version: 66.04
glider: 5
mission: 7
dive: 260
start: 10 7 109 19 27 39
data:
$ID,5
$MISSION,7
$DIVE,260
$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,-105344.47
$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,28
$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
$GPS1,191407,6405.860,-1243.423,30,1.1,30,-12.3
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-59.9
$GPS2,192650,6406.127,-1243.476,12,1.5,12,-12.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.217,0.115
$KALMAN_X,-15412.4,-2074.7,-1849.4,-195067.3,23743.9
$KALMAN_Y,-7272.6,-636.7,-299.6,285153.4,13933.0
$MHEAD_RNG_PITCHd_Wd,310.3,43191,-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,-61.30,0.000,2,0.000,0.000,422,2160,2804
$GC,82,-1.22,-146.6,2.5,-3.1,3,124,11.52,0.00,-23.70,0.000,6,0.170,0.000,2469,2147,3429
$GC,436,-1.14,-146.6,44.5,-13.1,20,441,0.12,2.53,0.00,0.000,4,0.110,0.065,2494,3537,3429
$GC,454,-1.05,-146.6,47.2,-13.0,21,460,0.10,2.53,0.00,0.000,6,0.097,0.051,2515,2124,3429
$GC,782,-1.05,-146.6,79.9,-9.9,37,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2113,3429
$GC,1091,-1.05,-146.6,110.9,-9.9,52,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2113,3430
$GC,1401,-1.05,-146.6,147.2,-10.8,67,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2113,3430
$GC,1723,-1.05,-146.6,180.7,-10.1,87,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2110,3430
$GC,2034,-1.05,-146.6,209.3,-9.1,107,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2110,3430
$GC,2347,-1.05,-146.6,242.9,-11.9,127,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2110,3430
$GC,2660,-1.05,-146.6,279.6,-10.5,147,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2112,3431
$GC,2972,-1.05,-146.6,309.1,-9.4,167,2976,0.00,2.53,0.00,0.000,4,0.000,0.068,2515,721,3430
$GC,3086,-1.09,-146.6,320.8,-10.2,174,3090,0.00,2.53,0.00,0.000,6,0.000,0.055,2516,2130,3430
$GC,3410,-1.09,-146.6,352.6,-9.0,195,3414,0.00,2.60,0.00,0.000,4,0.000,0.073,2516,721,3430
$GC,3449,-1.14,-146.6,356.3,-9.4,197,3455,0.00,2.55,0.00,0.000,6,0.000,0.058,2515,2138,3430
$GC,3770,-1.14,-146.6,386.7,-9.6,218,3774,0.00,2.62,0.00,0.000,4,0.000,0.072,2515,719,3429
$GC,3854,-1.18,-146.6,395.4,-9.9,223,3859,0.12,2.50,0.00,0.000,6,0.066,0.058,2483,2108,3429
$GC,4175,-1.18,-146.6,431.6,-11.6,243,4180,0.00,2.58,0.00,0.000,4,0.000,0.076,2483,722,3429
$GC,4214,-1.18,-146.6,436.8,-13.1,245,4221,0.00,2.50,0.00,0.000,6,0.000,0.061,2483,2104,3429
$GC,4539,-1.15,-146.6,474.3,-11.3,266,4543,0.00,2.58,0.00,0.000,4,0.000,0.079,2483,723,3428
$GC,4628,-1.15,-146.6,484.9,-10.9,271,4634,0.00,2.50,0.00,0.000,6,0.000,0.062,2483,2099,3428
$GC,4948,-1.12,-146.6,519.7,-11.0,292,4952,0.00,2.58,0.00,0.000,4,0.000,0.081,2483,723,3427
$GC,5031,-1.12,-146.6,530.5,-13.0,297,5035,0.00,2.45,0.00,0.000,4,0.000,0.064,2483,2063,3427
$STATE,5036,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5036,begin apogee
$GC,5043,-0.33,0.0,531.1,13.3,297,5175,0.85,0.00,128.40,1.228,6,0.085,0.000,2665,1838,2831
$STATE,5176,end apogee,CONTROL_FINISHED_OK
$STATE,5176,begin climb
$GC,5180,1.22,146.6,537.4,0.0,306,5317,1.58,0.00,128.65,1.178,6,0.067,0.000,3005,1839,2232
$GC,5631,1.21,179.0,512.6,6.8,335,5665,0.00,2.70,29.15,1.144,4,0.000,0.087,3005,449,2101
$GC,5711,1.13,179.0,506.6,8.2,340,5715,0.00,2.58,0.00,0.000,6,0.000,0.064,3005,1839,2100
$GC,6030,1.19,211.5,482.1,6.8,360,6066,0.00,2.72,29.23,1.158,4,0.000,0.085,3005,461,1968
