version: 66.04
glider: 5
mission: 7
dive: 284
start: 10 11 109 17 36 46
data:
$ID,5
$MISSION,7
$DIVE,284
$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,-105820.72
$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,36
$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
$GPS1,172931,6353.773,-1321.792,38,1.8,38,-12.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-59.4
$GPS2,173556,6353.782,-1321.940,15,1.7,15,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.134,-0.205
$KALMAN_X,33105.1,-1299.0,-516.2,-279660.1,8267.2
$KALMAN_Y,13170.1,-13.3,-145.6,241005.6,4153.1
$MHEAD_RNG_PITCHd_Wd,225.7,7497,-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,-61.22,0.000,2,0.000,0.000,417,2149,2657
$GC,83,-1.22,-146.6,3.0,-3.7,3,126,11.02,2.50,-25.65,0.000,4,0.153,0.075,2472,3525,3429
$GC,379,-1.12,-146.6,43.8,-15.4,16,384,0.15,2.53,0.00,0.000,6,0.103,0.049,2503,2113,3429
$GC,703,-1.09,-146.6,83.9,-11.4,32,707,0.00,2.47,0.00,0.000,4,0.000,0.060,2503,720,3429
$GC,803,-1.09,-146.6,95.8,-11.5,36,810,0.00,2.42,0.00,0.000,6,0.000,0.049,2503,2084,3429
$GC,1120,-1.09,-146.6,131.4,-11.1,52,1124,0.00,2.47,0.00,0.000,4,0.000,0.059,2503,717,3429
$GC,1187,-1.09,-146.6,138.6,-9.8,55,1192,0.00,2.42,0.00,0.000,6,0.000,0.048,2503,2083,3429
$GC,1505,-1.09,-146.6,174.5,-11.6,74,1510,0.00,2.62,0.00,0.000,4,0.000,0.064,2503,3540,3429
$GC,1540,-1.06,-146.6,178.7,-12.2,76,1544,0.00,2.60,0.00,0.000,6,0.000,0.051,2503,2081,3429
$GC,1859,-1.06,-146.6,215.9,-11.5,96,1863,0.00,2.67,0.00,0.000,4,0.000,0.065,2503,3535,3429
$GC,1888,-1.02,-146.6,219.2,-11.4,98,1892,0.00,2.58,0.00,0.000,6,0.000,0.051,2503,2095,3429
$GC,2215,-1.02,-146.6,256.4,-11.6,119,2219,0.00,2.45,0.00,0.000,4,0.000,0.061,2503,716,3429
$GC,2245,-1.02,-146.6,260.1,-12.4,121,2249,0.00,2.45,0.00,0.000,6,0.000,0.050,2503,2098,3429
$GC,2569,-1.02,-146.6,297.2,-11.3,142,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2098,3429
$GC,2881,-1.02,-146.6,331.9,-10.9,162,2885,0.00,2.50,0.00,0.000,4,0.000,0.061,2502,717,3429
$GC,2920,-1.02,-146.6,336.4,-10.7,164,2924,0.00,2.42,0.00,0.000,6,0.000,0.051,2503,2082,3429
$GC,3246,-1.02,-146.6,370.4,-10.5,185,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2082,3429
$GC,3556,-1.02,-146.6,403.6,-10.9,205,3561,0.00,2.47,0.00,0.000,4,0.000,0.064,2503,721,3429
$GC,3585,-1.02,-146.6,406.8,-11.3,207,3590,0.00,2.40,0.00,0.000,6,0.000,0.052,2503,2069,3429
$GC,3911,-1.02,-146.6,443.3,-10.8,228,3915,0.00,2.45,0.00,0.000,4,0.000,0.063,2503,721,3429
$GC,3939,-1.02,-146.6,446.5,-11.0,230,3944,0.00,2.38,0.00,0.000,6,0.000,0.051,2503,2051,3429
$GC,4264,-1.02,-146.6,482.8,-11.2,251,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2052,3428
$GC,4577,-1.02,-146.6,517.6,-11.0,271,4582,0.00,2.70,0.00,0.000,4,0.000,0.071,2503,3536,3428
$GC,4644,-1.02,-146.6,525.5,-11.8,275,4648,0.00,2.65,0.00,0.000,6,0.000,0.058,2503,2064,3428
$GC,4964,-1.02,-146.6,560.2,-10.5,295,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2057,3428
$GC,5275,-1.02,-146.6,590.3,-9.4,315,5280,0.00,2.72,0.00,0.000,4,0.000,0.070,2503,3538,3428
$GC,5365,-1.02,-146.6,599.1,-9.6,320,5371,0.00,2.65,0.00,0.000,6,0.000,0.057,2503,2063,3427
$GC,5686,-1.02,-146.6,626.5,-8.0,341,5690,0.00,2.72,0.00,0.000,4,0.000,0.069,2503,3537,3427
