version: 66.04
glider: 5
mission: 7
dive: 255
start: 10 7 109 1 44 8
data:
$ID,5
$MISSION,7
$DIVE,255
$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,-105244.68
$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,52
$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
$GPS1,013207,6400.416,-1246.131,62,1.0,62,-12.3
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-52.9
$GPS2,014319,6400.415,-1245.851,16,1.0,16,-12.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.125,-0.211
$KALMAN_X,-49853.6,6669.9,1454.4,-174948.9,-10801.8
$KALMAN_Y,-25917.7,2947.0,176.6,289092.6,-3607.4
$MHEAD_RNG_PITCHd_Wd,222.8,34929,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.38,0.000,2,0.000,0.000,421,2145,2839
$GC,83,-1.22,-146.6,3.0,-4.0,3,118,11.50,2.50,-18.65,0.000,4,0.165,0.079,2475,3509,3429
$GC,371,-1.14,-146.6,40.4,-12.0,15,376,0.10,2.47,0.00,0.000,6,0.110,0.048,2494,2124,3430
$GC,695,-1.11,-146.6,78.9,-11.9,31,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2124,3430
$GC,1002,-1.11,-146.6,114.1,-10.5,46,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2123,3430
$GC,1311,-1.11,-146.6,144.2,-9.2,61,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2123,3430
$GC,1627,-1.11,-146.6,172.8,-9.5,80,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2122,3431
$GC,1940,-1.11,-146.6,203.9,-10.2,100,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2122,3431
$GC,2252,-1.11,-146.6,237.7,-10.9,120,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2118,3431
$GC,2566,-1.11,-146.6,270.2,-10.3,140,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2117,3431
$GC,2877,-1.11,-146.6,304.0,-10.8,160,2881,0.00,2.50,0.00,0.000,4,0.000,0.063,2494,723,3431
$GC,2905,-1.11,-146.6,307.1,-11.0,162,2910,0.00,2.42,0.00,0.000,6,0.000,0.051,2494,2085,3431
$GC,3230,-1.11,-146.6,343.1,-10.8,183,3235,0.00,2.47,0.00,0.000,4,0.000,0.064,2494,724,3431
$GC,3281,-1.11,-146.6,349.1,-11.7,186,3285,0.00,2.45,0.00,0.000,6,0.000,0.051,2494,2100,3431
$GC,3600,-1.11,-146.6,387.5,-11.9,206,3604,0.00,2.62,0.00,0.000,4,0.000,0.069,2494,3540,3431
$GC,3633,-1.11,-146.6,391.6,-11.5,208,3638,0.00,2.60,0.00,0.000,6,0.000,0.058,2493,2104,3431
$GC,3952,-1.11,-146.6,425.4,-10.4,228,3957,0.00,2.65,0.00,0.000,4,0.000,0.069,2494,3531,3431
$GC,4037,-1.11,-146.6,434.7,-11.4,233,4041,0.00,2.53,0.00,0.000,6,0.000,0.057,2494,2130,3431
$GC,4356,-1.11,-146.6,467.3,-10.4,253,4360,0.00,2.62,0.00,0.000,4,0.000,0.071,2494,3541,3431
$GC,4462,-1.11,-146.6,478.9,-10.7,259,4468,0.00,2.53,0.00,0.000,6,0.000,0.058,2494,2146,3431
$GC,4781,-1.11,-146.6,511.7,-10.2,280,4786,0.00,2.58,0.00,0.000,4,0.000,0.068,2494,718,3431
$GC,4888,-1.14,-146.6,524.0,-12.3,286,4894,0.00,2.53,0.00,0.000,6,0.000,0.054,2494,2129,3431
$GC,5208,-1.14,-146.6,559.9,-11.2,307,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2129,3430
$STATE,5485,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5486,begin apogee
$GC,5493,-0.33,0.0,591.6,10.9,325,5624,0.82,0.00,128.02,1.220,6,0.081,0.000,2670,1847,2831
$STATE,5625,end apogee,CONTROL_FINISHED_OK
$STATE,5625,begin climb
$GC,5629,1.22,146.6,596.9,0.0,334,5763,1.55,2.70,126.32,1.174,4,0.063,0.069,3008,3261,2233
$GC,5824,1.24,191.2,589.7,6.4,346,5872,0.00,2.65,39.70,1.131,6,0.000,0.067,3007,1847,2051
$GC,6189,1.25,219.8,565.1,7.0,369,6221,0.00,0.00,25.90,1.121,6,0.000,0.000,3007,1847,1934
