version: 66.04
glider: 5
mission: 7
dive: 269
start: 10 9 109 3 59 11
data:
$ID,5
$MISSION,7
$DIVE,269
$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,-105483.43
$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,23
$R_STBD_OVSHOOT,35
$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
$GPS1,034900,6401.577,-1256.203,38,1.8,43,-12.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-58.8
$GPS2,035820,6401.654,-1256.048,12,1.6,12,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.199,-0.143
$KALMAN_X,9333.9,-2467.2,-1454.6,-230958.0,27606.7
$KALMAN_Y,-1479.7,-509.5,-529.3,271120.3,13657.9
$MHEAD_RNG_PITCHd_Wd,246.7,30091,-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,-41.25,0.000,2,0.000,0.000,417,2160,2380
$GC,63,-1.22,-146.6,2.3,-4.2,2,135,11.00,2.60,-52.10,0.000,4,0.148,0.067,2471,714,3429
$GC,366,-1.17,-146.6,36.8,-11.6,15,373,0.00,2.50,0.00,0.000,6,0.000,0.048,2471,2123,3429
$GC,683,-1.09,-146.6,78.3,-13.4,31,688,0.17,2.55,0.00,0.000,4,0.095,0.059,2513,717,3429
$GC,727,-1.09,-146.6,84.1,-12.3,33,731,0.00,2.50,0.00,0.000,6,0.000,0.049,2513,2123,3430
$GC,1049,-1.09,-146.6,119.5,-11.1,49,1054,0.00,2.58,0.00,0.000,4,0.000,0.064,2513,3542,3430
$GC,1099,-1.09,-146.6,125.3,-11.1,51,1104,0.00,2.53,0.00,0.000,6,0.000,0.048,2513,2125,3430
$GC,1416,-1.09,-146.6,158.2,-10.0,68,1421,0.00,2.50,0.00,0.000,4,0.000,0.059,2513,714,3430
$GC,1455,-1.09,-146.6,162.5,-10.7,70,1462,0.00,2.53,0.00,0.000,6,0.000,0.049,2512,2141,3430
$GC,1777,-1.09,-146.6,195.1,-10.5,91,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2140,3430
$GC,2089,-1.09,-146.6,227.5,-10.7,111,2093,0.00,2.58,0.00,0.000,4,0.000,0.059,2513,716,3430
$GC,2145,-1.13,-146.6,233.7,-11.3,114,2151,0.00,2.53,0.00,0.000,6,0.000,0.049,2512,2139,3430
$GC,2465,-1.13,-146.6,265.8,-9.3,135,2470,0.00,2.58,0.00,0.000,4,0.000,0.061,2513,715,3430
$GC,2499,-1.13,-146.6,269.2,-9.1,137,2504,0.00,2.50,0.00,0.000,6,0.000,0.050,2513,2121,3430
$GC,2818,-1.13,-146.6,298.6,-9.2,157,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2121,3429
$GC,3131,-1.13,-146.6,329.0,-10.0,177,3135,0.00,2.53,0.00,0.000,4,0.000,0.061,2512,721,3430
$GC,3176,-1.17,-146.6,333.9,-10.3,179,3182,0.00,2.47,0.00,0.000,6,0.000,0.050,2512,2118,3430
$GC,3495,-1.17,-146.6,367.6,-10.9,200,3500,0.10,2.53,0.00,0.000,4,0.059,0.061,2482,722,3430
$GC,3534,-1.17,-146.6,372.4,-12.1,202,3541,0.00,2.45,0.00,0.000,6,0.000,0.051,2483,2099,3430
$GC,3854,-1.12,-146.6,411.4,-12.1,223,3858,0.00,2.62,0.00,0.000,4,0.000,0.069,2482,3540,3429
$GC,3893,-1.07,-146.6,416.3,-12.0,225,3900,0.12,2.62,0.00,0.000,6,0.095,0.057,2509,2081,3429
$GC,4214,-1.07,-146.6,450.6,-10.5,246,4219,0.00,2.70,0.00,0.000,4,0.000,0.069,2508,3540,3430
