version: 66.04
glider: 5
mission: 7
dive: 308
start: 10 15 109 21 12 39
data:
$ID,5
$MISSION,7
$DIVE,308
$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,-106214.61
$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,21
$R_STBD_OVSHOOT,36
$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
$GPS1,210636,6315.729,-1250.864,31,1.2,31,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-54.0
$GPS2,211150,6315.727,-1250.727,12,1.5,12,-12.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,GE
$TGT_LATLONG,6300.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.218,-0.113
$KALMAN_X,6446.5,-86.1,125.8,402.4,6755.7
$KALMAN_Y,17180.5,-736.9,-647.2,-39032.8,14148.6
$MHEAD_RNG_PITCHd_Wd,254.5,29347,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.28,0.000,2,0.000,0.000,421,2163,2529
$GC,83,-1.22,-146.6,2.6,-2.2,3,136,11.20,2.60,-35.95,0.000,4,0.161,0.068,2469,713,3429
$GC,171,-1.15,-146.6,9.8,-12.6,7,176,0.12,2.50,0.00,0.000,6,0.112,0.048,2493,2128,3429
$GC,493,-1.09,-146.6,44.7,-13.2,23,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2128,3429
$GC,802,-1.03,-146.6,78.4,-11.7,38,807,0.12,2.58,0.00,0.000,4,0.102,0.061,2519,709,3429
$GC,825,-1.03,-146.6,81.4,-12.3,39,829,0.00,2.53,0.00,0.000,6,0.000,0.049,2519,2131,3429
$GC,1146,-1.03,-146.6,112.2,-9.8,55,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2130,3429
$GC,1455,-1.03,-146.6,141.5,-9.3,70,1460,0.00,2.55,0.00,0.000,4,0.000,0.061,2519,716,3429
$GC,1529,-1.08,-146.6,148.1,-8.8,73,1533,0.00,2.50,0.00,0.000,6,0.000,0.050,2519,2127,3429
$GC,1853,-1.08,-146.6,175.7,-8.8,93,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2128,3429
$GC,2166,-1.08,-146.6,204.1,-9.5,113,2170,0.00,2.55,0.00,0.000,4,0.000,0.061,2519,717,3429
$GC,2194,-1.08,-146.6,206.9,-9.6,115,2199,0.00,2.47,0.00,0.000,6,0.000,0.051,2520,2113,3429
$GC,2519,-1.08,-146.6,237.5,-9.6,136,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2112,3429
$GC,2832,-1.08,-146.6,265.8,-8.9,156,2836,0.00,2.53,0.00,0.000,4,0.000,0.060,2519,710,3429
$GC,2854,-1.08,-146.6,268.1,-9.2,157,2859,0.00,2.47,0.00,0.000,6,0.000,0.051,2519,2103,3429
$GC,3174,-1.08,-146.6,294.2,-7.8,177,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2103,3429
$GC,3488,-1.08,-146.6,319.3,-8.1,197,3493,0.00,2.53,0.00,0.000,4,0.000,0.062,2519,707,3429
$GC,3511,-1.08,-146.6,321.3,-8.1,198,3515,0.00,2.47,0.00,0.000,6,0.000,0.051,2519,2100,3429
$GC,3830,-1.08,-146.6,348.3,-8.7,218,3834,0.00,2.62,0.00,0.000,4,0.000,0.071,2520,3541,3429
$GC,3876,-1.08,-146.6,352.5,-9.3,221,3881,0.00,2.60,0.00,0.000,6,0.000,0.056,2519,2098,3429
$GC,4200,-1.08,-146.6,383.2,-9.8,242,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2085,3429
$GC,4513,-1.08,-146.6,413.6,-8.8,262,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2081,3429
$GC,4825,-1.08,-146.6,437.6,-7.2,282,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2081,3429
$GC,5137,-1.08,-146.6,458.5,-6.9,302,5142,0.00,2.67,0.00,0.000,4,0.000,0.071,2520,3538,3429
$GC,5211,-1.08,-146.6,463.7,-7.7,306,5217,0.00,2.60,0.00,0.000,6,0.000,0.057,2519,2092,3429
$GC,5531,-1.08,-146.6,486.4,-6.9,327,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2077,3429
$GC,5843,-1.08,-146.6,507.7,-7.9,347,5848,0.00,2.67,0.00,0.000,4,0.000,0.071,2519,3532,3428
$GC,5944,-1.08,-146.6,515.4,-8.3,353,5949,0.00,2.58,0.00,0.000,6,0.000,0.057,2520,2103,3428
$GC,6263,-1.08,-146.6,541.2,-8.6,373,6268,0.00,2.67,0.00,0.000,4,0.000,0.072,2519,3541,3428
$GC,6360,-1.08,-146.6,550.4,-9.8,379,6364,0.00,2.53,0.00,0.000,6,0.000,0.060,2519,2146,3428
$STATE,6431,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6431,begin apogee
$GC,6439,-0.33,0.0,557.0,9.0,384,6572,0.70,0.00,130.32,1.179,6,0.074,0.000,2673,1838,2831
