version: 66.04
glider: 5
mission: 7
dive: 408
start: 10 31 109 6 10 10
data:
$ID,5
$MISSION,7
$DIVE,408
$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,-108016.41
$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,26
$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
$GPS1,060355,6232.629,-1038.524,40,1.1,40,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-62.4
$GPS2,060919,6232.654,-1038.568,15,1.4,15,-10.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.263,-0.023
$KALMAN_X,-223567.8,1934.7,1606.9,336185.0,-20374.7
$KALMAN_Y,67916.3,-477.5,372.0,-170834.9,-2542.7
$MHEAD_RNG_PITCHd_Wd,105.4,8823,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.62,0.000,2,0.000,0.000,422,2157,2810
$GC,83,-1.44,-146.6,2.7,-3.3,3,120,11.10,2.55,-20.33,0.000,4,0.166,0.080,2422,3538,3428
$GC,216,-1.32,-146.6,21.7,-15.9,8,221,0.17,2.53,0.00,0.000,6,0.101,0.048,2457,2126,3428
$GC,544,-1.27,-146.6,67.3,-13.5,24,548,0.00,2.50,0.00,0.000,4,0.000,0.058,2457,714,3428
$GC,608,-1.27,-146.6,76.3,-14.0,27,612,0.00,2.50,0.00,0.000,6,0.000,0.048,2457,2122,3428
$GC,936,-1.23,-146.6,125.0,-14.4,43,941,0.10,2.55,0.00,0.000,4,0.105,0.058,2476,706,3428
$GC,1031,-1.27,-146.6,138.1,-13.2,47,1036,0.00,2.47,0.00,0.000,6,0.000,0.048,2476,2104,3428
$GC,1356,-1.27,-146.6,180.1,-13.0,66,1360,0.00,2.60,0.00,0.000,4,0.000,0.070,2476,3530,3428
$GC,1389,-1.27,-146.6,184.7,-13.4,68,1393,0.00,2.62,0.00,0.000,6,0.000,0.054,2476,2075,3428
$GC,1708,-1.27,-146.6,226.2,-12.9,88,1712,0.00,2.42,0.00,0.000,4,0.000,0.060,2476,707,3428
$GC,1737,-1.27,-146.6,230.0,-13.3,90,1741,0.00,2.42,0.00,0.000,6,0.000,0.048,2476,2080,3428
$GC,2067,-1.27,-146.6,273.7,-12.7,111,2071,0.00,2.65,0.00,0.000,4,0.000,0.076,2476,3528,3428
$GC,2100,-1.27,-146.6,278.2,-12.9,113,2104,0.00,2.62,0.00,0.000,6,0.000,0.057,2476,2079,3428
$GC,2422,-1.27,-146.6,320.1,-13.3,133,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2079,3428
$GC,2731,-1.27,-146.6,361.4,-13.0,153,2735,0.00,2.70,0.00,0.000,4,0.000,0.071,2476,3529,3428
$GC,2770,-1.27,-146.6,366.7,-13.9,155,2777,0.00,2.60,0.00,0.000,6,0.000,0.058,2476,2096,3428
$GC,3091,-1.27,-146.6,406.2,-12.2,176,3096,0.00,2.47,0.00,0.000,4,0.000,0.062,2476,702,3428
$GC,3121,-1.30,-146.6,410.1,-12.5,178,3125,0.00,2.50,0.00,0.000,6,0.000,0.049,2476,2113,3428
$GC,3449,-1.30,-146.6,445.1,-9.8,199,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2112,3428
$GC,3757,-1.30,-146.6,478.7,-11.4,219,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2111,3428
$GC,4071,-1.33,-146.6,513.9,-10.7,239,4075,0.00,2.55,0.00,0.000,4,0.000,0.066,2476,715,3428
$GC,4160,-1.40,-146.6,523.6,-10.8,244,4166,0.17,2.45,0.00,0.000,6,0.058,0.052,2431,2089,3428
$GC,4482,-1.35,-146.6,563.4,-12.5,265,4486,0.00,2.53,0.00,0.000,4,0.000,0.069,2430,718,3428
$GC,4538,-1.35,-146.6,571.1,-12.4,268,4544,0.00,2.45,0.00,0.000,6,0.000,0.055,2430,2087,3428
$STATE,4776,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4776,begin apogee
$GC,4784,-0.33,0.0,600.5,12.6,284,4919,1.15,0.00,130.60,1.217,6,0.087,0.000,2674,1832,2831
$STATE,4919,end apogee,CONTROL_FINISHED_OK
$STATE,4919,begin climb
$GC,4923,1.44,146.6,605.7,0.0,293,5065,1.75,2.65,130.82,1.177,4,0.059,0.080,3057,455,2233
$GC,5188,1.32,146.6,588.4,10.3,309,5193,0.12,2.55,0.00,0.000,6,0.106,0.059,3035,1850,2232
