version: 66.04
glider: 5
mission: 7
dive: 281
start: 10 11 109 3 8 36
data:
$ID,5
$MISSION,7
$DIVE,281
$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,-105756.63
$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,22
$R_STBD_OVSHOOT,35
$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
$GPS1,030056,6355.241,-1311.611,47,3.2,66,-12.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-55.6
$GPS2,030746,6355.196,-1311.703,16,4.4,35,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.233,0.077
$KALMAN_X,29228.1,-1291.6,-30.1,-267266.7,10851.8
$KALMAN_Y,10974.2,-630.1,50.3,246261.6,4258.6
$MHEAD_RNG_PITCHd_Wd,300.9,12685,-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,-61.33,0.000,2,0.000,0.000,423,2154,2702
$GC,83,-1.22,-146.6,2.7,-2.4,3,126,11.18,2.53,-25.20,0.000,4,0.161,0.077,2471,3534,3429
$GC,330,-1.11,-146.6,37.7,-13.1,14,335,0.15,2.53,0.00,0.000,6,0.103,0.047,2502,2110,3429
$GC,660,-1.06,-146.6,73.7,-14.2,30,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2086,3429
$GC,966,-1.06,-146.6,117.7,-13.5,45,971,0.00,2.45,0.00,0.000,4,0.000,0.059,2502,728,3429
$GC,989,-1.06,-146.6,120.8,-13.1,46,993,0.00,2.45,0.00,0.000,6,0.000,0.049,2502,2112,3429
$GC,1305,-1.06,-146.6,160.5,-12.4,63,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2112,3429
$GC,1617,-1.06,-146.6,196.9,-11.1,83,1622,0.00,2.50,0.00,0.000,4,0.000,0.060,2502,727,3430
$GC,1673,-1.06,-146.6,203.6,-11.9,86,1680,0.00,2.45,0.00,0.000,6,0.000,0.049,2502,2111,3430
$GC,1993,-1.06,-146.6,239.9,-11.6,107,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2111,3430
$GC,2305,-1.06,-146.6,274.6,-11.2,127,2309,0.00,2.50,0.00,0.000,4,0.000,0.061,2503,732,3430
$GC,2333,-1.06,-146.6,277.7,-11.5,129,2338,0.00,2.45,0.00,0.000,6,0.000,0.050,2502,2115,3429
$GC,2658,-1.06,-146.6,313.2,-10.8,150,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2115,3430
$GC,2970,-1.06,-146.6,348.6,-11.3,170,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2115,3429
$GC,3283,-1.06,-146.6,381.4,-10.2,190,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2115,3430
$GC,3595,-1.06,-146.6,412.5,-9.7,210,3599,0.00,2.50,0.00,0.000,4,0.000,0.062,2502,730,3430
$GC,3628,-1.06,-146.6,415.9,-10.2,212,3632,0.00,2.45,0.00,0.000,6,0.000,0.051,2502,2110,3429
$GC,3947,-1.06,-146.6,448.0,-10.3,232,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2110,3429
$GC,4259,-1.06,-146.6,481.2,-10.6,252,4263,0.00,2.50,0.00,0.000,4,0.000,0.062,2503,727,3429
$GC,4297,-1.06,-146.6,485.2,-10.3,254,4303,0.00,2.45,0.00,0.000,6,0.000,0.051,2502,2105,3429
$GC,4617,-1.06,-146.6,516.0,-10.0,275,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2104,3428
$GC,4930,-1.06,-146.6,546.2,-9.2,295,4934,0.00,2.50,0.00,0.000,4,0.000,0.064,2502,730,3429
$GC,4963,-1.06,-146.6,549.4,-9.2,297,4968,0.00,2.42,0.00,0.000,6,0.000,0.052,2502,2091,3428
$GC,5282,-1.06,-146.6,580.7,-10.2,317,5286,0.00,2.47,0.00,0.000,4,0.000,0.064,2502,729,3428
