version: 66.04
glider: 5
mission: 7
dive: 407
start: 10 31 109 3 4 4
data:
$ID,5
$MISSION,7
$DIVE,407
$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,-107999.82
$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,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
$GPS1,025807,6230.880,-1037.735,31,1.1,31,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-62.5
$GPS2,030313,6230.906,-1037.799,12,1.1,12,-10.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.162,0.208
$KALMAN_X,-220786.2,2021.2,657.2,334922.8,-19146.6
$KALMAN_Y,69575.4,-256.1,-477.4,-175075.7,79.9
$MHEAD_RNG_PITCHd_Wd,48.5,6877,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.00,0.000,2,0.000,0.000,420,2150,2417
$GC,63,-1.44,-146.6,2.0,-1.7,2,127,11.02,2.55,-44.92,0.000,4,0.162,0.079,2422,3535,3429
$GC,286,-1.32,-146.6,30.3,-16.5,12,291,0.17,2.50,0.00,0.000,6,0.098,0.048,2457,2121,3429
$GC,614,-1.28,-146.6,79.9,-14.7,28,618,0.00,2.50,0.00,0.000,4,0.000,0.058,2457,711,3429
$GC,665,-1.28,-146.6,87.3,-13.8,30,669,0.00,2.53,0.00,0.000,6,0.000,0.048,2457,2135,3430
$GC,981,-1.25,-146.6,129.1,-12.8,45,986,0.00,2.58,0.00,0.000,4,0.000,0.058,2457,709,3430
$GC,1071,-1.25,-146.6,141.5,-12.8,49,1075,0.00,2.47,0.00,0.000,6,0.000,0.047,2457,2109,3430
$GC,1398,-1.21,-146.6,184.3,-12.9,69,1403,0.12,2.53,0.00,0.000,4,0.104,0.058,2482,711,3430
$GC,1449,-1.27,-146.6,190.8,-12.1,72,1453,0.00,2.45,0.00,0.000,6,0.000,0.048,2482,2098,3430
$GC,1774,-1.27,-146.6,228.9,-11.8,93,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2099,3430
$GC,2085,-1.27,-146.6,262.9,-10.8,113,2089,0.00,2.50,0.00,0.000,4,0.000,0.059,2482,716,3430
$GC,2125,-1.32,-146.6,267.2,-11.0,115,2132,0.12,2.45,0.00,0.000,6,0.058,0.049,2448,2098,3430
$GC,2449,-1.27,-146.6,307.9,-13.1,136,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2099,3430
$GC,2757,-1.23,-146.6,348.2,-12.8,156,2759,0.15,0.00,0.00,0.000,6,0.097,0.000,2477,2098,3430
$GC,3070,-1.23,-146.6,384.0,-11.6,176,3074,0.00,2.50,0.00,0.000,4,0.000,0.061,2477,719,3430
$GC,3103,-1.27,-146.6,388.1,-12.0,178,3108,0.00,2.42,0.00,0.000,6,0.000,0.050,2477,2085,3430
$GC,3423,-1.27,-146.6,426.4,-12.5,198,3428,0.00,2.65,0.00,0.000,4,0.000,0.071,2477,3533,3430
$GC,3470,-1.27,-146.6,432.3,-13.0,201,3474,0.00,2.62,0.00,0.000,6,0.000,0.060,2477,2088,3430
$GC,3794,-1.27,-146.6,473.2,-12.7,222,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2072,3430
$GC,4107,-1.30,-146.6,514.9,-13.7,242,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2071,3430
$GC,4419,-1.34,-146.6,556.3,-11.8,262,4421,0.12,0.00,0.00,0.000,6,0.063,0.000,2444,2072,3430
$GC,4733,-1.34,-146.6,593.7,-11.9,282,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2072,3430
$STATE,4853,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4853,begin apogee
$GC,4860,-0.33,0.0,608.4,11.5,290,4995,1.08,0.00,131.15,1.215,6,0.081,0.000,2674,1844,2831
$STATE,4996,end apogee,CONTROL_FINISHED_OK
$STATE,4996,begin climb
$GC,4999,1.44,146.6,612.1,0.0,299,5141,1.75,2.70,130.43,1.175,4,0.058,0.080,3059,444,2232
$GC,5230,1.32,153.6,598.0,9.7,313,5247,0.15,2.58,7.85,0.957,6,0.104,0.059,3033,1852,2204
$GC,5563,1.39,195.4,571.3,8.1,334,5604,0.00,0.00,37.45,1.154,6,0.000,0.000,3032,1868,2034
$GC,5917,1.47,249.0,540.9,7.6,357,5972,0.15,2.72,47.40,1.169,4,0.063,0.077,3069,3261,1815