$GC,4270,-1.07,-146.6,456.6,-10.0,249,4276,0.00,2.60,0.00,0.000,6,0.000,0.057,2509,2100,3429
$GC,4589,-1.07,-146.6,487.1,-9.2,270,4593,0.00,2.47,0.00,0.000,4,0.000,0.066,2508,718,3429
$GC,4623,-1.11,-146.6,490.5,-9.5,272,4627,0.00,2.45,0.00,0.000,6,0.000,0.052,2509,2094,3430
$GC,4944,-1.11,-146.6,520.6,-9.3,292,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2096,3429
$GC,5255,-1.11,-146.6,547.8,-8.9,312,5259,0.00,2.53,0.00,0.000,4,0.000,0.070,2508,719,3429
$GC,5311,-1.15,-146.6,552.9,-9.3,315,5317,0.00,2.45,0.00,0.000,6,0.000,0.055,2509,2092,3428
$GC,5631,-1.15,-146.6,583.5,-9.4,336,5635,0.00,2.65,0.00,0.000,4,0.000,0.074,2508,3535,3428
$GC,5697,-1.15,-146.6,590.1,-9.6,340,5702,0.00,2.65,0.00,0.000,6,0.000,0.064,2508,2084,3428
$GC,6020,-1.19,-146.6,620.1,-9.3,360,6021,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2068,3427
$STATE,6185,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6186,begin apogee
$GC,6194,-0.33,0.0,635.9,9.0,371,6326,0.77,0.00,129.40,1.263,6,0.081,0.000,2673,1840,2831
$STATE,6327,end apogee,CONTROL_FINISHED_OK
$STATE,6327,begin climb
$GC,6330,1.22,146.6,641.5,0.0,380,6469,1.55,0.00,130.12,1.217,6,0.063,0.000,3008,1840,2232
$GC,6782,1.21,172.6,614.3,7.1,409,6814,0.00,2.67,24.00,1.157,4,0.000,0.077,3008,446,2127
$GC,6860,1.10,172.6,608.2,8.4,413,6866,0.12,2.58,0.00,0.000,6,0.097,0.058,2986,1855,2127
$GC,7180,1.14,193.2,586.1,7.3,434,7204,0.00,2.65,19.10,1.156,4,0.000,0.071,2986,3261,2043
$GC,7245,1.15,202.3,581.2,7.7,438,7262,0.00,2.62,9.57,1.061,6,0.000,0.068,2986,1860,2007
$GC,7575,1.15,202.3,555.3,8.1,459,7579,0.00,2.62,0.00,0.000,4,0.000,0.071,2986,3258,2006
$GC,7642,1.16,207.3,549.8,7.8,463,7654,0.00,2.58,6.07,0.956,6,0.000,0.067,2986,1871,1986
$GC,7966,1.18,222.5,527.2,7.4,484,7986,0.00,2.72,14.20,1.133,4,0.000,0.077,2986,433,1923
$GC,8010,1.18,222.5,523.4,8.5,486,8016,0.00,2.62,0.00,0.000,6,0.000,0.058,2986,1867,1923
$GC,8330,1.24,234.9,499.5,7.6,507,8348,0.12,2.65,12.35,1.107,4,0.061,0.071,3018,3255,1873
$GC,8376,1.24,234.9,495.2,9.2,509,8383,0.00,2.62,0.00,0.000,6,0.000,0.067,3018,1855,1873
$GC,8696,1.20,234.9,465.2,9.5,530,8700,0.00,2.60,0.00,0.000,4,0.000,0.075,3018,436,1873
$GC,8729,1.14,234.9,461.7,10.0,532,8734,0.15,2.58,0.00,0.000,6,0.096,0.056,2990,1862,1873
$GC,9051,1.17,234.9,433.1,10.2,552,9055,0.00,2.53,0.00,0.000,4,0.000,0.069,2990,3255,1873
$GC,9079,1.24,234.9,429.5,11.6,553,9086,0.10,2.55,0.00,0.000,6,0.067,0.064,3016,1870,1872
$GC,9399,1.24,234.9,396.7,9.4,574,9403,0.00,2.62,0.00,0.000,4,0.000,0.073,3017,431,1872
$GC,9428,1.19,234.9,393.8,10.6,576,9432,0.00,2.60,0.00,0.000,6,0.000,0.054,3016,1877,1872
$GC,9752,1.19,234.9,364.1,9.5,597,9756,0.00,2.65,0.00,0.000,4,0.000,0.070,3016,439,1872
$GC,9785,1.14,234.9,360.5,11.2,599,9791,0.12,2.53,0.00,0.000,6,0.093,0.053,2993,1855,1872
