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5491,begin apogee
$GC,5501,-0.33,0.0,559.4,10.1,326,5634,0.73,0.00,129.45,1.174,6,0.077,0.000,2666,1841,2832
$STATE,5635,end apogee,CONTROL_FINISHED_OK
$STATE,5635,begin climb
$GC,5638,1.22,146.6,564.0,0.0,335,5773,1.52,0.00,130.25,1.135,6,0.058,0.000,3003,1841,2233
$GC,6080,1.20,160.9,535.5,7.5,364,6099,0.00,2.67,14.05,1.032,4,0.000,0.066,3003,3250,2174
$GC,6153,1.18,169.0,530.0,7.7,368,6167,0.00,2.60,8.60,0.954,6,0.000,0.061,3003,1843,2141
$GC,6495,1.14,169.0,505.2,8.2,390,6500,0.00,2.62,0.00,0.000,4,0.000,0.066,3003,3255,2140
$GC,6614,1.14,169.0,495.0,9.5,397,6618,0.00,2.53,0.00,0.000,6,0.000,0.061,3003,1876,2140
$GC,6933,1.15,169.9,469.5,8.0,417,6937,0.00,2.62,0.00,0.000,4,0.000,0.072,3003,437,2140
$GC,6979,1.08,170.7,465.7,8.0,420,6984,0.12,2.60,0.00,0.000,6,0.100,0.054,2980,1883,2140
$GC,7306,1.15,215.4,445.6,6.4,441,7352,0.00,2.55,40.67,1.104,4,0.000,0.064,2980,3257,1952
$GC,7370,1.22,219.2,440.7,7.9,445,7381,0.15,2.55,4.85,0.786,6,0.055,0.058,3019,1873,1937
$GC,7711,1.18,219.2,409.4,9.5,467,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1873,1936
$GC,8019,1.15,219.2,380.8,8.8,487,8024,0.12,2.55,0.00,0.000,4,0.094,0.062,2996,3262,1936
$GC,8048,1.15,219.2,378.3,8.8,489,8053,0.00,2.53,0.00,0.000,6,0.000,0.056,2996,1868,1936
$GC,8373,1.16,222.0,352.8,7.9,510,8379,0.00,0.00,4.22,0.708,6,0.000,0.000,2996,1868,1925
$GC,8685,1.16,222.0,328.3,8.1,530,8690,0.00,2.55,0.00,0.000,4,0.000,0.061,2996,3261,1925
$GC,8732,1.20,222.0,324.5,8.5,533,8736,0.00,2.47,0.00,0.000,6,0.000,0.054,2996,1883,1925
$GC,9062,1.20,222.0,297.8,8.2,554,9063,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1883,1925
$GC,9375,1.20,223.1,272.3,8.0,574,9379,0.00,2.50,0.00,0.000,4,0.000,0.060,2996,3255,1925
$GC,9425,1.25,223.1,267.9,8.7,577,9429,0.00,2.45,0.00,0.000,6,0.000,0.051,2996,1886,1925
$GC,9744,1.25,223.1,241.3,8.6,597,9748,0.00,2.60,0.00,0.000,4,0.000,0.066,2996,437,1925
$GC,9789,1.25,223.1,237.1,9.6,600,9794,0.00,2.60,0.00,0.000,6,0.000,0.048,2996,1907,1925
$GC,10117,1.29,224.9,209.9,7.9,621,10127,0.15,2.70,4.35,0.663,4,0.053,0.064,3035,442,1914
$GC,10162,1.20,224.9,205.2,10.1,623,10167,0.15,2.58,0.00,0.000,6,0.090,0.048,3006,1893,1914
$GC,10492,1.20,224.9,176.7,8.5,644,10496,0.00,2.65,0.00,0.000,4,0.000,0.064,3006,443,1914
$GC,10541,1.20,224.9,171.7,9.4,647,10546,0.00,2.53,0.00,0.000,6,0.000,0.049,3006,1869,1914
$GC,10872,1.21,231.0,146.2,7.8,667,10880,0.00,0.00,6.90,0.756,6,0.000,0.000,3006,1883,1889
$GC,11181,1.21,231.0,121.0,8.1,682,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1883,1889
$GC,11489,1.21,234.6,96.4,7.9,697,11496,0.00,0.00,5.03,0.660,6,0.000,0.000,3006,1884,1874
$GC,11800,1.21,234.6,72.2,8.0,712,11802,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1884,1874
$GC,12108,1.24,248.6,48.5,7.5,727,12127,0.00,0.00,13.05,0.783,6,0.000,0.000,3006,1884,1816
$GC,12440,1.28,258.1,23.5,7.7,743,12454,0.00,2.65,9.12,0.735,4,0.000,0.064,3006,443,1778
$GC,12484,1.28,258.1,19.5,8.8,745,12489,0.00,2.53,0.00,0.000,6,0.000,0.048,3006,1863,1778
$STATE,12685,end climb,SURFACE_DEPTH_REACHED
$STATE,12685,begin surface coast
$FINISH,0.7,1.004653
$STATE,12709,end surface coast,CONTROL_FINISHED_OK
$STATE,12709,begin surface
$SM_CCo,12732,22.02,0.769,0,0,1608,300.00
$SM_GC,1.14,0.00,0.00,22.02,0.000,0.000,0.769,420,2146,1608,-10.70,0.45,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1818
$TCM_TEMP,17.20
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,495.9,73.2
$24V_AH,23.8,48.807
$10V_AH,10.1,21.784
$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,25.975,113.800,370.550,22.025,0.000,113.285,103.529,199.754,15.250,0.000,0.000,16.489,1341.299,9351.768,521.679,1512.185,696.433,33.369,1274.834,0.000,1481.412,0.000,31.259,0.000
$DEVICE_MAMPS,162.604,72.098,1174.277,769.301,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,517.038,557.086,473.184,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37997,756
$CAP_FILE_SIZE,107163,0
$CFSIZE,254472192,236085248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,141009,033530,6332.562,-1249.864,40,1.5,40,-12.1