version: 66.04
glider: 5
mission: 7
dive: 277
start: 10 10 109 9 38 51
data:
$ID,5
$MISSION,7
$DIVE,277
$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,-105651.77
$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,20
$R_STBD_OVSHOOT,23
$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
$GPS1,092336,6358.832,-1309.088,40,1.4,40,-12.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-60.8
$GPS2,093802,6358.856,-1308.790,14,1.7,14,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.170,-0.177
$KALMAN_X,17303.0,-1170.3,-1069.2,-251818.9,12409.7
$KALMAN_Y,8210.8,-919.4,-740.5,256921.9,7335.6
$MHEAD_RNG_PITCHd_Wd,236.4,19643,-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,-61.25,0.000,2,0.000,0.000,418,2100,2779
$GC,83,-1.22,-146.6,2.6,-3.0,3,126,11.18,2.67,-21.02,0.000,4,0.156,0.077,2470,3536,3430
$GC,132,-1.10,-146.6,8.2,-9.7,5,138,0.17,2.55,0.00,0.000,6,0.095,0.049,2507,2116,3430
$GC,454,-1.10,-146.6,45.7,-11.4,21,458,0.00,2.62,0.00,0.000,4,0.000,0.064,2507,3540,3430
$GC,711,-1.10,-146.6,75.4,-11.5,32,717,0.00,2.50,0.00,0.000,6,0.000,0.046,2507,2127,3430
$GC,1027,-1.10,-146.6,108.8,-10.2,48,1032,0.00,2.60,0.00,0.000,4,0.000,0.065,2507,3537,3430
$GC,1235,-1.10,-146.6,130.7,-11.1,57,1240,0.00,2.47,0.00,0.000,6,0.000,0.048,2507,2144,3430
$GC,1553,-1.10,-146.6,166.3,-11.4,74,1557,0.00,2.53,0.00,0.000,4,0.000,0.058,2507,715,3430
$GC,1582,-1.10,-146.6,169.7,-11.9,76,1587,0.00,2.53,0.00,0.000,6,0.000,0.049,2507,2141,3430
$GC,1912,-1.10,-146.6,204.9,-10.2,97,1917,0.00,2.58,0.00,0.000,4,0.000,0.059,2507,715,3431
$GC,1951,-1.10,-146.6,209.1,-10.8,99,1957,0.00,2.53,0.00,0.000,6,0.000,0.050,2507,2138,3431
$GC,2271,-1.10,-146.6,239.0,-9.3,120,2275,0.00,2.55,0.00,0.000,4,0.000,0.059,2507,721,3430
$GC,2304,-1.10,-146.6,242.3,-9.3,122,2308,0.00,2.50,0.00,0.000,6,0.000,0.050,2507,2132,3431
$GC,2623,-1.10,-146.6,271.9,-9.3,142,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2131,3431
$GC,2935,-1.10,-146.6,300.4,-9.1,162,2939,0.00,2.55,0.00,0.000,4,0.000,0.061,2507,718,3430
$GC,2973,-1.10,-146.6,304.0,-9.6,164,2980,0.00,2.47,0.00,0.000,6,0.000,0.051,2507,2114,3430
$GC,3293,-1.10,-146.6,331.9,-8.7,185,3297,0.00,2.53,0.00,0.000,4,0.000,0.061,2507,717,3431
$GC,3343,-1.10,-146.6,336.4,-8.6,188,3347,0.00,2.45,0.00,0.000,6,0.000,0.051,2507,2097,3430
$GC,3662,-1.10,-146.6,365.7,-9.5,208,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2097,3431
$GC,3975,-1.10,-146.6,397.6,-11.1,228,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2098,3430
$GC,4286,-1.10,-146.6,430.3,-9.2,248,4291,0.00,2.62,0.00,0.000,4,0.000,0.070,2507,3538,3430
$GC,4310,-1.10,-146.6,432.6,-9.9,249,4316,0.00,2.65,0.00,0.000,6,0.000,0.058,2507,2068,3430
$GC,4630,-1.10,-146.6,463.1,-9.5,270,4634,0.00,2.72,0.00,0.000,4,0.000,0.070,2507,3540,3430
$GC,4681,-1.10,-146.6,468.4,-10.7,273,4685,0.00,2.60,0.00,0.000,6,0.000,0.057,2507,2099,3430
