version: 66.04
glider: 5
mission: 7
dive: 288
start: 10 12 109 15 22 57
data:
$ID,5
$MISSION,7
$DIVE,288
$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,-105879.24
$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,30
$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
$GPS1,151136,6344.824,-1318.237,39,1.5,44,-12.5
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-63.2
$GPS2,152208,6344.817,-1318.051,14,1.5,14,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,JE
$TGT_LATLONG,6345.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.243,-0.034
$KALMAN_X,25037.2,394.3,215.6,-270614.8,-1970.7
$KALMAN_Y,14557.8,-57.4,74.7,222877.3,914.2
$MHEAD_RNG_PITCHd_Wd,110.6,18884,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.53,0.000,2,0.000,0.000,422,2146,2439
$GC,63,-1.22,-146.6,2.2,-2.2,2,127,11.25,2.58,-41.97,0.000,4,0.163,0.077,2469,3533,3430
$GC,199,-1.10,-146.6,13.9,-13.4,8,205,0.17,2.53,0.00,0.000,6,0.100,0.047,2505,2114,3430
$GC,527,-1.06,-146.6,51.3,-11.9,24,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2102,3430
$GC,836,-1.02,-146.6,85.0,-10.8,39,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2102,3430
$GC,1147,-0.98,-146.6,120.6,-11.4,54,1149,0.12,0.00,0.00,0.000,6,0.096,0.000,2531,2102,3430
$GC,1455,-0.98,-146.6,150.7,-9.1,69,1459,0.00,2.47,0.00,0.000,4,0.000,0.059,2530,716,3430
$GC,1501,-1.05,-146.6,155.0,-9.1,72,1506,0.00,2.53,0.00,0.000,6,0.000,0.049,2531,2142,3430
$GC,1825,-1.05,-146.6,185.4,-9.6,93,1829,0.00,2.53,0.00,0.000,4,0.000,0.066,2531,3537,3430
$GC,1859,-1.05,-146.6,188.7,-9.7,95,1863,0.00,2.50,0.00,0.000,6,0.000,0.051,2531,2139,3430
$GC,2184,-1.05,-146.6,219.2,-9.5,116,2188,0.00,2.53,0.00,0.000,4,0.000,0.061,2531,715,3430
$GC,2218,-1.10,-146.6,222.6,-9.7,118,2223,0.12,2.53,0.00,0.000,6,0.057,0.049,2496,2141,3430
$GC,2540,-1.05,-146.6,258.9,-11.5,138,2544,0.00,2.53,0.00,0.000,4,0.000,0.067,2496,3537,3430
$GC,2563,-1.00,-146.6,262.0,-12.0,139,2568,0.15,2.50,0.00,0.000,6,0.091,0.053,2527,2141,3430
$GC,2882,-1.00,-146.6,293.3,-9.3,159,2886,0.00,2.53,0.00,0.000,4,0.000,0.061,2527,717,3430
$GC,2918,-1.06,-146.6,296.8,-10.4,161,2922,0.00,2.53,0.00,0.000,6,0.000,0.050,2527,2146,3430
$GC,3242,-1.06,-146.6,329.0,-9.9,182,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2146,3430
$GC,3554,-1.06,-146.6,360.5,-10.1,202,3558,0.00,2.60,0.00,0.000,4,0.000,0.064,2527,712,3430
$GC,3611,-1.11,-146.6,366.1,-10.4,205,3617,0.12,2.53,0.00,0.000,6,0.057,0.051,2492,2137,3430
$GC,3933,-1.06,-146.6,402.8,-11.5,226,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2136,3430
$GC,4244,-1.02,-146.6,438.6,-11.8,246,4249,0.15,2.58,0.00,0.000,4,0.091,0.062,2524,713,3430
$GC,4307,-1.08,-146.6,445.4,-10.2,250,4311,0.00,2.50,0.00,0.000,6,0.000,0.050,2524,2121,3430
$GC,4634,-1.08,-146.6,480.2,-11.2,271,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2121,3429
$GC,4944,-1.08,-146.6,513.9,-10.5,291,4948,0.00,2.53,0.00,0.000,4,0.000,0.062,2523,720,3429
$GC,4978,-1.12,-146.6,517.6,-10.7,293,4983,0.12,2.47,0.00,0.000,6,0.060,0.051,2489,2118,3429
$GC,5306,-1.07,-146.6,555.6,-11.3,314,5311,0.10,2.58,0.00,0.000,4,0.103,0.070,2509,3537,3429
$GC,5335,-1.07,-146.6,559.2,-10.5,316,5339,0.00,2.58,0.00,0.000,6,0.000,0.058,2510,2111,3429
