version: 66.04
glider: 5
mission: 7
dive: 270
start: 10 9 109 7 58 56
data:
$ID,5
$MISSION,7
$DIVE,270
$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,-105511.19
$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,33
$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
$GPS1,074906,6401.241,-1259.323,25,1.6,25,-12.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-54.7
$GPS2,075806,6401.349,-1259.400,27,1.9,27,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.189,-0.157
$KALMAN_X,8911.1,-2407.3,-2045.1,-232894.4,23066.8
$KALMAN_Y,878.9,-853.3,-754.5,268825.3,13640.3
$MHEAD_RNG_PITCHd_Wd,242.7,27861,-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,-61.30,0.000,2,0.000,0.000,421,2152,2483
$GC,83,-1.22,-146.6,2.1,-1.8,3,147,11.18,2.53,-44.95,0.000,4,0.156,0.077,2472,3531,3429
$GC,401,-1.15,-146.6,35.2,-11.3,17,406,0.10,2.50,0.00,0.000,6,0.107,0.045,2492,2121,3429
$GC,724,-1.11,-146.6,71.8,-10.7,33,729,0.00,2.60,0.00,0.000,4,0.000,0.064,2492,3534,3430
$GC,871,-1.07,-146.6,89.7,-14.4,39,877,0.00,2.47,0.00,0.000,6,0.000,0.047,2492,2135,3430
$GC,1188,-1.04,-146.6,129.9,-12.1,55,1190,0.12,0.00,0.00,0.000,6,0.096,0.000,2519,2115,3430
$GC,1497,-1.04,-146.6,165.5,-10.7,72,1501,0.00,2.50,0.00,0.000,4,0.000,0.058,2519,722,3430
$GC,1531,-1.08,-146.6,169.1,-10.9,74,1536,0.00,2.50,0.00,0.000,6,0.000,0.048,2519,2134,3430
$GC,1850,-1.08,-146.6,198.1,-8.7,94,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2135,3430
$GC,2163,-1.08,-146.6,223.2,-7.9,114,2168,0.00,2.55,0.00,0.000,4,0.000,0.060,2520,720,3430
$GC,2214,-1.13,-146.6,227.5,-7.9,117,2219,0.00,2.50,0.00,0.000,6,0.000,0.049,2519,2133,3430
$GC,2535,-1.13,-146.6,253.7,-8.0,137,2539,0.00,2.55,0.00,0.000,4,0.000,0.060,2519,719,3430
$GC,2558,-1.13,-146.6,255.7,-7.7,138,2564,0.00,2.47,0.00,0.000,6,0.000,0.050,2519,2115,3431
$GC,2877,-1.13,-146.6,281.2,-8.2,159,2881,0.00,2.53,0.00,0.000,4,0.000,0.061,2519,718,3430
$GC,2906,-1.17,-146.6,283.7,-8.6,161,2911,0.15,2.47,0.00,0.000,6,0.056,0.050,2478,2114,3430
$GC,3234,-1.11,-146.6,317.7,-9.9,182,3239,0.12,2.60,0.00,0.000,4,0.094,0.067,2504,3542,3430
$GC,3279,-1.11,-146.6,322.4,-8.8,185,3284,0.00,2.58,0.00,0.000,6,0.000,0.055,2504,2113,3430
$GC,3604,-1.11,-146.6,351.6,-8.9,206,3608,0.00,2.47,0.00,0.000,4,0.000,0.063,2504,720,3430
$GC,3665,-1.15,-146.6,357.4,-9.8,209,3671,0.00,2.45,0.00,0.000,6,0.000,0.050,2505,2102,3430
$GC,3985,-1.15,-146.6,383.8,-7.5,230,3990,0.00,2.53,0.00,0.000,4,0.000,0.064,2504,717,3430
$GC,4019,-1.15,-146.6,386.5,-8.0,232,4023,0.00,2.42,0.00,0.000,6,0.000,0.052,2504,2077,3430
$GC,4339,-1.15,-146.6,411.7,-7.6,252,4343,0.00,2.65,0.00,0.000,4,0.000,0.070,2505,3534,3430
$GC,4440,-1.15,-146.6,420.4,-8.5,258,4445,0.00,2.62,0.00,0.000,6,0.000,0.058,2504,2081,3429
$GC,4759,-1.15,-146.6,447.9,-9.3,278,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2067,3429
$GC,5072,-1.15,-146.6,477.4,-9.7,298,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2067,3429
$GC,5384,-1.15,-146.6,510.6,-10.8,318,5388,0.00,2.70,0.00,0.000,4,0.000,0.074,2505,3532,3428
$GC,5406,-1.15,-146.6,513.1,-10.9,319,5412,0.00,2.65,0.00,0.000,6,0.000,0.062,2504,2075,3428
$GC,5725,-1.15,-146.6,547.4,-10.5,340,5729,0.00,2.45,0.00,0.000,4,0.000,0.071,2504,719,3428
$GC,5809,-1.19,-146.6,556.2,-9.9,345,5813,0.00,2.45,0.00,0.000,6,0.000,0.056,2504,2087,3428
$GC,6129,-1.19,-146.6,587.6,-9.8,365,6133,0.00,2.53,0.00,0.000,4,0.000,0.072,2504,718,3427
$GC,6175,-1.23,-146.6,593.1,-12.8,368,6180,0.12,2.42,0.00,0.000,6,0.062,0.058,2471,2062,3427
$STATE,6465,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6465,begin apogee
$GC,6473,-0.33,0.0,628.4,11.6,387,6605,0.93,0.00,128.18,1.267,6,0.079,0.000,2669,1837,2831
$STATE,6605,end apogee,CONTROL_FINISHED_OK
$STATE,6605,begin climb
