version: 66.04
glider: 5
mission: 7
dive: 301
start: 10 14 109 18 42 7
data:
$ID,5
$MISSION,7
$DIVE,301
$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,0
$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,-106088.66
$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,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
$GPS1,183525,6328.251,-1259.125,39,1.8,39,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-58.6
$GPS2,184120,6328.285,-1259.074,12,1.8,12,-12.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HE
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.008,-0.245
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,194.0,24616,-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,15,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.72,0.000,2,0.000,0.000,422,2138,2423
$GC,63,-1.22,-146.6,2.1,-2.8,2,128,11.30,2.60,-48.38,0.000,4,0.163,0.078,2470,3533,3430
$GC,227,-1.11,-146.6,16.8,-14.2,9,232,0.17,2.53,0.00,0.000,6,0.107,0.048,2505,2119,3429
$GC,550,-1.07,-146.6,55.2,-12.0,25,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2104,3429
$GC,859,-1.02,-146.6,91.7,-11.6,40,863,0.00,2.50,0.00,0.000,4,0.000,0.059,2505,711,3429
$GC,880,-1.02,-146.6,94.4,-11.6,41,885,0.00,2.50,0.00,0.000,6,0.000,0.050,2505,2118,3429
$GC,1203,-0.99,-146.6,132.0,-11.7,57,1208,0.12,2.53,0.00,0.000,4,0.100,0.058,2530,721,3429
$GC,1232,-0.99,-146.6,135.5,-11.3,58,1236,0.00,2.50,0.00,0.000,6,0.000,0.049,2530,2130,3429
$GC,1555,-0.99,-146.6,168.0,-9.5,76,1559,0.00,2.55,0.00,0.000,4,0.000,0.061,2530,720,3429
$GC,1605,-1.03,-146.6,173.0,-9.6,79,1609,0.00,2.45,0.00,0.000,6,0.000,0.050,2530,2100,3430
$GC,1925,-1.03,-146.6,205.4,-10.6,99,1928,0.00,2.50,0.00,0.000,4,0.000,0.062,2530,716,3430
$GC,1947,-1.07,-146.6,208.1,-11.1,100,1951,0.00,2.42,0.00,0.000,6,0.000,0.050,2530,2080,3429
$GC,2267,-1.07,-146.6,242.6,-10.9,120,2271,0.00,2.62,0.00,0.000,4,0.000,0.067,2530,3533,3430
$GC,2296,-1.07,-146.6,245.9,-11.3,122,2300,0.00,2.62,0.00,0.000,6,0.000,0.053,2530,2068,3430
$GC,2620,-1.07,-146.6,280.1,-10.1,143,2624,0.00,2.70,0.00,0.000,4,0.000,0.066,2530,3538,3429
$GC,2649,-1.07,-146.6,283.0,-10.4,145,2653,0.00,2.60,0.00,0.000,6,0.000,0.052,2530,2085,3429
$GC,2973,-1.07,-146.6,314.2,-9.4,166,2978,0.00,2.67,0.00,0.000,4,0.000,0.067,2530,3537,3429
$GC,3007,-1.07,-146.6,317.6,-9.6,168,3011,0.00,2.58,0.00,0.000,6,0.000,0.053,2530,2100,3429
$GC,3329,-1.07,-146.6,345.7,-8.4,188,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2089,3430
$GC,3641,-1.10,-146.6,371.3,-8.3,208,3646,0.12,2.65,0.00,0.000,4,0.061,0.067,2494,3534,3430
$GC,3681,-1.05,-146.6,375.2,-9.5,210,3687,0.00,2.58,0.00,0.000,6,0.000,0.054,2495,2101,3430
$GC,4000,-1.01,-146.6,408.8,-11.1,231,4005,0.12,2.65,0.00,0.000,4,0.097,0.068,2521,3531,3430
