version: 66.04
glider: 5
mission: 7
dive: 302
start: 10 14 109 22 32 48
data:
$ID,5
$MISSION,7
$DIVE,302
$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,-106103.76
$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,31
$R_STBD_OVSHOOT,42
$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
$GPS1,222606,6326.417,-1258.262,65,0.9,65,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-56.3
$GPS2,223202,6326.374,-1258.199,14,1.1,14,-12.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HE
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.007,-0.245
$KALMAN_X,222.7,222.7,222.7,33.8,-319.5
$KALMAN_Y,617.2,617.2,617.2,-5452.7,-885.4
$MHEAD_RNG_PITCHd_Wd,193.8,21118,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,66,0.00,0.00,-46.12,0.000,2,0.000,0.000,418,2086,2543
$GC,70,-1.22,-146.6,2.6,-2.5,3,122,11.23,2.62,-34.92,0.000,4,0.157,0.076,2473,3522,3429
$GC,175,-1.08,-146.6,12.8,-15.8,8,180,0.17,2.50,0.00,0.000,6,0.095,0.048,2510,2122,3429
$GC,503,-1.08,-146.6,51.4,-11.9,24,507,0.00,2.58,0.00,0.000,4,0.000,0.064,2510,3520,3429
$GC,530,-1.08,-146.6,54.6,-11.3,25,534,0.00,2.47,0.00,0.000,6,0.000,0.048,2509,2131,3430
$GC,847,-1.08,-146.6,91.5,-12.2,40,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2118,3429
$GC,1157,-1.08,-146.6,131.6,-12.6,55,1161,0.00,2.55,0.00,0.000,4,0.000,0.065,2510,3513,3430
$GC,1190,-1.04,-146.6,136.2,-12.4,56,1196,0.00,2.45,0.00,0.000,6,0.000,0.049,2510,2141,3430
$GC,1509,-1.04,-146.6,174.7,-11.4,75,1513,0.00,2.53,0.00,0.000,4,0.000,0.066,2510,3517,3431
$GC,1537,-1.04,-146.6,177.9,-11.6,77,1542,0.00,2.42,0.00,0.000,6,0.000,0.050,2510,2154,3430
$GC,1863,-1.04,-146.6,211.7,-10.1,98,1867,0.00,2.55,0.00,0.000,4,0.000,0.059,2510,713,3430
$GC,1897,-1.04,-146.6,215.2,-10.3,100,1902,0.00,2.53,0.00,0.000,6,0.000,0.049,2510,2140,3430
$GC,2224,-1.04,-146.6,248.3,-10.6,121,2228,0.00,2.58,0.00,0.000,4,0.000,0.060,2510,714,3430
$GC,2269,-1.04,-146.6,253.5,-10.5,124,2273,0.00,2.53,0.00,0.000,6,0.000,0.049,2511,2140,3430
$GC,2593,-1.04,-146.6,289.3,-11.1,145,2597,0.00,2.58,0.00,0.000,4,0.000,0.060,2510,713,3430
$GC,2621,-1.04,-146.6,292.6,-11.3,147,2626,0.00,2.50,0.00,0.000,6,0.000,0.050,2510,2125,3430
$GC,2949,-1.04,-146.6,329.4,-11.3,168,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2123,3430
$GC,3258,-1.04,-146.6,363.9,-10.9,188,3262,0.00,2.55,0.00,0.000,4,0.000,0.064,2510,716,3430
$GC,3303,-1.04,-146.6,368.7,-10.4,190,3309,0.00,2.47,0.00,0.000,6,0.000,0.051,2510,2114,3430
$GC,3623,-1.04,-146.6,402.0,-10.2,211,3627,0.00,2.53,0.00,0.000,4,0.000,0.061,2510,716,3430
$GC,3673,-1.04,-146.6,407.1,-9.4,214,3677,0.00,2.42,0.00,0.000,6,0.000,0.051,2510,2084,3430