$GC,5707,-1.02,-146.6,628.6,-8.9,342,5713,0.00,2.62,0.00,0.000,6,0.000,0.058,2503,2081,3427
$GC,6027,-1.02,-146.6,656.9,-9.4,363,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2066,3427
$GC,6338,-1.02,-146.6,687.9,-12.2,383,6343,0.00,2.70,0.00,0.000,4,0.000,0.071,2503,3537,3427
$GC,6405,-1.02,-146.6,695.7,-13.6,387,6409,0.00,2.62,0.00,0.000,6,0.000,0.061,2503,2089,3427
$GC,6725,-1.02,-146.6,731.4,-11.8,407,6729,0.00,2.67,0.00,0.000,4,0.000,0.071,2503,3531,3427
$GC,6847,-1.02,-146.6,743.7,-8.8,414,6853,0.00,2.60,0.00,0.000,6,0.000,0.058,2503,2091,3427
$GC,7167,-1.02,-146.6,772.1,-10.2,435,7171,0.00,2.70,0.00,0.000,4,0.000,0.074,2503,3538,3426
$GC,7200,-1.02,-146.6,775.9,-10.9,437,7204,0.00,2.58,0.00,0.000,6,0.000,0.061,2503,2121,3427
$GC,7519,-1.02,-146.6,804.6,-9.1,457,7523,0.00,2.55,0.00,0.000,4,0.000,0.075,2503,719,3426
$GC,7603,-1.02,-146.6,812.0,-7.9,462,7608,0.00,2.50,0.00,0.000,6,0.000,0.058,2503,2110,3426
$STATE,7748,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7748,begin apogee
$GC,7756,-0.33,0.0,826.6,9.7,471,7892,0.77,0.00,133.45,1.385,6,0.077,0.000,2670,1840,2832
$STATE,7893,end apogee,CONTROL_FINISHED_OK
$STATE,7893,begin climb
$GC,7897,1.22,146.6,831.1,0.0,480,8040,1.52,2.70,134.65,1.342,4,0.058,0.078,3007,452,2232
$GC,8128,1.11,146.6,819.2,8.4,494,8132,0.00,2.55,0.00,0.000,6,0.000,0.058,3007,1849,2232
$GC,8454,1.14,200.0,797.6,6.1,515,8509,0.00,2.75,48.83,1.309,4,0.000,0.081,3007,457,2015
$GC,8624,1.09,210.7,785.5,7.6,525,8641,0.12,2.50,11.27,1.177,6,0.103,0.058,2984,1827,1971
$GC,8964,1.13,237.1,761.2,7.0,547,8990,0.00,0.00,24.42,1.281,6,0.000,0.000,2984,1841,1864
$GC,9303,1.22,292.8,740.4,6.0,569,9360,0.12,2.67,50.47,1.310,4,0.065,0.071,3015,3256,1637
$GC,9416,1.22,292.8,731.7,9.0,575,9421,0.00,2.62,0.00,0.000,6,0.000,0.064,3015,1845,1637
$GC,9735,1.23,300.3,706.2,7.7,595,9752,0.00,2.67,8.88,1.124,4,0.000,0.067,3015,3249,1606
$GC,9809,1.27,300.3,700.2,8.2,599,9814,0.00,2.55,0.00,0.000,6,0.000,0.064,3015,1870,1606
$GC,10128,1.27,300.3,672.1,8.8,619,10133,0.00,2.58,0.00,0.000,4,0.000,0.066,3015,3258,1606
$GC,10180,1.31,300.3,667.5,8.8,622,10184,0.00,2.53,0.00,0.000,6,0.000,0.061,3015,1881,1606
$GC,10499,1.33,317.0,642.2,7.4,642,10520,0.00,2.70,16.20,1.197,4,0.000,0.073,3015,439,1538
$GC,10537,1.33,317.0,639.2,8.3,644,10543,0.00,2.65,0.00,0.000,6,0.000,0.053,3016,1895,1538
$GC,10857,1.33,317.0,613.9,8.8,665,10861,0.00,2.47,0.00,0.000,4,0.000,0.065,3015,3263,1538
$GC,10878,1.33,317.0,611.6,9.7,666,10884,0.00,2.53,0.00,0.000,6,0.000,0.060,3015,1883,1538
$GC,11198,1.33,317.0,582.4,9.0,687,11202,0.00,2.53,0.00,0.000,4,0.000,0.064,3015,3255,1538
$GC,11220,1.33,317.0,580.3,8.9,688,11226,0.00,2.47,0.00,0.000,6,0.000,0.058,3015,1895,1538
$GC,11538,1.33,317.0,553.9,8.1,709,11543,0.00,2.65,0.00,0.000,4,0.000,0.070,3015,434,1538
$GC,11561,1.33,317.0,551.6,9.7,710,11567,0.00,2.62,0.00,0.000,6,0.000,0.051,3015,1901,1538
$GC,11881,1.33,317.0,522.7,9.4,731,11885,0.00,2.70,0.00,0.000,4,0.000,0.068,3015,439,1538
$GC,11913,1.33,317.0,519.2,10.4,733,11918,0.00,2.60,0.00,0.000,6,0.000,0.051,3016,1893,1538
$GC,12233,1.33,317.0,490.1,9.0,753,12237,0.00,2.70,0.00,0.000,4,0.000,0.069,3015,432,1539
$GC,12255,1.33,317.0,487.8,9.7,754,12261,0.00,2.58,0.00,0.000,6,0.000,0.051,3015,1875,1539