$GC,10106,1.14,234.9,333.7,9.5,619,10110,0.00,2.53,0.00,0.000,4,0.000,0.064,2993,3258,1872
$GC,10162,1.20,234.9,327.7,11.1,622,10168,0.00,2.55,0.00,0.000,6,0.000,0.057,2993,1852,1872
$GC,10482,1.23,234.9,301.7,8.1,643,10486,0.00,2.58,0.00,0.000,4,0.000,0.061,2993,3258,1872
$GC,10504,1.28,234.9,299.6,8.6,644,10511,0.15,2.53,0.00,0.000,6,0.056,0.055,3030,1858,1872
$GC,10826,1.24,234.9,267.3,10.3,665,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1858,1873
$GC,11135,1.20,234.9,235.2,10.1,685,11140,0.12,2.55,0.00,0.000,4,0.091,0.059,3006,3258,1873
$GC,11169,1.24,234.9,231.8,9.5,687,11173,0.00,2.47,0.00,0.000,6,0.000,0.052,3006,1877,1873
$GC,11488,1.24,234.9,204.3,8.6,707,11493,0.00,2.58,0.00,0.000,4,0.000,0.066,3006,439,1873
$GC,11522,1.24,234.9,201.3,8.7,709,11526,0.00,2.55,0.00,0.000,6,0.000,0.048,3006,1882,1874
$GC,11841,1.24,234.9,174.4,8.3,729,11846,0.00,2.65,0.00,0.000,4,0.000,0.064,3006,433,1874
$GC,11887,1.24,234.9,170.6,8.2,732,11891,0.00,2.53,0.00,0.000,6,0.000,0.048,3006,1863,1874
$GC,12222,1.24,234.9,142.6,8.8,752,12223,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1877,1875
$GC,12532,1.27,253.9,117.7,7.3,767,12554,0.00,2.58,17.17,0.854,4,0.000,0.058,3006,3252,1796
$GC,12594,1.36,277.0,112.9,7.2,769,12623,0.17,2.53,20.12,0.862,6,0.051,0.050,3052,1847,1701
$GC,12937,1.34,290.7,75.0,7.5,786,12959,0.00,2.62,12.40,0.805,4,0.000,0.066,3052,436,1646
$GC,12977,1.35,343.1,72.7,6.1,787,13026,0.00,2.53,43.08,0.847,6,0.000,0.046,3052,1868,1432
$GC,13339,1.35,343.1,34.6,10.6,805,13343,0.00,2.47,0.00,0.000,4,0.000,0.054,3052,3255,1433
$GC,13362,1.41,382.3,32.7,6.6,806,13400,0.00,2.60,32.70,0.804,6,0.000,0.054,3052,1818,1272
$STATE,13623,end climb,SURFACE_DEPTH_REACHED
$STATE,13623,begin surface coast
$FINISH,0.6,1.015443
$STATE,13649,end surface coast,CONTROL_FINISHED_OK
$STATE,13649,begin surface
$SM_CCo,13733,0.00,0.000,0,0,1272,382.42
$SM_GC,1.44,11.50,0.00,0.00,0.038,0.000,0.000,422,2160,1272,-10.61,0.85,382.42
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1808
$TCM_TEMP,17.30
$XPDR_PINGS,41
$ALTIM_BOTTOM_PING,595.0,49.9
$24V_AH,23.8,44.388
$10V_AH,10.1,19.616
$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,26.300,154.975,470.300,0.000,0.000,75.525,75.309,212.140,15.500,0.000,0.000,12.907,1459.042,9839.896,593.348,1718.085,679.745,33.367,1501.517,0.000,1674.190,0.000,37.544,0.000
$DEVICE_MAMPS,148.031,77.467,1263.249,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,560.440,596.668,468.218,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41096,820
$CAP_FILE_SIZE,122780,0
$CFSIZE,254472192,237756416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,091009,074906,6401.241,-1259.323,25,1.6,25,-12.4