$GC,4039,-1.01,-146.6,413.0,-10.2,233,4045,0.00,2.55,0.00,0.000,6,0.000,0.055,2521,2111,3430
$GC,4359,-1.01,-146.6,444.6,-9.4,254,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2099,3430
$GC,4670,-1.01,-146.6,475.0,-10.8,274,4675,0.00,2.65,0.00,0.000,4,0.000,0.069,2521,3541,3429
$GC,4709,-1.01,-146.6,479.9,-12.1,276,4716,0.00,2.55,0.00,0.000,6,0.000,0.055,2521,2120,3429
$GC,5030,-1.04,-146.6,516.1,-10.0,297,5034,0.00,2.50,0.00,0.000,4,0.000,0.064,2521,716,3429
$GC,5082,-1.10,-146.6,521.2,-9.4,300,5086,0.00,2.45,0.00,0.000,6,0.000,0.051,2521,2101,3429
$GC,5405,-1.13,-146.6,545.7,-6.5,320,5410,0.12,2.53,0.00,0.000,4,0.058,0.067,2485,720,3429
$GC,5444,-1.13,-146.6,549.3,-8.9,322,5450,0.00,2.47,0.00,0.000,6,0.000,0.053,2485,2112,3429
$GC,5767,-1.06,-146.6,571.5,-4.3,343,5772,0.12,2.53,0.00,0.000,4,0.100,0.065,2511,724,3429
$GC,5789,-1.03,-146.6,574.0,-9.3,344,5795,0.00,2.45,0.00,0.000,6,0.000,0.053,2511,2100,3429
$GC,6108,-1.03,-146.6,603.5,-8.7,365,6112,0.00,2.65,0.00,0.000,4,0.000,0.075,2511,3540,3428
$GC,6231,-1.03,-146.6,615.7,-10.1,372,6237,0.00,2.60,0.00,0.000,6,0.000,0.061,2511,2107,3428
$STATE,6328,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6328,begin apogee
$GC,6336,-0.33,0.0,626.1,10.5,379,6471,0.75,0.00,132.15,1.221,6,0.077,0.000,2673,1846,2831
$STATE,6472,end apogee,CONTROL_FINISHED_OK
$STATE,6472,begin climb
$GC,6476,1.22,146.6,632.0,0.0,388,6618,1.52,2.70,133.38,1.177,4,0.058,0.074,3009,441,2233
$GC,6808,1.11,146.6,610.1,12.5,408,6813,0.12,2.55,0.00,0.000,6,0.099,0.054,2987,1853,2233
$GC,7133,1.18,191.1,580.7,6.4,429,7180,0.00,2.65,40.10,1.149,4,0.000,0.071,2986,3255,2051
$GC,7215,1.18,191.1,571.1,8.9,434,7220,0.00,2.62,0.00,0.000,6,0.000,0.064,2987,1846,2051
$GC,7541,1.18,191.1,536.6,10.2,455,7545,0.00,2.62,0.00,0.000,4,0.000,0.067,2987,3258,2050
$GC,7607,1.18,191.1,529.3,10.7,459,7612,0.00,2.60,0.00,0.000,6,0.000,0.064,2986,1849,2050
$GC,7928,1.20,206.5,502.8,7.4,479,7947,0.00,2.65,14.73,1.078,4,0.000,0.074,2986,434,1989
$GC,8011,1.25,234.5,496.1,7.0,484,8044,0.12,2.53,25.77,1.112,6,0.061,0.054,3020,1846,1874
$GC,8356,1.20,234.5,465.6,9.5,506,8360,0.00,2.55,0.00,0.000,4,0.000,0.064,3020,3242,1874
$GC,8391,1.20,234.5,461.4,11.3,508,8395,0.00,2.55,0.00,0.000,6,0.000,0.060,3020,1843,1874
$GC,8715,1.17,234.5,431.1,9.3,529,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1843,1874
$GC,9028,1.17,234.5,401.1,10.0,549,9032,0.00,2.55,0.00,0.000,4,0.000,0.063,3020,3238,1873
$GC,9083,1.17,234.5,395.4,9.9,552,9089,0.00,2.53,0.00,0.000,6,0.000,0.057,3020,1848,1873
$GC,9402,1.17,234.5,364.7,9.7,573,9407,0.00,2.55,0.00,0.000,4,0.000,0.062,3020,3246,1873
$GC,9453,1.17,234.5,359.8,9.6,576,9457,0.00,2.50,0.00,0.000,6,0.000,0.054,3020,1861,1873
