version: 66.04
glider: 5
mission: 7
dive: 259
start: 10 7 109 15 51 32
data:
$ID,5
$MISSION,7
$DIVE,259
$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,-105328.65
$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,25
$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
$GPS1,154506,6405.155,-1239.456,38,1.2,38,-12.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-58.2
$GPS2,155043,6405.205,-1239.397,14,1.3,14,-12.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.207,-0.131
$KALMAN_X,-10726.2,-2998.4,-2620.5,-194504.5,36734.7
$KALMAN_Y,-8384.2,-1497.5,-1611.1,286724.2,17831.0
$MHEAD_RNG_PITCHd_Wd,250.0,44506,-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,-146.6,0.0,0.0,0,81,0.00,0.00,-60.92,0.000,2,0.000,0.000,419,2149,2803
$GC,84,-1.22,-146.6,2.8,-3.5,3,128,11.30,2.58,-21.83,0.000,4,0.163,0.076,2471,3534,3430
$GC,380,-1.14,-146.6,39.8,-13.3,16,385,0.12,2.53,0.00,0.000,6,0.112,0.046,2495,2112,3430
$GC,703,-1.14,-146.6,81.6,-13.4,32,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2097,3430
$GC,1012,-1.11,-146.6,117.6,-11.8,47,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2096,3431
$GC,1326,-1.11,-146.6,155.9,-12.0,63,1330,0.00,2.62,0.00,0.000,4,0.000,0.065,2495,3540,3431
$GC,1388,-1.11,-146.6,163.8,-12.5,67,1393,0.00,2.53,0.00,0.000,6,0.000,0.051,2495,2124,3431
$GC,1715,-1.07,-146.6,203.1,-11.9,88,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2108,3432
$GC,2026,-1.04,-146.6,240.5,-11.7,108,2031,0.10,2.50,0.00,0.000,4,0.108,0.061,2516,717,3432
$GC,2055,-1.04,-146.6,243.7,-11.3,110,2059,0.00,2.50,0.00,0.000,6,0.000,0.051,2516,2120,3431
$GC,2382,-1.04,-146.6,276.9,-9.9,131,2385,0.00,2.53,0.00,0.000,4,0.000,0.061,2516,720,3431
$GC,2444,-1.08,-146.6,283.8,-10.9,134,2450,0.00,2.45,0.00,0.000,6,0.000,0.051,2516,2101,3432
$GC,2763,-1.08,-146.6,313.4,-8.8,155,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2101,3431
$GC,3075,-1.08,-146.6,341.6,-9.4,175,3080,0.00,2.62,0.00,0.000,4,0.000,0.073,2515,3534,3432
$GC,3110,-1.08,-146.6,345.0,-9.7,177,3115,0.00,2.60,0.00,0.000,6,0.000,0.059,2516,2096,3432
$GC,3429,-1.08,-146.6,375.2,-9.7,197,3433,0.00,2.67,0.00,0.000,4,0.000,0.072,2516,3531,3432
$GC,3467,-1.08,-146.6,379.5,-11.1,199,3473,0.00,2.62,0.00,0.000,6,0.000,0.061,2516,2085,3431
$GC,3787,-1.08,-146.6,410.6,-9.8,220,3791,0.00,2.47,0.00,0.000,4,0.000,0.071,2516,717,3431
$GC,3803,-1.11,-146.6,412.3,-9.5,221,3808,0.00,2.50,0.00,0.000,6,0.000,0.055,2516,2112,3431
$GC,4124,-1.14,-146.6,444.2,-9.7,241,4129,0.00,2.55,0.00,0.000,4,0.000,0.071,2516,722,3431
$GC,4197,-1.19,-146.6,451.6,-9.5,245,4202,0.12,2.47,0.00,0.000,6,0.064,0.058,2482,2098,3430
$GC,4519,-1.15,-146.6,485.5,-10.5,265,4523,0.00,2.55,0.00,0.000,4,0.000,0.074,2482,717,3429
$GC,4580,-1.15,-146.6,492.8,-11.2,268,4586,0.00,2.45,0.00,0.000,6,0.000,0.060,2482,2067,3429
$GC,4899,-1.15,-146.6,529.7,-11.4,289,4903,0.00,2.72,0.00,0.000,4,0.000,0.081,2482,3537,3427
$GC,4916,-1.11,-146.6,531.4,-10.7,290,4920,0.00,2.70,0.00,0.000,6,0.000,0.071,2482,2076,3427
$STATE,5185,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5185,begin apogee
$GC,5193,-0.33,0.0,561.2,11.4,307,5325,0.90,0.00,129.07,1.236,6,0.088,0.000,2673,1852,2831
$STATE,5326,end apogee,CONTROL_FINISHED_OK
$STATE,5326,begin climb
$GC,5329,1.22,146.6,564.7,0.0,316,5469,1.55,2.75,127.70,1.192,4,0.067,0.083,3008,445,2233
$GC,5541,1.09,146.6,558.0,8.1,329,5546,0.15,2.60,0.00,0.000,6,0.101,0.061,2980,1859,2233
$GC,5869,1.20,215.7,541.3,5.5,350,5936,0.12,2.65,60.65,1.185,4,0.064,0.077,3011,3254,1951
$GC,5984,1.20,215.7,532.9,8.2,357,5988,0.00,2.62,0.00,0.000,6,0.000,0.075,3011,1873,1951
