version: 66.04
glider: 5
mission: 7
dive: 267
start: 10 8 109 19 45 17
data:
$ID,5
$MISSION,7
$DIVE,267
$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,-105452.32
$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,25
$R_STBD_OVSHOOT,30
$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
$GPS1,193824,6358.048,-1302.308,25,1.4,42,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-63.5
$GPS2,194426,6358.086,-1302.189,15,1.8,15,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.232,-0.080
$KALMAN_X,-7940.4,-194.6,-748.8,-222095.1,14286.6
$KALMAN_Y,-18118.3,1928.3,309.1,277860.2,-4728.4
$MHEAD_RNG_PITCHd_Wd,263.4,21850,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.38,0.000,2,0.000,0.000,425,2148,2438
$GC,63,-1.22,-146.6,2.2,-3.0,2,127,11.32,2.58,-45.40,0.000,4,0.158,0.070,2473,720,3428
$GC,309,-1.18,-146.6,25.0,-11.7,13,314,0.00,2.50,0.00,0.000,6,0.000,0.048,2473,2128,3429
$GC,637,-1.09,-146.6,68.7,-14.2,29,642,0.15,2.58,0.00,0.000,4,0.100,0.061,2504,714,3429
$GC,677,-1.09,-146.6,73.2,-10.8,31,682,0.00,2.50,0.00,0.000,6,0.000,0.049,2504,2123,3429
$GC,1005,-1.05,-146.6,107.4,-11.6,47,1010,0.00,2.55,0.00,0.000,4,0.000,0.061,2504,719,3429
$GC,1023,-1.05,-146.6,109.4,-11.5,48,1028,0.00,2.47,0.00,0.000,6,0.000,0.049,2504,2111,3429
$GC,1351,-1.05,-146.6,147.5,-11.1,64,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2111,3429
$GC,1672,-1.05,-146.6,183.0,-11.0,84,1677,0.00,2.53,0.00,0.000,4,0.000,0.060,2504,716,3430
$GC,1702,-1.05,-146.6,186.4,-12.0,86,1706,0.00,2.50,0.00,0.000,6,0.000,0.049,2504,2127,3430
$GC,2026,-1.05,-146.6,222.8,-11.2,107,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2127,3430
$GC,2338,-1.05,-146.6,257.9,-11.0,127,2343,0.00,2.55,0.00,0.000,4,0.000,0.062,2504,721,3430
$GC,2412,-1.05,-146.6,266.4,-11.6,131,2418,0.00,2.47,0.00,0.000,6,0.000,0.051,2504,2114,3430
$GC,2731,-1.05,-146.6,303.7,-11.8,152,2735,0.00,2.53,0.00,0.000,4,0.000,0.061,2504,717,3430
$GC,2764,-1.05,-146.6,307.7,-11.3,154,2768,0.00,2.47,0.00,0.000,6,0.000,0.051,2504,2110,3430
$GC,3083,-1.05,-146.6,344.9,-11.4,174,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2110,3430
$GC,3395,-1.05,-146.6,376.9,-9.6,194,3399,0.00,2.53,0.00,0.000,4,0.000,0.063,2503,718,3430
$GC,3434,-1.05,-146.6,380.9,-10.3,196,3440,0.00,2.45,0.00,0.000,6,0.000,0.051,2504,2095,3429
$GC,3753,-1.05,-146.6,410.9,-9.4,217,3757,0.00,2.50,0.00,0.000,4,0.000,0.062,2504,717,3430
$GC,3775,-1.05,-146.6,413.1,-9.3,218,3779,0.00,2.42,0.00,0.000,6,0.000,0.051,2504,2078,3430
$GC,4094,-1.05,-146.6,442.2,-8.7,238,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2078,3430
$GC,4407,-1.05,-146.6,470.4,-9.2,258,4412,0.00,2.65,0.00,0.000,4,0.000,0.071,2504,3533,3430
$GC,4486,-1.05,-146.6,478.2,-10.5,263,4491,0.00,2.62,0.00,0.000,6,0.000,0.058,2504,2082,3430
