version: 66.04
glider: 5
mission: 7
dive: 276
start: 10 10 109 5 38 25
data:
$ID,5
$MISSION,7
$DIVE,276
$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,-105636.3
$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,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
$GPS1,053054,6400.997,-1305.550,28,1.3,45,-12.5
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-48.8
$GPS2,053735,6401.033,-1305.625,16,2.5,35,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.174,-0.173
$KALMAN_X,18668.4,-1390.4,-1443.5,-249823.0,18499.3
$KALMAN_Y,9309.3,-734.8,-797.6,259729.8,11087.9
$MHEAD_RNG_PITCHd_Wd,237.6,24430,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.38,0.000,2,0.000,0.000,419,2133,2516
$GC,103,-1.22,-146.6,2.2,-1.7,4,161,11.32,2.55,-40.38,0.000,4,0.161,0.077,2472,3531,3428
$GC,167,-1.01,-146.6,5.0,-8.9,6,174,0.25,2.53,0.00,0.000,6,0.088,0.048,2525,2122,3428
$GC,490,-1.01,-146.6,45.2,-10.6,22,495,0.00,2.60,0.00,0.000,4,0.000,0.064,2525,3533,3428
$GC,748,-1.01,-146.6,72.4,-11.1,33,754,0.00,2.50,0.00,0.000,6,0.000,0.045,2525,2118,3428
$GC,1064,-1.05,-146.6,102.6,-10.0,49,1069,0.00,2.60,0.00,0.000,4,0.000,0.064,2525,3530,3428
$GC,1128,-1.05,-146.6,108.7,-8.8,52,1132,0.00,2.53,0.00,0.000,6,0.000,0.047,2525,2105,3428
$GC,1455,-1.05,-146.6,139.8,-8.1,68,1459,0.00,2.62,0.00,0.000,4,0.000,0.064,2525,3531,3428
$GC,1506,-1.08,-146.6,144.0,-7.6,70,1510,0.00,2.50,0.00,0.000,6,0.000,0.048,2525,2123,3428
$GC,1832,-1.08,-146.6,170.3,-8.6,89,1836,0.00,2.58,0.00,0.000,4,0.000,0.064,2525,3532,3428
$GC,1870,-1.08,-146.6,174.2,-9.4,91,1876,0.00,2.47,0.00,0.000,6,0.000,0.049,2524,2142,3428
$GC,2190,-1.12,-146.6,203.2,-9.3,112,2195,0.12,2.55,0.00,0.000,4,0.057,0.065,2488,3534,3428
$GC,2219,-1.08,-146.6,206.5,-11.9,114,2224,0.10,2.50,0.00,0.000,6,0.099,0.051,2509,2135,3428
$GC,2545,-1.08,-146.6,243.4,-11.6,135,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2123,3429
$GC,2856,-1.08,-146.6,279.7,-11.6,155,2861,0.00,2.53,0.00,0.000,4,0.000,0.061,2509,717,3428
$GC,2879,-1.08,-146.6,282.5,-11.7,156,2885,0.00,2.53,0.00,0.000,6,0.000,0.051,2509,2140,3428
$GC,3198,-1.08,-146.6,319.5,-11.5,177,3206,0.00,2.58,0.00,0.000,4,0.000,0.061,2510,718,3428
$GC,3223,-1.08,-146.6,322.7,-11.9,178,3227,0.00,2.53,0.00,0.000,6,0.000,0.051,2509,2140,3428
$GC,3543,-1.08,-146.6,358.6,-11.0,198,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2139,3428
$GC,3855,-1.08,-146.6,393.8,-11.7,218,3859,0.00,2.58,0.00,0.000,4,0.000,0.063,2509,721,3428
$GC,3883,-1.08,-146.6,397.2,-12.3,220,3887,0.00,2.53,0.00,0.000,6,0.000,0.051,2509,2139,3428
$GC,4208,-1.08,-146.6,436.7,-11.9,241,4212,0.00,2.55,0.00,0.000,4,0.000,0.069,2509,3538,3428