$GC,5000,-1.10,-146.6,497.7,-8.3,293,5005,0.00,2.65,0.00,0.000,4,0.000,0.069,2507,3532,3429
$GC,5080,-1.10,-146.6,504.0,-7.4,298,5085,0.00,2.55,0.00,0.000,6,0.000,0.055,2507,2110,3429
$GC,5410,-1.10,-146.6,525.4,-7.0,319,5414,0.00,2.65,0.00,0.000,4,0.000,0.070,2507,3540,3429
$GC,5478,-1.10,-146.6,531.6,-9.2,323,5482,0.00,2.53,0.00,0.000,6,0.000,0.056,2507,2140,3429
$GC,5797,-1.10,-146.6,565.5,-11.6,343,5801,0.00,2.55,0.00,0.000,4,0.000,0.066,2507,717,3429
$GC,5836,-1.10,-146.6,570.8,-14.3,345,5842,0.00,2.55,0.00,0.000,6,0.000,0.051,2507,2154,3429
$GC,6155,-1.10,-146.6,606.9,-10.9,366,6159,0.00,2.55,0.00,0.000,4,0.000,0.073,2507,3546,3429
$GC,6201,-1.10,-146.6,612.0,-11.9,369,6205,0.00,2.53,0.00,0.000,6,0.000,0.060,2507,2152,3429
$GC,6529,-1.10,-146.6,647.1,-10.0,390,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2139,3428
$GC,6837,-1.10,-146.6,677.3,-10.2,410,6841,0.00,2.60,0.00,0.000,4,0.000,0.073,2507,717,3428
$GC,6876,-1.14,-146.6,681.3,-10.6,412,6883,0.00,2.62,0.00,0.000,6,0.000,0.059,2507,2171,3428
$STATE,6989,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6989,begin apogee
$GC,6997,-0.33,0.0,692.8,9.9,420,7132,0.77,0.00,131.15,1.292,6,0.085,0.000,2670,1839,2832
$STATE,7132,end apogee,CONTROL_FINISHED_OK
$STATE,7132,begin climb
$GC,7136,1.22,146.6,696.9,0.0,429,7277,1.55,2.75,132.93,1.246,4,0.067,0.067,3004,3261,2233
$GC,7303,1.23,201.7,691.2,6.0,439,7361,0.00,2.65,50.08,1.209,6,0.000,0.066,3004,1848,2007
$GC,7673,1.23,201.7,660.0,8.2,463,7678,0.00,2.65,0.00,0.000,4,0.000,0.071,3005,3261,2007
$GC,7720,1.23,201.7,655.6,9.1,466,7724,0.00,2.62,0.00,0.000,6,0.000,0.067,3005,1849,2007
$GC,8044,1.19,201.7,628.5,9.5,487,8049,0.00,2.65,0.00,0.000,4,0.000,0.071,3004,3261,2006
$GC,8084,1.19,201.7,624.5,10.1,489,8090,0.00,2.58,0.00,0.000,6,0.000,0.066,3005,1870,2006
$GC,8404,1.17,212.0,594.0,7.6,510,8421,0.00,2.65,10.23,1.097,4,0.000,0.070,3005,3263,1966
$GC,8489,1.17,212.0,586.5,8.8,515,8494,0.00,2.50,0.00,0.000,6,0.000,0.064,3004,1903,1966
$GC,8815,1.18,215.7,560.8,7.9,536,8825,0.00,2.72,4.68,0.863,4,0.000,0.077,3004,440,1952
$GC,8957,1.14,215.7,547.6,10.0,544,8962,0.00,2.58,0.00,0.000,6,0.000,0.056,3004,1863,1951
$GC,9277,1.14,215.7,517.4,9.5,564,9281,0.00,2.55,0.00,0.000,4,0.000,0.069,3004,3261,1950
$GC,9328,1.14,215.7,512.3,10.1,567,9332,0.00,2.55,0.00,0.000,6,0.000,0.061,3004,1867,1950
$GC,9648,1.14,215.7,480.8,9.7,587,9652,0.00,2.58,0.00,0.000,4,0.000,0.065,3005,3261,1950
$GC,9669,1.14,215.7,478.1,11.6,588,9675,0.00,2.53,0.00,0.000,6,0.000,0.058,3005,1870,1950
$GC,9988,1.14,215.7,443.5,10.9,609,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1870,1950
$GC,10301,1.14,215.7,411.8,9.8,629,10305,0.00,2.55,0.00,0.000,4,0.000,0.064,3005,3261,1950
$GC,10340,1.14,215.7,407.8,10.0,631,10346,0.00,2.50,0.00,0.000,6,0.000,0.057,3005,1877,1950
