version: 66.04
glider: 5
mission: 7
dive: 405
start: 10 30 109 20 57 41
data:
$ID,5
$MISSION,7
$DIVE,405
$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,330
$T_MISSION,350
$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,1
$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,-107972.33
$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,25
$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
$GPS1,205136,6233.233,-1035.921,25,2.0,25,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-61.2
$GPS2,205650,6233.262,-1035.955,14,1.9,14,-10.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.229,-0.131
$KALMAN_X,-212714.9,1259.9,1442.8,328332.2,-17485.6
$KALMAN_Y,74795.9,-1083.9,-253.8,-175345.4,6760.4
$MHEAD_RNG_PITCHd_Wd,130.2,7902,-18.1,-10.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,69,0.00,0.00,-50.92,0.000,2,0.000,0.000,425,2107,2546
$GC,73,-1.44,-146.6,2.4,-2.3,3,124,10.68,2.65,-34.70,0.000,4,0.151,0.079,2422,3540,3429
$GC,237,-1.31,-146.6,24.0,-15.6,10,242,0.17,2.53,0.00,0.000,6,0.099,0.048,2457,2124,3430
$GC,553,-1.27,-146.6,68.5,-14.1,25,558,0.00,2.50,0.00,0.000,4,0.000,0.058,2457,714,3430
$GC,581,-1.27,-146.6,72.9,-15.2,26,585,0.00,2.53,0.00,0.000,6,0.000,0.048,2457,2137,3430
$GC,900,-1.24,-146.6,120.3,-14.9,41,904,0.00,2.58,0.00,0.000,4,0.000,0.058,2457,709,3430
$GC,940,-1.24,-146.6,126.7,-15.3,43,944,0.00,2.55,0.00,0.000,6,0.000,0.048,2457,2147,3430
$GC,1260,-1.21,-146.6,174.7,-14.4,61,1265,0.12,2.60,0.00,0.000,4,0.105,0.059,2482,713,3430
$GC,1282,-1.21,-146.6,178.0,-13.5,62,1288,0.00,2.50,0.00,0.000,6,0.000,0.048,2482,2123,3430
$GC,1601,-1.21,-146.6,217.5,-12.5,83,1605,0.00,2.55,0.00,0.000,4,0.000,0.061,2482,717,3430
$GC,1664,-1.26,-146.6,225.3,-12.6,87,1669,0.00,2.47,0.00,0.000,6,0.000,0.049,2482,2114,3430
$GC,1988,-1.26,-146.6,264.3,-11.9,108,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2114,3430
$GC,2301,-1.26,-146.6,301.2,-11.5,128,2306,0.00,2.53,0.00,0.000,4,0.000,0.061,2482,719,3430
$GC,2365,-1.33,-146.6,308.9,-11.9,132,2369,0.12,2.42,0.00,0.000,6,0.060,0.050,2449,2089,3430
$GC,2691,-1.28,-146.6,355.9,-15.7,153,2696,0.00,2.47,0.00,0.000,4,0.000,0.061,2448,720,3430
$GC,2726,-1.28,-146.6,361.5,-15.2,155,2730,0.00,2.40,0.00,0.000,6,0.000,0.050,2448,2070,3430
$GC,3047,-1.24,-146.6,409.1,-15.4,175,3052,0.12,2.67,0.00,0.000,4,0.103,0.071,2471,3535,3430
$GC,3085,-1.24,-146.6,415.2,-14.4,177,3091,0.00,2.67,0.00,0.000,6,0.000,0.061,2471,2063,3430
$GC,3405,-1.24,-146.6,461.3,-14.9,198,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2048,3430
$GC,3717,-1.28,-146.6,504.0,-13.7,218,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2047,3430
$GC,4030,-1.31,-146.6,542.8,-12.0,238,4035,0.00,2.75,0.00,0.000,4,0.000,0.074,2472,3528,3430
$GC,4077,-1.31,-146.6,548.9,-12.5,241,4082,0.00,2.67,0.00,0.000,6,0.000,0.064,2472,2061,3430
$GC,4404,-1.36,-146.6,586.0,-10.3,262,4409,0.12,2.78,0.00,0.000,4,0.064,0.077,2437,3531,3431
$GC,4484,-1.31,-146.6,595.3,-12.0,267,4489,0.10,2.60,0.00,0.000,6,0.101,0.067,2457,2120,3430
$STATE,4493,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4493,begin apogee
$GC,4500,-0.33,0.0,597.1,13.9,268,4635,1.00,0.00,130.40,1.210,6,0.082,0.000,2671,1844,2832
$STATE,4635,end apogee,CONTROL_FINISHED_OK
$STATE,4635,begin climb
$GC,4639,1.44,146.6,601.9,0.0,277,4778,1.75,2.67,130.10,1.171,4,0.058,0.074,3056,431,2233
$GC,4830,1.33,146.6,593.1,12.8,289,4837,0.12,2.60,0.00,0.000,6,0.109,0.057,3035,1850,2233
