version: 66.04
glider: 5
mission: 7
dive: 298
start: 10 14 109 7 31 21
data:
$ID,5
$MISSION,7
$DIVE,298
$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,-106047.84
$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,53
$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
$GPS1,072107,6332.105,-1250.848,38,1.1,38,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-61.7
$GPS2,073032,6332.167,-1250.730,16,1.2,16,-12.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,IE
$TGT_LATLONG,6330.000,-1257.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.230,-0.085
$KALMAN_X,34656.0,-621.8,-51.2,-254893.3,10407.9
$KALMAN_Y,16548.6,-580.7,38.0,198005.1,5517.9
$MHEAD_RNG_PITCHd_Wd,261.9,6554,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-59.08,0.000,2,0.000,0.000,420,2147,2782
$GC,83,-1.22,-146.6,2.8,-3.3,3,126,11.10,2.65,-22.05,0.000,4,0.154,0.071,2469,716,3429
$GC,173,-1.13,-146.6,13.6,-12.8,7,179,0.12,2.47,0.00,0.000,6,0.104,0.048,2494,2110,3429
$GC,503,-1.08,-146.6,51.9,-12.1,23,507,0.00,2.53,0.00,0.000,4,0.000,0.059,2494,712,3429
$GC,567,-1.08,-146.6,59.6,-12.0,26,571,0.00,2.50,0.00,0.000,6,0.000,0.049,2494,2115,3430
$GC,895,-1.02,-146.6,98.6,-11.8,42,899,0.12,2.53,0.00,0.000,4,0.100,0.058,2521,716,3429
$GC,928,-1.02,-146.6,102.6,-10.3,43,934,0.00,2.47,0.00,0.000,6,0.000,0.049,2521,2114,3430
$GC,1245,-1.02,-146.6,135.7,-10.6,59,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2114,3430
$GC,1559,-1.02,-146.6,169.0,-10.8,77,1564,0.00,2.53,0.00,0.000,4,0.000,0.060,2521,714,3430
$GC,1605,-1.06,-146.6,174.0,-10.2,80,1609,0.00,2.47,0.00,0.000,6,0.000,0.049,2521,2109,3430
$GC,1932,-1.06,-146.6,210.5,-11.6,101,1937,0.00,2.58,0.00,0.000,4,0.000,0.066,2521,3534,3430
$GC,1966,-1.06,-146.6,215.0,-11.9,103,1971,0.00,2.58,0.00,0.000,6,0.000,0.051,2521,2091,3429
$GC,2285,-1.06,-146.6,250.8,-11.2,123,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2076,3430
$GC,2598,-1.06,-146.6,284.9,-10.7,143,2602,0.00,2.67,0.00,0.000,4,0.000,0.067,2521,3544,3430
$GC,2648,-1.06,-146.6,290.4,-10.6,146,2652,0.00,2.58,0.00,0.000,6,0.000,0.053,2521,2105,3429
$GC,2969,-1.06,-146.6,323.2,-10.1,166,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2097,3430
$GC,3281,-1.06,-146.6,354.4,-9.8,186,3285,0.00,2.65,0.00,0.000,4,0.000,0.068,2521,3540,3430
$GC,3343,-1.06,-146.6,360.6,-9.8,190,3347,0.00,2.58,0.00,0.000,6,0.000,0.054,2521,2101,3430
$GC,3668,-1.06,-146.6,391.4,-9.2,211,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2090,3429
$GC,3980,-1.06,-146.6,420.2,-9.3,231,3985,0.00,2.62,0.00,0.000,4,0.000,0.069,2521,3531,3430
$GC,4037,-1.06,-146.6,425.8,-9.7,234,4043,0.00,2.55,0.00,0.000,6,0.000,0.055,2521,2111,3430
$GC,4356,-1.06,-146.6,457.7,-10.5,255,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2100,3430
$GC,4668,-1.06,-146.6,488.3,-8.9,275,4672,0.00,2.65,0.00,0.000,4,0.000,0.071,2520,3541,3429
$GC,4758,-1.06,-146.6,497.2,-10.3,280,4764,0.00,2.55,0.00,0.000,6,0.000,0.056,2521,2122,3429
$GC,5077,-1.06,-146.6,529.3,-10.2,301,5081,0.00,2.50,0.00,0.000,4,0.000,0.065,2521,721,3429
$GC,5133,-1.11,-146.6,535.2,-10.4,304,5140,0.00,2.45,0.00,0.000,6,0.000,0.051,2521,2103,3429
$GC,5453,-1.11,-146.6,566.7,-9.6,325,5457,0.00,2.62,0.00,0.000,4,0.000,0.072,2520,3539,3429
$GC,5553,-1.11,-146.6,577.6,-9.4,331,5557,0.00,2.58,0.00,0.000,6,0.000,0.058,2521,2113,3428
$STATE,5572,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5572,begin apogee
$GC,5580,-0.33,0.0,579.5,9.1,332,5713,0.70,0.00,129.80,1.182,6,0.071,0.000,2676,1849,2831
$STATE,5714,end apogee,CONTROL_FINISHED_OK
$STATE,5714,begin climb
$GC,5717,1.22,146.6,584.4,0.0,341,5861,1.50,2.67,129.73,1.146,4,0.060,0.065,3005,3261,2233
$GC,5918,1.17,147.0,576.0,8.0,353,5922,0.00,2.60,0.00,0.000,6,0.000,0.061,3006,1853,2233
