version: 66.04
glider: 5
mission: 7
dive: 307
start: 10 15 109 17 42 45
data:
$ID,5
$MISSION,7
$DIVE,307
$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,-106201.92
$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,19
$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
$GPS1,173555,6316.685,-1255.589,40,1.1,40,-12.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-58.4
$GPS2,174153,6316.696,-1255.407,17,1.4,17,-12.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,GE
$TGT_LATLONG,6300.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.014,-0.245
$KALMAN_X,1341.2,17.9,418.2,1253.7,321.6
$KALMAN_Y,13026.7,-876.0,26.9,-33622.4,9424.6
$MHEAD_RNG_PITCHd_Wd,195.5,30922,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.22,-146.6,0.0,0.0,0,58,0.00,0.00,-40.92,0.000,2,0.000,0.000,422,2151,2436
$GC,62,-1.22,-146.6,2.3,-3.4,2,114,11.23,2.58,-35.10,0.000,4,0.159,0.077,2470,3548,3429
$GC,219,-1.12,-146.6,23.2,-14.9,9,224,0.15,2.53,0.00,0.000,6,0.103,0.044,2501,2120,3429
$GC,541,-1.07,-146.6,60.5,-11.1,25,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2105,3430
$GC,851,-1.03,-146.6,98.0,-12.9,40,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2105,3430
$GC,1160,-1.00,-146.6,138.4,-12.6,55,1161,0.12,0.00,0.00,0.000,6,0.098,0.000,2527,2105,3430
$GC,1471,-1.00,-146.6,170.5,-9.6,73,1475,0.00,2.62,0.00,0.000,4,0.000,0.066,2527,3545,3429
$GC,1505,-1.00,-146.6,174.2,-10.6,75,1509,0.00,2.50,0.00,0.000,6,0.000,0.050,2527,2144,3430
$GC,1823,-1.00,-146.6,208.3,-11.0,95,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2129,3430
$GC,2136,-1.00,-146.6,240.0,-9.8,115,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2130,3430
$GC,2448,-1.00,-146.6,269.6,-9.7,135,2456,0.00,2.53,0.00,0.000,4,0.000,0.061,2527,717,3430
$GC,2473,-1.04,-146.6,272.1,-9.8,136,2478,0.00,2.55,0.00,0.000,6,0.000,0.050,2527,2154,3430
$GC,2793,-1.04,-146.6,302.0,-8.9,156,2798,0.00,2.60,0.00,0.000,4,0.000,0.061,2527,716,3430
$GC,2832,-1.09,-146.6,305.7,-9.3,158,2838,0.00,2.53,0.00,0.000,6,0.000,0.050,2527,2141,3430
$GC,3151,-1.09,-146.6,336.4,-9.9,179,3155,0.00,2.58,0.00,0.000,4,0.000,0.061,2528,716,3430
$GC,3191,-1.15,-146.6,340.4,-10.3,181,3197,0.15,2.50,0.00,0.000,6,0.055,0.050,2486,2128,3430
$GC,3512,-1.10,-146.6,377.2,-11.5,202,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2128,3430
$GC,3823,-1.05,-146.6,410.5,-9.8,222,3828,0.15,2.58,0.00,0.000,4,0.092,0.064,2517,712,3430
$GC,3886,-1.09,-146.6,416.4,-9.6,226,3890,0.00,2.47,0.00,0.000,6,0.000,0.051,2517,2113,3430
$GC,4218,-1.09,-146.6,445.6,-9.8,247,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2113,3430
$GC,4528,-1.09,-146.6,475.5,-9.2,267,4532,0.00,2.53,0.00,0.000,4,0.000,0.063,2517,716,3430
$GC,4591,-1.14,-146.6,481.2,-8.5,271,4596,0.00,2.45,0.00,0.000,6,0.000,0.051,2517,2099,3429
$GC,4916,-1.14,-146.6,510.6,-8.9,292,4920,0.00,2.62,0.00,0.000,4,0.000,0.070,2517,3540,3429
$GC,4966,-1.18,-146.6,515.4,-9.4,295,4971,0.12,2.60,0.00,0.000,6,0.058,0.057,2481,2100,3429
$GC,5288,-1.14,-146.6,548.1,-10.1,315,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2085,3429
$STATE,5579,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5579,begin apogee
$GC,5587,-0.33,0.0,580.2,11.7,334,5720,0.90,0.00,129.77,1.189,6,0.081,0.000,2673,1839,2831
$STATE,5721,end apogee,CONTROL_FINISHED_OK
$STATE,5721,begin climb
$GC,5724,1.22,146.6,585.9,0.0,343,5865,1.50,2.67,129.95,1.148,4,0.052,0.065,3009,3253,2233
$GC,6125,1.17,146.6,561.9,9.2,367,6130,0.00,2.58,0.00,0.000,6,0.000,0.063,3009,1856,2233