$GC,4241,-1.08,-146.6,440.9,-12.7,243,4245,0.00,2.53,0.00,0.000,6,0.000,0.058,2509,2143,3428
$GC,4560,-1.08,-146.6,473.8,-9.9,263,4564,0.00,2.55,0.00,0.000,4,0.000,0.064,2509,713,3428
$GC,4593,-1.08,-146.6,477.2,-10.2,265,4597,0.00,2.53,0.00,0.000,6,0.000,0.051,2509,2136,3428
$GC,4912,-1.08,-146.6,507.8,-9.6,285,4917,0.00,2.55,0.00,0.000,4,0.000,0.070,2509,3535,3428
$GC,4946,-1.08,-146.6,511.4,-10.8,287,4950,0.00,2.55,0.00,0.000,6,0.000,0.058,2509,2123,3428
$GC,5265,-1.08,-146.6,542.7,-9.4,307,5270,0.00,2.62,0.00,0.000,4,0.000,0.071,2509,3535,3427
$GC,5355,-1.08,-146.6,551.6,-9.8,312,5361,0.00,2.53,0.00,0.000,6,0.000,0.059,2509,2144,3428
$GC,5674,-1.08,-146.6,579.7,-8.4,333,5678,0.00,2.58,0.00,0.000,4,0.000,0.069,2509,709,3427
$GC,5789,-1.12,-146.6,589.7,-9.0,340,5794,0.00,2.53,0.00,0.000,6,0.000,0.054,2509,2120,3427
$GC,6114,-1.12,-146.6,619.9,-8.8,361,6121,0.00,2.58,0.00,0.000,4,0.000,0.071,2509,721,3427
$GC,6161,-1.16,-146.6,624.5,-9.0,363,6168,0.00,2.50,0.00,0.000,6,0.000,0.057,2509,2117,3427
$STATE,6477,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6477,begin apogee
$GC,6485,-0.33,0.0,658.3,10.6,384,6618,0.75,0.00,129.57,1.273,6,0.079,0.000,2669,1823,2831
$STATE,6619,end apogee,CONTROL_FINISHED_OK
$STATE,6619,begin climb
$GC,6622,1.22,146.6,664.4,0.0,393,6763,1.52,2.62,130.82,1.231,4,0.053,0.076,3010,445,2232
$GC,6815,1.09,146.6,654.1,9.4,405,6820,0.15,2.58,0.00,0.000,6,0.096,0.057,2982,1857,2232
$GC,7141,1.16,193.2,632.5,6.3,426,7187,0.00,0.00,41.70,1.202,6,0.000,0.000,2982,1872,2042
$GC,7500,1.19,209.8,609.4,7.4,449,7522,0.00,2.70,16.20,1.150,4,0.000,0.075,2982,454,1975
$GC,7590,1.19,209.8,601.1,9.9,454,7596,0.00,2.53,0.00,0.000,6,0.000,0.058,2982,1841,1975
$GC,7909,1.25,226.8,576.6,7.4,475,7931,0.17,2.67,15.48,1.146,4,0.056,0.077,3029,453,1906
$GC,8025,1.16,226.8,566.0,9.2,482,8030,0.17,2.50,0.00,0.000,6,0.094,0.058,2997,1828,1906
$GC,8350,1.29,310.5,547.2,5.0,503,8426,0.15,0.00,73.53,1.213,6,0.059,0.000,3033,1843,1565
$GC,8740,1.29,310.5,512.9,8.6,528,8744,0.00,2.62,0.00,0.000,4,0.000,0.070,3033,3261,1565
$GC,8818,1.29,310.5,504.1,10.8,533,8823,0.00,2.67,0.00,0.000,6,0.000,0.063,3033,1811,1566
$GC,9143,1.25,310.5,465.8,12.0,554,9148,0.00,2.67,0.00,0.000,4,0.000,0.066,3033,3256,1566
$GC,9216,1.25,310.5,454.4,14.1,558,9222,0.00,2.60,0.00,0.000,6,0.000,0.061,3033,1839,1566
$GC,9535,1.25,310.5,415.6,11.5,579,9540,0.00,2.62,0.00,0.000,4,0.000,0.064,3033,3261,1566
$GC,9574,1.25,310.5,411.0,11.3,581,9580,0.00,2.58,0.00,0.000,6,0.000,0.058,3033,1849,1566
$GC,9893,1.25,310.5,374.8,11.2,602,9897,0.00,2.60,0.00,0.000,4,0.000,0.063,3033,3263,1566