$GC,12573,1.33,317.0,460.2,8.4,775,12578,0.00,2.47,0.00,0.000,4,0.000,0.061,3015,3261,1539
$GC,12597,1.37,317.0,458.1,8.9,776,12603,0.12,2.53,0.00,0.000,6,0.060,0.056,3048,1864,1539
$GC,12918,1.31,317.0,425.4,10.4,797,12923,0.00,2.55,0.00,0.000,4,0.000,0.061,3048,3261,1539
$GC,12948,1.28,317.0,421.9,11.3,799,12953,0.12,2.50,0.00,0.000,6,0.095,0.054,3025,1872,1539
$GC,13275,1.28,317.0,392.1,9.3,820,13279,0.00,2.53,0.00,0.000,4,0.000,0.060,3025,3258,1539
$GC,13303,1.28,317.0,389.1,9.4,822,13307,0.00,2.45,0.00,0.000,6,0.000,0.054,3025,1896,1540
$GC,13628,1.28,317.0,358.2,9.6,843,13632,0.00,2.47,0.00,0.000,4,0.000,0.061,3024,3258,1539
$GC,13645,1.28,317.0,356.3,9.9,844,13650,0.00,2.42,0.00,0.000,6,0.000,0.053,3025,1895,1539
$GC,13970,1.28,317.0,324.4,9.8,865,13971,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1895,1540
$GC,14283,1.28,317.0,292.5,10.2,885,14284,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1895,1540
$GC,14594,1.28,317.0,260.6,10.0,905,14599,0.00,2.47,0.00,0.000,4,0.000,0.060,3025,3258,1540
$GC,14628,1.33,317.0,257.1,10.6,907,14632,0.00,2.42,0.00,0.000,6,0.000,0.051,3025,1898,1540
$GC,14948,1.33,317.0,224.5,10.5,927,14949,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1898,1540
$GC,15259,1.33,317.0,192.9,10.0,947,15264,0.00,2.47,0.00,0.000,4,0.000,0.058,3024,3264,1541
$GC,15282,1.33,317.0,190.6,9.4,948,15288,0.00,2.40,0.00,0.000,6,0.000,0.049,3025,1912,1541
$GC,15601,1.33,317.0,156.4,11.7,969,15602,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1911,1541
$GC,15911,1.33,317.0,122.8,10.0,985,15915,0.00,2.45,0.00,0.000,4,0.000,0.058,3024,3264,1541
$GC,15983,1.38,317.0,116.7,8.1,988,15988,0.00,2.40,0.00,0.000,6,0.000,0.048,3024,1912,1541
$GC,16302,1.38,317.0,90.4,9.3,1003,16306,0.00,2.62,0.00,0.000,4,0.000,0.064,3025,442,1541
$GC,16329,1.38,317.0,87.4,10.2,1004,16334,0.00,2.62,0.00,0.000,6,0.000,0.047,3024,1929,1541
$GC,16646,1.39,323.2,61.3,7.8,1019,16656,0.10,0.00,7.55,0.721,6,0.062,0.000,3054,1942,1513
$GC,16957,1.36,323.2,27.2,9.4,1034,16962,0.00,2.72,0.00,0.000,4,0.000,0.063,3054,435,1513
$GC,16991,1.29,323.2,22.8,12.9,1035,16998,0.15,2.60,0.00,0.000,6,0.088,0.047,3024,1911,1513
$STATE,17182,end climb,SURFACE_DEPTH_REACHED
$STATE,17182,begin surface coast
$FINISH,0.9,1.002067
$STATE,17203,end surface coast,CONTROL_FINISHED_OK
$STATE,17203,begin surface
$SM_CCo,17287,0.00,0.000,0,0,1511,323.80
$SM_GC,1.69,11.30,0.00,0.00,0.038,0.000,0.000,421,2165,1511,-10.60,0.99,323.80
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1817
$TCM_TEMP,17.40
$XPDR_PINGS,68
$ALTIM_BOTTOM_PING,820.6,15.8
$24V_AH,23.7,46.907
$10V_AH,10.1,20.803
$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,25.525,185.125,435.725,0.000,0.000,37.762,26.824,179.823,24.750,0.000,0.000,17.447,1840.987,12486.081,571.310,2158.393,606.659,33.369,1670.177,0.000,2103.513,0.000,53.585,0.000
$DEVICE_MAMPS,152.633,80.535,1385.202,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,716.049,765.743,542.962,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53710,1046
$CAP_FILE_SIZE,145244,0
$CFSIZE,254472192,236802048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,111009,222607,6350.898,-1327.244,36,1.1,36,-12.6