version: 66.04
glider: 5
mission: 7
dive: 286
start: 10 12 109 4 12 21
data:
$ID,5
$MISSION,7
$DIVE,286
$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,-105848.29
$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,24
$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
$GPS1,035742,6348.710,-1326.296,35,1.6,35,-12.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-59.6
$GPS2,041132,6348.693,-1326.437,12,1.1,12,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,JE
$TGT_LATLONG,6345.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.210,-0.127
$KALMAN_X,28358.8,-913.1,-167.4,-279598.9,1168.6
$KALMAN_Y,14166.5,-554.2,375.2,230628.0,1560.1
$MHEAD_RNG_PITCHd_Wd,133.7,26644,-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,-61.00,0.000,2,0.000,0.000,419,2155,2571
$GC,82,-1.22,-146.6,2.6,-2.6,3,139,11.23,2.62,-38.40,0.000,4,0.163,0.069,2469,720,3430
$GC,251,-1.12,-146.6,17.0,-15.3,10,258,0.15,2.50,0.00,0.000,6,0.103,0.048,2499,2130,3430
$GC,568,-1.07,-146.6,56.0,-13.3,26,572,0.00,2.58,0.00,0.000,4,0.000,0.062,2499,719,3430
$GC,595,-1.07,-146.6,60.0,-13.7,27,599,0.00,2.53,0.00,0.000,6,0.000,0.051,2499,2134,3430
$GC,914,-1.02,-146.6,94.2,-11.3,42,919,0.10,2.58,0.00,0.000,4,0.099,0.058,2520,710,3430
$GC,992,-1.06,-146.6,103.1,-11.0,45,999,0.00,2.45,0.00,0.000,6,0.000,0.048,2520,2090,3430
$GC,1309,-1.06,-146.6,136.0,-10.8,61,1313,0.00,2.50,0.00,0.000,4,0.000,0.058,2520,706,3430
$GC,1377,-1.10,-146.6,143.4,-11.1,64,1381,0.00,2.45,0.00,0.000,6,0.000,0.049,2520,2086,3430
$GC,1700,-1.10,-146.6,176.3,-10.4,84,1705,0.00,2.62,0.00,0.000,4,0.000,0.065,2520,3538,3430
$GC,1747,-1.10,-146.6,181.0,-10.7,87,1751,0.00,2.62,0.00,0.000,6,0.000,0.051,2520,2064,3430
$GC,2071,-1.10,-146.6,213.4,-10.0,108,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2057,3430
$GC,2383,-1.10,-146.6,244.4,-10.0,128,2387,0.00,2.70,0.00,0.000,4,0.000,0.066,2520,3533,3430
$GC,2416,-1.10,-146.6,247.8,-10.0,130,2421,0.00,2.60,0.00,0.000,6,0.000,0.053,2520,2074,3430
$GC,2735,-1.10,-146.6,279.6,-10.1,150,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2061,3430
$GC,3048,-1.10,-146.6,310.3,-9.7,170,3052,0.00,2.70,0.00,0.000,4,0.000,0.067,2520,3540,3430
$GC,3081,-1.10,-146.6,313.6,-9.9,172,3085,0.00,2.60,0.00,0.000,6,0.000,0.053,2520,2086,3430
$GC,3400,-1.10,-146.6,343.9,-9.3,192,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2086,3430
$GC,3713,-1.10,-146.6,374.4,-10.2,212,3717,0.00,2.67,0.00,0.000,4,0.000,0.068,2520,3538,3430
$GC,3762,-1.10,-146.6,379.7,-10.5,215,3767,0.00,2.58,0.00,0.000,6,0.000,0.054,2520,2101,3430
$GC,4081,-1.10,-146.6,409.9,-9.3,235,4085,0.00,2.45,0.00,0.000,4,0.000,0.062,2520,721,3430