$GC,6535,1.32,262.3,538.8,6.5,391,6582,0.12,2.72,37.62,1.149,4,0.060,0.069,3040,3257,1760
$GC,6611,1.28,262.3,531.2,10.7,395,6617,0.00,2.62,0.00,0.000,6,0.000,0.068,3040,1856,1761
$GC,6931,1.21,262.3,494.1,12.8,416,6932,0.17,0.00,0.00,0.000,6,0.097,0.000,3006,1856,1761
$GC,7243,1.21,262.3,463.0,8.1,436,7248,0.00,2.62,0.00,0.000,4,0.000,0.069,3006,3265,1760
$GC,7333,1.21,262.3,455.4,8.3,441,7339,0.00,2.55,0.00,0.000,6,0.000,0.064,3007,1882,1759
$GC,7654,1.21,262.3,428.3,8.7,462,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1882,1759
$GC,7964,1.28,305.2,400.9,6.4,482,8011,0.00,2.60,36.95,1.092,4,0.000,0.064,3006,3256,1586
$GC,8030,1.37,333.6,396.5,7.0,486,8062,0.17,2.55,25.42,1.060,6,0.055,0.061,3049,1873,1470
$GC,8377,1.33,333.6,351.9,13.5,508,8382,0.00,2.60,0.00,0.000,4,0.000,0.070,3049,442,1470
$GC,8424,1.25,333.6,344.8,14.2,511,8429,0.17,2.60,0.00,0.000,6,0.091,0.052,3015,1886,1471
$GC,8749,1.25,333.6,307.9,10.7,532,8754,0.00,2.70,0.00,0.000,4,0.000,0.071,3015,437,1471
$GC,8795,1.25,333.6,302.8,10.3,535,8799,0.00,2.55,0.00,0.000,6,0.000,0.051,3015,1860,1471
$GC,9120,1.29,333.6,269.2,10.3,556,9125,0.00,2.62,0.00,0.000,4,0.000,0.067,3015,434,1471
$GC,9143,1.29,333.6,266.6,10.4,557,9149,0.00,2.50,0.00,0.000,6,0.000,0.051,3015,1838,1471
$GC,9462,1.32,333.6,233.5,10.1,578,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1853,1472
$GC,9775,1.36,333.6,203.0,9.5,598,9780,0.12,2.58,0.00,0.000,4,0.059,0.065,3048,435,1473
$GC,9791,1.36,333.6,201.1,9.9,599,9795,0.00,2.50,0.00,0.000,6,0.000,0.050,3048,1841,1473
$GC,10110,1.33,333.6,165.6,10.9,619,10114,0.00,2.53,0.00,0.000,4,0.000,0.059,3048,3258,1473
$GC,10134,1.33,333.6,163.0,11.8,620,10141,0.00,2.58,0.00,0.000,6,0.000,0.054,3048,1828,1473
$GC,10452,1.29,333.6,128.8,10.8,638,10457,0.12,2.60,0.00,0.000,4,0.094,0.058,3023,3258,1473
$GC,10480,1.29,333.6,125.7,10.6,639,10484,0.00,2.55,0.00,0.000,6,0.000,0.051,3023,1837,1473
$GC,10797,1.29,333.6,97.2,9.0,654,10798,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1837,1473
$GC,11105,1.29,333.6,69.5,8.3,669,11110,0.00,2.58,0.00,0.000,4,0.000,0.058,3023,3258,1473
$GC,11155,1.36,333.6,64.7,9.8,671,11160,0.00,2.53,0.00,0.000,6,0.000,0.051,3023,1848,1474
$GC,11472,1.36,333.6,39.4,9.2,686,11473,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1848,1474
$GC,11781,1.36,333.6,10.6,11.3,701,11782,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1847,1474
$STATE,11860,end climb,SURFACE_DEPTH_REACHED
$STATE,11860,begin surface coast
$FINISH,0.8,1.027210
$STATE,11882,end surface coast,CONTROL_FINISHED_OK
$STATE,11882,begin surface
$SM_CCo,11966,0.00,0.000,0,0,1473,333.12
$SM_GC,1.37,11.30,0.00,0.00,0.038,0.000,0.000,418,2152,1473,-10.61,0.62,333.12
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1827
$TCM_TEMP,17.30
$XPDR_PINGS,49
$ALTIM_BOTTOM_PING,570.7,30.0
$24V_AH,23.8,42.154
$10V_AH,10.1,18.640
$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,26.175,93.525,419.950,0.000,0.000,113.282,80.159,218.136,17.500,0.000,0.000,16.131,1234.005,8769.078,492.954,1469.939,668.269,33.358,1245.365,0.000,1431.930,0.000,38.782,0.000
$DEVICE_MAMPS,164.905,79.001,1219.530,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.801,514.691,438.437,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34776,706
$CAP_FILE_SIZE,98830,0
$CFSIZE,254472192,238538752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,071009,050437,6357.866,-1245.418,26,1.0,26,-12.3