version: 66.04
glider: 5
mission: 7
dive: 262
start: 10 8 109 1 17 21
data:
$ID,5
$MISSION,7
$DIVE,262
$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,-105372.9
$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,20
$R_STBD_OVSHOOT,24
$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
$GPS1,011136,6408.615,-1253.077,28,1.6,28,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-60.3
$GPS2,011632,6408.554,-1253.072,11,1.6,11,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.161,-0.185
$KALMAN_X,-17754.6,-2595.4,-1315.0,-201259.6,21435.4
$KALMAN_Y,-6335.6,-1599.5,-1807.7,291190.2,17954.2
$MHEAD_RNG_PITCHd_Wd,233.6,41686,-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,-61.35,0.000,2,0.000,0.000,426,2147,2447
$GC,83,-1.22,-146.6,2.2,-2.4,3,147,11.38,2.62,-47.70,0.000,4,0.162,0.082,2469,3534,3429
$GC,374,-1.13,-146.6,34.2,-14.2,16,379,0.15,2.55,0.00,0.000,6,0.107,0.054,2498,2121,3430
$GC,701,-1.13,-146.6,74.4,-11.0,32,705,0.00,2.53,0.00,0.000,4,0.000,0.067,2498,721,3430
$GC,734,-1.13,-146.6,78.4,-11.7,33,741,0.00,2.53,0.00,0.000,6,0.000,0.054,2499,2129,3431
$GC,1052,-1.13,-146.6,110.4,-9.2,49,1056,0.00,2.60,0.00,0.000,4,0.000,0.073,2499,3541,3431
$GC,1116,-1.13,-146.6,116.4,-9.6,52,1121,0.00,2.53,0.00,0.000,6,0.000,0.056,2499,2147,3431
$GC,1444,-1.13,-146.6,144.5,-8.9,68,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2134,3431
$GC,1754,-1.13,-146.6,178.6,-12.1,87,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2132,3431
$GC,2067,-1.13,-146.6,213.8,-11.0,107,2071,0.00,2.62,0.00,0.000,4,0.000,0.074,2499,3541,3431
$GC,2156,-1.13,-146.6,224.5,-11.9,112,2163,0.00,2.53,0.00,0.000,6,0.000,0.061,2498,2157,3431
$GC,2475,-1.13,-146.6,265.1,-13.4,133,2480,0.00,2.62,0.00,0.000,4,0.000,0.071,2499,715,3431
$GC,2492,-1.13,-146.6,267.4,-12.9,134,2496,0.00,2.62,0.00,0.000,6,0.000,0.057,2499,2166,3431
$GC,2811,-1.13,-146.6,308.4,-12.5,154,2816,0.00,2.67,0.00,0.000,4,0.000,0.072,2499,721,3431
$GC,2895,-1.13,-146.6,319.2,-12.6,159,2900,0.00,2.55,0.00,0.000,6,0.000,0.058,2499,2133,3432
$GC,3215,-1.13,-146.6,353.5,-11.0,179,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2134,3431
$GC,3527,-1.13,-146.6,391.9,-12.7,199,3531,0.00,2.65,0.00,0.000,4,0.000,0.076,2499,715,3432
$GC,3611,-1.17,-146.6,402.9,-11.5,204,3615,0.00,2.55,0.00,0.000,6,0.000,0.060,2499,2119,3431
$GC,3930,-1.17,-146.6,439.5,-11.3,224,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2120,3431
$GC,4242,-1.17,-146.6,478.2,-15.4,244,4246,0.00,2.62,0.00,0.000,4,0.000,0.081,2499,722,3430
$STATE,4269,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4269,begin apogee
$GC,4278,-0.33,0.0,482.9,16.3,246,4413,0.82,0.00,131.25,1.201,6,0.090,0.000,2670,1872,2831
$STATE,4414,end apogee,CONTROL_FINISHED_OK
$STATE,4414,begin climb
$GC,4417,1.22,146.6,495.4,0.0,255,4554,1.55,0.00,131.57,1.150,6,0.065,0.000,3006,1872,2233
$GC,4860,1.31,230.7,488.5,4.9,284,4940,0.10,2.67,72.20,1.160,4,0.069,0.074,3031,3261,1890
$GC,4959,1.22,230.7,481.8,9.1,290,4963,0.00,2.67,0.00,0.000,6,0.000,0.078,3031,1863,1890