$GC,9772,1.17,234.5,330.9,8.9,596,9777,0.00,2.53,0.00,0.000,4,0.000,0.061,3020,3242,1873
$GC,9801,1.17,234.5,328.2,9.5,598,9806,0.00,2.45,0.00,0.000,6,0.000,0.054,3020,1880,1874
$GC,10127,1.17,234.5,299.4,8.7,619,10131,0.00,2.45,0.00,0.000,4,0.000,0.061,3020,3237,1874
$GC,10156,1.17,234.5,296.5,10.3,621,10160,0.00,2.42,0.00,0.000,6,0.000,0.053,3020,1883,1874
$GC,10481,1.17,234.5,266.6,9.3,642,10482,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1883,1874
$GC,10792,1.17,234.5,237.7,9.4,662,10796,0.00,2.47,0.00,0.000,4,0.000,0.060,3020,3244,1874
$GC,10814,1.17,234.5,235.4,10.1,663,10820,0.00,2.40,0.00,0.000,6,0.000,0.051,3020,1899,1875
$GC,11134,1.17,234.5,204.9,9.8,684,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1899,1874
$GC,11446,1.17,234.5,174.6,9.8,704,11450,0.00,2.45,0.00,0.000,4,0.000,0.059,3020,3248,1874
$GC,11496,1.17,234.5,169.5,9.5,707,11500,0.00,2.40,0.00,0.000,6,0.000,0.050,3020,1900,1875
$GC,11830,1.17,234.5,136.7,9.9,726,11834,0.00,2.42,0.00,0.000,4,0.000,0.059,3021,3238,1875
$GC,11871,1.17,234.5,132.5,9.8,728,11875,0.00,2.35,0.00,0.000,6,0.000,0.049,3020,1909,1875
$GC,12204,1.17,234.5,101.0,9.2,744,12208,0.00,2.42,0.00,0.000,4,0.000,0.058,3020,3248,1875
$GC,12222,1.17,234.5,99.3,9.6,745,12226,0.00,2.35,0.00,0.000,6,0.000,0.048,3020,1922,1875
$GC,12549,1.17,234.5,67.3,9.3,761,12554,0.00,2.40,0.00,0.000,4,0.000,0.058,3020,3246,1876
$GC,12573,1.17,234.5,65.0,9.4,762,12577,0.00,2.33,0.00,0.000,6,0.000,0.048,3020,1933,1876
$GC,12895,1.18,240.5,36.8,7.8,778,12908,0.00,2.42,7.05,0.698,4,0.000,0.057,3020,3244,1850
$GC,12927,1.18,240.5,33.9,9.7,779,12931,0.00,2.33,0.00,0.000,6,0.000,0.048,3020,1938,1849
$GC,13243,1.14,240.5,5.5,9.7,794,13248,0.15,2.35,0.00,0.000,4,0.088,0.056,2991,3239,1849
$STATE,13262,end climb,SURFACE_DEPTH_REACHED
$STATE,13262,begin surface coast
$FINISH,2.0,1.027264
$STATE,13274,end surface coast,CONTROL_FINISHED_OK
$STATE,13275,begin surface
$SM_CCo,13301,32.88,0.779,0,0,1608,300.00
$SM_GC,1.88,0.00,0.00,32.88,0.000,0.000,0.779,418,2099,1608,-10.70,-0.85,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1818
$TCM_TEMP,19.10
$XPDR_PINGS,60
$ALTIM_BOTTOM_PING,570.7,64.2
$24V_AH,23.8,49.544
$10V_AH,10.1,22.144
$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,25.900,156.225,353.175,32.875,0.000,37.762,32.655,153.576,20.000,0.000,0.000,11.977,1427.979,9550.173,511.354,1669.233,530.032,29.270,1379.370,0.000,1632.056,0.000,35.049,0.000
$DEVICE_MAMPS,162.604,78.234,1221.064,778.505,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,543.799,579.055,466.153,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41122,795
$CAP_FILE_SIZE,117612,0
$CFSIZE,254472192,235798528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,141009,222606,6326.417,-1258.262,65,0.9,65,-12.2