$GC,6013,1.47,249.0,532.0,10.5,363,6017,0.00,2.70,0.00,0.000,6,0.000,0.074,3068,1830,1815
$GC,6337,1.43,249.0,497.1,11.9,384,6338,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1830,1815
$GC,6649,1.38,249.0,460.0,12.0,404,6654,0.12,2.67,0.00,0.000,4,0.107,0.071,3046,3252,1813
$GC,6751,1.38,249.0,448.7,11.0,410,6755,0.00,2.65,0.00,0.000,6,0.000,0.065,3046,1813,1813
$GC,7070,1.38,250.7,417.7,9.9,430,7075,0.00,2.67,0.00,0.000,4,0.000,0.068,3045,3258,1813
$GC,7121,1.42,250.7,412.4,10.8,433,7125,0.00,2.62,0.00,0.000,6,0.000,0.062,3046,1830,1813
$GC,7440,1.42,250.7,377.8,10.9,453,7444,0.00,2.65,0.00,0.000,4,0.000,0.066,3046,3259,1813
$GC,7496,1.45,250.7,371.4,11.7,456,7502,0.00,2.58,0.00,0.000,6,0.000,0.059,3046,1848,1813
$GC,7816,1.45,250.7,335.1,11.4,477,7820,0.00,2.60,0.00,0.000,4,0.000,0.065,3046,3257,1813
$GC,7879,1.49,250.7,327.6,11.5,481,7884,0.10,2.53,0.00,0.000,6,0.065,0.057,3073,1864,1813
$GC,8207,1.46,250.7,285.6,13.0,502,8211,0.00,2.55,0.00,0.000,4,0.000,0.063,3073,3254,1814
$GC,8246,1.46,250.7,279.8,13.3,504,8250,0.00,2.47,0.00,0.000,6,0.000,0.055,3073,1881,1813
$GC,8565,1.46,250.7,239.2,12.1,524,8569,0.00,2.53,0.00,0.000,4,0.000,0.062,3073,3257,1814
$GC,8598,1.46,250.7,235.0,12.2,526,8602,0.00,2.47,0.00,0.000,6,0.000,0.054,3073,1879,1814
$GC,8925,1.43,250.7,196.7,11.8,547,8929,0.00,2.53,0.00,0.000,4,0.000,0.061,3073,3257,1814
$GC,8953,1.43,250.7,192.7,12.4,549,8957,0.00,2.45,0.00,0.000,6,0.000,0.052,3073,1894,1814
$GC,9284,1.43,250.7,152.3,12.2,570,9289,0.00,2.50,0.00,0.000,4,0.000,0.061,3073,3260,1815
$GC,9347,1.43,250.7,144.0,13.3,574,9352,0.00,2.40,0.00,0.000,6,0.000,0.051,3073,1916,1815
$GC,9675,1.43,250.7,104.4,11.8,590,9680,0.00,2.65,0.00,0.000,4,0.000,0.062,3073,432,1815
$GC,9727,1.37,250.7,97.4,13.8,592,9732,0.15,2.62,0.00,0.000,6,0.094,0.047,3044,1913,1815
$GC,10045,1.43,250.7,64.0,10.6,607,10049,0.00,2.67,0.00,0.000,4,0.000,0.061,3044,440,1815
$GC,10085,1.43,250.7,59.2,11.4,609,10090,0.00,2.60,0.00,0.000,6,0.000,0.047,3045,1908,1816
$GC,10413,1.48,250.7,26.2,10.5,625,10418,0.10,2.40,0.00,0.000,4,0.061,0.063,3073,3255,1815
$GC,10447,1.48,250.7,22.0,12.8,626,10453,0.00,2.40,0.00,0.000,6,0.000,0.049,3073,1902,1816
$STATE,10638,end climb,SURFACE_DEPTH_REACHED
$STATE,10638,begin surface coast
$FINISH,0.5,1.025231
$STATE,10659,end surface coast,CONTROL_FINISHED_OK
$STATE,10659,begin surface
$SM_CCo,10683,26.45,0.769,0,0,1608,300.00
$SM_GC,1.20,0.00,0.00,26.45,0.000,0.000,0.769,422,2164,1608,-10.69,0.96,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1846
$TCM_TEMP,17.50
$XPDR_PINGS,38
$ALTIM_BOTTOM_PING,595.6,22.1
$24V_AH,23.7,65.536
$10V_AH,10.1,29.622
$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,26.825,103.050,354.275,26.450,0.000,37.761,27.769,122.594,15.000,0.000,0.000,11.997,1147.634,7599.210,474.154,1358.453,440.346,33.364,1175.944,0.000,1322.673,0.000,42.717,0.000
$DEVICE_MAMPS,161.837,79.768,1214.928,769.301,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.965,463.960,381.868,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31748,637
$CAP_FILE_SIZE,92134,0
$CFSIZE,254472192,229990400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,311009,060355,6232.629,-1038.524,40,1.1,40,-10.5