$GC,6153,1.16,227.8,473.7,7.4,367,6173,0.00,2.53,15.07,1.108,6,0.000,0.066,3005,1838,1902
$GC,6489,1.16,227.8,448.3,8.6,388,6493,0.00,2.65,0.00,0.000,4,0.000,0.080,3005,3240,1901
$GC,6517,1.16,227.8,445.7,8.9,390,6522,0.00,2.65,0.00,0.000,6,0.000,0.074,3005,1835,1901
$GC,6843,1.16,227.8,416.7,8.9,411,6847,0.00,2.60,0.00,0.000,4,0.000,0.083,3005,435,1901
$GC,6889,1.11,227.8,412.5,9.7,414,6893,0.00,2.53,0.00,0.000,6,0.000,0.064,3005,1809,1901
$GC,7213,1.11,227.8,383.9,8.9,435,7218,0.00,2.67,0.00,0.000,4,0.000,0.075,3005,3258,1900
$GC,7252,1.11,227.8,380.3,9.3,437,7259,0.00,2.70,0.00,0.000,6,0.000,0.071,3005,1813,1899
$GC,7571,1.11,227.8,352.8,8.7,458,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1813,1899
$GC,7884,1.11,227.8,327.1,8.4,478,7888,0.00,2.55,0.00,0.000,4,0.000,0.081,3005,433,1899
$GC,7923,1.06,227.8,323.4,9.4,480,7930,0.15,2.55,0.00,0.000,6,0.100,0.062,2978,1835,1899
$GC,8245,1.15,238.8,299.2,7.6,501,8262,0.00,2.65,10.57,1.019,4,0.000,0.071,2978,3257,1857
$GC,8315,1.23,238.8,293.3,8.7,505,8320,0.17,2.65,0.00,0.000,6,0.060,0.065,3019,1827,1857
$GC,8643,1.20,238.8,260.2,10.2,526,8644,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1827,1857
$GC,8953,1.20,238.8,231.7,10.0,546,8957,0.00,2.55,0.00,0.000,4,0.000,0.077,3019,437,1857
$GC,9042,1.14,238.8,221.8,10.7,551,9049,0.15,2.53,0.00,0.000,6,0.099,0.058,2991,1835,1857
$GC,9364,1.19,238.8,193.3,8.6,572,9369,0.00,2.58,0.00,0.000,4,0.000,0.069,2991,3254,1857
$GC,9421,1.26,238.8,187.8,9.3,575,9428,0.12,2.60,0.00,0.000,6,0.064,0.062,3022,1830,1857
$GC,9740,1.26,238.8,156.2,10.7,596,9744,0.00,2.55,0.00,0.000,4,0.000,0.074,3022,433,1857
$GC,9836,1.18,238.8,146.4,11.1,601,9841,0.00,2.53,0.00,0.000,6,0.000,0.056,3022,1841,1857
$GC,10154,1.18,238.8,119.7,9.4,616,10155,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1856,1857
$GC,10462,1.18,238.8,90.9,8.7,631,10467,0.00,2.60,0.00,0.000,4,0.000,0.073,3022,440,1857
$GC,10507,1.13,238.8,86.1,10.7,633,10513,0.17,2.50,0.00,0.000,6,0.091,0.054,2988,1835,1857
$GC,10830,1.24,262.3,63.3,7.1,649,10857,0.12,2.62,20.90,0.888,4,0.060,0.063,3020,3261,1760
$GC,10886,1.27,262.3,58.2,9.7,651,10893,0.00,2.60,0.00,0.000,6,0.000,0.057,3020,1828,1760
$GC,11202,1.27,262.3,30.5,8.7,667,11207,0.00,2.62,0.00,0.000,4,0.000,0.064,3020,3257,1760
$GC,11243,1.31,262.3,26.7,9.2,669,11247,0.00,2.58,0.00,0.000,6,0.000,0.057,3020,1830,1760
$STATE,11505,end climb,SURFACE_DEPTH_REACHED
$STATE,11505,begin surface coast
$FINISH,1.0,1.027447
$STATE,11527,end surface coast,CONTROL_FINISHED_OK
$STATE,11527,begin surface
$SM_CCo,11551,21.00,0.835,0,0,1608,300.00
$SM_GC,0.83,0.00,0.00,21.00,0.000,0.000,0.835,422,2125,1608,-10.69,-0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1848
$TCM_TEMP,15.80
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,470.8,69.8
$24V_AH,23.8,42.886
$10V_AH,10.1,18.981
$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,26.575,104.075,361.975,21.000,0.000,114.616,88.948,300.347,8.000,0.000,0.000,15.186,1211.948,8438.551,500.958,1411.930,773.078,33.362,1216.045,0.000,1379.362,0.000,30.853,0.000
$DEVICE_MAMPS,169.507,86.671,1227.967,835.263,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.121,500.543,444.693,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34950,683
$CAP_FILE_SIZE,101497,0
$CFSIZE,254472192,238280704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,071009,224154,6409.302,-1247.967,42,1.2,42,-12.4