$GC,5659,-1.07,-146.6,589.1,-8.7,337,5663,0.00,2.47,0.00,0.000,4,0.000,0.064,2510,717,3429
$GC,5705,-1.10,-146.6,593.3,-9.3,339,5711,0.00,2.47,0.00,0.000,6,0.000,0.051,2509,2117,3429
$GC,6024,-1.10,-146.6,622.3,-9.9,360,6025,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2117,3429
$GC,6336,-1.10,-146.6,653.8,-9.9,380,6338,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2118,3428
$GC,6649,-1.10,-146.6,681.5,-7.7,400,6653,0.00,2.53,0.00,0.000,4,0.000,0.064,2509,724,3428
$GC,6688,-1.14,-146.6,684.6,-7.8,402,6694,0.00,2.45,0.00,0.000,6,0.000,0.052,2510,2104,3428
$GC,7009,-1.14,-146.6,713.0,-10.8,423,7014,0.00,2.53,0.00,0.000,4,0.000,0.069,2509,724,3429
$GC,7072,-1.14,-146.6,720.0,-11.2,427,7080,0.00,2.47,0.00,0.000,6,0.000,0.054,2510,2109,3428
$GC,7405,-1.14,-146.6,750.1,-9.2,448,7410,0.00,2.55,0.00,0.000,4,0.000,0.071,2509,717,3428
$GC,7445,-1.17,-146.6,753.9,-9.2,450,7451,0.00,2.47,0.00,0.000,6,0.000,0.056,2510,2104,3428
$GC,7764,-1.17,-146.6,782.9,-9.1,471,7765,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2105,3427
$GC,8077,-1.17,-146.6,811.2,-8.4,491,8082,0.00,2.62,0.00,0.000,4,0.000,0.076,2510,3533,3427
$GC,8111,-1.17,-146.6,814.6,-9.7,493,8115,0.00,2.60,0.00,0.000,6,0.000,0.063,2509,2104,3426
$STATE,8130,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8130,begin apogee
$GC,8138,-0.33,0.0,816.7,10.2,494,8275,0.75,0.00,133.52,1.369,6,0.078,0.000,2671,1849,2831
$STATE,8275,end apogee,CONTROL_FINISHED_OK
$STATE,8275,begin climb
$GC,8279,1.22,146.6,821.8,0.0,503,8423,1.52,2.72,133.85,1.324,4,0.052,0.067,3011,3257,2233
$GC,8455,1.21,189.7,814.8,6.4,514,8503,0.00,2.62,40.42,1.272,6,0.000,0.066,3011,1853,2057
$GC,8819,1.16,189.7,784.5,9.2,537,8823,0.00,2.62,0.00,0.000,4,0.000,0.068,3011,3258,2057
$GC,8848,1.13,189.7,781.4,9.6,539,8852,0.00,2.60,0.00,0.000,6,0.000,0.064,3011,1851,2057
$GC,9173,1.07,189.7,753.3,8.5,560,9174,0.17,0.00,0.00,0.000,6,0.096,0.000,2978,1851,2056
$GC,9484,1.07,189.7,727.7,8.6,580,9485,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1851,2056
$GC,9797,1.07,189.7,698.3,8.6,600,9801,0.00,2.60,0.00,0.000,4,0.000,0.067,2978,3254,2055
$GC,9830,1.11,189.7,695.2,9.1,602,9834,0.00,2.58,0.00,0.000,6,0.000,0.061,2978,1848,2055
$GC,10149,1.14,204.8,668.4,7.5,622,10166,0.00,0.00,14.45,1.188,6,0.000,0.000,2978,1848,1996
$GC,10477,1.26,257.3,647.7,6.1,643,10533,0.20,2.70,47.53,1.259,4,0.054,0.064,3030,3253,1781
$GC,10540,1.20,257.3,642.8,8.2,647,10545,0.12,2.62,0.00,0.000,6,0.099,0.061,3007,1841,1781
$GC,10868,1.23,271.6,619.2,7.5,668,10888,0.00,2.67,14.20,1.152,4,0.000,0.064,3007,3250,1723
$GC,10928,1.26,271.6,613.6,8.3,671,10934,0.00,2.58,0.00,0.000,6,0.000,0.058,3008,1849,1723
$GC,11249,1.26,271.6,584.1,10.6,692,11254,0.00,2.58,0.00,0.000,4,0.000,0.063,3008,3256,1723
$GC,11271,1.26,271.6,581.4,11.1,693,11277,0.00,2.55,0.00,0.000,6,0.000,0.058,3008,1855,1723
$GC,11590,1.26,271.6,552.4,8.4,714,11595,0.00,2.58,0.00,0.000,4,0.000,0.062,3008,3257,1723
$GC,11620,1.26,271.6,549.8,8.7,716,11624,0.00,2.53,0.00,0.000,6,0.000,0.056,3008,1863,1723
$GC,11945,1.26,271.6,519.9,9.8,737,11949,0.00,2.55,0.00,0.000,4,0.000,0.061,3008,3255,1723
$GC,11973,1.26,271.6,516.9,10.9,739,11977,0.00,2.50,0.00,0.000,6,0.000,0.055,3008,1871,1723