$GC,9921,1.25,310.5,371.4,12.4,604,9926,0.00,2.53,0.00,0.000,6,0.000,0.056,3033,1860,1566
$GC,10246,1.25,310.5,334.3,11.7,625,10250,0.00,2.58,0.00,0.000,4,0.000,0.062,3033,3264,1567
$GC,10268,1.25,310.5,331.4,12.5,626,10274,0.00,2.53,0.00,0.000,6,0.000,0.056,3033,1868,1567
$GC,10587,1.25,310.5,292.0,12.4,647,10592,0.00,2.55,0.00,0.000,4,0.000,0.061,3033,3261,1567
$GC,10617,1.25,310.5,288.5,13.2,649,10621,0.00,2.47,0.00,0.000,6,0.000,0.054,3033,1885,1567
$GC,10941,1.25,310.5,248.1,12.3,670,10945,0.00,2.50,0.00,0.000,4,0.000,0.061,3033,3255,1568
$GC,10962,1.25,310.5,245.2,13.2,671,10969,0.00,2.45,0.00,0.000,6,0.000,0.053,3033,1891,1567
$GC,11282,1.25,310.5,209.0,10.6,692,11283,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1891,1569
$GC,11594,1.25,310.5,177.7,9.6,712,11598,0.00,2.50,0.00,0.000,4,0.000,0.060,3033,3264,1568
$GC,11633,1.28,310.5,173.7,9.3,714,11639,0.00,2.45,0.00,0.000,6,0.000,0.051,3033,1894,1569
$GC,11954,1.28,310.5,142.9,9.9,734,11955,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1894,1569
$GC,12261,1.28,310.5,110.9,10.0,749,12265,0.00,2.47,0.00,0.000,4,0.000,0.058,3033,3259,1569
$GC,12324,1.32,310.5,104.5,9.7,752,12328,0.00,2.42,0.00,0.000,6,0.000,0.049,3033,1894,1569
$GC,12653,1.32,310.5,71.2,10.2,768,12657,0.00,2.47,0.00,0.000,4,0.000,0.058,3033,3261,1569
$GC,12681,1.32,310.5,68.0,11.0,769,12685,0.00,2.40,0.00,0.000,6,0.000,0.048,3033,1908,1570
$GC,12998,1.32,310.5,35.4,9.8,784,12999,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1909,1570
$GC,13307,1.32,310.5,3.5,10.5,799,13311,0.00,2.22,0.00,0.000,3,0.000,0.058,3033,3145,1571
$STATE,13311,end climb,SURFACE_DEPTH_REACHED
$STATE,13312,begin surface coast
$FINISH,0.6,1.027260
$STATE,13349,end surface coast,CONTROL_FINISHED_OK
$STATE,13349,begin surface
$SM_CCo,13434,0.00,0.000,0,0,1570,309.32
$SM_GC,1.40,11.30,0.00,0.00,0.035,0.000,0.000,419,2114,1570,-10.60,-0.45,309.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1826
$TCM_TEMP,17.20
$XPDR_PINGS,46
$ALTIM_BOTTOM_PING,620.6,47.7
$24V_AH,23.8,45.545
$10V_AH,10.1,20.115
$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,26.025,147.275,407.300,0.000,0.000,37.763,30.853,183.168,17.000,0.000,0.000,38.937,1417.342,9591.843,570.779,1711.784,540.896,33.357,1439.932,0.000,1646.893,0.000,38.208,0.000
$DEVICE_MAMPS,161.070,77.467,1273.220,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,547.740,583.711,474.765,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41051,801
$CAP_FILE_SIZE,114427,0
$CFSIZE,254472192,237375488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,101009,092336,6358.832,-1309.088,40,1.4,40,-12.5