$GC,6452,1.14,164.5,536.9,7.4,388,6476,0.00,2.70,17.05,1.079,4,0.000,0.067,3009,3255,2160
$GC,6616,1.13,184.9,524.8,7.3,397,6641,0.00,2.55,19.40,1.091,6,0.000,0.063,3009,1870,2077
$GC,6971,1.21,255.0,502.0,5.5,420,7039,0.00,2.70,61.60,1.137,4,0.000,0.073,3009,436,1791
$GC,7064,1.19,270.2,495.7,7.4,425,7086,0.00,2.65,14.90,1.046,6,0.000,0.054,3010,1894,1729
$GC,7399,1.19,270.2,470.6,8.1,447,7400,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1904,1729
$GC,7712,1.19,270.2,443.7,8.9,467,7716,0.00,2.47,0.00,0.000,4,0.000,0.067,3009,3253,1729
$GC,7734,1.19,270.2,441.5,9.4,468,7740,0.00,2.50,0.00,0.000,6,0.000,0.060,3010,1887,1729
$GC,8053,1.23,296.4,415.5,7.0,489,8085,0.00,2.60,24.00,1.061,4,0.000,0.063,3009,3254,1622
$GC,8115,1.32,321.8,411.1,7.1,492,8145,0.00,2.50,23.27,1.052,6,0.000,0.058,3009,1891,1519
$GC,8469,1.32,321.8,383.0,8.2,515,8474,0.10,2.53,0.00,0.000,4,0.060,0.063,3038,3258,1519
$GC,8508,1.32,321.8,378.9,9.7,517,8514,0.00,2.45,0.00,0.000,6,0.000,0.057,3038,1911,1520
$GC,8828,1.27,321.8,346.6,10.4,538,8832,0.00,2.47,0.00,0.000,4,0.000,0.063,3038,3255,1520
$GC,8861,1.27,321.8,342.7,10.8,540,8865,0.00,2.40,0.00,0.000,6,0.000,0.055,3038,1929,1520
$GC,9181,1.23,321.8,308.6,11.3,560,9186,0.12,2.45,0.00,0.000,4,0.091,0.062,3012,3262,1520
$GC,9214,1.28,321.8,304.9,10.0,562,9218,0.00,2.38,0.00,0.000,6,0.000,0.054,3013,1945,1520
$GC,9533,1.28,321.8,276.0,8.7,582,9537,0.00,2.40,0.00,0.000,4,0.000,0.063,3013,3254,1520
$GC,9562,1.32,321.8,273.5,9.0,584,9567,0.00,2.33,0.00,0.000,6,0.000,0.054,3013,1962,1520
$GC,9887,1.32,321.8,243.7,9.6,605,9888,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1962,1520
$GC,10200,1.32,321.8,210.4,11.0,625,10204,0.00,2.38,0.00,0.000,4,0.000,0.062,3013,3259,1521
$GC,10250,1.39,321.8,204.5,11.5,628,10255,0.15,2.30,0.00,0.000,6,0.054,0.052,3053,1976,1521
$GC,10572,1.32,321.8,162.8,13.5,648,10573,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1976,1520
$GC,10891,1.27,321.8,120.5,12.0,665,10893,0.17,0.00,0.00,0.000,6,0.086,0.000,3019,1976,1521
$GC,11201,1.27,321.8,90.3,9.8,680,11202,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1976,1521
$GC,11508,1.27,321.8,58.4,11.4,695,11512,0.00,2.33,0.00,0.000,4,0.000,0.060,3019,3255,1521
$GC,11532,1.31,321.8,55.5,11.5,696,11536,0.00,2.30,0.00,0.000,6,0.000,0.049,3019,1962,1521
$GC,11855,1.40,377.6,26.8,6.0,712,11905,0.15,0.00,47.10,0.811,6,0.052,0.000,3059,1954,1291
$STATE,12055,end climb,SURFACE_DEPTH_REACHED
$STATE,12055,begin surface coast
$FINISH,1.1,1.026634
$STATE,12079,end surface coast,CONTROL_FINISHED_OK
$STATE,12079,begin surface
$SM_CCo,12163,0.00,0.000,0,0,1291,378.01
$SM_GC,1.51,11.48,0.00,0.00,0.036,0.000,0.000,421,2145,1291,-10.59,0.42,378.01
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1820
$TCM_TEMP,17.10
$XPDR_PINGS,46
$ALTIM_BOTTOM_PING,520.8,67.4
$24V_AH,23.8,50.437
$10V_AH,10.1,22.576
$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,26.500,96.150,467.050,0.000,0.000,37.767,35.790,152.707,16.000,0.000,0.000,17.393,1267.216,8739.584,526.695,1490.052,496.261,33.360,1298.813,0.000,1456.899,0.000,31.898,0.000
$DEVICE_MAMPS,158.769,77.467,1188.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,493.640,529.141,426.404,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38047,723
$CAP_FILE_SIZE,99680,0
$CFSIZE,254472192,235466752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,151009,210636,6315.729,-1250.864,31,1.2,31,-12.0