$GC,5151,1.44,217.1,566.1,6.8,310,5216,0.10,0.00,62.65,1.159,6,0.069,0.000,3062,1866,1945
$GC,5527,1.39,217.1,532.9,10.5,334,5532,0.00,2.62,0.00,0.000,4,0.000,0.078,3062,3261,1943
$GC,5578,1.36,217.1,526.9,11.4,337,5583,0.00,2.60,0.00,0.000,6,0.000,0.072,3062,1868,1943
$GC,5899,1.31,217.1,489.3,10.8,357,5904,0.17,2.62,0.00,0.000,4,0.104,0.074,3026,3255,1941
$GC,5963,1.39,231.5,483.0,9.3,361,5983,0.00,2.58,13.25,1.081,6,0.000,0.070,3026,1866,1886
$GC,6313,1.52,289.2,456.3,7.4,383,6370,0.20,2.67,50.67,1.151,4,0.059,0.071,3077,3260,1652
$GC,6411,1.52,289.2,445.9,10.8,388,6415,0.00,2.58,0.00,0.000,6,0.000,0.066,3077,1874,1652
$GC,6730,1.47,289.2,406.4,13.5,408,6734,0.00,2.60,0.00,0.000,4,0.000,0.070,3077,3262,1652
$GC,6769,1.47,289.2,401.0,13.1,410,6776,0.00,2.50,0.00,0.000,6,0.000,0.063,3077,1897,1652
$GC,7089,1.43,289.2,360.0,12.8,431,7094,0.12,2.55,0.00,0.000,4,0.104,0.067,3055,3265,1653
$GC,7111,1.43,289.2,356.8,13.4,432,7117,0.00,2.50,0.00,0.000,6,0.000,0.059,3055,1897,1653
$GC,7431,1.43,289.2,319.6,11.5,453,7435,0.00,2.53,0.00,0.000,4,0.000,0.065,3055,3261,1653
$GC,7464,1.46,289.2,315.6,11.1,455,7469,0.00,2.45,0.00,0.000,6,0.000,0.057,3055,1913,1653
$GC,7783,1.46,289.2,282.4,10.2,475,7788,0.00,2.47,0.00,0.000,4,0.000,0.064,3055,3257,1653
$GC,7818,1.49,289.2,278.4,11.3,477,7822,0.00,2.40,0.00,0.000,6,0.000,0.055,3055,1930,1653
$GC,8137,1.49,289.2,243.4,11.7,497,8141,0.00,2.45,0.00,0.000,4,0.000,0.064,3055,3260,1653
$GC,8154,1.49,289.2,241.3,11.5,498,8158,0.00,2.38,0.00,0.000,6,0.000,0.054,3055,1944,1653
$GC,8474,1.49,289.2,204.8,11.7,518,8478,0.00,2.42,0.00,0.000,4,0.000,0.063,3055,3262,1654
$GC,8490,1.49,289.2,202.6,11.4,519,8494,0.00,2.35,0.00,0.000,6,0.000,0.053,3055,1952,1655
$GC,8815,1.49,289.2,161.4,12.8,540,8819,0.00,2.40,0.00,0.000,4,0.000,0.062,3055,3260,1654
$GC,8838,1.53,289.2,158.5,13.8,541,8845,0.10,2.35,0.00,0.000,6,0.064,0.051,3083,1950,1655
$GC,9155,1.50,289.2,114.8,13.4,558,9160,0.00,2.40,0.00,0.000,4,0.000,0.061,3083,3260,1655
$GC,9189,1.50,289.2,110.0,13.1,559,9195,0.00,2.30,0.00,0.000,6,0.000,0.050,3082,1974,1655
$GC,9508,1.50,289.2,69.7,12.7,575,9512,0.00,2.35,0.00,0.000,4,0.000,0.061,3083,3258,1656
$GC,9536,1.50,289.2,65.5,13.7,576,9540,0.00,2.28,0.00,0.000,6,0.000,0.049,3083,1985,1655
$GC,9852,1.50,289.2,26.8,12.3,591,9856,0.00,2.78,0.00,0.000,4,0.000,0.062,3083,431,1655
$GC,9875,1.45,289.2,23.8,12.6,592,9879,0.00,2.78,0.00,0.000,6,0.000,0.047,3083,2001,1655
$STATE,10049,end climb,SURFACE_DEPTH_REACHED
$STATE,10049,begin surface coast
$FINISH,0.3,1.005054
$STATE,10071,end surface coast,CONTROL_FINISHED_OK
$STATE,10071,begin surface
$SM_CCo,10095,6.40,0.650,0,0,1607,300.00
$SM_GC,2.07,0.00,0.00,6.40,0.000,0.000,0.650,419,2154,1607,-10.70,0.68,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1841
$TCM_TEMP,16.40
$XPDR_PINGS,40
$ALTIM_BOTTOM_PING,545.2,61.5
$24V_AH,23.7,65.256
$10V_AH,10.1,29.501
$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,26.600,122.275,387.075,6.400,0.000,37.762,27.815,126.221,14.750,0.000,0.000,14.831,1099.906,7108.430,481.585,1279.944,448.743,33.359,1172.062,0.000,1245.477,0.000,36.758,0.000
$DEVICE_MAMPS,151.099,79.001,1210.326,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.538,440.425,354.109,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31696,602
$CAP_FILE_SIZE,93786,0
$CFSIZE,254472192,230084608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,301009,234724,6231.588,-1036.341,24,1.0,41,-10.5