$GC,5284,1.13,230.7,449.2,8.2,311,5286,0.22,0.00,0.00,0.000,6,0.102,0.000,2990,1851,1890
$GC,5596,1.25,303.1,427.5,5.4,331,5666,0.12,2.75,62.33,1.154,4,0.064,0.084,3020,435,1594
$GC,5684,1.21,303.1,421.1,9.0,336,5690,0.00,2.67,0.00,0.000,6,0.000,0.063,3019,1868,1595
$GC,6003,1.21,303.1,395.7,8.7,357,6007,0.00,2.60,0.00,0.000,4,0.000,0.078,3019,3264,1596
$GC,6019,1.21,303.1,394.2,8.8,358,6024,0.00,2.65,0.00,0.000,6,0.000,0.073,3020,1859,1596
$GC,6338,1.21,303.1,364.9,8.2,378,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1846,1596
$GC,6651,1.27,336.2,344.3,6.8,398,6682,0.00,0.00,29.38,1.114,6,0.000,0.000,3020,1846,1460
$GC,6994,1.27,336.2,317.3,8.9,420,6998,0.00,2.65,0.00,0.000,4,0.000,0.072,3020,3266,1460
$GC,7015,1.27,336.2,315.1,9.6,421,7021,0.00,2.60,0.00,0.000,6,0.000,0.067,3019,1870,1460
$GC,7334,1.27,336.2,281.7,11.0,442,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1870,1460
$GC,7647,1.27,336.2,246.3,11.8,462,7648,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1870,1460
$GC,7959,1.27,336.2,213.0,8.1,482,7963,0.00,2.58,0.00,0.000,4,0.000,0.071,3020,3259,1460
$GC,8006,1.38,370.4,209.9,6.8,485,8042,0.12,2.55,29.67,1.033,6,0.064,0.064,3051,1874,1320
$GC,8368,1.34,370.4,177.3,11.3,508,8372,0.00,2.60,0.00,0.000,4,0.000,0.069,3051,3267,1321
$GC,8401,1.34,370.4,172.4,14.7,510,8406,0.00,2.55,0.00,0.000,6,0.000,0.061,3051,1879,1320
$GC,8730,1.34,370.4,133.0,9.8,528,8734,0.00,2.58,0.00,0.000,4,0.000,0.067,3051,3266,1321
$GC,8752,1.34,370.4,130.7,9.8,529,8756,0.00,2.53,0.00,0.000,6,0.000,0.060,3051,1886,1321
$GC,9073,1.34,370.4,97.6,10.8,545,9078,0.00,2.65,0.00,0.000,4,0.000,0.074,3051,440,1320
$GC,9115,1.30,370.4,92.7,12.5,547,9120,0.12,2.62,0.00,0.000,6,0.099,0.054,3028,1899,1321
$GC,9443,1.33,370.4,54.0,13.3,563,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1916,1321
$GC,9751,1.33,370.4,16.8,10.0,578,9753,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1917,1321
$STATE,9893,end climb,SURFACE_DEPTH_REACHED
$STATE,9893,begin surface coast
$FINISH,0.3,1.004188
$STATE,9915,end surface coast,CONTROL_FINISHED_OK
$STATE,9915,begin surface
$SM_CCo,9999,0.00,0.000,0,0,1321,370.40
$SM_GC,1.27,11.45,0.00,0.00,0.043,0.000,0.000,422,2143,1321,-10.60,0.37,370.40
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1852
$TCM_TEMP,15.70
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,447.3,44.9
$24V_AH,23.7,43.199
$10V_AH,10.1,19.090
$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,26.050,83.225,456.400,0.000,0.000,39.023,26.938,117.004,7.750,0.000,0.000,11.886,1025.231,7107.915,531.169,1237.886,394.981,33.366,1183.124,0.000,1209.731,0.000,26.728,0.000
$DEVICE_MAMPS,161.837,84.370,1201.122,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.941,423.733,389.529,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28537,586
$CAP_FILE_SIZE,80124,0
$CFSIZE,254472192,238219264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,081009,040507,6404.004,-1258.923,30,1.2,30,-12.4