version: 66.04
glider: 5
mission: 7
dive: 299
start: 10 14 109 11 8 44
data:
$ID,5
$MISSION,7
$DIVE,299
$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,-106063.64
$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,24
$R_STBD_OVSHOOT,33
$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
$GPS1,110207,6331.035,-1254.771,33,1.9,33,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-57.9
$GPS2,110755,6331.025,-1254.756,15,1.9,15,-12.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HE
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.114,-0.217
$KALMAN_X,37130.3,-1196.1,-832.2,-259532.4,13239.6
$KALMAN_Y,15880.3,79.9,-674.6,196624.1,4351.1
$MHEAD_RNG_PITCHd_Wd,219.9,29998,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,61,0.00,0.00,-41.08,0.000,2,0.000,0.000,420,2143,2417
$GC,65,-1.22,-146.6,2.1,-2.8,2,123,10.95,2.53,-40.53,0.000,4,0.147,0.077,2472,3527,3431
$GC,204,-1.08,-146.6,16.4,-14.2,7,209,0.17,2.50,0.00,0.000,6,0.101,0.046,2509,2115,3430
$GC,521,-1.04,-146.6,56.7,-12.6,22,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2087,3431
$GC,831,-1.00,-146.6,93.9,-11.7,37,835,0.00,2.60,0.00,0.000,4,0.000,0.064,2509,3531,3430
$GC,871,-1.00,-146.6,99.1,-12.1,39,875,0.00,2.47,0.00,0.000,6,0.000,0.048,2509,2139,3430
$GC,1198,-1.00,-146.6,137.7,-11.7,55,1202,0.00,2.55,0.00,0.000,4,0.000,0.064,2509,3523,3431
$GC,1232,-0.97,-146.6,141.9,-12.2,56,1239,0.12,2.45,0.00,0.000,6,0.095,0.050,2534,2146,3431
$GC,1555,-0.97,-146.6,176.4,-10.1,76,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2132,3431
$GC,1868,-0.97,-146.6,208.5,-10.5,96,1872,0.00,2.55,0.00,0.000,4,0.000,0.066,2534,3530,3431
$GC,1907,-1.01,-146.6,212.7,-10.2,98,1913,0.00,2.42,0.00,0.000,6,0.000,0.050,2534,2168,3431
$GC,2226,-1.01,-146.6,244.6,-9.9,119,2231,0.00,2.58,0.00,0.000,4,0.000,0.061,2535,717,3431
$GC,2322,-1.07,-146.6,254.3,-10.6,124,2328,0.00,2.53,0.00,0.000,6,0.000,0.049,2534,2145,3431
$GC,2642,-1.10,-146.6,285.5,-9.7,145,2647,0.15,2.60,0.00,0.000,4,0.056,0.062,2492,712,3431
$GC,2681,-1.10,-146.6,290.1,-12.4,147,2687,0.00,2.53,0.00,0.000,6,0.000,0.050,2492,2138,3431
$GC,3001,-1.05,-146.6,328.5,-12.4,168,3006,0.10,2.58,0.00,0.000,4,0.102,0.061,2514,714,3431
$GC,3051,-1.08,-146.6,334.8,-11.4,171,3055,0.00,2.47,0.00,0.000,6,0.000,0.050,2514,2115,3431
$GC,3376,-1.08,-146.6,370.9,-10.6,192,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2115,3431
$GC,3687,-1.08,-146.6,405.2,-11.0,212,3692,0.00,2.53,0.00,0.000,4,0.000,0.061,2513,715,3431
$GC,3743,-1.08,-146.6,411.6,-11.5,215,3750,0.00,2.45,0.00,0.000,6,0.000,0.050,2514,2098,3431
$GC,4065,-1.08,-146.6,446.8,-11.1,236,4069,0.00,2.50,0.00,0.000,4,0.000,0.061,2514,714,3431
$GC,4086,-1.08,-146.6,449.6,-11.2,237,4093,0.00,2.45,0.00,0.000,6,0.000,0.051,2514,2097,3430
$GC,4406,-1.08,-146.6,484.5,-10.9,258,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2097,3431
$GC,4718,-1.08,-146.6,516.7,-9.4,278,4722,0.00,2.50,0.00,0.000,4,0.000,0.062,2514,715,3430
$GC,4784,-1.08,-146.6,523.0,-9.2,282,4788,0.00,2.42,0.00,0.000,6,0.000,0.051,2514,2081,3430
$GC,5104,-1.08,-146.6,551.9,-8.9,302,5108,0.00,2.47,0.00,0.000,4,0.000,0.066,2514,721,3430
$GC,5182,-1.08,-146.6,559.4,-9.8,306,5188,0.00,2.38,0.00,0.000,6,0.000,0.052,2514,2056,3430
$GC,5502,-1.08,-146.6,589.9,-9.6,327,5506,0.00,2.70,0.00,0.000,4,0.000,0.074,2514,3533,3430
$GC,5625,-1.08,-146.6,602.6,-9.5,334,5631,0.00,2.62,0.00,0.000,6,0.000,0.060,2514,2082,3430
$STATE,5817,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5817,begin apogee
$GC,5825,-0.33,0.0,621.9,10.2,347,5959,0.73,0.00,130.55,1.209,6,0.076,0.000,2670,1845,2831
$STATE,5959,end apogee,CONTROL_FINISHED_OK
$STATE,5960,begin climb
$GC,5963,1.22,146.6,625.9,0.0,356,6106,1.52,2.67,129.90,1.166,4,0.057,0.064,3006,3260,2233
$GC,6146,1.17,146.6,614.0,9.6,367,6150,0.00,2.60,0.00,0.000,6,0.000,0.060,3007,1849,2233
