version: 66.04
glider: 5
mission: 7
dive: 264
start: 10 8 109 7 36 17
data:
$ID,5
$MISSION,7
$DIVE,264
$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,-105405.32
$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,46
$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
$GPS1,072937,6359.578,-1304.394,32,1.0,32,-12.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-56.2
$GPS2,073526,6359.587,-1304.149,14,1.1,14,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.245,0.007
$KALMAN_X,-26883.5,-388.5,-17.9,-205417.4,1277.7
$KALMAN_Y,-20055.3,-1463.9,245.1,286072.4,-6020.4
$MHEAD_RNG_PITCHd_Wd,284.2,22892,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.47,0.000,2,0.000,0.000,425,2158,2895
$GC,123,-1.22,-146.6,3.0,-2.2,5,159,11.55,2.55,-16.10,0.000,4,0.167,0.077,2473,3514,3430
$GC,413,-1.15,-146.6,42.1,-10.9,18,417,0.00,2.50,0.00,0.000,6,0.000,0.048,2473,2114,3430
$GC,741,-1.07,-146.6,81.3,-13.3,34,746,0.17,2.60,0.00,0.000,4,0.100,0.064,2514,3518,3431
$GC,791,-1.07,-146.6,87.2,-10.4,36,795,0.00,2.50,0.00,0.000,6,0.000,0.050,2514,2123,3431
$GC,1107,-1.07,-146.6,118.7,-9.8,51,1111,0.00,2.50,0.00,0.000,4,0.000,0.061,2514,721,3432
$GC,1129,-1.07,-146.6,121.2,-10.6,52,1134,0.00,2.47,0.00,0.000,6,0.000,0.050,2514,2111,3432
$GC,1456,-1.07,-146.6,156.1,-10.9,69,1460,0.00,2.53,0.00,0.000,4,0.000,0.062,2514,723,3432
$GC,1511,-1.07,-146.6,162.4,-11.6,72,1517,0.00,2.47,0.00,0.000,6,0.000,0.050,2514,2113,3432
$GC,1833,-1.07,-146.6,195.7,-9.2,93,1837,0.00,2.60,0.00,0.000,4,0.000,0.067,2514,3538,3432
$GC,1854,-1.07,-146.6,197.9,-8.8,94,1861,0.00,2.58,0.00,0.000,6,0.000,0.053,2514,2106,3432
$GC,2173,-1.07,-146.6,229.8,-10.2,115,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2095,3432
$GC,2486,-1.07,-146.6,264.8,-11.9,135,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2091,3432
$GC,2798,-1.07,-146.6,305.6,-13.3,155,2802,0.00,2.67,0.00,0.000,4,0.000,0.071,2514,3541,3432
$GC,2854,-1.07,-146.6,313.1,-13.7,158,2860,0.00,2.60,0.00,0.000,6,0.000,0.059,2514,2111,3432
$GC,3174,-1.07,-146.6,350.0,-12.4,179,3178,0.00,2.53,0.00,0.000,4,0.000,0.069,2514,716,3433
$GC,3226,-1.11,-146.6,356.3,-11.4,182,3230,0.00,2.50,0.00,0.000,6,0.000,0.054,2514,2110,3433
$GC,3545,-1.11,-146.6,387.7,-9.1,202,3550,0.00,2.58,0.00,0.000,4,0.000,0.071,2514,717,3432
$GC,3602,-1.16,-146.6,392.7,-8.6,205,3608,0.00,2.45,0.00,0.000,6,0.000,0.055,2514,2080,3432
$GC,3922,-1.16,-146.6,417.4,-7.9,226,3926,0.00,2.53,0.00,0.000,4,0.000,0.073,2514,722,3432
$GC,3951,-1.20,-146.6,419.8,-8.2,228,3956,0.15,2.45,0.00,0.000,6,0.061,0.058,2475,2075,3432
$GC,4284,-1.16,-146.6,454.3,-10.9,249,4288,0.00,2.53,0.00,0.000,4,0.000,0.075,2475,722,3431