$GC,6237,1.18,188.8,553.3,6.5,373,6285,0.00,2.70,37.83,1.114,4,0.000,0.067,3005,3258,2061
$GC,6381,1.18,188.8,541.3,9.2,381,6387,0.00,2.58,0.00,0.000,6,0.000,0.062,3006,1863,2061
$GC,6702,1.18,188.8,513.8,8.1,402,6706,0.00,2.60,0.00,0.000,4,0.000,0.074,3005,442,2060
$GC,6769,1.10,188.8,508.0,8.6,406,6774,0.00,2.55,0.00,0.000,6,0.000,0.055,3006,1858,2060
$GC,7089,1.18,234.8,486.4,6.3,426,7137,0.00,2.60,40.58,1.120,4,0.000,0.065,3005,3253,1872
$GC,7183,1.18,236.5,479.7,7.9,431,7189,0.00,2.60,0.00,0.000,6,0.000,0.059,3005,1841,1873
$GC,7504,1.20,251.2,456.1,7.5,452,7525,0.00,2.67,15.45,1.050,4,0.000,0.063,3006,3261,1806
$GC,7566,1.23,251.2,450.9,8.7,456,7570,0.00,2.55,0.00,0.000,6,0.000,0.058,3006,1862,1805
$GC,7892,1.23,251.2,423.1,8.4,477,7897,0.00,2.58,0.00,0.000,4,0.000,0.063,3006,3258,1805
$GC,7921,1.23,251.2,420.4,9.2,479,7926,0.00,2.50,0.00,0.000,6,0.000,0.058,3006,1874,1805
$GC,8245,1.23,251.2,393.3,8.4,500,8249,0.00,2.53,0.00,0.000,4,0.000,0.062,3006,3253,1805
$GC,8275,1.26,251.2,390.9,8.8,502,8279,0.00,2.47,0.00,0.000,6,0.000,0.055,3006,1878,1805
$GC,8599,1.26,251.2,362.8,8.6,523,8600,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1878,1806
$GC,8911,1.26,251.2,333.5,9.5,543,8916,0.00,2.53,0.00,0.000,4,0.000,0.061,3005,3258,1806
$GC,8951,1.30,251.2,329.6,9.8,545,8958,0.00,2.47,0.00,0.000,6,0.000,0.054,3006,1883,1806
$GC,9271,1.30,251.2,299.4,9.6,566,9272,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1883,1806
$GC,9584,1.30,251.2,269.3,9.4,586,9588,0.00,2.50,0.00,0.000,4,0.000,0.061,3006,3255,1806
$GC,9623,1.34,251.2,265.3,9.8,588,9629,0.15,2.42,0.00,0.000,6,0.053,0.051,3046,1899,1806
$GC,9942,1.28,251.2,229.9,11.0,609,9944,0.12,0.00,0.00,0.000,6,0.097,0.000,3023,1899,1806
$GC,10254,1.28,251.2,201.0,8.6,629,10259,0.00,2.47,0.00,0.000,4,0.000,0.059,3023,3262,1806
$GC,10300,1.28,251.2,196.8,9.5,632,10304,0.00,2.40,0.00,0.000,6,0.000,0.050,3023,1912,1807
$GC,10630,1.28,251.2,168.6,8.5,653,10634,0.00,2.45,0.00,0.000,4,0.000,0.059,3023,3262,1807
$GC,10680,1.28,251.2,163.9,9.2,656,10684,0.00,2.40,0.00,0.000,6,0.000,0.049,3023,1911,1807
$GC,11003,1.28,251.2,136.4,8.6,674,11005,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1911,1807
$GC,11313,1.28,251.2,109.3,8.7,689,11317,0.00,2.45,0.00,0.000,4,0.000,0.058,3023,3265,1807
$GC,11354,1.28,251.2,105.4,9.3,691,11358,0.00,2.38,0.00,0.000,6,0.000,0.048,3023,1914,1807
$GC,11687,1.28,251.2,75.8,8.8,707,11688,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1914,1807
$GC,11997,1.28,251.2,48.1,9.0,722,12001,0.00,2.42,0.00,0.000,4,0.000,0.058,3023,3257,1808
$GC,12042,1.31,251.2,43.6,9.5,724,12046,0.00,2.35,0.00,0.000,6,0.000,0.046,3023,1926,1808
$GC,12364,1.32,260.0,16.8,7.7,740,12375,0.00,0.00,9.12,0.718,6,0.000,0.000,3023,1926,1771
$STATE,12505,end climb,SURFACE_DEPTH_REACHED
$STATE,12505,begin surface coast
$FINISH,0.9,1.027267
$STATE,12527,end surface coast,CONTROL_FINISHED_OK
$STATE,12527,begin surface
$SM_CCo,12551,21.12,0.763,0,0,1608,300.00
$SM_GC,1.12,0.00,0.00,21.12,0.000,0.000,0.763,421,2155,1608,-10.69,0.62,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1824
$TCM_TEMP,17.10
$XPDR_PINGS,51
$ALTIM_BOTTOM_PING,521.2,67.3
$24V_AH,23.8,49.105
$10V_AH,10.1,21.929
$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,25.100,122.575,362.500,21.125,0.000,75.522,60.152,235.391,17.250,0.000,0.000,16.679,1328.922,9103.703,493.296,1566.537,644.562,33.367,1292.163,0.000,1527.558,0.000,32.825,0.000
$DEVICE_MAMPS,154.167,73.632,1181.947,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,511.160,542.690,459.365,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37994,748
$CAP_FILE_SIZE,108502,0
$CFSIZE,254472192,235974656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,141009,110207,6331.035,-1254.771,33,1.9,33,-12.2