$STATE,6573,end apogee,CONTROL_FINISHED_OK
$STATE,6573,begin climb
$GC,6577,1.22,146.6,562.3,0.0,393,6718,1.52,2.62,130.95,1.134,4,0.058,0.073,3007,443,2233
$GC,6794,1.12,149.7,552.3,7.9,406,6805,0.00,2.58,4.62,0.759,6,0.000,0.055,3007,1862,2220
$GC,7122,1.13,194.8,528.9,6.4,427,7170,0.00,2.65,39.67,1.114,4,0.000,0.069,3007,3255,2035
$GC,7255,1.13,194.8,518.5,8.3,435,7260,0.00,2.53,0.00,0.000,6,0.000,0.064,3007,1889,2036
$GC,7584,1.14,215.5,497.6,7.2,456,7605,0.00,0.00,19.23,1.088,6,0.000,0.000,3007,1889,1952
$GC,7913,1.14,215.5,471.0,9.7,477,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1889,1951
$GC,8226,1.14,215.5,438.9,8.6,497,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1889,1950
$GC,8538,1.14,215.5,414.0,8.1,517,8542,0.00,2.53,0.00,0.000,4,0.000,0.066,3007,3254,1950
$GC,8587,1.14,215.5,409.6,9.2,520,8592,0.00,2.50,0.00,0.000,6,0.000,0.059,3007,1880,1949
$GC,8907,1.14,215.5,382.2,8.7,540,8908,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1880,1949
$GC,9219,1.14,215.5,355.0,8.6,560,9220,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1880,1949
$GC,9532,1.18,243.7,331.3,7.0,580,9564,0.00,2.60,24.55,1.013,4,0.000,0.062,3007,3255,1837
$GC,9610,1.20,256.5,325.4,7.5,584,9631,0.00,2.47,12.38,0.953,6,0.000,0.054,3007,1893,1785
$GC,9947,1.24,279.9,301.0,7.2,606,9973,0.00,0.00,21.08,0.978,6,0.000,0.000,3006,1893,1690
$GC,10286,1.24,279.9,274.7,8.1,628,10290,0.00,2.50,0.00,0.000,4,0.000,0.062,3007,3255,1690
$GC,10342,1.29,279.9,270.2,8.3,631,10348,0.00,2.45,0.00,0.000,6,0.000,0.053,3007,1896,1690
$GC,10662,1.29,279.9,244.5,8.4,652,10666,0.00,2.50,0.00,0.000,4,0.000,0.061,3007,3262,1690
$GC,10695,1.35,279.9,241.4,8.4,654,10700,0.15,2.42,0.00,0.000,6,0.051,0.052,3048,1912,1690
$GC,11018,1.27,279.9,206.2,11.3,674,11022,0.15,2.45,0.00,0.000,4,0.091,0.060,3020,3255,1690
$GC,11047,1.27,279.9,202.6,10.7,676,11051,0.00,2.38,0.00,0.000,6,0.000,0.051,3020,1926,1690
$GC,11372,1.27,279.9,170.4,10.4,697,11376,0.00,2.42,0.00,0.000,4,0.000,0.060,3020,3258,1690
$GC,11424,1.31,279.9,164.9,10.6,700,11428,0.00,2.33,0.00,0.000,6,0.000,0.051,3020,1947,1691
$GC,11742,1.31,279.9,132.9,9.7,718,11743,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1947,1691
$GC,12051,1.31,279.9,99.1,11.9,733,12052,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1947,1691
$GC,12361,1.31,279.9,68.1,9.0,748,12365,0.00,2.38,0.00,0.000,4,0.000,0.059,3020,3257,1691
$GC,12394,1.31,279.9,64.7,9.9,749,12400,0.00,2.30,0.00,0.000,6,0.000,0.048,3020,1960,1691
$GC,12712,1.31,279.9,30.4,12.4,765,12713,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1960,1691
$GC,13020,1.31,279.9,3.1,9.2,780,13024,0.00,2.22,0.00,0.000,3,0.000,0.061,3019,701,1692
$STATE,13025,end climb,SURFACE_DEPTH_REACHED
$STATE,13025,begin surface coast
$FINISH,1.6,1.027203
$STATE,13062,end surface coast,CONTROL_FINISHED_OK
$STATE,13062,begin surface
$SM_CCo,13088,11.27,0.730,0,0,1608,300.00
$SM_GC,2.08,0.00,0.00,11.27,0.000,0.000,0.730,418,2146,1608,-10.70,0.45,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1817
$TCM_TEMP,17.20
$XPDR_PINGS,39
$ALTIM_BOTTOM_PING,495.0,71.5
$24V_AH,23.8,50.572
$10V_AH,10.1,22.646
$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,25.200,101.150,382.800,11.275,0.000,37.763,32.520,127.289,14.000,0.000,0.000,12.064,1353.411,9545.206,499.462,1553.996,463.073,33.355,1289.142,0.000,1524.418,0.000,30.325,0.000
$DEVICE_MAMPS,161.070,72.865,1178.879,730.184,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,534.776,569.926,469.424,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41038,782
$CAP_FILE_SIZE,101440,0
$CFSIZE,254472192,235413504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,161009,005207,6313.658,-1254.036,27,1.1,27,-12.0