version: 66.04
glider: 5
mission: 7
dive: 268
start: 10 8 109 23 57 40
data:
$ID,5
$MISSION,7
$DIVE,268
$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,-105469.9
$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,22
$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
$GPS1,235030,6400.194,-1259.078,41,1.9,41,-12.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-60.9
$GPS2,235650,6400.345,-1258.896,14,1.9,14,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.213,-0.122
$KALMAN_X,1129.3,-2118.3,-4.4,-227089.4,19617.5
$KALMAN_Y,-9617.5,166.8,1146.3,274443.9,3007.4
$MHEAD_RNG_PITCHd_Wd,252.5,26732,-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,-61.25,0.000,2,0.000,0.000,419,2144,2660
$GC,83,-1.22,-146.6,2.8,-3.1,3,127,11.38,2.65,-26.98,0.000,4,0.159,0.068,2469,707,3429
$GC,341,-1.16,-146.6,36.5,-13.4,14,346,0.10,2.53,0.00,0.000,6,0.113,0.048,2488,2129,3430
$GC,658,-1.12,-146.6,76.5,-11.5,29,662,0.00,2.58,0.00,0.000,4,0.000,0.061,2488,711,3430
$GC,713,-1.12,-146.6,83.3,-11.8,31,720,0.00,2.53,0.00,0.000,6,0.000,0.048,2489,2133,3430
$GC,1030,-1.08,-146.6,117.9,-10.6,47,1035,0.10,2.55,0.00,0.000,4,0.107,0.060,2510,719,3430
$GC,1109,-1.08,-146.6,125.8,-9.5,50,1115,0.00,2.47,0.00,0.000,6,0.000,0.049,2510,2116,3430
$GC,1435,-1.08,-146.6,154.3,-8.3,67,1440,0.00,2.55,0.00,0.000,4,0.000,0.060,2510,706,3430
$GC,1475,-1.12,-146.6,157.6,-8.4,69,1481,0.00,2.47,0.00,0.000,6,0.000,0.049,2510,2101,3430
$GC,1794,-1.12,-146.6,184.7,-8.7,90,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2100,3430
$GC,2106,-1.12,-146.6,214.3,-9.9,110,2110,0.00,2.53,0.00,0.000,4,0.000,0.063,2510,712,3431
$GC,2139,-1.12,-146.6,218.0,-11.2,112,2144,0.00,2.45,0.00,0.000,6,0.000,0.050,2510,2088,3430
$GC,2458,-1.12,-146.6,249.2,-9.6,132,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2088,3430
$GC,2772,-1.12,-146.6,279.0,-9.7,152,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2089,3430
$GC,3084,-1.12,-146.6,308.6,-9.7,172,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2089,3431
$GC,3396,-1.12,-146.6,337.7,-9.2,192,3400,0.00,2.62,0.00,0.000,4,0.000,0.068,2510,3536,3430
$GC,3417,-1.12,-146.6,339.6,-8.2,193,3423,0.00,2.62,0.00,0.000,6,0.000,0.057,2510,2081,3430
$GC,3737,-1.12,-146.6,369.2,-9.8,214,3741,0.00,2.42,0.00,0.000,4,0.000,0.064,2510,720,3430
$GC,3782,-1.15,-146.6,373.9,-10.2,217,3786,0.00,2.40,0.00,0.000,6,0.000,0.051,2510,2074,3431
$GC,4113,-1.15,-146.6,404.7,-9.1,238,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2074,3429
$GC,4425,-1.15,-146.6,432.2,-9.5,258,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2074,3429
$GC,4737,-1.15,-146.6,462.0,-9.3,278,4741,0.00,2.50,0.00,0.000,4,0.000,0.067,2510,713,3430