$GC,3992,-1.04,-146.6,437.1,-9.0,234,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2084,3430
$GC,4304,-1.04,-146.6,465.8,-9.4,254,4308,0.00,2.47,0.00,0.000,4,0.000,0.064,2510,720,3430
$GC,4325,-1.04,-146.6,468.1,-10.1,255,4332,0.00,2.40,0.00,0.000,6,0.000,0.052,2510,2069,3430
$GC,4646,-1.04,-146.6,498.3,-9.6,276,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2070,3430
$GC,4957,-1.04,-146.6,528.0,-9.6,296,4961,0.00,2.45,0.00,0.000,4,0.000,0.063,2510,719,3430
$GC,4979,-1.04,-146.6,530.0,-8.9,297,4985,0.00,2.38,0.00,0.000,6,0.000,0.051,2510,2054,3430
$GC,5298,-1.04,-146.6,560.9,-9.9,318,5303,0.00,2.67,0.00,0.000,4,0.000,0.069,2510,3531,3429
$GC,5513,-1.04,-146.6,585.3,-11.1,331,5518,0.00,2.60,0.00,0.000,6,0.000,0.058,2510,2077,3429
$GC,5839,-1.04,-146.6,614.9,-8.7,352,5844,0.00,2.70,0.00,0.000,4,0.000,0.073,2510,3532,3429
$STATE,5892,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5892,begin apogee
$GC,5902,-0.33,0.0,620.5,9.0,355,6038,0.73,0.00,132.38,1.216,6,0.079,0.000,2668,1853,2831
$STATE,6039,end apogee,CONTROL_FINISHED_OK
$STATE,6039,begin climb
$GC,6043,1.22,146.6,625.1,0.0,364,6180,1.55,0.00,132.25,1.176,6,0.058,0.000,3010,1853,2233
$GC,6485,1.16,146.6,597.8,8.1,393,6489,0.00,2.62,0.00,0.000,4,0.000,0.070,3010,3255,2233
$GC,6508,1.10,146.6,595.8,8.8,394,6515,0.15,2.60,0.00,0.000,6,0.095,0.065,2982,1853,2233
$GC,6827,1.15,174.4,573.0,7.0,415,6858,0.00,0.00,25.60,1.144,6,0.000,0.000,2982,1853,2119
$GC,7172,1.25,238.4,554.4,5.7,437,7237,0.15,2.67,57.15,1.175,4,0.060,0.068,3020,3258,1860
$GC,7255,1.28,255.3,548.6,7.4,442,7278,0.00,2.67,16.45,1.089,6,0.000,0.066,3020,1831,1790
$GC,7604,1.24,255.3,520.2,8.1,464,7608,0.00,2.65,0.00,0.000,4,0.000,0.068,3021,3258,1790
$GC,7670,1.24,255.3,514.0,8.5,468,7675,0.00,2.60,0.00,0.000,6,0.000,0.063,3021,1850,1789
$GC,7989,1.24,255.3,487.6,8.3,488,7993,0.00,2.60,0.00,0.000,4,0.000,0.066,3021,3253,1789
$GC,8019,1.24,255.3,485.0,9.6,490,8023,0.00,2.53,0.00,0.000,6,0.000,0.060,3020,1868,1789
$GC,8343,1.24,255.3,455.8,9.6,511,8347,0.00,2.55,0.00,0.000,4,0.000,0.064,3021,3250,1789
$GC,8371,1.24,255.3,452.9,10.0,513,8376,0.00,2.47,0.00,0.000,6,0.000,0.058,3021,1883,1789
$GC,8697,1.24,255.3,424.2,8.2,534,8701,0.00,2.62,0.00,0.000,4,0.000,0.068,3020,432,1789
$GC,8719,1.20,255.3,422.2,9.0,535,8725,0.00,2.60,0.00,0.000,6,0.000,0.051,3021,1889,1789
$GC,9038,1.20,255.3,395.7,8.6,556,9042,0.00,2.67,0.00,0.000,4,0.000,0.067,3021,437,1789
$GC,9055,1.16,255.3,394.1,9.3,557,9060,0.12,2.58,0.00,0.000,6,0.092,0.050,2998,1882,1789
$GC,9377,1.22,272.3,370.7,7.4,577,9398,0.00,2.70,16.02,1.001,4,0.000,0.064,2997,440,1721
$GC,9416,1.22,272.3,367.4,8.6,579,9422,0.00,2.60,0.00,0.000,6,0.000,0.049,2997,1886,1721