$GC,6466,1.11,146.6,577.6,14.5,387,6470,0.00,2.62,0.00,0.000,4,0.000,0.067,3007,3261,2233
$GC,6549,1.11,146.6,564.1,16.3,392,6554,0.00,2.58,0.00,0.000,6,0.000,0.059,3007,1854,2233
$GC,6869,1.06,146.6,535.7,8.8,412,6874,0.15,2.60,0.00,0.000,4,0.094,0.064,2978,3258,2232
$GC,6917,1.10,167.2,532.2,7.3,415,6942,0.00,2.55,19.50,1.087,6,0.000,0.060,2978,1862,2149
$GC,7267,1.21,236.5,511.5,5.5,437,7334,0.12,2.67,61.17,1.129,4,0.058,0.071,3012,433,1866
$GC,7388,1.16,236.5,502.8,8.0,444,7394,0.00,2.58,0.00,0.000,6,0.000,0.053,3012,1858,1866
$GC,7707,1.28,312.1,484.8,5.3,465,7779,0.00,2.60,66.38,1.109,4,0.000,0.064,3012,3261,1558
$GC,7798,1.32,337.5,479.1,7.1,470,7830,0.00,2.60,23.70,1.052,6,0.000,0.059,3012,1849,1455
$GC,8147,1.32,337.5,446.9,10.9,492,8152,0.00,2.60,0.00,0.000,4,0.000,0.064,3012,3255,1456
$GC,8204,1.38,337.5,440.1,11.9,495,8211,0.15,2.53,0.00,0.000,6,0.053,0.058,3052,1870,1456
$GC,8524,1.30,337.5,394.2,14.6,516,8528,0.12,2.55,0.00,0.000,4,0.096,0.062,3029,3254,1456
$GC,8557,1.30,337.5,389.4,13.3,518,8562,0.00,2.47,0.00,0.000,6,0.000,0.055,3029,1890,1456
$GC,8876,1.30,337.5,353.5,10.4,538,8880,0.00,2.53,0.00,0.000,4,0.000,0.063,3029,3261,1456
$GC,8910,1.30,337.5,349.9,10.3,540,8914,0.00,2.45,0.00,0.000,6,0.000,0.055,3029,1908,1456
$GC,9229,1.30,337.5,317.6,10.5,560,9233,0.00,2.47,0.00,0.000,4,0.000,0.062,3029,3257,1456
$GC,9263,1.30,337.5,313.8,10.7,562,9267,0.00,2.40,0.00,0.000,6,0.000,0.054,3029,1924,1456
$GC,9582,1.30,337.5,278.7,11.3,582,9586,0.00,2.45,0.00,0.000,4,0.000,0.062,3029,3261,1456
$GC,9611,1.30,337.5,275.5,12.0,584,9615,0.00,2.35,0.00,0.000,6,0.000,0.053,3029,1944,1456
$GC,9935,1.30,337.5,238.7,11.6,605,9940,0.00,2.70,0.00,0.000,4,0.000,0.064,3029,438,1456
$GC,9968,1.30,337.5,234.8,11.9,607,9972,0.00,2.67,0.00,0.000,6,0.000,0.048,3029,1948,1457
$GC,10288,1.30,337.5,198.9,11.5,627,10289,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1948,1457
$GC,10599,1.30,337.5,161.1,12.0,647,10600,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1948,1457
$GC,10916,1.30,337.5,125.3,10.9,664,10920,0.00,2.33,0.00,0.000,4,0.000,0.059,3029,3255,1457
$GC,10938,1.30,337.5,122.7,11.0,665,10942,0.00,2.35,0.00,0.000,6,0.000,0.049,3029,1933,1457
$GC,11260,1.30,337.5,88.9,10.3,681,11264,0.00,2.40,0.00,0.000,4,0.000,0.058,3029,3258,1457
$GC,11311,1.35,337.5,83.6,9.7,683,11315,0.00,2.33,0.00,0.000,6,0.000,0.048,3029,1946,1457
$GC,11629,1.35,337.5,51.2,10.4,698,11633,0.00,2.38,0.00,0.000,4,0.000,0.059,3029,3256,1457
$GC,11657,1.39,337.5,47.5,11.8,699,11661,0.00,2.30,0.00,0.000,6,0.000,0.048,3029,1960,1457
$GC,11974,1.39,337.5,16.1,11.7,714,11978,0.00,2.35,0.00,0.000,4,0.000,0.058,3029,3256,1458
$GC,12001,1.39,337.5,12.8,13.0,715,12005,0.00,2.28,0.00,0.000,6,0.000,0.048,3029,1975,1458
$STATE,12088,end climb,SURFACE_DEPTH_REACHED
$STATE,12088,begin surface coast
$FINISH,0.6,1.003171
$STATE,12111,end surface coast,CONTROL_FINISHED_OK
$STATE,12111,begin surface
$SM_CCo,12195,0.00,0.000,0,0,1457,337.04
$SM_GC,1.39,11.30,0.00,0.00,0.037,0.000,0.000,422,2135,1457,-10.59,0.20,337.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1815
$TCM_TEMP,17.20
$XPDR_PINGS,57
$ALTIM_BOTTOM_PING,546.3,85.5
$24V_AH,23.8,49.260
$10V_AH,10.1,21.997
$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,25.600,136.000,431.200,0.000,0.000,37.764,34.185,147.967,19.000,0.000,0.000,15.173,1291.708,8687.643,514.170,1547.671,498.496,33.368,1336.951,0.000,1508.854,0.000,33.534,0.000
$DEVICE_MAMPS,147.264,76.700,1208.792,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,491.250,521.474,421.444,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38061,720
$CAP_FILE_SIZE,106471,0
$CFSIZE,254472192,235929600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,141009,143307,6329.188,-1258.281,31,1.2,31,-12.2