version: 66.04
glider: 5
mission: 7
dive: 305
start: 10 15 109 10 14 27
data:
$ID,5
$MISSION,7
$DIVE,305
$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,-106168.09
$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,16
$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
$GPS1,100355,6320.375,-1257.080,58,1.0,58,-12.1
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-58.4
$GPS2,101338,6320.350,-1256.873,14,1.2,14,-12.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HE
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.008,-0.245
$KALMAN_X,411.1,250.1,-4.0,1144.0,739.5
$KALMAN_Y,8861.1,-407.0,-356.8,-22787.8,8192.3
$MHEAD_RNG_PITCHd_Wd,193.9,10245,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-39.30,0.000,2,0.000,0.000,424,2127,2392
$GC,63,-1.22,-146.6,2.1,-1.8,2,131,11.12,2.62,-51.28,0.000,4,0.156,0.079,2473,3549,3427
$GC,227,-1.13,-146.6,16.7,-14.8,9,235,0.12,2.55,0.00,0.000,6,0.094,0.048,2499,2115,3428
$GC,546,-1.09,-146.6,56.5,-12.6,25,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2098,3428
$GC,853,-1.06,-146.6,92.1,-11.3,40,858,0.00,2.62,0.00,0.000,4,0.000,0.064,2499,3541,3427
$GC,909,-1.02,-146.6,98.5,-11.1,42,916,0.10,2.47,0.00,0.000,6,0.102,0.049,2519,2146,3427
$GC,1226,-1.02,-146.6,131.5,-9.7,58,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2135,3428
$GC,1540,-1.02,-146.6,161.7,-9.4,75,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2134,3428
$GC,1853,-1.02,-146.6,192.9,-10.0,95,1858,0.00,2.58,0.00,0.000,4,0.000,0.066,2519,3541,3428
$GC,1887,-1.02,-146.6,196.6,-10.8,97,1891,0.00,2.47,0.00,0.000,6,0.000,0.051,2519,2150,3428
$GC,2212,-1.02,-146.6,231.4,-11.2,118,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2139,3428
$GC,2524,-1.02,-146.6,265.7,-11.1,138,2529,0.00,2.55,0.00,0.000,4,0.000,0.067,2519,3541,3428
$GC,2553,-1.02,-146.6,269.2,-11.9,140,2557,0.00,2.47,0.00,0.000,6,0.000,0.052,2519,2155,3428
$GC,2880,-1.02,-146.6,303.5,-10.2,161,2884,0.00,2.55,0.00,0.000,4,0.000,0.061,2519,718,3428
$GC,2919,-1.07,-146.6,307.8,-10.5,163,2926,0.00,2.58,0.00,0.000,6,0.000,0.051,2519,2171,3428
$GC,3238,-1.07,-146.6,339.0,-9.4,184,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2169,3428
$GC,3551,-1.07,-146.6,367.6,-9.7,204,3556,0.00,2.62,0.00,0.000,4,0.000,0.063,2519,723,3428
$GC,3631,-1.12,-146.6,375.6,-9.9,209,3636,0.00,2.53,0.00,0.000,6,0.000,0.051,2519,2144,3428
$GC,3956,-1.12,-146.6,407.4,-9.4,230,3960,0.00,2.58,0.00,0.000,4,0.000,0.061,2519,719,3428
$GC,3985,-1.15,-146.6,410.3,-9.9,232,3990,0.12,2.50,0.00,0.000,6,0.061,0.051,2486,2132,3428
$GC,4312,-1.10,-146.6,447.9,-11.8,253,4316,0.00,2.58,0.00,0.000,4,0.000,0.070,2485,3546,3427
$GC,4346,-1.04,-146.6,452.5,-13.0,255,4351,0.15,2.58,0.00,0.000,6,0.091,0.057,2517,2118,3428
$GC,4665,-1.04,-146.6,484.1,-9.7,275,4669,0.00,2.50,0.00,0.000,4,0.000,0.063,2517,715,3428
$GC,4698,-1.08,-146.6,487.6,-10.3,277,4702,0.00,2.53,0.00,0.000,6,0.000,0.051,2517,2138,3428
$GC,5018,-1.08,-146.6,517.9,-10.2,297,5022,0.00,2.55,0.00,0.000,4,0.000,0.070,2517,3542,3428
$GC,5057,-1.08,-146.6,522.1,-10.6,299,5062,0.00,2.55,0.00,0.000,6,0.000,0.057,2517,2129,3427
$GC,5377,-1.11,-146.6,556.5,-10.2,319,5381,0.00,2.62,0.00,0.000,4,0.000,0.072,2517,3538,3427
$GC,5473,-1.15,-146.6,565.9,-8.9,325,5478,0.00,2.55,0.00,0.000,6,0.000,0.058,2517,2127,3427
$GC,5801,-1.18,-146.6,595.7,-9.2,346,5803,0.12,0.00,0.00,0.000,6,0.060,0.000,2483,2113,3427
$STATE,5842,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5842,begin apogee
$GC,5850,-0.33,0.0,600.4,10.1,349,5984,0.88,0.00,130.45,1.208,6,0.077,0.000,2670,1838,2831
$STATE,5985,end apogee,CONTROL_FINISHED_OK
$STATE,5985,begin climb
$GC,5988,1.22,146.6,605.7,0.0,358,6133,1.52,2.65,130.62,1.165,4,0.057,0.074,3007,450,2233
$GC,6169,1.15,161.1,598.3,7.5,369,6188,0.00,2.58,14.40,1.052,6,0.000,0.054,3007,1862,2174
