version: 66.04
glider: 5
mission: 7
dive: 279
start: 10 10 109 18 3 47
data:
$ID,5
$MISSION,7
$DIVE,279
$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,-105682.53
$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,40
$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
$GPS1,175706,6358.064,-1309.904,38,1.0,38,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-60.1
$GPS2,180256,6358.071,-1309.847,14,1.2,14,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.178,-0.169
$KALMAN_X,24501.3,-979.0,-999.1,-260245.1,14781.7
$KALMAN_Y,10810.8,-764.7,-1165.2,253135.3,8032.3
$MHEAD_RNG_PITCHd_Wd,239.0,17952,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.97,0.000,2,0.000,0.000,427,2135,2688
$GC,82,-1.22,-146.6,2.7,-3.0,3,127,10.88,2.58,-27.80,0.000,4,0.150,0.077,2471,3516,3430
$GC,379,-1.15,-146.6,38.3,-12.9,16,384,0.10,2.47,0.00,0.000,6,0.106,0.047,2491,2127,3430
$GC,704,-1.11,-146.6,75.2,-10.8,32,708,0.00,2.58,0.00,0.000,4,0.000,0.064,2491,3525,3430
$GC,744,-1.06,-146.6,80.0,-11.1,34,749,0.10,2.55,0.00,0.000,6,0.101,0.048,2513,2102,3430
$GC,1071,-1.06,-146.6,113.5,-9.9,50,1075,0.00,2.45,0.00,0.000,4,0.000,0.058,2513,716,3430
$GC,1099,-1.06,-146.6,116.3,-10.0,51,1103,0.00,2.45,0.00,0.000,6,0.000,0.048,2513,2098,3430
$GC,1415,-1.06,-146.6,146.8,-9.1,66,1419,0.00,2.50,0.00,0.000,4,0.000,0.059,2513,713,3430
$GC,1437,-1.06,-146.6,149.1,-9.4,67,1441,0.00,2.47,0.00,0.000,6,0.000,0.049,2513,2105,3430
$GC,1768,-1.06,-146.6,177.8,-8.7,88,1772,0.00,2.60,0.00,0.000,4,0.000,0.066,2513,3541,3430
$GC,1813,-1.06,-146.6,182.0,-9.1,91,1818,0.00,2.58,0.00,0.000,6,0.000,0.052,2513,2102,3430
$GC,2138,-1.06,-146.6,210.2,-9.3,112,2141,0.00,2.47,0.00,0.000,4,0.000,0.060,2513,707,3430
$GC,2160,-1.06,-146.6,212.4,-9.3,113,2165,0.00,2.50,0.00,0.000,6,0.000,0.049,2513,2119,3430
$GC,2479,-1.06,-146.6,241.6,-8.7,133,2484,0.00,2.55,0.00,0.000,4,0.000,0.062,2513,707,3430
$GC,2501,-1.06,-146.6,243.9,-9.9,134,2508,0.00,2.47,0.00,0.000,6,0.000,0.050,2513,2101,3430
$GC,2821,-1.06,-146.6,275.1,-9.8,155,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2101,3430
$GC,3133,-1.06,-146.6,306.4,-10.3,175,3137,0.00,2.53,0.00,0.000,4,0.000,0.063,2513,710,3430
$GC,3154,-1.06,-146.6,308.7,-9.8,176,3160,0.00,2.47,0.00,0.000,6,0.000,0.051,2513,2101,3430
$GC,3474,-1.06,-146.6,338.5,-8.4,197,3478,0.00,2.62,0.00,0.000,4,0.000,0.071,2513,3540,3430
$GC,3495,-1.06,-146.6,340.6,-8.7,198,3501,0.00,2.62,0.00,0.000,6,0.000,0.056,2513,2084,3430
$GC,3815,-1.06,-146.6,368.8,-9.1,219,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2069,3430
$GC,4127,-1.06,-146.6,398.7,-10.0,239,4131,0.00,2.67,0.00,0.000,4,0.000,0.069,2513,3532,3430
$GC,4189,-1.06,-146.6,404.9,-10.1,243,4193,0.00,2.60,0.00,0.000,6,0.000,0.057,2513,2085,3430
$GC,4513,-1.06,-146.6,437.9,-10.4,264,4518,0.00,2.67,0.00,0.000,4,0.000,0.070,2513,3530,3430
$GC,4535,-1.06,-146.6,440.6,-11.2,265,4542,0.00,2.58,0.00,0.000,6,0.000,0.058,2513,2104,3430
$GC,4855,-1.06,-146.6,476.3,-12.1,286,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2104,3430
