version: 66.04
glider: 5
mission: 7
dive: 300
start: 10 14 109 14 39 27
data:
$ID,5
$MISSION,7
$DIVE,300
$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,-106076.05
$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,26
$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
$GPS1,143307,6329.188,-1258.281,31,1.2,31,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-56.8
$GPS2,143838,6329.205,-1258.295,11,1.3,11,-12.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HE
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.092,-0.227
$KALMAN_X,35548.6,-1609.0,-897.0,-260568.8,10555.0
$KALMAN_Y,16853.2,-41.5,153.8,191560.3,3474.5
$MHEAD_RNG_PITCHd_Wd,214.3,26345,-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,-146.6,0.0,0.0,0,81,0.00,0.00,-61.00,0.000,2,0.000,0.000,421,2133,2667
$GC,85,-1.22,-146.6,2.6,-3.0,3,135,11.20,2.55,-31.42,0.000,4,0.160,0.075,2471,3544,3428
$GC,181,-1.08,-146.6,9.5,-10.6,7,186,0.17,2.55,0.00,0.000,6,0.099,0.048,2508,2113,3428
$GC,498,-1.04,-146.6,47.9,-11.7,22,502,0.00,2.60,0.00,0.000,4,0.000,0.062,2508,3533,3428
$GC,553,-1.04,-146.6,54.0,-10.2,24,560,0.00,2.47,0.00,0.000,6,0.000,0.047,2508,2135,3428
$GC,871,-1.00,-146.6,90.1,-12.0,40,875,0.00,2.58,0.00,0.000,4,0.000,0.064,2508,3538,3428
$GC,898,-0.96,-146.6,93.8,-12.7,41,903,0.12,2.47,0.00,0.000,6,0.095,0.048,2534,2144,3428
$GC,1215,-0.96,-146.6,129.3,-11.1,56,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2131,3428
$GC,1530,-0.96,-146.6,163.4,-10.3,73,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2131,3428
$GC,1843,-0.96,-146.6,195.3,-9.6,93,1847,0.00,2.53,0.00,0.000,4,0.000,0.059,2534,718,3428
$GC,1877,-1.01,-146.6,198.6,-10.0,95,1881,0.00,2.53,0.00,0.000,6,0.000,0.048,2534,2146,3428
$GC,2196,-1.01,-146.6,228.2,-8.7,115,2200,0.00,2.58,0.00,0.000,4,0.000,0.061,2534,720,3428
$GC,2297,-1.06,-146.6,237.4,-8.9,121,2301,0.00,2.45,0.00,0.000,6,0.000,0.048,2534,2108,3428
$GC,2617,-1.06,-146.6,265.4,-8.4,141,2621,0.00,2.50,0.00,0.000,4,0.000,0.059,2534,719,3428
$GC,2650,-1.11,-146.6,268.5,-9.1,143,2655,0.15,2.42,0.00,0.000,6,0.056,0.049,2493,2090,3428
$GC,2974,-1.06,-146.6,302.2,-11.0,163,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2089,3428
$GC,3282,-1.01,-146.6,336.7,-11.4,183,3287,0.15,2.47,0.00,0.000,4,0.093,0.060,2524,719,3428
$GC,3314,-1.01,-146.6,339.7,-10.6,185,3318,0.00,2.42,0.00,0.000,6,0.000,0.050,2524,2091,3428
$GC,3640,-1.01,-146.6,371.2,-9.4,206,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2090,3428
$GC,3951,-1.01,-146.6,400.2,-9.1,226,3955,0.00,2.47,0.00,0.000,4,0.000,0.062,2524,722,3428
$GC,4003,-1.06,-146.6,405.1,-9.6,229,4007,0.00,2.40,0.00,0.000,6,0.000,0.050,2524,2078,3428
