version: 66.04
glider: 5
mission: 7
dive: 254
start: 10 6 109 21 49 59
data:
$ID,5
$MISSION,7
$DIVE,254
$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,-105227.92
$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,23
$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
$GPS1,214300,6401.137,-1253.882,38,1.2,43,-12.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-55.8
$GPS2,214908,6401.177,-1253.541,14,1.2,14,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.082,-0.231
$KALMAN_X,-59597.8,3938.2,833.3,-168595.8,-18747.7
$KALMAN_Y,-28387.3,-950.9,675.6,296370.2,-5533.0
$MHEAD_RNG_PITCHd_Wd,211.8,30909,-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,-146.6,0.0,0.0,0,64,0.00,0.00,-45.95,0.000,2,0.000,0.000,421,2155,2379
$GC,68,-1.22,-146.6,2.1,-2.1,3,131,11.48,2.65,-43.58,0.000,4,0.164,0.074,2479,718,3430
$GC,351,-1.18,-146.6,32.2,-9.2,15,358,0.00,2.50,0.00,0.000,6,0.000,0.050,2479,2123,3430
$GC,670,-1.12,-146.6,73.1,-12.3,31,674,0.00,2.55,0.00,0.000,4,0.000,0.060,2479,716,3431
$GC,698,-1.08,-146.6,76.9,-12.3,32,703,0.15,2.50,0.00,0.000,6,0.097,0.049,2511,2122,3431
$GC,1014,-1.08,-146.6,109.4,-10.3,47,1018,0.00,2.55,0.00,0.000,4,0.000,0.061,2511,715,3431
$GC,1094,-1.12,-146.6,117.4,-9.9,50,1100,0.00,2.42,0.00,0.000,6,0.000,0.048,2511,2084,3431
$GC,1410,-1.12,-146.6,149.4,-10.4,66,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2083,3432
$GC,1727,-1.12,-146.6,179.9,-8.9,86,1732,0.00,2.62,0.00,0.000,4,0.000,0.066,2511,3532,3432
$GC,1761,-1.12,-146.6,183.1,-9.4,88,1765,0.00,2.62,0.00,0.000,6,0.000,0.053,2511,2069,3432
$GC,2080,-1.12,-146.6,210.9,-9.1,108,2085,0.00,2.70,0.00,0.000,4,0.000,0.067,2511,3532,3432
$GC,2113,-1.12,-146.6,214.0,-9.6,110,2118,0.00,2.60,0.00,0.000,6,0.000,0.054,2511,2086,3432
$GC,2432,-1.12,-146.6,243.7,-9.2,130,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2085,3432
$GC,2744,-1.12,-146.6,273.5,-9.7,150,2749,0.00,2.67,0.00,0.000,4,0.000,0.067,2511,3533,3432
$GC,2808,-1.12,-146.6,279.5,-9.8,154,2813,0.00,2.60,0.00,0.000,6,0.000,0.054,2511,2087,3432
$GC,3132,-1.12,-146.6,309.6,-9.1,175,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2088,3432
$GC,3445,-1.12,-146.6,339.9,-9.5,195,3449,0.00,2.67,0.00,0.000,4,0.000,0.069,2511,3533,3432
$GC,3517,-1.12,-146.6,346.6,-9.1,199,3524,0.00,2.55,0.00,0.000,6,0.000,0.056,2511,2118,3432
$GC,3836,-1.12,-146.6,383.1,-14.4,220,3841,0.00,2.62,0.00,0.000,4,0.000,0.071,2511,3531,3432
$GC,3893,-1.12,-146.6,390.9,-13.4,223,3899,0.00,2.53,0.00,0.000,6,0.000,0.058,2511,2137,3432
$GC,4212,-1.12,-146.6,424.0,-8.6,244,4216,0.00,2.60,0.00,0.000,4,0.000,0.071,2511,3530,3432
$GC,4295,-1.12,-146.6,431.2,-9.3,249,4300,0.00,2.47,0.00,0.000,6,0.000,0.058,2511,2166,3432