$GC,5515,1.42,203.3,562.4,7.4,330,5571,0.00,2.67,50.88,1.165,4,0.000,0.078,3035,3259,2002
$GC,5617,1.49,248.9,554.6,7.9,335,5665,0.15,2.62,41.55,1.151,6,0.061,0.074,3071,1865,1816
$GC,5979,1.48,273.2,520.0,8.9,358,6010,0.00,2.72,22.20,1.131,4,0.000,0.076,3071,3255,1717
$GC,6023,1.44,276.8,515.9,9.8,360,6033,0.00,2.65,5.18,0.847,6,0.000,0.072,3072,1855,1702
$GC,6363,1.44,303.4,484.4,8.8,382,6395,0.00,2.70,24.30,1.132,4,0.000,0.073,3071,3256,1594
$GC,6435,1.49,330.5,477.6,8.8,386,6465,0.00,2.60,24.88,1.122,6,0.000,0.069,3072,1864,1484
$GC,6795,1.49,330.5,440.5,12.7,409,6799,0.00,2.62,0.00,0.000,4,0.000,0.071,3071,3261,1483
$GC,6857,1.49,330.5,431.7,12.3,413,6861,0.00,2.55,0.00,0.000,6,0.000,0.065,3071,1881,1483
$GC,7182,1.49,330.5,390.6,13.1,434,7186,0.00,2.55,0.00,0.000,4,0.000,0.068,3072,3254,1483
$GC,7210,1.49,330.5,386.6,13.7,435,7216,0.00,2.53,0.00,0.000,6,0.000,0.062,3072,1878,1484
$GC,7531,1.49,330.5,344.4,13.5,456,7535,0.00,2.55,0.00,0.000,4,0.000,0.066,3072,3255,1484
$GC,7577,1.49,330.5,338.2,12.7,459,7581,0.00,2.47,0.00,0.000,6,0.000,0.060,3071,1893,1484
$GC,7901,1.49,330.5,295.6,13.3,480,7905,0.00,2.53,0.00,0.000,4,0.000,0.064,3072,3261,1484
$GC,7929,1.49,330.5,292.0,13.3,482,7933,0.00,2.45,0.00,0.000,6,0.000,0.057,3072,1906,1484
$GC,8254,1.49,330.5,250.6,12.5,503,8258,0.00,2.47,0.00,0.000,4,0.000,0.063,3072,3255,1485
$GC,8276,1.49,330.5,247.7,12.3,504,8280,0.00,2.42,0.00,0.000,6,0.000,0.055,3072,1915,1484
$GC,8595,1.49,330.5,207.6,12.7,524,8599,0.00,2.47,0.00,0.000,4,0.000,0.061,3072,3264,1485
$GC,8628,1.49,330.5,203.2,12.6,526,8633,0.00,2.40,0.00,0.000,6,0.000,0.053,3071,1930,1485
$GC,8948,1.49,330.5,161.7,13.2,546,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1930,1486
$GC,9268,1.49,330.5,120.1,12.9,563,9272,0.00,2.42,0.00,0.000,4,0.000,0.060,3071,3258,1486
$GC,9302,1.53,330.5,115.6,12.8,564,9309,0.00,2.38,0.00,0.000,6,0.000,0.051,3072,1930,1486
$GC,9619,1.53,330.5,74.3,12.8,580,9623,0.00,2.67,0.00,0.000,4,0.000,0.063,3072,433,1487
$GC,9659,1.53,330.5,69.0,13.2,582,9663,0.00,2.65,0.00,0.000,6,0.000,0.048,3072,1931,1486
$GC,9987,1.53,330.5,30.4,11.9,598,9988,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1949,1487
$STATE,10191,end climb,SURFACE_DEPTH_REACHED
$STATE,10191,begin surface coast
$FINISH,0.6,1.027180
$STATE,10211,end surface coast,CONTROL_FINISHED_OK
$STATE,10211,begin surface
$SM_CCo,10295,0.00,0.000,0,0,1486,329.93
$SM_GC,1.22,11.50,0.00,0.00,0.037,0.000,0.000,419,2126,1486,-10.60,-0.08,329.93
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1836
$TCM_TEMP,17.20
$XPDR_PINGS,41
$ALTIM_BOTTOM_PING,545.8,63.7
$24V_AH,23.7,65.691
$10V_AH,10.1,29.681
$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,26.225,112.825,430.400,0.000,0.000,37.762,40.114,123.791,15.000,0.000,0.000,15.962,1100.829,7239.310,500.365,1322.369,455.604,33.358,1205.585,0.000,1282.805,0.000,36.767,0.000
$DEVICE_MAMPS,165.672,79.768,1217.229,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.125,440.431,357.673,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31689,609
$CAP_FILE_SIZE,89631,0
$CFSIZE,254472192,229949440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,311009,090300,6232.788,-1036.231,38,1.2,38,-10.5