version: 66.04
glider: 5
mission: 7
dive: 303
start: 10 15 109 2 25 14
data:
$ID,5
$MISSION,7
$DIVE,303
$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,0
$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,-106137.84
$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,23
$R_STBD_OVSHOOT,22
$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
$GPS1,021827,6323.497,-1301.283,30,2.6,49,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-59.9
$GPS2,022428,6323.479,-1301.300,13,2.6,32,-12.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HE
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.019,-0.245
$KALMAN_X,-481.8,-138.6,-723.1,-472.7,790.3
$KALMAN_Y,1980.4,418.4,-71.1,-11249.7,1391.8
$MHEAD_RNG_PITCHd_Wd,196.7,15739,-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,17,-1.22,-146.6,0.0,0.0,0,61,0.00,0.00,-41.62,0.000,2,0.000,0.000,418,2144,2424
$GC,65,-1.22,-146.6,2.2,-2.1,2,130,11.23,2.60,-48.05,0.000,4,0.160,0.076,2470,3538,3430
$GC,270,-1.12,-146.6,23.9,-14.6,11,276,0.15,2.53,0.00,0.000,6,0.107,0.047,2500,2115,3430
$GC,593,-1.08,-146.6,61.5,-11.9,27,597,0.00,2.62,0.00,0.000,4,0.000,0.064,2500,3540,3430
$GC,621,-1.03,-146.6,65.2,-12.3,28,626,0.00,2.50,0.00,0.000,6,0.000,0.048,2500,2139,3430
$GC,938,-0.98,-146.6,103.5,-11.6,43,943,0.15,2.53,0.00,0.000,4,0.091,0.058,2533,715,3430
$GC,978,-1.05,-146.6,107.8,-10.0,45,983,0.00,2.55,0.00,0.000,6,0.000,0.049,2533,2150,3430
$GC,1307,-1.05,-146.6,139.4,-9.5,61,1311,0.00,2.60,0.00,0.000,4,0.000,0.060,2533,714,3430
$GC,1347,-1.11,-146.6,143.5,-9.9,63,1352,0.15,2.53,0.00,0.000,6,0.055,0.050,2491,2137,3430
$GC,1680,-1.05,-146.6,181.6,-11.5,83,1681,0.12,0.00,0.00,0.000,6,0.094,0.000,2518,2137,3430
$GC,1989,-1.05,-146.6,210.6,-8.7,103,1993,0.00,2.58,0.00,0.000,4,0.000,0.060,2518,709,3430
$GC,2045,-1.09,-146.6,216.0,-9.3,106,2051,0.00,2.50,0.00,0.000,6,0.000,0.049,2518,2121,3430
$GC,2367,-1.09,-146.6,246.2,-9.5,127,2371,0.00,2.53,0.00,0.000,4,0.000,0.059,2518,719,3430
$GC,2413,-1.12,-146.6,251.0,-9.8,130,2417,0.00,2.45,0.00,0.000,6,0.000,0.050,2518,2101,3430
$GC,2738,-1.12,-146.6,282.1,-9.5,151,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2101,3430
$GC,3050,-1.12,-146.6,312.5,-9.8,171,3054,0.00,2.53,0.00,0.000,4,0.000,0.063,2517,711,3430
$GC,3089,-1.12,-146.6,316.6,-10.2,173,3093,0.00,2.45,0.00,0.000,6,0.000,0.051,2518,2089,3430
$GC,3414,-1.12,-146.6,348.3,-9.7,194,3418,0.00,2.62,0.00,0.000,4,0.000,0.067,2518,3538,3430
$GC,3442,-1.12,-146.6,351.0,-9.8,196,3447,0.00,2.60,0.00,0.000,6,0.000,0.054,2518,2084,3430
$GC,3767,-1.12,-146.6,380.1,-8.5,217,3771,0.00,2.67,0.00,0.000,4,0.000,0.068,2518,3534,3430
$GC,3789,-1.12,-146.6,382.0,-7.6,218,3795,0.00,2.58,0.00,0.000,6,0.000,0.055,2518,2101,3430
$GC,4108,-1.12,-146.6,408.4,-8.3,239,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2084,3430