$GC,4105,-1.13,-146.6,412.2,-9.6,236,4111,0.00,2.47,0.00,0.000,6,0.000,0.050,2520,2119,3430
$GC,4423,-1.13,-146.6,439.4,-8.0,257,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2120,3429
$GC,4736,-1.13,-146.6,465.3,-8.5,277,4741,0.00,2.53,0.00,0.000,4,0.000,0.062,2520,722,3429
$GC,4787,-1.18,-146.6,470.0,-9.2,280,4793,0.15,2.45,0.00,0.000,6,0.056,0.050,2481,2105,3429
$GC,5116,-1.12,-146.6,505.5,-10.8,301,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2104,3429
$GC,5426,-1.05,-146.6,538.1,-10.0,321,5431,0.17,2.53,0.00,0.000,4,0.091,0.064,2521,714,3429
$GC,5499,-1.10,-146.6,544.4,-7.7,325,5509,0.00,2.45,0.00,0.000,6,0.000,0.051,2521,2094,3429
$GC,5821,-1.10,-146.6,566.5,-6.9,346,5825,0.00,2.47,0.00,0.000,4,0.000,0.062,2521,723,3429
$GC,5860,-1.14,-146.6,569.6,-8.1,348,5867,0.12,2.40,0.00,0.000,6,0.059,0.051,2487,2076,3429
$GC,6182,-1.10,-146.6,603.3,-11.5,369,6186,0.00,2.47,0.00,0.000,4,0.000,0.065,2487,719,3429
$GC,6228,-1.10,-146.6,609.3,-12.9,372,6232,0.00,2.40,0.00,0.000,6,0.000,0.052,2487,2062,3429
$GC,6560,-1.06,-146.6,650.8,-13.0,393,6565,0.12,2.67,0.00,0.000,4,0.095,0.068,2513,3537,3429
$GC,6583,-1.06,-146.6,654.1,-12.7,394,6589,0.00,2.67,0.00,0.000,6,0.000,0.058,2513,2054,3428
$GC,6902,-1.06,-146.6,690.0,-11.4,415,6906,0.00,2.38,0.00,0.000,4,0.000,0.065,2513,722,3428
$GC,6930,-1.06,-146.6,693.3,-11.6,417,6934,0.00,2.38,0.00,0.000,6,0.000,0.051,2513,2054,3428
$GC,7255,-1.06,-146.6,730.2,-11.7,438,7259,0.00,2.70,0.00,0.000,4,0.000,0.071,2513,3538,3428
$GC,7293,-1.06,-146.6,734.8,-11.9,440,7300,0.00,2.67,0.00,0.000,6,0.000,0.058,2513,2057,3428
$GC,7615,-1.06,-146.6,772.5,-12.6,461,7619,0.00,2.75,0.00,0.000,4,0.000,0.071,2513,3541,3428
$GC,7704,-1.06,-146.6,784.5,-12.8,466,7710,0.00,2.62,0.00,0.000,6,0.000,0.057,2513,2082,3428
$GC,8023,-1.06,-146.6,822.0,-11.5,487,8027,0.00,2.45,0.00,0.000,4,0.000,0.068,2513,718,3428
$GC,8085,-1.10,-146.6,828.9,-10.4,490,8092,0.00,2.42,0.00,0.000,6,0.000,0.053,2513,2079,3427
$GC,8405,-1.10,-146.6,859.7,-9.4,511,8409,0.00,2.67,0.00,0.000,4,0.000,0.074,2513,3538,3427
$GC,8452,-1.10,-146.6,864.0,-10.0,514,8456,0.00,2.67,0.00,0.000,6,0.000,0.061,2513,2067,3427
$GC,8777,-1.13,-146.6,894.3,-9.5,535,8781,0.00,2.42,0.00,0.000,4,0.000,0.071,2513,724,3427
$GC,8874,-1.19,-146.6,903.6,-9.7,541,8879,0.12,2.40,0.00,0.000,6,0.061,0.054,2480,2063,3427
$STATE,9200,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9200,begin apogee
$GC,9208,-0.33,0.0,937.4,10.2,562,9349,0.85,0.00,134.65,1.450,6,0.081,0.000,2665,1838,2831
$STATE,9350,end apogee,CONTROL_FINISHED_OK
$STATE,9350,begin climb
$GC,9353,1.22,146.6,943.4,0.0,572,9500,1.55,2.65,135.35,1.413,4,0.061,0.073,3005,456,2233