$GC,5167,-1.06,-146.6,513.9,-13.3,306,5171,0.00,2.65,0.00,0.000,4,0.000,0.070,2514,3534,3429
$GC,5205,-1.06,-146.6,519.3,-13.9,308,5216,0.00,2.58,0.00,0.000,6,0.000,0.058,2513,2106,3429
$GC,5525,-1.06,-146.6,559.2,-10.4,329,5529,0.00,2.65,0.00,0.000,4,0.000,0.069,2513,3538,3429
$GC,5587,-1.06,-146.6,565.5,-9.8,333,5591,0.00,2.53,0.00,0.000,6,0.000,0.056,2513,2129,3429
$GC,5911,-1.06,-146.6,592.9,-9.7,354,5915,0.00,2.60,0.00,0.000,4,0.000,0.071,2513,3531,3429
$GC,6018,-1.06,-146.6,604.0,-10.3,360,6024,0.00,2.47,0.00,0.000,6,0.000,0.057,2513,2157,3429
$GC,6337,-1.06,-146.6,628.8,-8.3,381,6341,0.00,2.58,0.00,0.000,4,0.000,0.066,2512,717,3429
$GC,6366,-1.10,-146.6,631.6,-10.1,383,6371,0.00,2.55,0.00,0.000,6,0.000,0.052,2513,2147,3429
$GC,6691,-1.13,-146.6,661.4,-8.5,404,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2147,3428
$GC,7004,-1.17,-146.6,688.2,-9.8,424,7009,0.10,2.65,0.00,0.000,4,0.067,0.074,2484,710,3428
$GC,7113,-1.17,-146.6,700.2,-11.4,430,7120,0.00,2.53,0.00,0.000,6,0.000,0.057,2484,2123,3428
$GC,7433,-1.17,-146.6,729.9,-8.3,451,7437,0.00,2.60,0.00,0.000,4,0.000,0.074,2484,717,3427
$STATE,7447,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7447,begin apogee
$GC,7457,-0.33,0.0,731.3,7.0,452,7592,0.82,0.00,131.18,1.328,6,0.073,0.000,2668,1872,2831
$STATE,7593,end apogee,CONTROL_FINISHED_OK
$STATE,7593,begin climb
$GC,7596,1.22,146.6,730.6,0.0,461,7734,1.55,0.00,132.00,1.280,6,0.061,0.000,3009,1873,2233
$GC,8047,1.16,146.6,704.7,9.4,490,8051,0.00,2.67,0.00,0.000,4,0.000,0.080,3009,444,2232
$GC,8187,1.06,165.7,694.1,7.3,498,8213,0.17,2.55,18.02,1.206,6,0.097,0.059,2977,1855,2155
$GC,8538,1.06,165.7,666.0,8.3,521,8543,0.00,2.60,0.00,0.000,4,0.000,0.076,2977,3248,2154
$GC,8578,1.09,165.7,662.3,9.5,523,8584,0.00,2.58,0.00,0.000,6,0.000,0.069,2977,1866,2154
$GC,8898,1.23,250.0,640.8,4.9,544,8980,0.17,2.70,73.90,1.280,4,0.058,0.071,3022,3249,1811
$GC,9043,1.23,250.0,628.4,9.4,553,9047,0.00,2.55,0.00,0.000,6,0.000,0.067,3022,1883,1811
$GC,9368,1.19,250.0,595.4,9.9,574,9369,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1883,1811
$GC,9679,1.14,250.0,563.1,10.2,594,9684,0.15,2.55,0.00,0.000,4,0.096,0.067,2995,3255,1810
$GC,9794,1.19,250.0,551.9,8.7,601,9798,0.00,2.45,0.00,0.000,6,0.000,0.059,2995,1906,1810
$GC,10118,1.19,250.0,521.7,8.6,622,10122,0.00,2.67,0.00,0.000,4,0.000,0.071,2995,436,1810
$GC,10146,1.19,250.0,519.3,8.2,624,10151,0.00,2.67,0.00,0.000,6,0.000,0.054,2995,1919,1810
$GC,10472,1.22,250.0,491.2,8.0,645,10476,0.00,2.38,0.00,0.000,4,0.000,0.064,2995,3242,1810
$GC,10501,1.27,250.0,488.9,8.5,647,10505,0.12,2.40,0.00,0.000,6,0.060,0.058,3027,1913,1811
$GC,10828,1.24,250.0,459.9,8.6,668,10832,0.00,2.67,0.00,0.000,4,0.000,0.067,3027,430,1811
$GC,10857,1.17,250.0,456.9,9.3,670,10862,0.15,2.65,0.00,0.000,6,0.094,0.051,2998,1916,1811
$GC,11185,1.25,279.4,434.5,6.9,691,11217,0.00,2.80,26.52,1.095,4,0.000,0.067,2998,436,1692
$GC,11246,1.26,283.5,429.7,7.8,694,11256,0.00,2.65,5.18,0.820,6,0.000,0.051,2998,1905,1675
