version: 66.04
glider: 5
mission: 7
dive: 306
start: 10 15 109 13 55 8
data:
$ID,5
$MISSION,7
$DIVE,306
$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,-106183.9
$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,34
$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
$GPS1,134836,6317.812,-1257.274,32,2.0,32,-12.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-62.5
$GPS2,135419,6317.801,-1257.243,15,1.9,15,-12.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HE
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.011,-0.245
$KALMAN_X,349.5,407.4,-284.7,1046.2,765.5
$KALMAN_Y,9886.9,-567.0,-602.6,-28103.6,8425.8
$MHEAD_RNG_PITCHd_Wd,189.6,5673,-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,-146.6,0.0,0.0,0,61,0.00,0.00,-41.25,0.000,2,0.000,0.000,418,2153,2441
$GC,65,-1.22,-146.6,2.3,-2.2,2,129,11.45,2.58,-42.38,0.000,4,0.167,0.077,2469,3530,3429
$GC,359,-1.12,-146.6,37.6,-12.7,15,364,0.15,2.50,0.00,0.000,6,0.103,0.047,2499,2120,3430
$GC,682,-1.07,-146.6,71.0,-11.6,31,686,0.00,2.50,0.00,0.000,4,0.000,0.060,2499,714,3430
$GC,715,-1.07,-146.6,75.4,-12.5,32,721,0.00,2.53,0.00,0.000,6,0.000,0.049,2499,2138,3430
$GC,1033,-1.03,-146.6,114.7,-12.0,48,1037,0.00,2.55,0.00,0.000,4,0.000,0.064,2500,3547,3430
$GC,1061,-0.99,-146.6,118.3,-12.1,49,1066,0.15,2.53,0.00,0.000,6,0.091,0.050,2532,2131,3430
$GC,1378,-0.99,-146.6,150.5,-10.0,64,1382,0.00,2.60,0.00,0.000,4,0.000,0.065,2532,3547,3430
$GC,1412,-0.99,-146.6,154.1,-9.9,66,1417,0.00,2.47,0.00,0.000,6,0.000,0.051,2531,2157,3430
$GC,1733,-0.99,-146.6,185.1,-10.3,86,1737,0.00,2.55,0.00,0.000,4,0.000,0.060,2531,719,3430
$GC,1796,-1.05,-146.6,191.7,-11.0,90,1800,0.00,2.55,0.00,0.000,6,0.000,0.050,2532,2162,3430
$GC,2124,-1.09,-146.6,225.9,-10.8,111,2129,0.12,2.60,0.00,0.000,4,0.057,0.059,2496,717,3430
$GC,2157,-1.09,-146.6,230.2,-12.2,113,2161,0.00,2.53,0.00,0.000,6,0.000,0.050,2496,2139,3430
$GC,2478,-1.05,-146.6,267.1,-10.6,133,2482,0.00,2.58,0.00,0.000,4,0.000,0.060,2496,714,3430
$GC,2517,-1.05,-146.6,271.6,-11.0,135,2524,0.10,2.53,0.00,0.000,6,0.101,0.051,2516,2136,3430
$GC,2836,-1.05,-146.6,305.0,-10.5,156,2841,0.00,2.58,0.00,0.000,4,0.000,0.061,2516,714,3430
$GC,2870,-1.08,-146.6,308.7,-10.4,158,2875,0.00,2.50,0.00,0.000,6,0.000,0.050,2517,2122,3430
$GC,3190,-1.08,-146.6,341.3,-10.3,178,3194,0.00,2.55,0.00,0.000,4,0.000,0.061,2516,710,3430
$GC,3212,-1.08,-146.6,343.7,-10.1,179,3216,0.00,2.50,0.00,0.000,6,0.000,0.051,2517,2117,3430
$GC,3531,-1.08,-146.6,375.8,-10.1,199,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2117,3430
$GC,3843,-1.08,-146.6,409.7,-11.4,219,3848,0.00,2.53,0.00,0.000,4,0.000,0.062,2516,720,3430