$GC,5355,-1.06,-146.6,588.5,-10.6,321,5359,0.00,2.40,0.00,0.000,6,0.000,0.051,2502,2076,3428
$GC,5677,-1.06,-146.6,620.8,-10.0,341,5682,0.00,2.47,0.00,0.000,4,0.000,0.067,2503,725,3427
$GC,5711,-1.06,-146.6,624.7,-10.5,343,5715,0.00,2.40,0.00,0.000,6,0.000,0.053,2502,2070,3427
$GC,6031,-1.06,-146.6,657.0,-9.6,363,6035,0.00,2.67,0.00,0.000,4,0.000,0.070,2502,3540,3427
$GC,6080,-1.06,-146.6,662.2,-10.4,366,6085,0.00,2.62,0.00,0.000,6,0.000,0.058,2502,2090,3427
$GC,6400,-1.06,-146.6,691.3,-9.2,386,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2074,3427
$GC,6713,-1.06,-146.6,718.1,-8.7,406,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2074,3427
$GC,7026,-1.06,-146.6,746.6,-9.5,426,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2074,3426
$STATE,7084,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7084,begin apogee
$GC,7091,-0.33,0.0,752.8,9.8,430,7228,0.80,0.00,133.18,1.333,6,0.081,0.000,2674,1843,2831
$STATE,7229,end apogee,CONTROL_FINISHED_OK
$STATE,7229,begin climb
$GC,7232,1.22,146.6,759.8,0.0,439,7374,1.52,0.00,133.93,1.291,6,0.064,0.000,3005,1843,2233
$GC,7690,1.21,168.2,734.7,7.2,469,7716,0.00,2.70,20.60,1.216,4,0.000,0.070,3005,3252,2145
$GC,7751,1.21,168.2,730.1,8.0,472,7756,0.00,2.58,0.00,0.000,6,0.000,0.067,3005,1870,2144
$GC,8075,1.17,168.2,705.4,8.6,493,8080,0.00,2.65,0.00,0.000,4,0.000,0.078,3005,437,2143
$GC,8115,1.08,168.2,701.5,9.9,495,8123,0.15,2.60,0.00,0.000,6,0.095,0.058,2978,1868,2143
$GC,8435,1.12,195.1,676.5,7.0,516,8467,0.00,2.62,24.30,1.251,4,0.000,0.071,2978,3260,2035
$GC,8502,1.20,211.6,671.5,7.4,520,8524,0.12,2.60,16.23,1.209,6,0.061,0.067,3009,1870,1968
$GC,8848,1.22,224.5,645.6,7.5,542,8866,0.00,2.67,12.32,1.171,4,0.000,0.070,3009,3255,1916
$GC,8945,1.24,234.3,637.5,7.6,547,8960,0.00,2.53,10.57,1.141,6,0.000,0.065,3009,1896,1875
$GC,9275,1.24,234.3,608.4,9.8,568,9279,0.00,2.67,0.00,0.000,4,0.000,0.076,3009,440,1875
$GC,9405,1.19,234.3,594.6,11.6,576,9410,0.00,2.60,0.00,0.000,6,0.000,0.055,3009,1879,1874
$GC,9730,1.19,234.3,564.8,8.8,597,9735,0.00,2.67,0.00,0.000,4,0.000,0.071,3009,439,1874
$GC,9764,1.16,234.3,561.6,9.6,599,9768,0.00,2.60,0.00,0.000,6,0.000,0.054,3009,1882,1874
$GC,10083,1.16,234.3,534.9,8.6,619,10088,0.00,2.67,0.00,0.000,4,0.000,0.068,3009,433,1874
$GC,10123,1.16,234.3,530.9,9.8,621,10129,0.00,2.58,0.00,0.000,6,0.000,0.054,3010,1868,1874
$GC,10442,1.16,234.3,502.2,9.2,642,10443,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1883,1874
$GC,10756,1.16,234.3,475.1,8.2,662,10757,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1883,1874
$GC,11066,1.16,234.3,448.5,8.2,682,11067,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1884,1874
$GC,11378,1.16,234.3,422.2,8.8,702,11383,0.00,2.62,0.00,0.000,4,0.000,0.067,3009,438,1875
$GC,11442,1.16,234.3,416.4,9.5,706,11447,0.00,2.53,0.00,0.000,6,0.000,0.051,3009,1856,1875