$GC,11580,1.32,295.5,405.2,7.6,716,11598,0.17,2.80,12.12,1.006,4,0.053,0.064,3046,439,1626
$GC,11622,1.24,295.5,400.7,11.0,718,11627,0.17,2.60,0.00,0.000,6,0.087,0.049,3012,1885,1626
$GC,11941,1.24,295.5,371.9,9.9,738,11945,0.00,2.67,0.00,0.000,4,0.000,0.065,3012,432,1626
$GC,11969,1.24,295.5,368.9,10.5,740,11974,0.00,2.60,0.00,0.000,6,0.000,0.050,3012,1887,1626
$GC,12294,1.24,295.5,337.0,9.7,761,12296,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1901,1626
$GC,12607,1.24,295.5,307.9,9.3,781,12611,0.00,2.67,0.00,0.000,4,0.000,0.066,3012,432,1627
$GC,12646,1.24,295.5,303.9,10.4,783,12652,0.00,2.58,0.00,0.000,6,0.000,0.049,3012,1879,1627
$GC,12965,1.24,295.5,274.0,10.1,804,12969,0.00,2.65,0.00,0.000,4,0.000,0.064,3012,432,1627
$GC,12997,1.24,295.5,270.3,10.8,806,13002,0.00,2.53,0.00,0.000,6,0.000,0.048,3012,1855,1627
$GC,13317,1.24,295.5,236.5,10.6,826,13322,0.00,2.50,0.00,0.000,4,0.000,0.059,3012,3259,1628
$GC,13357,1.29,295.5,232.0,11.3,828,13363,0.00,2.53,0.00,0.000,6,0.000,0.052,3012,1850,1627
$GC,13676,1.29,295.5,198.9,10.1,849,13681,0.00,2.55,0.00,0.000,4,0.000,0.059,3012,3257,1628
$GC,13710,1.35,295.5,195.2,10.3,851,13715,0.12,2.50,0.00,0.000,6,0.054,0.051,3046,1860,1628
$GC,14032,1.31,295.5,158.6,11.6,871,14037,0.00,2.55,0.00,0.000,4,0.000,0.059,3046,3264,1628
$GC,14050,1.28,295.5,156.2,11.4,872,14055,0.12,2.47,0.00,0.000,6,0.090,0.050,3022,1876,1628
$GC,14367,1.28,295.5,123.4,10.4,888,14371,0.00,2.50,0.00,0.000,4,0.000,0.058,3022,3258,1628
$GC,14423,1.32,295.5,117.6,10.1,890,14429,0.00,2.40,0.00,0.000,6,0.000,0.049,3022,1908,1629
$GC,14740,1.32,295.5,86.6,9.8,906,14744,0.00,2.45,0.00,0.000,4,0.000,0.058,3022,3261,1629
$GC,14773,1.36,295.5,83.1,9.8,907,14780,0.00,2.38,0.00,0.000,6,0.000,0.048,3022,1920,1629
$GC,15090,1.36,297.5,54.3,7.9,923,15099,0.00,2.67,4.03,0.571,4,0.000,0.064,3022,438,1618
$GC,15117,1.36,297.5,51.8,9.8,924,15121,0.00,2.65,0.00,0.000,6,0.000,0.048,3022,1934,1618
$GC,15439,1.40,297.5,16.1,10.9,940,15441,0.12,0.00,0.00,0.000,6,0.055,0.000,3058,1952,1618
$STATE,15683,end climb,SURFACE_DEPTH_REACHED
$STATE,15683,begin surface coast
$FINISH,0.5,1.014055
$STATE,15766,end surface coast,CONTROL_FINISHED_OK
$STATE,15767,begin surface
$SM_CCo,15790,2.22,0.244,0,0,1608,300.00
$SM_GC,1.99,0.00,0.00,2.22,0.000,0.000,0.244,421,2163,1608,-10.69,0.96,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1836
$TCM_TEMP,17.40
$XPDR_PINGS,68
$ALTIM_BOTTOM_PING,695.0,45.8
$24V_AH,23.8,46.026
$10V_AH,10.1,20.361
$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,26.475,179.600,402.950,2.225,0.000,37.761,26.536,151.347,23.500,0.000,0.000,14.881,1703.109,11342.308,558.088,1979.145,559.858,33.391,1566.118,0.000,1928.973,0.000,45.843,0.000
$DEVICE_MAMPS,149.565,79.768,1327.677,243.906,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,654.333,696.040,534.567,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50514,956
$CAP_FILE_SIZE,137043,0
$CFSIZE,254472192,237150208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,101009,222836,6355.906,-1312.516,43,1.3,55,-12.5