$GC,4615,-1.12,-146.6,459.5,-9.2,269,4619,0.00,2.62,0.00,0.000,4,0.000,0.070,2511,714,3433
$GC,4699,-1.16,-146.6,468.2,-10.3,274,4703,0.00,2.55,0.00,0.000,6,0.000,0.053,2511,2139,3433
$GC,5018,-1.16,-146.6,499.5,-9.0,294,5022,0.00,2.58,0.00,0.000,4,0.000,0.077,2511,3534,3432
$GC,5063,-1.16,-146.6,503.8,-9.6,297,5068,0.00,2.55,0.00,0.000,6,0.000,0.065,2511,2146,3432
$GC,5391,-1.20,-146.6,530.4,-7.9,318,5396,0.12,2.65,0.00,0.000,4,0.064,0.079,2477,3542,3431
$GC,5421,-1.16,-146.6,533.3,-9.8,320,5425,0.00,2.58,0.00,0.000,6,0.000,0.069,2477,2151,3431
$GC,5745,-1.16,-146.6,566.2,-10.0,341,5750,0.00,2.65,0.00,0.000,4,0.000,0.082,2477,3541,3430
$GC,5797,-1.12,-146.6,571.6,-10.3,344,5802,0.12,2.58,0.00,0.000,6,0.109,0.071,2501,2154,3430
$GC,6116,-1.12,-146.6,602.0,-9.4,364,6120,0.00,2.65,0.00,0.000,4,0.000,0.086,2501,3537,3429
$GC,6154,-1.12,-146.6,605.9,-10.1,366,6160,0.00,2.58,0.00,0.000,6,0.000,0.073,2501,2157,3428
$STATE,6283,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6283,begin apogee
$GC,6291,-0.33,0.0,618.4,9.6,375,6423,0.80,0.00,129.02,1.286,6,0.083,0.000,2670,1849,2831
$STATE,6424,end apogee,CONTROL_FINISHED_OK
$STATE,6424,begin climb
$GC,6427,1.22,146.6,623.6,0.0,384,6561,1.55,0.00,129.00,1.239,6,0.065,0.000,3006,1849,2233
$GC,6866,1.21,173.8,599.5,7.0,412,6898,0.00,2.72,24.80,1.187,4,0.000,0.078,3005,3254,2122
$GC,6943,1.18,182.1,593.4,7.7,416,6958,0.00,2.67,9.02,1.061,6,0.000,0.074,3005,1847,2088
$GC,7283,1.19,213.7,568.4,6.9,438,7318,0.00,2.78,28.25,1.212,4,0.000,0.079,3006,3256,1960
$GC,7358,1.20,219.7,562.5,7.8,442,7372,0.00,2.65,6.75,1.003,6,0.000,0.076,3006,1859,1936
$GC,7695,1.21,224.5,538.1,7.8,464,7706,0.00,2.70,5.97,0.983,4,0.000,0.079,3005,3258,1915
$GC,7751,1.21,224.5,533.2,9.0,466,7757,0.00,2.62,0.00,0.000,6,0.000,0.077,3005,1880,1915
$GC,8071,1.21,224.5,506.0,8.8,487,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1880,1913
$GC,8383,1.25,252.9,481.3,7.0,507,8415,0.00,2.67,25.75,1.212,4,0.000,0.076,3005,3257,1799
$GC,8505,1.29,274.4,472.6,7.2,514,8533,0.00,2.60,19.75,1.179,6,0.000,0.074,3005,1879,1712
$GC,8848,1.29,274.4,443.7,9.0,536,8852,0.00,2.60,0.00,0.000,4,0.000,0.075,3005,3256,1712
$GC,8869,1.29,274.4,441.1,9.9,537,8876,0.00,2.55,0.00,0.000,6,0.000,0.071,3006,1898,1712
$GC,9189,1.29,274.4,407.6,10.6,558,9193,0.00,2.70,0.00,0.000,4,0.000,0.077,3006,438,1712
$GC,9222,1.29,274.4,403.7,11.5,560,9226,0.00,2.67,0.00,0.000,6,0.000,0.059,3005,1904,1712
$GC,9540,1.29,274.4,371.3,9.9,580,9545,0.00,2.47,0.00,0.000,4,0.000,0.071,3005,3261,1711
$GC,9604,1.33,274.4,364.8,11.2,584,9609,0.12,2.50,0.00,0.000,6,0.064,0.062,3037,1899,1711