$GC,9530,1.11,151.8,935.1,7.8,583,9546,0.00,2.55,6.55,1.068,6,0.000,0.054,3005,1858,2213
$GC,9862,1.05,151.8,907.5,8.8,604,9864,0.17,0.00,0.00,0.000,6,0.094,0.000,2973,1860,2211
$GC,10171,1.11,185.4,884.7,6.8,624,10205,0.00,0.00,31.55,1.351,6,0.000,0.000,2973,1870,2075
$GC,10515,1.15,191.5,858.3,7.8,646,10531,0.00,2.67,7.12,1.120,4,0.000,0.074,2973,452,2050
$GC,10549,1.15,191.5,855.4,8.6,648,10554,0.00,2.55,0.00,0.000,6,0.000,0.057,2973,1847,2050
$GC,10877,1.27,244.5,834.0,6.1,669,10935,0.22,2.67,48.60,1.369,4,0.053,0.067,3026,3258,1834
$GC,10948,1.21,244.5,827.8,9.4,673,10954,0.00,2.62,0.00,0.000,6,0.000,0.062,3026,1850,1834
$GC,11267,1.15,244.5,796.9,10.1,694,11269,0.17,0.00,0.00,0.000,6,0.096,0.000,2994,1850,1834
$GC,11580,1.15,244.5,768.5,9.0,714,11581,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1850,1834
$GC,11891,1.15,244.5,740.4,8.7,734,11896,0.00,2.60,0.00,0.000,4,0.000,0.064,2993,3261,1834
$GC,11925,1.19,244.5,737.1,9.0,736,11930,0.00,2.60,0.00,0.000,6,0.000,0.059,2994,1837,1834
$GC,12245,1.19,244.5,708.6,9.2,756,12250,0.00,2.62,0.00,0.000,4,0.000,0.063,2994,3264,1834
$GC,12279,1.24,244.5,705.1,9.6,758,12284,0.00,2.58,0.00,0.000,6,0.000,0.058,2993,1849,1834
$GC,12599,1.24,244.5,676.4,8.6,778,12603,0.00,2.60,0.00,0.000,4,0.000,0.062,2993,3265,1833
$GC,12650,1.29,244.5,671.9,8.5,781,12655,0.15,2.53,0.00,0.000,6,0.056,0.057,3031,1871,1833
$GC,12972,1.23,244.5,638.6,10.8,801,12974,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1871,1833
$GC,13283,1.18,244.5,605.5,10.9,821,13288,0.15,2.55,0.00,0.000,4,0.093,0.061,3002,3264,1834
$GC,13305,1.18,244.5,603.0,10.0,822,13311,0.00,2.50,0.00,0.000,6,0.000,0.055,3002,1878,1834
$GC,13625,1.18,244.5,572.8,9.9,843,13629,0.00,2.60,0.00,0.000,4,0.000,0.067,3002,433,1833
$GC,13658,1.18,244.5,569.0,11.1,845,13662,0.00,2.58,0.00,0.000,6,0.000,0.051,3002,1880,1834
$GC,13977,1.18,244.5,534.7,10.9,865,13978,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1895,1834
$GC,14290,1.18,244.5,501.1,10.2,885,14294,0.00,2.65,0.00,0.000,4,0.000,0.065,3002,433,1834
$GC,14307,1.18,244.5,499.2,10.3,886,14311,0.00,2.55,0.00,0.000,6,0.000,0.050,3002,1869,1834
$GC,14626,1.18,244.5,467.5,9.6,906,14631,0.00,2.62,0.00,0.000,4,0.000,0.066,3002,436,1835
$GC,14643,1.18,244.5,465.7,9.4,907,14647,0.00,2.53,0.00,0.000,6,0.000,0.050,3002,1862,1835
$GC,14963,1.18,244.5,435.7,9.2,927,14964,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1877,1835
$GC,15274,1.18,244.5,406.5,9.2,947,15275,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1877,1835
$GC,15587,1.18,244.5,378.1,8.8,967,15591,0.00,2.60,0.00,0.000,4,0.000,0.066,3002,441,1835