$GC,4812,-1.05,-146.6,511.8,-10.6,284,4816,0.00,2.45,0.00,0.000,4,0.000,0.067,2504,717,3429
$GC,4845,-1.05,-146.6,515.4,-10.8,286,4849,0.00,2.45,0.00,0.000,6,0.000,0.052,2504,2093,3429
$GC,5165,-1.05,-146.6,547.5,-9.6,306,5169,0.00,2.62,0.00,0.000,4,0.000,0.071,2504,3532,3429
$GC,5195,-1.05,-146.6,550.8,-11.4,308,5199,0.00,2.62,0.00,0.000,6,0.000,0.059,2504,2081,3429
$GC,5519,-1.05,-146.6,583.4,-9.7,329,5523,0.00,2.47,0.00,0.000,4,0.000,0.071,2504,713,3428
$GC,5536,-1.05,-146.6,585.2,-9.5,330,5540,0.00,2.45,0.00,0.000,6,0.000,0.054,2504,2084,3428
$GC,5855,-1.05,-146.6,614.6,-9.4,350,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2084,3428
$GC,6167,-1.05,-146.6,644.2,-8.2,370,6171,0.00,2.53,0.00,0.000,4,0.000,0.072,2504,720,3427
$GC,6235,-1.10,-146.6,650.3,-8.6,374,6239,0.00,2.47,0.00,0.000,6,0.000,0.058,2504,2093,3427
$GC,6554,-1.10,-146.6,679.9,-8.9,394,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2094,3427
$STATE,6598,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6598,begin apogee
$GC,6606,-0.33,0.0,683.8,8.5,397,6740,0.80,0.00,130.23,1.295,6,0.080,0.000,2674,1840,2831
$STATE,6740,end apogee,CONTROL_FINISHED_OK
$STATE,6740,begin climb
$GC,6744,1.22,146.6,687.4,0.0,406,6883,1.52,0.00,130.65,1.246,6,0.062,0.000,3005,1841,2233
$GC,7197,1.17,146.6,652.1,9.1,435,7201,0.00,2.60,0.00,0.000,4,0.000,0.081,3006,445,2232
$GC,7394,1.07,146.6,635.6,8.2,447,7399,0.15,2.55,0.00,0.000,6,0.103,0.059,2979,1842,2231
$GC,7719,1.15,194.4,613.2,6.3,468,7768,0.00,2.78,42.38,1.231,4,0.000,0.078,2978,442,2038
$GC,7796,1.15,194.4,607.0,9.4,472,7802,0.00,2.53,0.00,0.000,6,0.000,0.060,2978,1816,2038
$GC,8116,1.20,200.4,581.0,7.8,493,8133,0.12,2.72,6.82,1.009,4,0.063,0.070,3010,3252,2014
$GC,8218,1.20,200.4,570.9,10.4,499,8223,0.00,2.62,0.00,0.000,6,0.000,0.067,3010,1838,2014
$GC,8546,1.20,226.9,542.9,7.0,520,8578,0.00,2.67,23.77,1.185,4,0.000,0.076,3010,439,1906
$GC,8614,1.15,232.5,538.0,7.8,524,8630,0.00,2.53,6.88,0.993,6,0.000,0.058,3010,1835,1883
$GC,8943,1.15,232.5,511.8,8.3,545,8947,0.00,2.60,0.00,0.000,4,0.000,0.069,3010,3244,1883
$GC,8988,1.16,236.6,508.0,7.9,548,8999,0.00,2.65,5.43,0.910,6,0.000,0.066,3010,1810,1866
$GC,9312,1.16,236.6,479.0,9.6,568,9313,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1810,1866
$GC,9625,1.16,236.6,450.6,8.9,588,9629,0.00,2.65,0.00,0.000,4,0.000,0.066,3010,3241,1866
$GC,9722,1.16,236.6,442.1,8.7,594,9726,0.00,2.55,0.00,0.000,6,0.000,0.062,3010,1848,1866
$GC,10047,1.16,236.6,414.1,9.4,615,10051,0.00,2.58,0.00,0.000,4,0.000,0.072,3010,431,1866
$GC,10109,1.12,236.6,407.8,10.1,619,10114,0.00,2.50,0.00,0.000,6,0.000,0.053,3009,1830,1866
$GC,10433,1.12,236.6,377.0,9.8,640,10438,0.00,2.58,0.00,0.000,4,0.000,0.070,3010,439,1866