$GC,4328,-1.06,-146.6,434.6,-8.8,250,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2078,3428
$GC,4641,-1.06,-146.6,462.6,-9.2,270,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2078,3428
$GC,4953,-1.06,-146.6,492.8,-10.0,290,4957,0.00,2.47,0.00,0.000,4,0.000,0.065,2524,718,3428
$GC,4992,-1.13,-146.6,496.9,-10.0,292,4999,0.12,2.38,0.00,0.000,6,0.061,0.051,2489,2055,3428
$GC,5314,-1.08,-146.6,530.8,-10.0,313,5319,0.00,2.70,0.00,0.000,4,0.000,0.072,2488,3537,3427
$GC,5354,-1.04,-146.6,535.2,-10.3,315,5361,0.15,2.70,0.00,0.000,6,0.091,0.059,2520,2042,3428
$GC,5674,-1.04,-146.6,561.0,-9.6,336,5678,0.00,2.75,0.00,0.000,4,0.000,0.071,2520,3531,3428
$GC,5774,-1.04,-146.6,571.6,-10.0,342,5779,0.00,2.62,0.00,0.000,6,0.000,0.057,2520,2069,3428
$GC,6093,-1.04,-146.6,601.8,-9.6,362,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2054,3428
$GC,6406,-1.07,-146.6,630.7,-9.3,382,6411,0.00,2.72,0.00,0.000,4,0.000,0.074,2520,3535,3427
$GC,6457,-1.07,-146.6,634.7,-8.0,385,6461,0.00,2.67,0.00,0.000,6,0.000,0.061,2520,2061,3427
$STATE,6492,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6492,begin apogee
$GC,6500,-0.33,0.0,638.0,8.8,387,6636,0.70,0.00,132.48,1.224,6,0.074,0.000,2672,1841,2831
$STATE,6637,end apogee,CONTROL_FINISHED_OK
$STATE,6637,begin climb
$GC,6640,1.22,146.6,644.0,0.0,396,6783,1.52,2.67,133.68,1.185,4,0.059,0.065,3008,3258,2233
$GC,6826,1.17,146.6,636.4,8.6,408,6830,0.00,2.60,0.00,0.000,6,0.000,0.062,3008,1855,2233
$GC,7146,1.13,162.7,611.6,7.4,428,7164,0.00,0.00,15.85,1.091,6,0.000,0.000,3008,1855,2167
$GC,7472,1.09,162.7,583.9,8.4,449,7477,0.15,2.60,0.00,0.000,4,0.094,0.067,2979,3252,2166
$GC,7524,1.09,162.7,579.7,8.5,452,7529,0.00,2.58,0.00,0.000,6,0.000,0.062,2979,1854,2166
$GC,7844,1.10,169.9,554.3,7.7,472,7860,0.00,2.67,7.82,0.992,4,0.000,0.074,2979,436,2138
$GC,7883,1.11,180.1,551.1,7.6,474,7898,0.00,2.58,10.60,1.050,6,0.000,0.055,2979,1872,2096
$GC,8223,1.22,247.9,529.3,5.5,496,8289,0.15,2.60,59.97,1.163,4,0.057,0.065,3018,3247,1820
$GC,8323,1.22,247.9,521.4,8.3,502,8327,0.00,2.55,0.00,0.000,6,0.000,0.061,3018,1871,1820
$GC,8643,1.18,247.9,496.0,8.2,522,8647,0.00,2.55,0.00,0.000,4,0.000,0.066,3018,3244,1820
$GC,8665,1.18,247.9,494.0,8.2,523,8671,0.00,2.47,0.00,0.000,6,0.000,0.059,3018,1889,1820
$GC,8984,1.18,247.9,464.3,10.4,544,8988,0.00,2.50,0.00,0.000,4,0.000,0.063,3018,3245,1820
$GC,9017,1.18,247.9,460.7,10.1,546,9021,0.00,2.42,0.00,0.000,6,0.000,0.057,3018,1911,1819
$GC,9336,1.18,247.9,428.0,10.1,566,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1912,1819
$GC,9649,1.18,247.9,397.2,10.2,586,9650,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1912,1819
$GC,9961,1.18,247.9,364.3,10.4,606,9965,0.00,2.45,0.00,0.000,4,0.000,0.062,3018,3250,1819
