version: 66.04
glider: 5
mission: 7
dive: 266
start: 10 8 109 15 34 59
data:
$ID,5
$MISSION,7
$DIVE,266
$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,-105435.81
$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,21
$R_STBD_OVSHOOT,34
$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
$GPS1,152807,6359.083,-1301.452,29,1.7,29,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-64.0
$GPS2,153408,6359.085,-1301.242,15,1.7,15,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.227,-0.092
$KALMAN_X,-13467.9,960.7,-245.3,-217435.1,11751.6
$KALMAN_Y,-19874.1,2354.3,387.3,280959.5,-5427.5
$MHEAD_RNG_PITCHd_Wd,260.4,23717,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.97,0.000,2,0.000,0.000,425,2138,2773
$GC,83,-1.22,-146.6,2.8,-3.3,3,126,11.45,2.58,-22.38,0.000,4,0.165,0.077,2471,3526,3430
$GC,378,-1.14,-146.6,41.3,-13.4,16,384,0.12,2.50,0.00,0.000,6,0.107,0.046,2496,2118,3430
$GC,702,-1.10,-146.6,79.6,-11.9,32,707,0.00,2.60,0.00,0.000,4,0.000,0.064,2496,3531,3431
$GC,804,-1.07,-146.6,91.9,-12.5,36,810,0.00,2.47,0.00,0.000,6,0.000,0.047,2496,2128,3431
$GC,1120,-1.03,-146.6,129.2,-11.9,52,1122,0.10,0.00,0.00,0.000,6,0.099,0.000,2517,2117,3431
$GC,1430,-1.03,-146.6,164.2,-11.3,69,1435,0.00,2.58,0.00,0.000,4,0.000,0.064,2517,3527,3431
$GC,1459,-1.03,-146.6,167.5,-11.3,71,1464,0.00,2.50,0.00,0.000,6,0.000,0.050,2517,2123,3431
$GC,1784,-1.03,-146.6,202.6,-10.3,92,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2110,3431
$GC,2096,-1.03,-146.6,234.8,-10.4,112,2100,0.00,2.50,0.00,0.000,4,0.000,0.061,2517,718,3432
$GC,2125,-1.06,-146.6,237.9,-11.6,114,2129,0.00,2.50,0.00,0.000,6,0.000,0.050,2517,2126,3431
$GC,2452,-1.06,-146.6,273.1,-10.5,135,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2124,3431
$GC,2761,-1.06,-146.6,306.2,-10.6,155,2765,0.00,2.55,0.00,0.000,4,0.000,0.064,2517,723,3431
$GC,2790,-1.09,-146.6,309.0,-9.7,157,2794,0.00,2.50,0.00,0.000,6,0.000,0.051,2517,2131,3431
$GC,3114,-1.09,-146.6,341.4,-9.8,178,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2131,3431
$GC,3426,-1.09,-146.6,374.2,-10.8,198,3431,0.00,2.58,0.00,0.000,4,0.000,0.064,2517,717,3431
$GC,3490,-1.15,-146.6,381.1,-10.7,202,3494,0.00,2.47,0.00,0.000,6,0.000,0.051,2517,2103,3431
$GC,3814,-1.15,-146.6,412.4,-8.9,223,3818,0.00,2.62,0.00,0.000,4,0.000,0.071,2517,3539,3431
$GC,3880,-1.15,-146.6,418.6,-9.6,227,3885,0.00,2.60,0.00,0.000,6,0.000,0.058,2517,2104,3431
$GC,4200,-1.15,-146.6,448.1,-9.1,247,4204,0.00,2.65,0.00,0.000,4,0.000,0.069,2517,3533,3431
$GC,4246,-1.15,-146.6,452.1,-8.5,250,4251,0.00,2.58,0.00,0.000,6,0.000,0.058,2517,2108,3431
$GC,4575,-1.18,-146.6,479.2,-8.4,271,4580,0.15,2.47,0.00,0.000,4,0.056,0.066,2475,727,3431
$GC,4658,-1.18,-146.6,488.4,-10.7,276,4662,0.00,2.45,0.00,0.000,6,0.000,0.052,2475,2100,3431