$GC,15620,1.18,244.5,374.9,9.9,969,15624,0.00,2.53,0.00,0.000,6,0.000,0.050,3002,1866,1835
$GC,15939,1.18,244.5,346.6,9.1,989,15943,0.00,2.60,0.00,0.000,4,0.000,0.065,3002,440,1835
$GC,15961,1.18,244.5,344.4,9.3,990,15968,0.00,2.50,0.00,0.000,6,0.000,0.050,3002,1852,1835
$GC,16280,1.18,244.5,315.4,9.3,1011,16282,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1866,1836
$GC,16594,1.21,244.5,286.7,9.3,1031,16595,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1866,1836
$GC,16905,1.24,264.5,261.2,7.3,1051,16926,0.00,0.00,18.73,0.942,6,0.000,0.000,3002,1868,1752
$GC,17233,1.28,267.2,236.2,7.9,1072,17239,0.00,0.00,4.05,0.647,6,0.000,0.000,3002,1868,1741
$GC,17546,1.33,267.2,211.4,8.5,1092,17548,0.15,0.00,0.00,0.000,6,0.054,0.000,3041,1869,1741
$GC,17857,1.28,267.2,174.8,12.2,1112,17861,0.00,2.50,0.00,0.000,4,0.000,0.058,3041,3258,1741
$GC,17880,1.25,267.2,171.7,13.1,1113,17887,0.12,2.53,0.00,0.000,6,0.091,0.051,3016,1845,1741
$GC,18214,1.25,267.2,134.8,10.9,1133,18219,0.00,2.55,0.00,0.000,4,0.000,0.058,3016,3255,1741
$GC,18300,1.29,267.2,125.6,10.1,1137,18305,0.00,2.45,0.00,0.000,6,0.000,0.050,3017,1877,1741
$GC,18628,1.29,267.2,92.9,8.6,1153,18630,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1878,1742
$GC,18937,1.29,267.2,60.1,11.1,1168,18941,0.00,2.50,0.00,0.000,4,0.000,0.058,3017,3259,1741
$GC,18971,1.38,288.5,56.9,7.2,1169,19000,0.12,2.40,18.65,0.814,6,0.057,0.048,3051,1899,1654
$GC,19313,1.32,288.5,21.6,10.7,1186,19317,0.00,2.47,0.00,0.000,4,0.000,0.058,3051,3265,1654
$GC,19333,1.26,288.5,18.8,12.8,1187,19338,0.17,2.40,0.00,0.000,6,0.085,0.050,3016,1917,1654
$STATE,19492,end climb,SURFACE_DEPTH_REACHED
$STATE,19492,begin surface coast
$FINISH,0.9,1.014505
$STATE,19514,end surface coast,CONTROL_FINISHED_OK
$STATE,19514,begin surface
$SM_CCo,19538,9.38,0.729,0,0,1608,300.00
$SM_GC,2.15,0.00,0.00,9.38,0.000,0.000,0.729,421,2146,1608,-10.69,0.45,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1814
$TCM_TEMP,17.30
$XPDR_PINGS,72
$ALTIM_BOTTOM_PING,921.2,25.0
$24V_AH,23.7,47.289
$10V_AH,10.1,21.005
$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,27.250,184.450,405.250,9.375,0.000,113.289,225.732,224.016,26.500,0.000,0.000,12.384,2078.374,14413.295,596.091,2315.615,965.574,33.364,1764.365,0.000,2262.915,0.000,57.431,0.000
$DEVICE_MAMPS,162.604,74.399,1449.630,729.417,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,818.723,875.527,599.618,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59888,1196
$CAP_FILE_SIZE,162456,0
$CFSIZE,254472192,236634112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,121009,093930,6346.923,-1321.853,40,2.0,40,-12.5