$GC,4301,-1.12,-146.6,456.6,-11.5,250,4306,0.12,2.45,0.00,0.000,6,0.107,0.059,2498,2071,3431
$GC,4620,-1.12,-146.6,493.6,-11.6,270,4625,0.00,2.53,0.00,0.000,4,0.000,0.074,2498,716,3430
$GC,4638,-1.12,-146.6,495.5,-11.4,271,4642,0.00,2.42,0.00,0.000,6,0.000,0.059,2499,2051,3430
$GC,4958,-1.12,-146.6,530.4,-10.5,291,4962,0.00,2.50,0.00,0.000,4,0.000,0.077,2498,717,3430
$GC,5026,-1.12,-146.6,537.2,-9.0,295,5030,0.00,2.40,0.00,0.000,6,0.000,0.061,2499,2034,3429
$GC,5351,-1.12,-146.6,571.8,-11.1,316,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2034,3429
$GC,5663,-1.12,-146.6,607.7,-11.8,336,5667,0.00,2.83,0.00,0.000,4,0.000,0.087,2498,3537,3427
$GC,5695,-1.12,-146.6,611.4,-11.8,338,5700,0.00,2.83,0.00,0.000,6,0.000,0.074,2498,2025,3427
$GC,6021,-1.12,-146.6,645.1,-10.2,358,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2009,3427
$STATE,6292,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6293,begin apogee
$GC,6300,-0.33,0.0,677.0,11.1,376,6435,0.82,0.00,131.12,1.355,6,0.088,0.000,2671,1844,2831
$STATE,6435,end apogee,CONTROL_FINISHED_OK
$STATE,6436,begin climb
$GC,6439,1.22,146.6,682.9,0.0,385,6581,1.58,2.72,132.23,1.301,4,0.074,0.088,3005,442,2232
$GC,6619,1.19,204.6,676.4,5.9,396,6682,0.00,2.62,52.78,1.262,6,0.000,0.066,3005,1867,1996
$GC,6995,1.16,220.1,647.5,7.4,420,7015,0.00,2.67,14.50,1.183,4,0.000,0.081,3005,3236,1933
$GC,7038,1.16,220.1,643.9,8.1,422,7044,0.00,2.67,0.00,0.000,6,0.000,0.079,3005,1849,1933
$GC,7358,1.13,220.1,614.8,9.0,443,7359,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1849,1932
$GC,7670,1.18,251.6,589.8,6.9,463,7705,0.00,2.75,28.62,1.273,4,0.000,0.080,3005,3240,1805
$GC,7769,1.18,251.6,582.2,8.0,469,7773,0.00,2.67,0.00,0.000,6,0.000,0.077,3005,1840,1805
$GC,8093,1.21,267.0,556.5,7.4,490,8110,0.00,0.00,15.00,1.220,6,0.000,0.000,3005,1841,1742
$GC,8421,1.30,324.4,537.5,5.9,511,8477,0.10,2.72,50.45,1.277,4,0.072,0.077,3029,3238,1508
$GC,8514,1.33,342.2,530.5,7.4,516,8538,0.00,2.65,17.20,1.195,6,0.000,0.074,3029,1848,1436
$GC,8862,1.33,342.2,492.1,12.3,538,8866,0.00,2.65,0.00,0.000,4,0.000,0.084,3029,432,1436
$GC,8942,1.29,342.2,481.4,12.2,543,8946,0.00,2.58,0.00,0.000,6,0.000,0.063,3029,1832,1436
$GC,9266,1.29,342.2,444.5,11.0,564,9270,0.00,2.65,0.00,0.000,4,0.000,0.074,3029,3265,1436
$GC,9316,1.29,342.2,439.1,10.1,567,9321,0.00,2.67,0.00,0.000,6,0.000,0.071,3029,1838,1436
$GC,9635,1.29,342.2,406.2,10.2,587,9639,0.00,2.60,0.00,0.000,4,0.000,0.081,3029,436,1436
$GC,9698,1.26,342.2,400.0,10.3,591,9702,0.00,2.58,0.00,0.000,6,0.000,0.061,3029,1848,1436