$GC,11767,1.16,234.3,388.3,9.0,727,11768,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1870,1875
$GC,12080,1.16,234.3,361.2,8.7,747,12081,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1870,1875
$GC,12392,1.16,234.3,331.3,9.6,767,12393,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1870,1875
$GC,12704,1.16,234.3,301.5,9.4,787,12708,0.00,2.60,0.00,0.000,4,0.000,0.064,3009,432,1875
$GC,12737,1.16,234.3,298.2,9.6,789,12742,0.00,2.50,0.00,0.000,6,0.000,0.049,3010,1844,1876
$GC,13056,1.16,234.3,270.8,8.4,809,13058,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1859,1876
$GC,13369,1.16,234.3,245.5,8.1,829,13373,0.00,2.58,0.00,0.000,4,0.000,0.065,3010,435,1876
$GC,13402,1.16,234.3,242.5,9.9,831,13406,0.00,2.50,0.00,0.000,6,0.000,0.048,3009,1849,1876
$GC,13722,1.16,239.3,216.5,7.8,851,13730,0.00,0.00,6.30,0.780,6,0.000,0.000,3009,1866,1855
$GC,14035,1.19,258.4,192.8,7.3,871,14053,0.00,0.00,17.05,0.905,6,0.000,0.000,3009,1865,1777
$GC,14361,1.24,267.8,167.5,7.7,892,14378,0.00,2.62,9.25,0.833,4,0.000,0.064,3010,438,1739
$GC,14400,1.24,267.8,163.9,8.5,894,14405,0.00,2.50,0.00,0.000,6,0.000,0.048,3009,1838,1739
$GC,14721,1.33,298.4,140.3,6.9,912,14754,0.12,2.58,26.35,0.894,4,0.055,0.056,3045,3254,1613
$GC,14783,1.33,298.4,134.4,9.2,915,14788,0.00,2.60,0.00,0.000,6,0.000,0.051,3045,1814,1613
$GC,15112,1.29,298.4,105.7,8.3,931,15116,0.00,2.47,0.00,0.000,4,0.000,0.063,3045,432,1614
$GC,15152,1.24,298.4,102.2,8.6,933,15158,0.17,2.45,0.00,0.000,6,0.086,0.048,3010,1821,1614
$GC,15483,1.30,310.8,81.4,7.6,949,15499,0.00,0.00,11.75,0.804,6,0.000,0.000,3010,1838,1562
$GC,15812,1.48,386.4,59.6,5.3,965,15880,0.22,2.62,61.62,0.837,4,0.048,0.059,3073,3258,1254
$GC,15898,1.48,386.4,47.0,11.1,969,15903,0.00,2.60,0.00,0.000,6,0.000,0.051,3073,1827,1254
$GC,16227,1.44,386.4,4.9,17.2,985,16228,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1828,1256
$STATE,16243,end climb,SURFACE_DEPTH_REACHED
$STATE,16243,begin surface coast
$FINISH,0.9,1.013464
$STATE,16266,end surface coast,CONTROL_FINISHED_OK
$STATE,16266,begin surface
$SM_CCo,16349,0.00,0.000,0,0,1256,386.35
$SM_GC,1.59,11.55,0.00,0.00,0.038,0.000,0.000,423,2148,1256,-10.60,0.51,386.35
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1813
$TCM_TEMP,16.20
$XPDR_PINGS,61
$ALTIM_BOTTOM_PING,720.8,41.2
$24V_AH,23.7,46.374
$10V_AH,10.1,20.533
$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,26.000,123.225,483.450,0.000,0.000,37.763,42.543,171.799,21.750,0.000,0.000,36.566,1696.814,11954.867,594.872,1934.136,570.686,33.366,1548.865,0.000,1869.584,0.000,44.499,0.000
$DEVICE_MAMPS,161.070,78.234,1333.046,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,675.814,725.136,531.004,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50640,987
$CAP_FILE_SIZE,126132,0
$CFSIZE,254472192,237031424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,111009,074224,6355.639,-1315.516,24,1.2,42,-12.5