$GC,3873,-1.08,-146.6,413.2,-12.5,221,3877,0.00,2.45,0.00,0.000,6,0.000,0.051,2516,2100,3430
$GC,4198,-1.08,-146.6,449.7,-11.3,242,4202,0.00,2.50,0.00,0.000,4,0.000,0.064,2516,720,3430
$GC,4233,-1.12,-146.6,453.8,-11.5,244,4237,0.00,2.42,0.00,0.000,6,0.000,0.052,2516,2083,3430
$GC,4557,-1.12,-146.6,489.6,-10.7,265,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2084,3430
$GC,4870,-1.12,-146.6,525.5,-12.3,285,4874,0.00,2.65,0.00,0.000,4,0.000,0.070,2516,3540,3429
$GC,4903,-1.12,-146.6,529.8,-12.2,287,4907,0.00,2.67,0.00,0.000,6,0.000,0.058,2517,2057,3429
$GC,5224,-1.16,-146.6,567.5,-11.6,307,5229,0.12,2.75,0.00,0.000,4,0.060,0.071,2481,3538,3429
$GC,5304,-1.12,-146.6,577.3,-11.7,312,5308,0.00,2.65,0.00,0.000,6,0.000,0.059,2481,2071,3429
$STATE,5516,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5516,begin apogee
$GC,5524,-0.33,0.0,602.1,12.3,326,5658,0.88,0.00,130.43,1.203,6,0.077,0.000,2669,1850,2832
$STATE,5659,end apogee,CONTROL_FINISHED_OK
$STATE,5659,begin climb
$GC,5662,1.22,146.6,606.7,0.0,335,5802,1.55,0.00,130.38,1.162,6,0.060,0.000,3010,1850,2233
$GC,6116,1.17,153.2,579.8,7.8,364,6128,0.00,0.00,7.80,0.957,6,0.000,0.000,3009,1850,2206
$GC,6442,1.12,153.2,552.8,8.8,385,6446,0.00,2.58,0.00,0.000,4,0.000,0.077,3009,450,2205
$GC,6471,1.02,153.2,550.1,9.2,387,6476,0.22,2.53,0.00,0.000,6,0.089,0.057,2967,1840,2204
$GC,6799,1.13,191.7,526.8,6.6,408,6839,0.10,2.67,34.30,1.141,4,0.064,0.069,2994,3261,2049
$GC,6880,1.13,191.7,520.2,8.7,413,6884,0.00,2.62,0.00,0.000,6,0.000,0.063,2994,1838,2049
$GC,7204,1.13,191.7,492.7,8.8,434,7209,0.00,2.65,0.00,0.000,4,0.000,0.067,2994,3261,2048
$GC,7227,1.13,191.7,490.5,8.9,435,7233,0.00,2.60,0.00,0.000,6,0.000,0.062,2994,1849,2048
$GC,7546,1.13,191.7,462.1,8.7,456,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1849,2048
$GC,7859,1.13,191.7,436.2,8.1,476,7863,0.00,2.55,0.00,0.000,4,0.000,0.070,2995,439,2048
$GC,7877,1.13,191.7,434.6,8.2,477,7882,0.00,2.55,0.00,0.000,6,0.000,0.052,2994,1865,2048
$GC,8196,1.13,191.7,407.7,9.0,497,8201,0.00,2.50,0.00,0.000,4,0.000,0.063,2994,3256,2048
$GC,8219,1.13,191.7,405.4,9.9,498,8225,0.00,2.55,0.00,0.000,6,0.000,0.058,2994,1853,2047
$GC,8538,1.15,205.9,380.3,7.5,519,8554,0.00,0.00,13.57,0.998,6,0.000,0.000,2995,1853,1991
$GC,8866,1.18,223.1,355.0,7.4,540,8887,0.00,2.62,16.05,0.999,4,0.000,0.061,2994,3255,1921
$GC,8916,1.24,235.0,351.0,7.6,543,8935,0.00,2.55,12.12,0.959,6,0.000,0.056,2994,1858,1872
$GC,9259,1.28,235.0,323.2,8.2,565,9264,0.12,2.58,0.00,0.000,4,0.055,0.061,3029,3262,1872
$GC,9288,1.28,235.0,320.2,10.1,567,9292,0.00,2.50,0.00,0.000,6,0.000,0.055,3029,1872,1872
$GC,9612,1.23,235.0,291.9,8.3,588,9616,0.00,2.55,0.00,0.000,4,0.000,0.061,3029,3263,1872