$GC,9735,1.26,272.3,341.4,8.3,600,9736,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1900,1720
$GC,10047,1.30,272.3,316.1,8.2,620,10049,0.15,0.00,0.00,0.000,6,0.053,0.000,3037,1901,1720
$GC,10360,1.26,272.3,284.7,10.1,640,10361,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1901,1720
$GC,10672,1.22,272.3,253.8,9.4,660,10674,0.15,0.00,0.00,0.000,6,0.087,0.000,3007,1901,1721
$GC,10985,1.23,274.3,229.2,7.9,680,10994,0.00,2.67,3.80,0.609,4,0.000,0.064,3008,435,1712
$GC,11023,1.23,275.3,225.9,8.0,682,11027,0.00,2.55,0.00,0.000,6,0.000,0.048,3008,1869,1712
$GC,11342,1.23,275.3,200.5,8.1,702,11346,0.00,2.47,0.00,0.000,4,0.000,0.060,3008,3258,1712
$GC,11359,1.27,275.3,199.0,8.0,703,11364,0.00,2.50,0.00,0.000,6,0.000,0.051,3008,1862,1712
$GC,11678,1.27,275.3,169.7,9.4,723,11682,0.00,2.53,0.00,0.000,4,0.000,0.058,3007,3255,1712
$GC,11711,1.32,275.3,166.8,9.0,725,11716,0.12,2.45,0.00,0.000,6,0.056,0.051,3042,1881,1712
$GC,12041,1.28,275.3,132.3,10.4,743,12045,0.00,2.50,0.00,0.000,4,0.000,0.058,3043,3261,1712
$GC,12096,1.28,275.3,126.1,9.8,745,12102,0.00,2.40,0.00,0.000,6,0.000,0.048,3043,1904,1712
$GC,12413,1.23,275.3,94.2,10.3,761,12418,0.15,2.45,0.00,0.000,4,0.088,0.058,3012,3257,1713
$GC,12458,1.29,275.3,89.8,9.0,763,12462,0.00,2.38,0.00,0.000,6,0.000,0.048,3012,1915,1713
$GC,12785,1.32,291.7,63.7,7.4,779,12808,0.00,2.50,16.02,0.799,4,0.000,0.057,3012,3255,1641
$GC,12829,1.40,304.7,60.3,7.5,781,12851,0.17,2.40,12.18,0.775,6,0.049,0.050,3059,1922,1588
$GC,13164,1.34,304.7,24.2,12.8,797,13169,0.12,2.42,0.00,0.000,4,0.094,0.058,3035,3255,1588
$GC,13198,1.34,304.7,20.0,12.4,798,13204,0.00,2.33,0.00,0.000,6,0.000,0.048,3035,1945,1588
$STATE,13346,end climb,SURFACE_DEPTH_REACHED
$STATE,13346,begin surface coast
$FINISH,1.0,1.027271
$STATE,13368,end surface coast,CONTROL_FINISHED_OK
$STATE,13368,begin surface
$SM_CCo,13452,0.00,0.000,0,0,1587,305.15
$SM_GC,1.57,11.35,0.00,0.00,0.037,0.000,0.000,419,2133,1587,-10.60,0.08,305.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1821
$TCM_TEMP,17.20
$XPDR_PINGS,48
$ALTIM_BOTTOM_PING,570.5,59.8
$24V_AH,23.8,49.692
$10V_AH,10.1,22.217
$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,26.325,142.775,411.850,0.000,0.000,37.762,47.237,141.573,17.000,0.000,0.000,14.468,1423.653,9709.637,526.680,1617.445,525.955,30.192,1373.132,0.000,1584.135,0.000,35.034,0.000
$DEVICE_MAMPS,157.235,75.933,1216.462,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,551.554,591.746,462.764,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41173,807
$CAP_FILE_SIZE,113655,0
$CFSIZE,254472192,235741184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,151009,021827,6323.497,-1301.283,30,2.6,49,-12.2