$GC,10659,1.14,215.7,379.4,8.1,652,10660,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1877,1950
$GC,10971,1.14,215.7,354.4,8.9,672,10976,0.00,2.50,0.00,0.000,4,0.000,0.062,3005,3257,1951
$GC,11017,1.14,215.7,350.0,9.4,675,11021,0.00,2.45,0.00,0.000,6,0.000,0.054,3005,1887,1951
$GC,11342,1.14,215.7,320.4,9.1,696,11343,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1887,1951
$GC,11654,1.14,215.7,291.2,9.2,716,11659,0.00,2.60,0.00,0.000,4,0.000,0.066,3005,437,1951
$GC,11676,1.14,215.7,288.9,9.7,717,11683,0.00,2.60,0.00,0.000,6,0.000,0.049,3005,1903,1951
$GC,11995,1.14,215.7,258.6,10.1,738,12000,0.00,2.67,0.00,0.000,4,0.000,0.064,3005,439,1952
$GC,12042,1.14,215.7,253.5,11.0,741,12046,0.00,2.58,0.00,0.000,6,0.000,0.049,3005,1895,1952
$GC,12367,1.14,215.7,219.7,10.3,762,12371,0.00,2.42,0.00,0.000,4,0.000,0.060,3005,3259,1952
$GC,12402,1.14,215.7,216.1,10.0,764,12406,0.00,2.45,0.00,0.000,6,0.000,0.052,3005,1889,1952
$GC,12722,1.14,215.7,185.3,9.2,784,12723,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1889,1952
$GC,13033,1.14,215.7,157.9,8.3,804,13034,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1889,1953
$GC,13350,1.14,215.7,132.6,8.2,821,13351,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1889,1953
$GC,13659,1.15,221.6,108.1,7.8,836,13667,0.00,0.00,6.88,0.736,6,0.000,0.000,3005,1889,1927
$GC,13969,1.15,221.6,81.7,8.7,851,13970,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1889,1927
$GC,14278,1.18,241.2,55.6,7.3,866,14301,0.00,2.70,17.48,0.811,4,0.000,0.063,3005,440,1847
$GC,14340,1.21,264.8,51.4,7.1,868,14368,0.00,2.60,20.45,0.815,6,0.000,0.048,3005,1909,1751
$GC,14683,1.30,295.3,29.9,6.9,885,14714,0.12,2.47,25.58,0.811,4,0.053,0.058,3040,3260,1627
$GC,14731,1.30,295.3,24.9,10.5,887,14736,0.00,2.47,0.00,0.000,6,0.000,0.049,3040,1886,1626
$STATE,14962,end climb,SURFACE_DEPTH_REACHED
$STATE,14962,begin surface coast
$FINISH,0.5,1.016753
$STATE,14984,end surface coast,CONTROL_FINISHED_OK
$STATE,14984,begin surface
$SM_CCo,15009,4.45,0.580,0,0,1607,300.00
$SM_GC,2.45,0.00,0.00,4.45,0.000,0.000,0.580,417,2159,1607,-10.70,0.85,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1818
$TCM_TEMP,17.30
$XPDR_PINGS,60
$ALTIM_BOTTOM_PING,670.9,30.6
$24V_AH,23.8,45.707
$10V_AH,10.1,20.200
$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,25.200,150.175,399.425,4.450,0.000,151.047,125.430,262.225,21.250,0.000,0.000,14.845,1587.677,11011.369,528.714,1877.968,871.906,33.365,1477.052,0.000,1830.038,0.000,46.621,0.000
$DEVICE_MAMPS,155.701,77.467,1292.395,579.852,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,615.091,655.902,520.795,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44228,899
$CAP_FILE_SIZE,128072,0
$CFSIZE,254472192,237297664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,101009,135025,6358.688,-1308.283,40,1.2,40,-12.5