$GC,4984,-1.13,-146.6,523.9,-11.0,297,4989,0.12,2.53,0.00,0.000,4,0.097,0.067,2500,723,3431
$GC,5006,-1.13,-146.6,526.4,-9.9,298,5012,0.00,2.47,0.00,0.000,6,0.000,0.054,2500,2106,3431
$GC,5325,-1.13,-146.6,556.9,-9.6,319,5329,0.00,2.65,0.00,0.000,4,0.000,0.077,2500,3537,3430
$GC,5354,-1.13,-146.6,559.7,-10.3,321,5359,0.00,2.65,0.00,0.000,6,0.000,0.065,2500,2095,3430
$GC,5678,-1.13,-146.6,590.8,-9.7,342,5683,0.00,2.70,0.00,0.000,4,0.000,0.076,2500,3532,3429
$GC,5724,-1.13,-146.6,595.8,-11.4,345,5729,0.00,2.62,0.00,0.000,6,0.000,0.064,2500,2096,3429
$GC,6049,-1.13,-146.6,631.5,-11.0,366,6053,0.00,2.50,0.00,0.000,4,0.000,0.074,2500,721,3428
$GC,6088,-1.13,-146.6,635.7,-10.8,368,6094,0.00,2.47,0.00,0.000,6,0.000,0.058,2500,2092,3428
$GC,6407,-1.13,-146.6,666.8,-9.7,389,6411,0.00,2.55,0.00,0.000,4,0.000,0.075,2500,721,3427
$GC,6463,-1.13,-146.6,672.3,-10.4,392,6469,0.00,2.45,0.00,0.000,6,0.000,0.061,2500,2071,3427
$STATE,6560,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6560,begin apogee
$GC,6568,-0.33,0.0,682.8,10.9,399,6704,0.80,0.00,132.85,1.309,6,0.084,0.000,2670,1832,2831
$STATE,6705,end apogee,CONTROL_FINISHED_OK
$STATE,6705,begin climb
$GC,6708,1.22,146.6,689.0,0.0,408,6850,1.58,2.70,130.88,1.268,4,0.066,0.083,3008,440,2233
$GC,6915,1.15,170.4,677.8,7.1,420,6943,0.00,2.60,22.50,1.187,6,0.000,0.061,3008,1869,2136
$GC,7267,1.16,206.3,653.1,6.7,443,7307,0.00,2.80,32.55,1.226,4,0.000,0.082,3008,442,1990
$GC,7437,1.08,206.3,639.2,9.1,453,7442,0.15,2.53,0.00,0.000,6,0.100,0.064,2981,1808,1990
$GC,7756,1.13,235.7,615.8,6.9,473,7789,0.00,2.72,26.85,1.236,4,0.000,0.081,2981,439,1869
$GC,7834,1.13,235.7,609.6,8.0,477,7840,0.00,2.58,0.00,0.000,6,0.000,0.064,2981,1830,1869
$GC,8154,1.19,253.1,586.2,7.4,498,8179,0.10,2.70,16.42,1.194,4,0.067,0.073,3006,3260,1798
$GC,8219,1.19,253.1,580.3,9.6,502,8224,0.00,2.70,0.00,0.000,6,0.000,0.071,3006,1827,1798
$GC,8544,1.19,253.1,547.4,10.4,523,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1826,1798
$GC,8855,1.19,253.1,515.0,10.1,543,8860,0.00,2.70,0.00,0.000,4,0.000,0.071,3007,3267,1798
$GC,8911,1.19,253.1,509.1,9.9,546,8917,0.00,2.72,0.00,0.000,6,0.000,0.067,3007,1801,1798
$GC,9231,1.19,253.1,478.0,9.6,567,9232,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1801,1798
$GC,9542,1.19,253.1,448.7,9.6,587,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1801,1797
$GC,9855,1.19,253.1,420.7,8.8,607,9859,0.00,2.72,0.00,0.000,4,0.000,0.067,3006,3267,1797
$GC,9927,1.19,253.1,414.4,8.8,611,9934,0.00,2.70,0.00,0.000,6,0.000,0.061,3007,1793,1797
$GC,10246,1.19,253.1,387.9,8.2,632,10251,0.00,2.70,0.00,0.000,4,0.000,0.064,3007,3258,1797
$GC,10326,1.19,253.1,380.9,8.7,637,10331,0.00,2.58,0.00,0.000,6,0.000,0.059,3007,1844,1797
$GC,10650,1.19,253.1,353.2,8.3,658,10654,0.00,2.60,0.00,0.000,4,0.000,0.063,3007,3259,1797
