version: 66.04
glider: 5
mission: 7
dive: 280
start: 10 10 109 22 36 55
data:
$ID,5
$MISSION,7
$DIVE,280
$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,-105719.44
$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,32
$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
$GPS1,222836,6355.906,-1312.516,43,1.3,55,-12.5
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-49.5
$GPS2,223607,6355.809,-1312.448,36,1.0,36,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.193,-0.151
$KALMAN_X,24911.2,-825.1,-963.8,-263106.1,10760.1
$KALMAN_Y,8968.4,-813.4,-266.3,249936.6,3223.5
$MHEAD_RNG_PITCHd_Wd,244.4,13270,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.47,0.000,2,0.000,0.000,421,2161,2911
$GC,82,-1.22,-146.6,4.3,-6.8,3,113,11.07,2.53,-12.23,0.000,4,0.157,0.074,2472,3526,3430
$GC,366,-1.16,-146.6,53.4,-13.3,15,373,0.10,2.50,0.00,0.000,6,0.110,0.046,2491,2113,3431
$GC,685,-1.12,-146.6,85.7,-11.1,31,689,0.00,2.60,0.00,0.000,4,0.000,0.063,2491,3529,3431
$GC,825,-1.12,-146.6,101.5,-10.9,37,829,0.00,2.47,0.00,0.000,6,0.000,0.046,2491,2131,3431
$GC,1142,-1.09,-146.6,137.0,-11.8,52,1146,0.00,2.58,0.00,0.000,4,0.000,0.064,2491,3531,3431
$GC,1220,-1.09,-146.6,146.5,-11.1,55,1226,0.00,2.45,0.00,0.000,6,0.000,0.048,2491,2150,3431
$GC,1550,-1.06,-146.6,180.8,-10.0,76,1555,0.10,2.53,0.00,0.000,4,0.105,0.058,2513,722,3431
$GC,1583,-1.09,-146.6,184.2,-9.3,78,1588,0.00,2.53,0.00,0.000,6,0.000,0.049,2512,2147,3431
$GC,1902,-1.09,-146.6,211.2,-8.5,98,1907,0.00,2.58,0.00,0.000,4,0.000,0.062,2513,724,3431
$GC,1932,-1.09,-146.6,213.7,-9.2,100,1936,0.00,2.53,0.00,0.000,6,0.000,0.050,2513,2148,3431
$GC,2257,-1.09,-146.6,244.0,-10.0,121,2262,0.00,2.58,0.00,0.000,4,0.000,0.062,2513,724,3431
$GC,2291,-1.09,-146.6,247.7,-10.6,123,2295,0.00,2.53,0.00,0.000,6,0.000,0.051,2513,2145,3431
$GC,2610,-1.09,-146.6,281.3,-10.8,143,2615,0.00,2.58,0.00,0.000,4,0.000,0.062,2512,722,3431
$GC,2644,-1.09,-146.6,285.2,-11.1,145,2648,0.00,2.50,0.00,0.000,6,0.000,0.051,2513,2132,3431
$GC,2963,-1.09,-146.6,319.6,-10.8,165,2971,0.00,2.55,0.00,0.000,4,0.000,0.062,2512,724,3431
$GC,2984,-1.09,-146.6,321.7,-10.5,166,2988,0.00,2.47,0.00,0.000,6,0.000,0.051,2513,2118,3430
$GC,3308,-1.09,-146.6,354.4,-9.8,187,3312,0.00,2.53,0.00,0.000,4,0.000,0.063,2513,723,3431
$GC,3341,-1.12,-146.6,357.7,-10.0,189,3346,0.00,2.47,0.00,0.000,6,0.000,0.051,2513,2119,3431
$GC,3661,-1.12,-146.6,389.1,-9.7,209,3665,0.00,2.53,0.00,0.000,4,0.000,0.063,2513,724,3431
$GC,3683,-1.12,-146.6,391.4,-9.6,210,3689,0.00,2.47,0.00,0.000,6,0.000,0.051,2513,2119,3431
$GC,4003,-1.12,-146.6,421.9,-9.4,231,4006,0.00,2.53,0.00,0.000,4,0.000,0.064,2512,724,3431
$GC,4054,-1.16,-146.6,427.0,-9.4,234,4059,0.00,2.45,0.00,0.000,6,0.000,0.051,2513,2103,3431
$GC,4379,-1.16,-146.6,458.5,-9.7,255,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2104,3431
$GC,4692,-1.16,-146.6,490.3,-10.5,275,4696,0.00,2.50,0.00,0.000,4,0.000,0.066,2513,726,3430
$GC,4754,-1.21,-146.6,496.1,-8.9,279,4759,0.15,2.40,0.00,0.000,6,0.056,0.051,2471,2072,3430