$GC,10022,1.26,342.2,368.3,9.2,612,10027,0.00,2.60,0.00,0.000,4,0.000,0.074,3029,3261,1436
$GC,10051,1.26,342.2,365.5,9.2,614,10056,0.00,2.65,0.00,0.000,6,0.000,0.068,3029,1837,1436
$GC,10375,1.26,342.2,335.0,9.1,635,10380,0.00,2.65,0.00,0.000,4,0.000,0.070,3029,3255,1437
$GC,10415,1.30,342.2,331.2,10.0,637,10422,0.00,2.60,0.00,0.000,6,0.000,0.065,3029,1846,1437
$GC,10734,1.30,342.2,298.6,10.9,658,10736,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1846,1437
$GC,11047,1.30,342.2,269.0,9.1,678,11048,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1846,1438
$GC,11359,1.30,342.2,239.3,8.8,698,11363,0.00,2.62,0.00,0.000,4,0.000,0.065,3029,3266,1438
$GC,11405,1.33,342.2,234.9,9.6,701,11409,0.00,2.55,0.00,0.000,6,0.000,0.058,3029,1863,1438
$GC,11730,1.33,342.2,202.1,10.3,722,11731,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1863,1439
$GC,12041,1.33,342.2,167.9,11.0,742,12045,0.00,2.55,0.00,0.000,4,0.000,0.061,3029,3258,1439
$GC,12071,1.36,342.2,164.5,12.0,744,12075,0.00,2.50,0.00,0.000,6,0.000,0.053,3029,1869,1439
$GC,12393,1.36,342.2,126.3,11.9,762,12394,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1869,1440
$GC,12702,1.36,342.2,92.2,10.5,777,12707,0.00,2.58,0.00,0.000,4,0.000,0.067,3029,437,1441
$GC,12724,1.36,342.2,89.5,11.8,778,12729,0.00,2.58,0.00,0.000,6,0.000,0.049,3029,1887,1441
$GC,13047,1.36,342.2,56.4,10.2,794,13048,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1902,1441
$GC,13355,1.36,342.2,24.8,10.1,809,13360,0.00,2.45,0.00,0.000,4,0.000,0.060,3029,3262,1442
$GC,13412,1.43,342.2,18.9,10.1,811,13419,0.12,2.47,0.00,0.000,6,0.056,0.050,3065,1871,1442
$STATE,13562,end climb,SURFACE_DEPTH_REACHED
$STATE,13562,begin surface coast
$FINISH,0.7,1.024745
$STATE,13582,end surface coast,CONTROL_FINISHED_OK
$STATE,13582,begin surface
$SM_CCo,13666,0.00,0.000,0,0,1442,340.72
$SM_GC,1.38,11.52,0.00,0.00,0.039,0.000,0.000,425,2136,1442,-10.58,0.23,340.72
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1835
$TCM_TEMP,16.80
$XPDR_PINGS,29
$ALTIM_BOTTOM_PING,645.1,41.7
$24V_AH,23.7,43.587
$10V_AH,10.1,19.230
$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,26.150,134.875,441.900,0.000,0.000,37.760,31.906,156.355,13.500,0.000,0.000,14.163,1442.534,9792.046,566.473,1700.542,513.114,33.366,1444.590,0.000,1653.543,0.000,47.829,0.000
$DEVICE_MAMPS,167.206,88.205,1354.522,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,564.195,596.044,465.040,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44223,820
$CAP_FILE_SIZE,113402,0
$CFSIZE,254472192,238071808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,081009,112524,6359.938,-1304.664,27,1.4,44,-12.5