$GC,4421,-1.12,-146.6,436.0,-9.0,259,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2085,3430
$GC,4733,-1.12,-146.6,465.3,-9.6,279,4737,0.00,2.65,0.00,0.000,4,0.000,0.070,2518,3531,3430
$GC,4765,-1.12,-146.6,468.5,-9.8,281,4770,0.00,2.58,0.00,0.000,6,0.000,0.055,2518,2099,3430
$GC,5087,-1.12,-146.6,497.8,-9.2,301,5091,0.00,2.65,0.00,0.000,4,0.000,0.070,2518,3531,3430
$GC,5170,-1.12,-146.6,506.3,-9.9,306,5175,0.00,2.53,0.00,0.000,6,0.000,0.055,2517,2124,3430
$GC,5491,-1.12,-146.6,538.0,-10.1,326,5495,0.00,2.50,0.00,0.000,4,0.000,0.064,2518,721,3430
$GC,5609,-1.16,-146.6,550.1,-9.9,333,5614,0.12,2.45,0.00,0.000,6,0.061,0.051,2482,2105,3430
$GC,5931,-1.11,-146.6,584.1,-9.5,353,5933,0.10,0.00,0.00,0.000,6,0.102,0.000,2503,2104,3430
$GC,6240,-1.11,-146.6,612.4,-9.6,373,6244,0.00,2.55,0.00,0.000,4,0.000,0.070,2502,716,3430
$GC,6296,-1.14,-146.6,618.1,-11.0,376,6302,0.00,2.45,0.00,0.000,6,0.000,0.055,2502,2086,3430
$STATE,6456,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6456,begin apogee
$GC,6464,-0.33,0.0,633.7,10.2,387,6600,0.77,0.00,132.00,1.226,6,0.075,0.000,2670,1836,2831
$STATE,6600,end apogee,CONTROL_FINISHED_OK
$STATE,6600,begin climb
$GC,6603,1.22,146.6,638.6,0.0,396,6747,1.52,0.00,134.95,1.181,6,0.058,0.000,3007,1836,2233
$GC,7060,1.26,210.1,616.4,5.7,426,7124,0.00,2.70,57.22,1.170,4,0.000,0.069,3007,3256,1973
$GC,7169,1.29,227.8,608.8,7.4,432,7192,0.00,2.62,16.55,1.096,6,0.000,0.065,3006,1850,1902
$GC,7507,1.29,227.8,580.2,8.7,454,7511,0.00,2.62,0.00,0.000,4,0.000,0.069,3007,3256,1901
$GC,7535,1.29,227.8,577.6,9.1,456,7540,0.00,2.62,0.00,0.000,6,0.000,0.065,3006,1836,1901
$GC,7862,1.29,227.8,546.3,9.0,477,7866,0.00,2.65,0.00,0.000,4,0.000,0.068,3007,3257,1901
$GC,7951,1.29,227.8,537.8,9.2,482,7957,0.00,2.55,0.00,0.000,6,0.000,0.063,3007,1870,1901
$GC,8270,1.29,227.8,510.0,8.5,503,8275,0.00,2.62,0.00,0.000,4,0.000,0.072,3007,432,1900
$GC,8317,1.23,227.8,506.2,8.4,506,8322,0.00,2.58,0.00,0.000,6,0.000,0.054,3007,1866,1900
$GC,8644,1.23,227.8,478.5,8.5,527,8648,0.00,2.53,0.00,0.000,4,0.000,0.067,3007,3258,1900
$GC,8672,1.23,227.8,475.7,9.6,529,8676,0.00,2.55,0.00,0.000,6,0.000,0.061,3007,1863,1899
$GC,8997,1.23,227.8,446.7,8.8,550,9001,0.00,2.55,0.00,0.000,4,0.000,0.065,3006,3255,1899
$GC,9046,1.23,227.8,441.8,9.8,553,9051,0.00,2.50,0.00,0.000,6,0.000,0.058,3007,1879,1899
$GC,9365,1.23,227.8,411.4,10.0,573,9369,0.00,2.53,0.00,0.000,4,0.000,0.064,3007,3252,1899
$GC,9388,1.23,227.8,409.1,10.1,574,9394,0.00,2.47,0.00,0.000,6,0.000,0.057,3007,1886,1899
$GC,9707,1.23,227.8,379.1,8.9,595,9711,0.00,2.53,0.00,0.000,4,0.000,0.063,3007,3259,1899
$GC,9740,1.23,227.8,376.0,9.0,597,9744,0.00,2.45,0.00,0.000,6,0.000,0.056,3007,1903,1899
