version: 66.04
glider: 5
mission: 7
dive: 304
start: 10 15 109 6 29 22
data:
$ID,5
$MISSION,7
$DIVE,304
$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,-106152.77
$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,34
$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
$GPS1,062236,6321.943,-1301.173,58,1.3,58,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-55.7
$GPS2,062832,6321.955,-1301.076,14,1.3,14,-12.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HE
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.094,-0.227
$KALMAN_X,-1227.5,-172.9,701.0,-955.6,-2190.0
$KALMAN_Y,5136.1,-155.0,528.4,-17244.0,3563.6
$MHEAD_RNG_PITCHd_Wd,169.6,12912,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.95,0.000,2,0.000,0.000,421,2148,2781
$GC,83,-1.22,-146.6,3.0,-3.3,3,126,11.30,2.55,-22.17,0.000,4,0.162,0.079,2471,3522,3430
$GC,230,-1.12,-146.6,22.1,-13.2,9,235,0.12,2.50,0.00,0.000,6,0.104,0.048,2497,2118,3430
$GC,547,-1.07,-146.6,62.8,-13.3,24,551,0.00,2.47,0.00,0.000,4,0.000,0.058,2497,721,3429
$GC,580,-1.07,-146.6,67.1,-12.0,25,587,0.00,2.47,0.00,0.000,6,0.000,0.049,2497,2123,3430
$GC,897,-1.03,-146.6,106.8,-12.9,41,899,0.10,0.00,0.00,0.000,6,0.103,0.000,2518,2123,3430
$GC,1206,-1.03,-146.6,142.1,-11.8,56,1210,0.00,2.55,0.00,0.000,4,0.000,0.060,2518,712,3430
$GC,1285,-1.03,-146.6,150.8,-10.2,59,1291,0.00,2.50,0.00,0.000,6,0.000,0.049,2518,2123,3430
$GC,1604,-1.03,-146.6,183.6,-10.4,80,1608,0.00,2.53,0.00,0.000,4,0.000,0.060,2518,724,3430
$GC,1671,-1.06,-146.6,190.8,-10.6,84,1676,0.00,2.45,0.00,0.000,6,0.000,0.049,2518,2104,3430
$GC,1991,-1.06,-146.6,224.9,-10.6,104,1995,0.00,2.50,0.00,0.000,4,0.000,0.061,2518,724,3430
$GC,2020,-1.06,-146.6,228.1,-11.1,106,2024,0.00,2.42,0.00,0.000,6,0.000,0.050,2518,2092,3430
$GC,2345,-1.06,-146.6,261.5,-9.8,127,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2091,3430
$GC,2656,-1.06,-146.6,290.6,-8.8,147,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2091,3429
$GC,2969,-1.06,-146.6,317.6,-9.1,167,2973,0.00,2.47,0.00,0.000,4,0.000,0.061,2518,717,3430
$GC,2997,-1.06,-146.6,320.3,-9.2,168,3003,0.00,2.42,0.00,0.000,6,0.000,0.050,2518,2085,3429
$GC,3316,-1.06,-146.6,351.4,-9.9,189,3320,0.00,2.62,0.00,0.000,4,0.000,0.069,2518,3534,3430
$GC,3361,-1.06,-146.6,356.1,-10.5,192,3366,0.00,2.62,0.00,0.000,6,0.000,0.055,2518,2074,3429
$GC,3687,-1.06,-146.6,387.9,-9.5,213,3691,0.00,2.70,0.00,0.000,4,0.000,0.069,2518,3534,3429
$GC,3732,-1.06,-146.6,392.3,-9.3,216,3737,0.00,2.60,0.00,0.000,6,0.000,0.055,2518,2085,3429
$GC,4058,-1.06,-146.6,424.0,-9.9,237,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2074,3429