$GC,6609,1.22,146.6,634.1,0.0,396,6747,1.60,2.67,129.45,1.218,4,0.061,0.077,3013,452,2233
$GC,6774,1.14,179.9,628.3,6.8,407,6810,0.00,2.58,30.42,1.160,6,0.000,0.058,3013,1870,2097
$GC,7129,1.06,179.9,599.8,8.7,430,7134,0.17,2.65,0.00,0.000,4,0.093,0.077,2977,452,2096
$GC,7213,1.06,179.9,592.7,9.0,435,7218,0.00,2.50,0.00,0.000,6,0.000,0.059,2977,1826,2096
$GC,7533,1.18,258.2,574.8,5.2,455,7607,0.12,0.00,68.10,1.209,6,0.062,0.000,3008,1841,1777
$GC,7923,1.18,258.2,544.1,9.0,480,7927,0.00,2.60,0.00,0.000,4,0.000,0.080,3009,455,1777
$GC,7986,1.14,258.2,537.5,10.5,484,7990,0.00,2.50,0.00,0.000,6,0.000,0.059,3009,1827,1777
$GC,8310,1.14,258.2,504.3,10.3,505,8314,0.00,2.60,0.00,0.000,4,0.000,0.076,3009,444,1777
$GC,8355,1.10,258.2,499.7,10.5,508,8360,0.12,2.50,0.00,0.000,6,0.095,0.059,2985,1815,1776
$GC,8683,1.17,267.6,473.5,7.7,529,8699,0.00,2.70,9.45,1.042,4,0.000,0.069,2985,3263,1740
$GC,8739,1.25,271.0,468.9,7.9,532,8752,0.15,2.70,4.80,0.838,6,0.058,0.065,3021,1811,1726
$GC,9068,1.25,271.0,438.7,9.2,553,9072,0.00,2.70,0.00,0.000,4,0.000,0.067,3022,3262,1725
$GC,9096,1.29,293.4,436.2,7.2,555,9122,0.00,2.65,20.27,1.111,6,0.000,0.066,3022,1824,1635
$GC,9440,1.29,293.4,408.2,8.6,576,9444,0.00,2.65,0.00,0.000,4,0.000,0.067,3022,3258,1636
$GC,9519,1.30,304.5,401.4,7.6,581,9536,0.00,2.58,11.48,1.034,6,0.000,0.062,3022,1857,1589
$GC,9849,1.30,304.5,374.3,8.4,602,9853,0.00,2.60,0.00,0.000,4,0.000,0.066,3022,3261,1589
$GC,9882,1.34,304.5,371.3,8.5,604,9886,0.00,2.58,0.00,0.000,6,0.000,0.061,3022,1858,1589
$GC,10201,1.34,304.5,342.3,9.8,624,10202,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1858,1589
$GC,10514,1.34,304.5,307.9,11.9,644,10515,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1858,1589
$GC,10826,1.34,304.5,270.9,11.7,664,10830,0.00,2.58,0.00,0.000,4,0.000,0.063,3022,3259,1589
$GC,10876,1.38,304.5,265.0,11.6,667,10881,0.10,2.53,0.00,0.000,6,0.061,0.055,3050,1862,1590
$GC,11198,1.32,304.5,223.8,13.0,687,11202,0.00,2.55,0.00,0.000,4,0.000,0.061,3050,3258,1590
$GC,11227,1.29,304.5,219.6,13.5,689,11232,0.12,2.47,0.00,0.000,6,0.094,0.054,3026,1881,1590
$GC,11554,1.29,304.5,183.9,10.7,710,11555,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1880,1590
$GC,11863,1.29,304.5,148.6,11.7,730,11865,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1881,1590
$GC,12173,1.29,304.5,112.4,11.4,745,12177,0.00,2.50,0.00,0.000,4,0.000,0.059,3026,3258,1591
$GC,12207,1.32,304.5,108.5,11.2,746,12214,0.00,2.42,0.00,0.000,6,0.000,0.051,3026,1895,1591
$GC,12523,1.32,304.5,73.9,9.4,762,12528,0.00,2.62,0.00,0.000,4,0.000,0.065,3026,432,1591
$GC,12579,1.46,389.9,69.7,4.9,764,12657,0.17,2.58,70.32,0.858,6,0.051,0.048,3072,1913,1240
$GC,12980,1.38,389.9,13.9,17.0,784,12982,0.15,0.00,0.00,0.000,6,0.088,0.000,3042,1914,1241
$STATE,13059,end climb,SURFACE_DEPTH_REACHED
$STATE,13060,begin surface coast
$FINISH,0.6,1.022989
$STATE,13081,end surface coast,CONTROL_FINISHED_OK
$STATE,13081,begin surface
$SM_CCo,13165,0.00,0.000,0,0,1239,390.27
$SM_GC,1.23,11.48,0.00,0.00,0.040,0.000,0.000,421,2155,1239,-10.61,0.68,390.27
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1844
$TCM_TEMP,17.20
$XPDR_PINGS,36
$ALTIM_BOTTOM_PING,571.1,66.3
$24V_AH,23.8,44.561
$10V_AH,10.1,19.690
$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,26.925,128.500,472.475,0.000,0.000,75.519,58.076,196.404,14.000,0.000,0.000,27.133,1396.919,9408.753,593.862,1669.449,631.455,33.366,1444.713,0.000,1616.800,0.000,37.951,0.000
$DEVICE_MAMPS,155.701,79.768,1267.084,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,540.372,576.669,440.658,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41117,789
$CAP_FILE_SIZE,115191,0
$CFSIZE,254472192,237699072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,091009,114025,6402.332,-1300.219,87,1.8,87,-12.4