$GC,5082,-1.15,-146.6,530.6,-10.5,300,5087,0.10,2.67,0.00,0.000,4,0.100,0.069,2490,3544,3430
$GC,5121,-1.15,-146.6,534.4,-8.6,302,5127,0.00,2.65,0.00,0.000,6,0.000,0.058,2490,2074,3430
$GC,5440,-1.15,-146.6,568.3,-11.5,323,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2051,3430
$GC,5753,-1.15,-146.6,596.5,-7.8,343,5758,0.00,2.70,0.00,0.000,4,0.000,0.069,2490,3537,3430
$GC,5867,-1.12,-146.6,604.9,-7.7,350,5872,0.00,2.65,0.00,0.000,6,0.000,0.056,2491,2063,3429
$GC,6193,-1.12,-146.6,633.7,-11.2,371,6197,0.00,2.40,0.00,0.000,4,0.000,0.065,2491,719,3429
$GC,6238,-1.12,-146.6,638.8,-10.9,374,6242,0.00,2.40,0.00,0.000,6,0.000,0.052,2490,2064,3429
$GC,6564,-1.12,-146.6,671.0,-9.8,395,6569,0.00,2.45,0.00,0.000,4,0.000,0.067,2491,723,3429
$GC,6598,-1.12,-146.6,674.0,-8.1,397,6602,0.00,2.38,0.00,0.000,6,0.000,0.053,2490,2053,3429
$GC,6918,-1.12,-146.6,703.5,-10.1,417,6923,0.00,2.72,0.00,0.000,4,0.000,0.074,2490,3541,3429
$GC,6965,-1.12,-146.6,708.7,-11.0,420,6969,0.00,2.70,0.00,0.000,6,0.000,0.062,2490,2059,3429
$GC,7290,-1.12,-146.6,742.6,-10.7,441,7294,0.00,2.75,0.00,0.000,4,0.000,0.074,2490,3542,3428
$GC,7335,-1.12,-146.6,747.9,-11.3,444,7339,0.00,2.70,0.00,0.000,6,0.000,0.064,2490,2061,3428
$STATE,7484,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7484,begin apogee
$GC,7492,-0.33,0.0,763.7,10.1,454,7629,0.82,0.00,132.80,1.335,6,0.081,0.000,2669,1844,2831
$STATE,7629,end apogee,CONTROL_FINISHED_OK
$STATE,7629,begin climb
$GC,7632,1.22,146.6,769.0,0.0,463,7776,1.55,2.70,132.50,1.295,4,0.061,0.077,3009,445,2233
$GC,7789,1.16,183.9,763.7,6.6,473,7830,0.00,2.58,34.45,1.242,6,0.000,0.056,3008,1864,2081
$GC,8156,1.13,183.9,732.1,8.2,497,8160,0.00,2.67,0.00,0.000,4,0.000,0.081,3008,443,2080
$GC,8195,1.04,183.9,728.4,10.0,499,8202,0.20,2.53,0.00,0.000,6,0.091,0.059,2972,1828,2080
$GC,8517,1.17,240.7,708.7,5.9,520,8575,0.12,2.70,50.97,1.277,4,0.061,0.072,3003,3255,1849
$GC,8610,1.17,240.7,701.7,9.0,525,8615,0.00,2.62,0.00,0.000,6,0.000,0.068,3003,1855,1849
$GC,8935,1.17,240.7,669.0,10.8,546,8939,0.00,2.62,0.00,0.000,4,0.000,0.070,3003,3255,1848
$GC,9031,1.21,240.7,658.7,10.5,552,9035,0.00,2.55,0.00,0.000,6,0.000,0.066,3003,1877,1848
$GC,9355,1.21,240.7,625.7,9.9,573,9360,0.00,2.65,0.00,0.000,4,0.000,0.077,3003,437,1847
$GC,9439,1.18,240.7,615.8,12.1,578,9443,0.00,2.62,0.00,0.000,6,0.000,0.056,3003,1890,1847
$GC,9758,1.18,240.7,580.7,10.4,598,9760,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1904,1846
$GC,10070,1.18,240.7,552.1,8.3,618,10075,0.00,2.70,0.00,0.000,4,0.000,0.073,3003,442,1846
$GC,10104,1.18,240.7,549.0,9.4,620,10108,0.00,2.60,0.00,0.000,6,0.000,0.054,3003,1890,1846
$GC,10424,1.24,282.9,526.3,6.5,640,10470,0.00,2.75,37.20,1.172,4,0.000,0.071,3003,439,1677
$GC,10493,1.24,282.9,520.6,8.4,644,10497,0.00,2.60,0.00,0.000,6,0.000,0.052,3003,1872,1677
$GC,10813,1.28,282.9,492.0,9.6,664,10814,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1889,1677
$GC,11125,1.31,282.9,459.7,10.5,684,11130,0.12,2.65,0.00,0.000,4,0.056,0.068,3037,439,1677