$GC,4369,-1.06,-146.6,454.4,-9.2,257,4373,0.00,2.67,0.00,0.000,4,0.000,0.071,2518,3531,3429
$GC,4407,-1.06,-146.6,458.2,-9.6,259,4414,0.00,2.60,0.00,0.000,6,0.000,0.055,2518,2082,3429
$GC,4727,-1.06,-146.6,486.2,-8.4,280,4731,0.00,2.70,0.00,0.000,4,0.000,0.071,2518,3538,3429
$GC,4755,-1.06,-146.6,488.8,-8.2,282,4760,0.00,2.62,0.00,0.000,6,0.000,0.056,2518,2082,3429
$GC,5081,-1.06,-146.6,515.1,-8.1,303,5085,0.00,2.70,0.00,0.000,4,0.000,0.071,2518,3535,3429
$GC,5131,-1.10,-146.6,519.4,-8.8,306,5135,0.00,2.58,0.00,0.000,6,0.000,0.057,2518,2104,3429
$GC,5453,-1.10,-146.6,545.2,-8.6,326,5457,0.00,2.47,0.00,0.000,4,0.000,0.067,2518,722,3429
$GC,5499,-1.15,-146.6,549.7,-9.1,329,5504,0.12,2.47,0.00,0.000,6,0.060,0.051,2484,2115,3428
$GC,5826,-1.12,-146.6,585.0,-10.5,350,5831,0.00,2.60,0.00,0.000,4,0.000,0.074,2484,3532,3428
$GC,5934,-1.08,-146.6,597.1,-11.3,356,5941,0.12,2.58,0.00,0.000,6,0.097,0.064,2510,2123,3428
$STATE,6141,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6141,begin apogee
$GC,6148,-0.33,0.0,617.7,9.9,370,6282,0.75,0.00,130.65,1.226,6,0.077,0.000,2670,1845,2831
$STATE,6283,end apogee,CONTROL_FINISHED_OK
$STATE,6283,begin climb
$GC,6287,1.22,146.6,621.3,0.0,379,6429,1.55,2.65,132.85,1.177,4,0.062,0.076,3010,444,2233
$GC,6528,1.12,153.0,607.5,7.8,393,6542,0.00,2.55,7.53,0.952,6,0.000,0.055,3009,1850,2207
$GC,6866,1.08,162.6,582.9,7.7,415,6883,0.17,2.62,9.88,1.027,4,0.094,0.071,2974,3257,2168
$GC,6924,1.18,206.5,578.7,6.4,418,6970,0.12,2.60,39.85,1.156,6,0.061,0.065,3004,1859,1989
$GC,7294,1.18,206.5,550.2,8.1,442,7299,0.00,2.62,0.00,0.000,4,0.000,0.070,3005,3261,1988
$GC,7317,1.18,206.5,548.2,8.6,443,7323,0.00,2.60,0.00,0.000,6,0.000,0.065,3005,1858,1988
$GC,7636,1.23,237.5,524.1,6.9,464,7670,0.00,2.72,27.92,1.148,4,0.000,0.076,3005,442,1862
$GC,7681,1.26,256.4,520.6,7.3,466,7707,0.00,2.60,17.98,1.102,6,0.000,0.057,3005,1872,1785
$GC,8035,1.31,288.1,495.3,6.8,489,8071,0.12,2.60,28.60,1.129,4,0.060,0.066,3037,3237,1656
$GC,8085,1.26,288.1,490.7,9.9,492,8089,0.00,2.55,0.00,0.000,6,0.000,0.061,3037,1858,1656
$GC,8409,1.21,288.1,456.0,11.1,513,8414,0.15,2.58,0.00,0.000,4,0.094,0.064,3008,3246,1657
$GC,8438,1.21,288.1,452.9,10.0,515,8443,0.00,2.50,0.00,0.000,6,0.000,0.061,3009,1875,1657
$GC,8763,1.21,288.1,421.0,9.5,536,8768,0.00,2.53,0.00,0.000,4,0.000,0.064,3009,3245,1657
$GC,8803,1.25,288.1,417.0,10.4,538,8809,0.00,2.45,0.00,0.000,6,0.000,0.058,3009,1897,1657
$GC,9122,1.25,288.1,386.4,9.7,559,9124,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1897,1657