$GC,10059,1.23,227.8,348.8,8.6,617,10061,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1903,1899
$GC,10371,1.24,230.6,323.2,7.9,637,10375,0.00,2.47,0.00,0.000,4,0.000,0.064,3007,3253,1899
$GC,10405,1.25,237.1,320.3,7.8,639,10420,0.00,2.40,9.40,0.909,6,0.000,0.054,3007,1917,1863
$GC,10751,1.27,251.0,294.1,7.5,661,10768,0.00,0.00,13.23,0.937,6,0.000,0.000,3007,1917,1807
$GC,11080,1.29,261.4,268.9,7.6,682,11094,0.00,0.00,10.52,0.897,6,0.000,0.000,3007,1917,1765
$GC,11408,1.30,269.1,243.9,7.7,703,11424,0.00,2.47,8.10,0.841,4,0.000,0.061,3007,3246,1733
$GC,11436,1.33,269.1,241.5,8.2,704,11443,0.12,2.40,0.00,0.000,6,0.054,0.052,3042,1917,1732
$GC,11758,1.28,269.1,209.5,10.2,725,11763,0.00,2.45,0.00,0.000,4,0.000,0.061,3041,3258,1733
$GC,11775,1.24,269.1,207.3,10.3,726,11780,0.15,2.40,0.00,0.000,6,0.088,0.051,3013,1916,1732
$GC,12095,1.24,269.1,179.7,8.5,746,12096,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1916,1733
$GC,12408,1.27,285.8,154.6,7.4,766,12428,0.00,2.50,15.18,0.864,4,0.000,0.059,3013,3260,1665
$GC,12446,1.34,308.5,151.6,7.2,768,12471,0.12,2.40,19.83,0.869,6,0.056,0.050,3047,1928,1573
$GC,12803,1.30,308.5,117.0,10.4,786,12807,0.00,2.42,0.00,0.000,4,0.000,0.059,3047,3258,1573
$GC,12825,1.27,308.5,114.2,10.3,787,12830,0.15,2.35,0.00,0.000,6,0.088,0.049,3017,1941,1573
$GC,13147,1.27,308.5,85.3,8.9,803,13151,0.00,2.40,0.00,0.000,4,0.000,0.060,3017,3257,1573
$GC,13176,1.32,308.5,82.5,9.7,804,13180,0.00,2.30,0.00,0.000,6,0.000,0.048,3017,1965,1573
$GC,13492,1.32,308.5,53.9,9.0,819,13493,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1965,1573
$GC,13802,1.36,308.5,27.0,9.2,834,13806,0.10,2.35,0.00,0.000,4,0.061,0.058,3046,3256,1573
$GC,13820,1.36,308.5,24.9,9.8,835,13824,0.00,2.30,0.00,0.000,6,0.000,0.049,3046,1964,1573
$STATE,14041,end climb,SURFACE_DEPTH_REACHED
$STATE,14041,begin surface coast
$FINISH,0.8,1.027283
$STATE,14063,end surface coast,CONTROL_FINISHED_OK
$STATE,14063,begin surface
$SM_CCo,14147,0.00,0.000,0,0,1573,308.59
$SM_GC,1.63,11.43,0.00,0.00,0.039,0.000,0.000,422,2166,1573,-10.59,0.57,308.59
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1825
$TCM_TEMP,17.10
$XPDR_PINGS,62
$ALTIM_BOTTOM_PING,571.6,71.6
$24V_AH,23.8,49.841
$10V_AH,10.1,22.294
$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,26.400,141.775,416.975,0.000,0.000,37.762,29.746,147.156,20.500,0.000,0.000,33.449,1491.708,10215.026,534.123,1738.355,523.109,31.433,1416.201,0.000,1679.690,0.000,35.070,0.000
$DEVICE_MAMPS,159.536,75.933,1226.433,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,578.965,614.696,488.572,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44344,847
$CAP_FILE_SIZE,118630,0
$CFSIZE,254472192,235683840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,151009,062236,6321.943,-1301.173,58,1.3,58,-12.2