$GC,11154,1.26,282.9,455.9,13.5,686,11158,0.00,2.55,0.00,0.000,6,0.000,0.051,3037,1862,1677
$GC,11479,1.22,282.9,414.7,12.4,707,11481,0.15,0.00,0.00,0.000,6,0.093,0.000,3008,1877,1677
$GC,11791,1.26,282.9,383.5,9.7,727,11795,0.00,2.62,0.00,0.000,4,0.000,0.067,3008,435,1678
$GC,11830,1.26,282.9,379.4,10.0,729,11836,0.00,2.53,0.00,0.000,6,0.000,0.051,3008,1852,1678
$GC,12149,1.26,282.9,349.9,9.4,750,12153,0.00,2.53,0.00,0.000,4,0.000,0.061,3008,3264,1678
$GC,12177,1.30,282.9,347.3,8.8,752,12182,0.00,2.55,0.00,0.000,6,0.000,0.054,3008,1845,1678
$GC,12503,1.33,282.9,317.6,8.8,773,12508,0.12,2.58,0.00,0.000,4,0.056,0.059,3043,3260,1678
$GC,12532,1.33,282.9,314.4,11.1,775,12536,0.00,2.53,0.00,0.000,6,0.000,0.054,3042,1855,1679
$GC,12857,1.29,282.9,278.3,11.3,796,12859,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1855,1679
$GC,13169,1.25,282.9,243.9,11.0,816,13174,0.12,2.55,0.00,0.000,4,0.089,0.059,3017,3256,1679
$GC,13219,1.30,282.9,238.7,9.6,819,13224,0.00,2.50,0.00,0.000,6,0.000,0.051,3018,1859,1679
$GC,13539,1.30,282.9,207.0,10.3,839,13543,0.00,2.55,0.00,0.000,4,0.000,0.059,3018,3263,1680
$GC,13562,1.30,282.9,204.5,10.3,840,13569,0.00,2.47,0.00,0.000,6,0.000,0.051,3018,1880,1680
$GC,13882,1.30,282.9,172.2,9.8,861,13886,0.00,2.60,0.00,0.000,4,0.000,0.066,3018,432,1680
$GC,13904,1.30,282.9,169.9,10.1,862,13910,0.00,2.58,0.00,0.000,6,0.000,0.048,3018,1890,1680
$GC,14238,1.30,282.9,135.3,10.8,882,14239,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1902,1680
$GC,14547,1.30,282.9,103.8,9.9,897,14551,0.00,2.65,0.00,0.000,4,0.000,0.066,3017,439,1680
$GC,14620,1.34,282.9,94.9,9.1,900,14624,0.00,2.53,0.00,0.000,6,0.000,0.048,3018,1874,1680
$GC,14937,1.37,282.9,65.3,10.2,915,14941,0.12,2.45,0.00,0.000,4,0.056,0.058,3052,3258,1681
$GC,14955,1.37,282.9,63.1,11.4,916,14959,0.00,2.55,0.00,0.000,6,0.000,0.051,3052,1827,1681
$GC,15282,1.47,340.9,37.9,5.9,932,15338,0.00,2.70,48.65,0.821,4,0.000,0.057,3052,3249,1441
$GC,15373,1.47,340.9,27.8,11.9,936,15378,0.00,2.50,0.00,0.000,6,0.000,0.048,3052,1850,1440
$STATE,15630,end climb,SURFACE_DEPTH_REACHED
$STATE,15630,begin surface coast
$FINISH,0.7,1.027189
$STATE,15652,end surface coast,CONTROL_FINISHED_OK
$STATE,15652,begin surface
$SM_CCo,15737,0.00,0.000,0,0,1438,341.70
$SM_GC,1.50,11.50,0.00,0.00,0.039,0.000,0.000,423,2137,1438,-10.61,0.20,341.70
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1810
$TCM_TEMP,17.30
$XPDR_PINGS,55
$ALTIM_BOTTOM_PING,721.2,51.3
$24V_AH,23.7,46.198
$10V_AH,10.1,20.447
$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,26.375,180.450,436.575,0.000,0.000,37.760,29.932,224.776,20.500,0.000,0.000,36.271,1687.191,11290.783,565.013,2010.035,625.959,33.367,1579.981,0.000,1933.852,0.000,47.458,0.000
$DEVICE_MAMPS,157.235,80.535,1335.347,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,650.224,690.095,508.690,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47451,950
$CAP_FILE_SIZE,137821,0
$CFSIZE,254472192,237088768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,111009,030056,6355.241,-1311.611,47,3.2,66,-12.5