$GC,9641,1.23,235.0,289.4,8.7,590,9645,0.00,2.47,0.00,0.000,6,0.000,0.054,3029,1886,1872
$GC,9972,1.20,235.0,260.1,9.4,611,9976,0.12,2.50,0.00,0.000,4,0.094,0.059,3005,3256,1872
$GC,9988,1.20,235.0,258.4,9.6,612,9992,0.00,2.45,0.00,0.000,6,0.000,0.053,3005,1893,1872
$GC,10307,1.20,235.0,232.2,8.1,632,10308,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1893,1872
$GC,10621,1.20,235.0,206.6,8.3,652,10622,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1893,1872
$GC,10933,1.20,235.0,178.9,8.9,672,10937,0.00,2.47,0.00,0.000,4,0.000,0.059,3005,3256,1872
$GC,10973,1.24,235.0,175.1,9.2,674,10979,0.00,2.42,0.00,0.000,6,0.000,0.051,3005,1898,1872
$GC,11292,1.28,258.3,151.4,7.2,695,11318,0.00,2.53,20.83,0.874,4,0.000,0.058,3005,3261,1777
$GC,11348,1.34,258.3,146.0,9.3,698,11353,0.15,2.42,0.00,0.000,6,0.053,0.048,3045,1912,1777
$GC,11666,1.29,258.3,114.8,9.6,713,11670,0.00,2.45,0.00,0.000,4,0.000,0.058,3045,3260,1777
$GC,11699,1.26,258.3,111.3,9.3,714,11706,0.15,2.38,0.00,0.000,6,0.089,0.048,3015,1921,1777
$GC,12016,1.26,258.3,85.4,8.0,730,12021,0.00,2.42,0.00,0.000,4,0.000,0.058,3015,3257,1777
$GC,12044,1.26,258.3,82.9,8.9,731,12048,0.00,2.35,0.00,0.000,6,0.000,0.048,3015,1934,1777
$GC,12362,1.26,258.3,55.5,9.1,746,12363,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1934,1777
$GC,12670,1.26,258.3,37.6,8.0,761,12674,0.00,2.40,0.00,0.000,4,0.000,0.058,3015,3261,1777
$GC,12712,1.31,266.4,34.4,7.7,763,12726,0.00,2.33,8.57,0.726,6,0.000,0.048,3015,1943,1743
$GC,13044,1.31,266.4,7.2,8.8,779,13045,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1931,1743
$STATE,13102,end climb,SURFACE_DEPTH_REACHED
$STATE,13102,begin surface coast
$FINISH,0.9,1.027296
$STATE,13124,end surface coast,CONTROL_FINISHED_OK
$STATE,13124,begin surface
$SM_CCo,13149,17.50,0.762,0,0,1607,300.00
$SM_GC,1.37,0.00,0.00,17.50,0.000,0.000,0.762,423,2147,1607,-10.68,0.48,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1824
$TCM_TEMP,17.10
$XPDR_PINGS,62
$ALTIM_BOTTOM_PING,596.3,14.0
$24V_AH,23.8,50.277
$10V_AH,10.1,22.509
$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,26.650,137.275,374.050,17.500,0.000,37.763,26.785,150.163,20.750,0.000,0.000,15.186,1404.169,9495.468,499.273,1598.751,511.682,33.354,1330.657,0.000,1558.809,0.000,36.500,0.000
$DEVICE_MAMPS,167.206,77.467,1203.423,762.398,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,535.400,572.584,478.247,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41140,783
$CAP_FILE_SIZE,113138,0
$CFSIZE,254472192,235507712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,151009,173555,6316.685,-1255.589,40,1.1,40,-12.1