$GC,9931,1.28,274.4,328.8,10.7,605,9932,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1899,1711
$GC,10242,1.25,274.4,295.5,10.0,625,10243,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1899,1712
$GC,10553,1.21,274.4,262.3,11.3,645,10559,0.15,2.65,0.00,0.000,4,0.094,0.069,3009,438,1712
$GC,10609,1.21,274.4,255.7,11.8,648,10615,0.00,2.60,0.00,0.000,6,0.000,0.051,3009,1894,1713
$GC,10929,1.21,274.4,222.1,10.8,669,10933,0.00,2.70,0.00,0.000,4,0.000,0.068,3009,432,1714
$GC,10950,1.21,274.4,219.4,12.1,670,10957,0.00,2.58,0.00,0.000,6,0.000,0.051,3009,1877,1714
$GC,11270,1.21,274.4,186.7,10.2,691,11274,0.00,2.65,0.00,0.000,4,0.000,0.067,3009,437,1714
$GC,11299,1.21,274.4,183.3,11.9,693,11303,0.00,2.55,0.00,0.000,6,0.000,0.051,3009,1867,1714
$GC,11623,1.21,274.4,149.0,10.7,714,11628,0.00,2.62,0.00,0.000,4,0.000,0.067,3009,439,1716
$GC,11651,1.21,274.4,145.8,11.1,715,11655,0.00,2.53,0.00,0.000,6,0.000,0.049,3009,1860,1716
$GC,11968,1.21,274.4,114.7,9.3,730,11972,0.00,2.50,0.00,0.000,4,0.000,0.058,3009,3264,1716
$GC,11986,1.25,274.4,113.0,9.1,731,11990,0.00,2.53,0.00,0.000,6,0.000,0.051,3009,1852,1716
$GC,12313,1.25,274.4,83.2,9.0,747,12317,0.00,2.55,0.00,0.000,4,0.000,0.058,3009,3258,1717
$GC,12341,1.30,274.4,80.2,10.6,748,12346,0.00,2.47,0.00,0.000,6,0.000,0.051,3009,1871,1717
$GC,12658,1.34,274.4,49.6,9.4,763,12663,0.12,2.58,0.00,0.000,4,0.056,0.065,3044,439,1717
$GC,12732,1.27,274.4,40.6,12.7,766,12737,0.12,2.50,0.00,0.000,6,0.094,0.048,3020,1854,1717
$GC,13049,1.27,274.4,10.0,10.1,781,13054,0.00,2.60,0.00,0.000,4,0.000,0.065,3020,433,1718
$GC,13077,1.27,274.4,6.6,10.7,782,13082,0.00,2.50,0.00,0.000,6,0.000,0.048,3019,1843,1718
$STATE,13143,end climb,SURFACE_DEPTH_REACHED
$STATE,13143,begin surface coast
$FINISH,0.5,1.027189
$STATE,13186,end surface coast,CONTROL_FINISHED_OK
$STATE,13186,begin surface
$SM_CCo,13210,15.25,0.762,0,0,1608,300.00
$SM_GC,1.50,0.00,0.00,15.25,0.000,0.000,0.762,422,2160,1608,-10.69,0.85,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1832
$TCM_TEMP,16.10
$XPDR_PINGS,37
$ALTIM_BOTTOM_PING,545.6,81.9
$24V_AH,23.7,41.993
$10V_AH,10.1,18.571
$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,25.975,151.450,378.325,15.250,0.000,37.762,34.598,165.595,14.000,0.000,0.000,14.177,1413.468,9435.139,516.710,1690.699,539.042,33.352,1392.581,0.000,1650.711,0.000,33.510,0.000
$DEVICE_MAMPS,164.138,85.904,1286.259,761.631,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,540.271,569.355,462.613,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41167,787
$CAP_FILE_SIZE,116788,0
$CFSIZE,254472192,238579712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,071009,013207,6400.416,-1246.131,62,1.0,62,-12.3