$GC,4818,-1.20,-146.6,469.4,-9.2,283,4823,0.12,2.45,0.00,0.000,6,0.061,0.053,2475,2088,3429
$GC,5152,-1.15,-146.6,503.2,-9.6,304,5157,0.00,2.65,0.00,0.000,4,0.000,0.073,2475,3535,3429
$GC,5203,-1.10,-146.6,508.6,-9.4,307,5209,0.15,2.67,0.00,0.000,6,0.095,0.061,2506,2064,3428
$GC,5524,-1.10,-146.6,536.2,-9.0,327,5528,0.00,2.72,0.00,0.000,4,0.000,0.072,2506,3531,3428
$GC,5587,-1.10,-146.6,542.3,-8.6,331,5591,0.00,2.65,0.00,0.000,6,0.000,0.063,2506,2074,3428
$GC,5912,-1.10,-146.6,568.7,-7.9,352,5916,0.00,2.72,0.00,0.000,4,0.000,0.074,2506,3534,3428
$GC,5967,-1.10,-146.6,573.5,-8.8,355,5974,0.00,2.62,0.00,0.000,6,0.000,0.064,2506,2092,3427
$GC,6287,-1.10,-146.6,600.2,-8.3,376,6289,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2077,3427
$GC,6599,-1.10,-146.6,625.7,-8.3,396,6604,0.00,2.70,0.00,0.000,4,0.000,0.077,2506,3530,3426
$GC,6638,-1.10,-146.6,629.0,-8.2,398,6644,0.00,2.62,0.00,0.000,6,0.000,0.065,2506,2099,3426
$STATE,6688,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6688,begin apogee
$GC,6696,-0.33,0.0,633.9,9.4,402,6829,0.77,0.00,129.45,1.271,6,0.081,0.000,2669,1839,2831
$STATE,6830,end apogee,CONTROL_FINISHED_OK
$STATE,6830,begin climb
$GC,6833,1.22,146.6,638.1,0.0,411,6974,1.55,2.65,130.48,1.219,4,0.066,0.076,3005,442,2233
$GC,7002,1.09,146.6,630.7,10.4,421,7008,0.12,2.58,0.00,0.000,6,0.097,0.058,2983,1848,2233
$GC,7321,1.10,150.7,606.8,7.9,442,7331,0.00,2.62,5.32,0.882,4,0.000,0.071,2983,3262,2215
$GC,7360,1.11,159.4,603.5,7.7,443,7375,0.00,2.60,9.02,1.035,6,0.000,0.066,2983,1866,2181
$GC,7697,1.15,182.8,579.6,7.2,465,7728,0.00,2.67,21.83,1.164,4,0.000,0.069,2983,3261,2084
$GC,7802,1.18,200.7,571.7,7.3,471,7828,0.00,2.60,17.10,1.141,6,0.000,0.066,2983,1864,2012
$GC,8141,1.18,200.7,543.9,8.6,493,8146,0.00,2.60,0.00,0.000,4,0.000,0.071,2983,3257,2011
$GC,8255,1.21,200.7,532.4,10.2,500,8260,0.10,2.50,0.00,0.000,6,0.067,0.065,3011,1903,2011
$GC,8580,1.21,200.7,498.8,9.8,521,8584,0.00,2.70,0.00,0.000,4,0.000,0.077,3011,437,2010
$GC,8653,1.15,200.7,490.9,10.2,525,8659,0.00,2.65,0.00,0.000,6,0.000,0.057,3011,1903,2010
$GC,8973,1.15,200.7,463.5,8.9,546,8977,0.00,2.75,0.00,0.000,4,0.000,0.074,3011,433,2009
$GC,9023,1.08,200.7,458.7,9.5,549,9028,0.15,2.62,0.00,0.000,6,0.096,0.057,2981,1885,2009
$GC,9342,1.17,252.6,437.0,6.1,569,9393,0.00,2.80,44.60,1.147,4,0.000,0.073,2981,445,1800
$GC,9441,1.27,290.4,430.5,6.6,575,9482,0.17,2.62,33.78,1.120,6,0.054,0.056,3024,1893,1646
$GC,9803,1.27,290.4,399.5,9.3,598,9808,0.00,2.50,0.00,0.000,4,0.000,0.067,3024,3254,1646
$GC,9893,1.30,290.4,390.6,9.4,603,9899,0.00,2.53,0.00,0.000,6,0.000,0.061,3024,1878,1647