$GC,6518,1.09,161.1,568.7,8.6,391,6520,0.12,0.00,0.00,0.000,6,0.093,0.000,2984,1876,2173
$GC,6827,1.16,204.2,547.3,6.4,411,6874,0.00,2.75,38.88,1.143,4,0.000,0.074,2984,450,1998
$GC,6914,1.16,204.2,540.8,8.4,416,6918,0.00,2.53,0.00,0.000,6,0.000,0.056,2984,1845,1997
$GC,7234,1.17,209.8,516.6,7.8,436,7250,0.00,2.67,6.47,0.929,4,0.000,0.070,2984,3258,1975
$GC,7329,1.22,211.9,509.0,7.9,441,7336,0.12,2.55,0.00,0.000,6,0.061,0.064,3017,1879,1975
$GC,7651,1.19,211.9,481.0,9.2,462,7655,0.00,2.55,0.00,0.000,4,0.000,0.067,3017,3255,1974
$GC,7703,1.19,211.9,475.8,9.2,465,7707,0.00,2.50,0.00,0.000,6,0.000,0.061,3017,1891,1974
$GC,8028,1.15,211.9,447.3,8.5,486,8029,0.12,0.00,0.00,0.000,6,0.095,0.000,2994,1890,1974
$GC,8340,1.19,235.1,425.3,7.2,506,8372,0.00,2.60,22.67,1.072,4,0.000,0.063,2994,3258,1872
$GC,8401,1.28,261.7,420.7,7.0,509,8432,0.15,2.55,24.33,1.068,6,0.055,0.058,3032,1870,1764
$GC,8753,1.23,261.7,386.9,10.7,532,8758,0.00,2.58,0.00,0.000,4,0.000,0.063,3032,3264,1763
$GC,8792,1.23,261.7,382.5,10.7,534,8798,0.00,2.50,0.00,0.000,6,0.000,0.058,3032,1893,1764
$GC,9112,1.19,261.7,350.0,10.5,555,9114,0.15,0.00,0.00,0.000,6,0.091,0.000,3002,1892,1764
$GC,9424,1.21,274.0,324.7,7.6,575,9442,0.00,2.58,12.20,0.946,4,0.000,0.061,3003,3254,1712
$GC,9465,1.27,276.3,321.5,7.9,577,9469,0.00,2.45,0.00,0.000,6,0.000,0.055,3003,1910,1712
$GC,9785,1.30,276.3,294.0,9.4,597,9787,0.12,0.00,0.00,0.000,6,0.056,0.000,3036,1910,1712
$GC,10097,1.26,276.3,261.7,9.7,617,10106,0.00,2.47,3.67,0.607,4,0.000,0.061,3037,3249,1704
$GC,10136,1.26,276.3,257.6,10.2,619,10140,0.00,2.42,0.00,0.000,6,0.000,0.053,3036,1905,1704
$GC,10455,1.23,276.3,225.9,9.8,639,10460,0.12,2.47,0.00,0.000,4,0.092,0.060,3012,3259,1704
$GC,10484,1.23,276.3,223.2,9.1,641,10488,0.00,2.40,0.00,0.000,6,0.000,0.052,3012,1920,1704
$GC,10809,1.26,293.9,198.6,7.4,662,10830,0.00,2.50,16.38,0.890,4,0.000,0.059,3012,3263,1631
$GC,10847,1.30,293.9,195.3,8.5,664,10853,0.00,2.40,0.00,0.000,6,0.000,0.051,3012,1938,1631
$GC,11167,1.30,293.9,166.6,9.2,685,11168,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1937,1632
$GC,11479,1.30,293.9,136.6,10.1,703,11483,0.00,2.40,0.00,0.000,4,0.000,0.059,3012,3255,1632
$GC,11513,1.36,293.9,132.7,10.4,704,11520,0.15,2.35,0.00,0.000,6,0.053,0.051,3052,1935,1632
$GC,11831,1.30,293.9,93.7,12.6,720,11835,0.12,2.40,0.00,0.000,4,0.094,0.058,3029,3265,1632
$GC,11871,1.34,293.9,89.1,10.2,722,11875,0.00,2.33,0.00,0.000,6,0.000,0.049,3029,1961,1632
$GC,12199,1.34,293.9,56.5,9.1,738,12203,0.00,2.38,0.00,0.000,4,0.000,0.060,3029,3264,1632
$GC,12223,1.34,293.9,53.9,10.7,739,12227,0.00,2.30,0.00,0.000,6,0.000,0.048,3029,1969,1632
$GC,12544,1.34,293.9,23.5,8.3,755,12545,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1970,1632
$STATE,12728,end climb,SURFACE_DEPTH_REACHED
$STATE,12728,begin surface coast
$FINISH,0.8,1.026958
$STATE,12749,end surface coast,CONTROL_FINISHED_OK
$STATE,12749,begin surface
$SM_CCo,12773,3.45,0.482,0,0,1608,300.00
$SM_GC,2.74,0.00,0.00,3.45,0.000,0.000,0.482,418,2141,1608,-10.70,0.31,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1845
$TCM_TEMP,17.10
$XPDR_PINGS,58
$ALTIM_BOTTOM_PING,571.4,38.7
$24V_AH,23.8,50.139
$10V_AH,10.1,22.437
$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,26.700,121.800,400.075,3.450,0.000,75.521,118.814,198.863,19.500,0.000,0.000,14.685,1367.582,9243.579,501.527,1564.164,681.372,33.352,1318.384,0.000,1526.981,0.000,34.988,0.000
$DEVICE_MAMPS,155.701,79.001,1208.025,481.676,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,522.539,554.124,450.699,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37880,765
$CAP_FILE_SIZE,111548,0
$CFSIZE,254472192,235573248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,151009,134836,6317.812,-1257.274,32,2.0,32,-12.1