$GC,10722,1.19,253.1,346.2,9.7,662,10728,0.00,2.47,0.00,0.000,6,0.000,0.057,3007,1892,1797
$GC,11042,1.19,253.1,318.0,8.4,683,11046,0.00,2.62,0.00,0.000,4,0.000,0.069,3007,439,1798
$GC,11063,1.19,253.1,315.9,9.3,684,11070,0.00,2.60,0.00,0.000,6,0.000,0.051,3007,1898,1798
$GC,11382,1.19,253.1,289.5,8.6,705,11384,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1912,1798
$GC,11695,1.19,253.1,262.1,9.1,725,11699,0.00,2.70,0.00,0.000,4,0.000,0.067,3007,432,1799
$GC,11734,1.19,253.1,258.3,9.2,727,11740,0.00,2.60,0.00,0.000,6,0.000,0.050,3006,1894,1799
$GC,12053,1.19,253.1,229.2,8.8,748,12057,0.00,2.67,0.00,0.000,4,0.000,0.068,3007,440,1800
$GC,12104,1.19,253.1,224.5,8.9,751,12109,0.00,2.53,0.00,0.000,6,0.000,0.050,3007,1863,1800
$GC,12424,1.19,253.1,196.1,9.1,771,12425,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1878,1800
$GC,12737,1.19,253.1,169.8,8.6,791,12741,0.00,2.62,0.00,0.000,4,0.000,0.068,3007,435,1801
$GC,12775,1.19,253.1,166.0,9.9,793,12781,0.00,2.53,0.00,0.000,6,0.000,0.050,3007,1858,1801
$GC,13093,1.19,253.1,137.6,9.5,812,13098,0.00,2.50,0.00,0.000,4,0.000,0.058,3007,3265,1801
$GC,13128,1.24,253.1,134.1,9.3,813,13134,0.00,2.53,0.00,0.000,6,0.000,0.051,3007,1852,1801
$GC,13444,1.24,253.1,106.7,8.4,829,13448,0.00,2.55,0.00,0.000,4,0.000,0.058,3007,3259,1802
$GC,13472,1.28,253.1,104.3,9.0,830,13476,0.00,2.50,0.00,0.000,6,0.000,0.051,3007,1862,1802
$GC,13791,1.32,253.1,76.0,8.3,845,13795,0.12,2.53,0.00,0.000,4,0.054,0.056,3043,3258,1802
$GC,13824,1.32,253.1,72.4,9.0,846,13830,0.00,2.45,0.00,0.000,6,0.000,0.049,3043,1873,1802
$GC,14140,1.27,253.1,38.5,11.3,862,14145,0.00,2.50,0.00,0.000,4,0.000,0.057,3043,3258,1803
$GC,14174,1.27,253.1,34.2,12.0,863,14181,0.00,2.42,0.00,0.000,6,0.000,0.048,3043,1885,1803
$STATE,14446,end climb,SURFACE_DEPTH_REACHED
$STATE,14446,begin surface coast
$FINISH,1.2,1.027218
$STATE,14470,end surface coast,CONTROL_FINISHED_OK
$STATE,14470,begin surface
$SM_CCo,14494,27.98,0.779,0,0,1608,300.00
$SM_GC,2.01,0.00,0.00,27.98,0.000,0.000,0.779,426,2153,1608,-10.67,0.62,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1813
$TCM_TEMP,17.30
$XPDR_PINGS,37
$ALTIM_BOTTOM_PING,645.4,47.4
$24V_AH,23.7,43.908
$10V_AH,10.1,19.385
$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,26.050,155.575,362.050,27.975,0.000,37.761,33.046,155.672,15.250,0.000,0.000,15.781,1555.252,10408.179,527.351,1851.323,540.849,33.362,1465.652,0.000,1802.440,0.000,42.664,0.000
$DEVICE_MAMPS,164.905,82.836,1309.269,779.272,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,601.797,638.517,485.542,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44231,878
$CAP_FILE_SIZE,122996,0
$CFSIZE,254472192,237936640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,081009,193824,6358.048,-1302.308,25,1.4,42,-12.4