$GC,12297,1.26,271.6,483.0,10.2,760,12299,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1871,1723
$GC,12609,1.26,271.6,452.7,9.1,780,12613,0.00,2.53,0.00,0.000,4,0.000,0.061,3008,3263,1724
$GC,12659,1.30,271.6,447.9,9.5,783,12663,0.00,2.47,0.00,0.000,6,0.000,0.054,3008,1890,1723
$GC,12979,1.30,271.6,416.9,9.6,803,12980,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1890,1724
$GC,13290,1.30,271.6,387.8,9.1,823,13295,0.00,2.50,0.00,0.000,4,0.000,0.061,3008,3263,1724
$GC,13313,1.33,271.6,385.5,9.6,824,13320,0.12,2.45,0.00,0.000,6,0.058,0.054,3041,1899,1724
$GC,13635,1.28,271.6,351.2,10.7,845,13636,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1899,1725
$GC,13945,1.23,271.6,316.8,11.0,865,13949,0.15,2.47,0.00,0.000,4,0.090,0.060,3011,3258,1725
$GC,13974,1.23,271.6,313.8,10.5,867,13978,0.00,2.42,0.00,0.000,6,0.000,0.051,3011,1900,1725
$GC,14298,1.23,271.6,282.4,9.7,888,14299,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1899,1725
$GC,14610,1.23,271.6,250.8,10.1,908,14615,0.00,2.47,0.00,0.000,4,0.000,0.059,3012,3264,1725
$GC,14645,1.27,271.6,247.0,10.6,910,14649,0.00,2.42,0.00,0.000,6,0.000,0.050,3012,1902,1726
$GC,14964,1.27,271.6,214.8,9.8,930,14965,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1902,1726
$GC,15277,1.27,271.6,183.4,10.5,950,15281,0.00,2.45,0.00,0.000,4,0.000,0.058,3011,3256,1726
$GC,15299,1.31,271.6,181.1,9.7,951,15305,0.00,2.38,0.00,0.000,6,0.000,0.048,3012,1914,1726
$GC,15618,1.31,271.6,151.9,9.1,972,15622,0.00,2.65,0.00,0.000,4,0.000,0.064,3012,433,1726
$GC,15662,1.31,271.6,147.5,10.1,975,15667,0.00,2.62,0.00,0.000,6,0.000,0.048,3011,1923,1726
$GC,15984,1.31,271.6,119.3,8.7,991,15989,0.00,2.70,0.00,0.000,4,0.000,0.063,3011,440,1727
$GC,16017,1.31,271.6,116.0,9.6,992,16024,0.00,2.58,0.00,0.000,6,0.000,0.048,3012,1902,1726
$GC,16336,1.31,271.6,88.2,8.7,1008,16340,0.00,2.65,0.00,0.000,4,0.000,0.061,3011,442,1727
$GC,16353,1.31,271.6,86.3,8.8,1009,16358,0.00,2.55,0.00,0.000,6,0.000,0.048,3011,1885,1726
$GC,16680,1.31,271.6,55.8,10.0,1025,16684,0.00,2.62,0.00,0.000,4,0.000,0.062,3011,439,1727
$GC,16707,1.31,271.6,53.2,9.9,1026,16712,0.00,2.53,0.00,0.000,6,0.000,0.047,3012,1873,1727
$GC,17026,1.35,271.6,26.1,8.2,1041,17028,0.12,0.00,0.00,0.000,6,0.056,0.000,3046,1891,1727
$STATE,17227,end climb,SURFACE_DEPTH_REACHED
$STATE,17227,begin surface coast
$FINISH,0.8,1.021723
$STATE,17250,end surface coast,CONTROL_FINISHED_OK
$STATE,17250,begin surface
$SM_CCo,17274,14.98,0.748,0,0,1608,300.00
$SM_GC,1.28,0.00,0.00,14.98,0.000,0.000,0.748,426,2145,1608,-10.67,0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1812
$TCM_TEMP,17.30
$XPDR_PINGS,63
$ALTIM_BOTTOM_PING,770.3,54.9
$24V_AH,23.7,47.643
$10V_AH,10.1,21.197
$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,26.925,163.725,383.975,14.975,0.000,75.545,62.340,263.617,23.000,0.000,0.000,14.305,1833.155,12733.655,533.107,2023.112,790.351,33.365,1561.690,0.000,1975.119,0.000,51.572,0.000
$DEVICE_MAMPS,163.371,76.700,1369.095,747.825,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,720.712,770.461,563.860,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53577,1052
$CAP_FILE_SIZE,144234,0
$CFSIZE,254472192,236498944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,121009,201224,6344.125,-1311.037,36,1.7,36,-12.4