$GC,9434,1.25,288.1,355.5,9.8,579,9438,0.00,2.47,0.00,0.000,4,0.000,0.062,3009,3246,1656
$GC,9463,1.29,288.1,352.7,10.2,581,9467,0.00,2.42,0.00,0.000,6,0.000,0.054,3008,1901,1657
$GC,9787,1.29,288.1,321.6,9.8,602,9788,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1902,1657
$GC,10099,1.29,288.1,290.7,10.1,622,10104,0.00,2.45,0.00,0.000,4,0.000,0.061,3009,3243,1658
$GC,10139,1.35,288.1,286.4,11.1,624,10146,0.15,2.40,0.00,0.000,6,0.053,0.053,3048,1906,1658
$GC,10461,1.28,288.1,243.6,14.1,645,10466,0.12,2.45,0.00,0.000,4,0.095,0.060,3024,3249,1658
$GC,10494,1.28,288.1,238.6,13.4,647,10498,0.00,2.35,0.00,0.000,6,0.000,0.051,3023,1933,1658
$GC,10814,1.28,288.1,197.4,12.2,667,10815,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1933,1659
$GC,11125,1.28,288.1,161.7,11.6,687,11130,0.00,2.40,0.00,0.000,4,0.000,0.059,3024,3255,1659
$GC,11171,1.28,288.1,156.4,11.7,690,11175,0.00,2.35,0.00,0.000,6,0.000,0.049,3024,1933,1659
$GC,11499,1.28,288.1,121.9,10.3,707,11503,0.00,2.38,0.00,0.000,4,0.000,0.058,3023,3243,1659
$GC,11532,1.28,288.1,118.0,10.8,708,11538,0.00,2.28,0.00,0.000,6,0.000,0.048,3023,1961,1659
$GC,11848,1.28,288.1,86.8,9.3,724,11852,0.00,2.33,0.00,0.000,4,0.000,0.058,3023,3243,1659
$GC,11871,1.28,288.1,84.6,10.1,725,11875,0.00,2.28,0.00,0.000,6,0.000,0.048,3024,1963,1659
$GC,12193,1.28,288.1,54.5,9.0,741,12194,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1963,1659
$GC,12502,1.28,288.1,21.9,10.7,756,12506,0.00,2.72,0.00,0.000,4,0.000,0.061,3023,431,1659
$GC,12520,1.28,288.1,19.9,11.2,757,12525,0.00,2.72,0.00,0.000,6,0.000,0.048,3024,1975,1659
$STATE,12722,end climb,SURFACE_DEPTH_REACHED
$STATE,12722,begin surface coast
$FINISH,0.8,1.027336
$STATE,12742,end surface coast,CONTROL_FINISHED_OK
$STATE,12742,begin surface
$SM_CCo,12766,7.97,0.696,0,0,1608,300.00
$SM_GC,2.48,0.00,0.00,7.97,0.000,0.000,0.696,424,2116,1608,-10.67,-0.40,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1828
$TCM_TEMP,17.10
$XPDR_PINGS,47
$ALTIM_BOTTOM_PING,570.3,57.5
$24V_AH,23.8,49.988
$10V_AH,10.1,22.365
$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,26.225,137.250,395.250,7.975,0.000,37.762,27.997,153.836,16.750,0.000,0.000,14.301,1358.885,9157.061,510.823,1583.820,519.240,32.373,1338.328,0.000,1546.628,0.000,35.033,0.000
$DEVICE_MAMPS,161.837,79.001,1226.433,695.669,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,524.626,557.774,448.964,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37892,768
$CAP_FILE_SIZE,110489,0
$CFSIZE,254472192,235630592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,151009,100355,6320.375,-1257.080,58,1.0,58,-12.1