$GC,10212,1.30,290.4,355.5,11.9,624,10217,0.00,2.53,0.00,0.000,4,0.000,0.064,3024,3245,1647
$GC,10234,1.30,290.4,352.5,13.2,625,10241,0.00,2.47,0.00,0.000,6,0.000,0.059,3024,1888,1647
$GC,10554,1.30,290.4,314.7,12.0,646,10555,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1888,1647
$GC,10867,1.30,290.4,278.4,11.4,666,10871,0.00,2.50,0.00,0.000,4,0.000,0.062,3024,3252,1647
$GC,10888,1.30,290.4,275.7,11.2,667,10894,0.00,2.45,0.00,0.000,6,0.000,0.056,3024,1898,1647
$GC,11207,1.30,290.4,242.0,10.1,688,11208,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1898,1648
$GC,11520,1.30,290.4,211.5,9.6,708,11521,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1898,1648
$GC,11832,1.30,290.4,182.5,9.0,728,11836,0.00,2.45,0.00,0.000,4,0.000,0.060,3024,3246,1649
$GC,11853,1.30,290.4,180.4,9.4,729,11859,0.00,2.40,0.00,0.000,6,0.000,0.052,3024,1904,1649
$GC,12173,1.30,290.4,152.4,8.7,750,12174,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1905,1649
$GC,12493,1.30,290.4,122.7,9.4,766,12497,0.00,2.62,0.00,0.000,4,0.000,0.065,3024,440,1649
$GC,12520,1.30,290.4,119.6,10.3,767,12524,0.00,2.60,0.00,0.000,6,0.000,0.049,3024,1908,1650
$GC,12837,1.30,290.4,89.1,9.8,782,12841,0.00,2.38,0.00,0.000,4,0.000,0.058,3024,3248,1650
$GC,12887,1.34,290.4,84.5,8.4,784,12891,0.00,2.42,0.00,0.000,6,0.000,0.050,3024,1886,1650
$GC,13203,1.38,315.5,55.7,7.1,799,13233,0.00,2.72,22.35,0.821,4,0.000,0.064,3024,432,1544
$GC,13251,1.38,315.5,52.3,8.6,801,13256,0.10,2.62,0.00,0.000,6,0.057,0.047,3054,1899,1544
$GC,13573,1.33,315.5,16.5,13.3,817,13575,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1916,1543
$STATE,13693,end climb,SURFACE_DEPTH_REACHED
$STATE,13693,begin surface coast
$FINISH,0.6,1.027220
$STATE,13715,end surface coast,CONTROL_FINISHED_OK
$STATE,13716,begin surface
$SM_CCo,13800,0.00,0.000,0,0,1544,315.95
$SM_GC,1.38,11.43,0.00,0.00,0.035,0.000,0.000,418,2166,1544,-10.61,1.02,315.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1826
$TCM_TEMP,17.20
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,595.0,47.9
$24V_AH,23.8,44.219
$10V_AH,10.1,19.539
$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,26.250,134.700,413.925,0.000,0.000,37.761,32.280,176.857,16.000,0.000,0.000,16.948,1448.086,9924.396,528.591,1731.851,541.591,33.371,1416.063,0.000,1685.380,0.000,39.504,0.000
$DEVICE_MAMPS,158.769,77.467,1270.919,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,563.936,596.149,473.090,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41099,824
$CAP_FILE_SIZE,115743,0
$CFSIZE,254472192,237826048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091009,034900,6401.577,-1256.203,38,1.8,43,-12.4