$GC,6308,1.20,215.7,505.8,9.3,378,6312,0.00,2.62,0.00,0.000,4,0.000,0.078,3011,3254,1950
$GC,6341,1.20,215.7,502.6,9.3,380,6345,0.00,2.60,0.00,0.000,6,0.000,0.076,3011,1879,1950
$GC,6660,1.20,215.7,474.9,8.8,400,6664,0.00,2.70,0.00,0.000,4,0.000,0.086,3011,437,1948
$GC,6757,1.12,215.7,466.5,8.9,406,6761,0.00,2.65,0.00,0.000,6,0.000,0.063,3011,1881,1948
$GC,7081,1.13,221.5,440.0,7.8,427,7092,0.00,2.78,5.88,0.950,4,0.000,0.081,3012,433,1928
$GC,7128,1.07,221.5,436.1,8.9,429,7133,0.17,2.62,0.00,0.000,6,0.101,0.062,2978,1859,1927
$GC,7456,1.18,250.9,414.1,6.9,450,7489,0.10,2.65,26.75,1.156,4,0.070,0.073,3004,3261,1808
$GC,7535,1.21,250.9,407.6,8.1,454,7541,0.00,2.60,0.00,0.000,6,0.000,0.071,3004,1877,1808
$GC,7854,1.21,250.9,381.4,8.8,475,7858,0.00,2.67,0.00,0.000,4,0.000,0.081,3004,435,1807
$GC,7882,1.21,250.9,378.7,9.9,477,7887,0.00,2.67,0.00,0.000,6,0.000,0.061,3004,1897,1808
$GC,8207,1.21,250.9,349.8,8.7,498,8212,0.00,2.75,0.00,0.000,4,0.000,0.078,3004,436,1807
$GC,8274,1.21,250.9,343.3,10.0,502,8278,0.00,2.58,0.00,0.000,6,0.000,0.058,3003,1858,1807
$GC,8593,1.21,250.9,315.8,9.0,522,8597,0.00,2.55,0.00,0.000,4,0.000,0.071,3004,3256,1807
$GC,8615,1.24,250.9,313.8,9.4,523,8621,0.00,2.62,0.00,0.000,6,0.000,0.065,3004,1832,1808
$GC,8934,1.24,250.9,284.5,9.4,544,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1832,1808
$GC,9247,1.24,250.9,255.7,9.0,564,9251,0.00,2.65,0.00,0.000,4,0.000,0.068,3004,3261,1807
$GC,9337,1.29,250.9,247.4,9.1,569,9343,0.00,2.60,0.00,0.000,6,0.000,0.060,3004,1835,1807
$GC,9656,1.32,250.9,219.7,8.8,590,9661,0.12,2.62,0.00,0.000,4,0.064,0.065,3036,3258,1807
$GC,9673,1.32,250.9,217.9,9.1,591,9677,0.00,2.58,0.00,0.000,6,0.000,0.058,3036,1840,1807
$GC,9993,1.28,250.9,182.6,11.4,611,9994,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1840,1808
$GC,10305,1.25,250.9,149.1,10.3,631,10309,0.00,2.58,0.00,0.000,4,0.000,0.063,3036,3260,1808
$GC,10338,1.25,250.9,145.5,10.6,632,10345,0.00,2.50,0.00,0.000,6,0.000,0.054,3036,1864,1808
$GC,10655,1.22,250.9,114.1,9.9,648,10660,0.12,2.55,0.00,0.000,4,0.096,0.059,3011,3264,1808
$GC,10689,1.26,250.9,110.7,9.3,649,10695,0.00,2.50,0.00,0.000,6,0.000,0.052,3011,1864,1808
$GC,11007,1.26,250.9,83.1,8.6,665,11008,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1864,1809
$GC,11314,1.26,252.7,56.6,7.9,680,11323,0.00,2.53,3.97,0.594,4,0.000,0.059,3011,3258,1800
$GC,11365,1.32,252.7,52.8,8.1,682,11370,0.00,2.47,0.00,0.000,6,0.000,0.051,3010,1877,1800
$GC,11687,1.35,252.7,27.0,8.7,698,11692,0.15,2.58,0.00,0.000,4,0.054,0.065,3050,442,1800
$GC,11721,1.26,252.7,23.5,10.3,699,11728,0.15,2.55,0.00,0.000,6,0.089,0.049,3021,1880,1800
$STATE,11992,end climb,SURFACE_DEPTH_REACHED
$STATE,11992,begin surface coast
$FINISH,0.6,1.027220
$STATE,12035,end surface coast,CONTROL_FINISHED_OK
$STATE,12035,begin surface
$SM_CCo,12059,25.20,0.795,0,0,1607,300.00
$SM_GC,1.02,0.00,0.00,25.20,0.000,0.000,0.795,423,2147,1607,-10.68,0.45,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1839
$TCM_TEMP,16.80
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,545.9,24.3
$24V_AH,23.8,42.735
$10V_AH,10.1,18.913
$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,26.475,130.400,354.025,25.200,0.000,37.762,26.807,155.282,10.500,0.000,0.000,14.001,1286.718,8631.570,492.600,1526.688,485.712,33.362,1279.811,0.000,1489.844,0.000,33.370,0.000
$DEVICE_MAMPS,163.371,85.904,1236.404,795.379,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,491.323,522.616,446.203,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38007,715
$CAP_FILE_SIZE,105328,0
$CFSIZE,254472192,238325760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,071009,191407,6405.860,-1243.423,30,1.1,30,-12.3