$GC,10480,1.09,236.6,372.3,10.5,643,10485,0.15,2.47,0.00,0.000,6,0.094,0.051,2980,1828,1866
$GC,10807,1.15,236.6,345.1,8.4,664,10811,0.00,2.58,0.00,0.000,4,0.000,0.063,2980,3261,1866
$GC,10846,1.24,236.6,341.5,8.7,666,10853,0.15,2.62,0.00,0.000,6,0.055,0.057,3020,1813,1866
$GC,11165,1.24,236.6,309.9,10.0,687,11170,0.00,2.65,0.00,0.000,4,0.000,0.061,3020,3262,1867
$GC,11195,1.24,236.6,307.0,10.5,689,11200,0.00,2.58,0.00,0.000,6,0.000,0.054,3020,1834,1867
$GC,11520,1.24,236.6,275.7,9.4,710,11521,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1834,1867
$GC,11832,1.24,236.6,244.5,10.4,730,11833,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1834,1868
$GC,12144,1.24,236.6,210.1,10.8,750,12149,0.00,2.60,0.00,0.000,4,0.000,0.060,3020,3264,1868
$GC,12195,1.24,236.6,204.5,10.4,753,12200,0.00,2.55,0.00,0.000,6,0.000,0.051,3020,1840,1868
$GC,12514,1.24,236.6,173.1,9.5,773,12519,0.00,2.58,0.00,0.000,4,0.000,0.058,3020,3259,1868
$GC,12560,1.24,236.6,168.7,9.6,776,12564,0.00,2.47,0.00,0.000,6,0.000,0.050,3020,1860,1868
$GC,12890,1.24,236.6,139.0,8.7,795,12892,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1860,1869
$GC,13199,1.24,236.6,113.6,8.1,810,13203,0.00,2.53,0.00,0.000,4,0.000,0.058,3020,3257,1869
$GC,13233,1.27,256.2,111.0,7.3,811,13260,0.00,2.47,17.95,0.843,6,0.000,0.049,3020,1861,1786
$GC,13571,1.27,256.2,83.2,8.2,828,13575,0.00,2.55,0.00,0.000,4,0.000,0.064,3020,436,1786
$GC,13615,1.27,256.2,78.6,9.6,830,13620,0.00,2.53,0.00,0.000,6,0.000,0.048,3020,1865,1786
$GC,13937,1.27,256.2,51.4,8.6,846,13941,0.00,2.47,0.00,0.000,4,0.000,0.058,3020,3260,1786
$GC,13965,1.31,256.2,48.8,8.7,847,13969,0.00,2.50,0.00,0.000,6,0.000,0.049,3020,1858,1786
$GC,14281,1.45,344.7,28.2,4.8,862,14355,0.17,0.00,71.55,0.821,6,0.049,0.000,3071,1858,1425
$STATE,14527,end climb,SURFACE_DEPTH_REACHED
$STATE,14527,begin surface coast
$FINISH,0.7,1.022836
$STATE,14548,end surface coast,CONTROL_FINISHED_OK
$STATE,14551,begin surface
$SM_CCo,14635,0.00,0.000,0,0,1424,345.14
$SM_GC,1.45,11.55,0.00,0.00,0.036,0.000,0.000,420,2150,1424,-10.59,0.57,345.14
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1809
$TCM_TEMP,17.30
$XPDR_PINGS,46
$ALTIM_BOTTOM_PING,645.2,48.3
$24V_AH,23.8,44.065
$10V_AH,10.1,19.464
$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,26.100,143.675,435.650,0.000,0.000,37.763,35.196,152.062,17.250,0.000,0.000,15.884,1545.551,10537.495,542.926,1829.721,536.515,33.359,1479.313,0.000,1781.725,0.000,42.015,0.000
$DEVICE_MAMPS,158.002,81.302,1294.696,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,599.839,641.132,509.357,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44235,875
$CAP_FILE_SIZE,121418,0
$CFSIZE,254472192,237879296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,081009,235030,6400.194,-1259.078,41,1.9,41,-12.4