$GC,9983,1.18,247.9,361.9,10.0,607,9989,0.00,2.40,0.00,0.000,6,0.000,0.054,3018,1916,1820
$GC,10302,1.18,247.9,330.5,9.7,628,10303,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1916,1820
$GC,10614,1.18,247.9,300.2,9.6,648,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1916,1820
$GC,10926,1.18,247.9,269.7,10.2,668,10930,0.00,2.42,0.00,0.000,4,0.000,0.061,3018,3248,1820
$GC,10956,1.18,247.9,266.8,10.0,670,10960,0.00,2.38,0.00,0.000,6,0.000,0.051,3018,1917,1820
$GC,11281,1.18,247.9,233.2,10.4,691,11285,0.00,2.42,0.00,0.000,4,0.000,0.060,3018,3251,1820
$GC,11309,1.18,247.9,230.2,10.7,693,11313,0.00,2.35,0.00,0.000,6,0.000,0.051,3018,1933,1821
$GC,11634,1.18,247.9,197.9,9.4,714,11638,0.00,2.67,0.00,0.000,4,0.000,0.065,3018,432,1821
$GC,11667,1.15,247.9,194.3,10.2,716,11672,0.12,2.65,0.00,0.000,6,0.091,0.048,2996,1931,1821
$GC,11990,1.20,247.9,167.4,8.6,736,11994,0.00,2.72,0.00,0.000,4,0.000,0.066,2995,440,1821
$GC,12028,1.20,247.9,163.6,8.8,738,12034,0.00,2.60,0.00,0.000,6,0.000,0.048,2995,1910,1821
$GC,12347,1.28,263.6,140.6,7.4,757,12370,0.15,2.75,15.10,0.841,4,0.052,0.063,3035,432,1755
$GC,12405,1.23,263.6,135.1,10.1,759,12410,0.12,2.62,0.00,0.000,6,0.090,0.048,3011,1902,1755
$GC,12722,1.23,263.6,109.1,8.3,774,12724,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1917,1755
$GC,13031,1.23,265.5,84.4,7.9,789,13035,0.00,2.67,0.00,0.000,4,0.000,0.063,3011,435,1755
$GC,13058,1.23,265.5,81.9,8.4,790,13062,0.00,2.60,0.00,0.000,6,0.000,0.048,3010,1905,1756
$GC,13375,1.29,284.2,57.7,7.3,805,13395,0.00,0.00,18.05,0.802,6,0.000,0.000,3011,1920,1671
$GC,13706,1.32,296.9,31.5,7.5,821,13723,0.00,0.00,12.25,0.763,6,0.000,0.000,3011,1922,1619
$STATE,14032,end climb,SURFACE_DEPTH_REACHED
$STATE,14032,begin surface coast
$FINISH,0.8,1.027275
$STATE,14052,end surface coast,CONTROL_FINISHED_OK
$STATE,14052,begin surface
$SM_CCo,14076,1.95,0.123,0,0,1608,300.00
$SM_GC,2.30,0.00,0.00,1.95,0.000,0.000,0.123,423,2134,1608,-10.68,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1826
$TCM_TEMP,17.10
$XPDR_PINGS,52
$ALTIM_BOTTOM_PING,595.8,50.8
$24V_AH,23.8,49.405
$10V_AH,10.1,22.071
$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,26.275,128.275,405.800,1.950,0.000,39.019,33.208,133.421,18.250,0.000,0.000,11.778,1474.880,10250.466,540.035,1638.749,504.974,33.367,1373.679,0.000,1606.029,0.000,36.603,0.000
$DEVICE_MAMPS,159.536,75.166,1224.132,123.487,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,572.958,614.416,498.908,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41101,838
$CAP_FILE_SIZE,114599,0
$CFSIZE,254472192,235859968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,141009,183525,6328.251,-1259.125,39,1.8,39,-12.2