version: 66.04
glider: 5
mission: 7
dive: 409
start: 10 31 109 9 9 11
data:
$ID,5
$MISSION,7
$DIVE,409
$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,-108032.68
$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,22
$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
$GPS1,090300,6232.788,-1036.231,38,1.2,38,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-58.8
$GPS2,090820,6232.815,-1036.274,15,1.2,15,-10.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.259,-0.047
$KALMAN_X,-224374.3,1826.5,1392.0,339203.4,-18505.0
$KALMAN_Y,68946.2,-354.2,366.1,-171702.4,-850.3
$MHEAD_RNG_PITCHd_Wd,110.9,7482,-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,-60.50,0.000,2,0.000,0.000,418,2134,2669
$GC,83,-1.44,-146.6,2.6,-3.2,3,129,11.00,2.62,-28.40,0.000,4,0.161,0.081,2421,3540,3429
$GC,176,-1.33,-146.6,14.0,-18.4,7,181,0.15,2.55,0.00,0.000,6,0.100,0.051,2451,2121,3430
$GC,498,-1.28,-146.6,59.6,-14.6,23,502,0.00,2.50,0.00,0.000,4,0.000,0.060,2451,717,3430
$GC,526,-1.25,-146.6,63.4,-13.5,24,531,0.10,2.53,0.00,0.000,6,0.107,0.048,2469,2139,3430
$GC,844,-1.25,-146.6,100.1,-10.5,39,848,0.00,2.58,0.00,0.000,4,0.000,0.058,2470,715,3430
$GC,877,-1.25,-146.6,103.9,-10.4,40,883,0.00,2.53,0.00,0.000,6,0.000,0.048,2470,2138,3430
$GC,1195,-1.25,-146.6,137.6,-11.0,56,1199,0.00,2.58,0.00,0.000,4,0.000,0.058,2470,714,3430
$GC,1240,-1.25,-146.6,142.9,-11.2,58,1244,0.00,2.53,0.00,0.000,6,0.000,0.048,2470,2138,3431
$GC,1563,-1.25,-146.6,181.4,-12.1,78,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2138,3431
$GC,1876,-1.25,-146.6,221.6,-13.5,98,1881,0.00,2.58,0.00,0.000,4,0.000,0.061,2470,717,3431
$GC,1933,-1.28,-146.6,229.6,-14.2,101,1939,0.00,2.50,0.00,0.000,6,0.000,0.055,2470,2123,3431
$GC,2252,-1.28,-146.6,272.3,-13.1,122,2257,0.00,2.55,0.00,0.000,4,0.000,0.063,2470,724,3431
$GC,2282,-1.28,-146.6,276.2,-13.5,124,2287,0.00,2.47,0.00,0.000,6,0.000,0.050,2470,2117,3431
$GC,2607,-1.28,-146.6,319.5,-13.4,145,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2116,3431
$GC,2919,-1.28,-146.6,361.2,-13.3,165,2923,0.00,2.55,0.00,0.000,4,0.000,0.064,2470,714,3431
$GC,2972,-1.31,-146.6,367.9,-13.4,168,2976,0.00,2.47,0.00,0.000,6,0.000,0.051,2470,2106,3431
$GC,3291,-1.31,-146.6,408.9,-11.9,188,3295,0.00,2.53,0.00,0.000,4,0.000,0.066,2471,720,3431
$GC,3364,-1.35,-146.6,417.5,-11.3,192,3370,0.00,2.42,0.00,0.000,6,0.000,0.051,2470,2085,3431
$GC,3684,-1.35,-146.6,448.9,-9.5,213,3688,0.00,2.47,0.00,0.000,4,0.000,0.065,2470,721,3431
$GC,3730,-1.40,-146.6,453.6,-10.4,216,3735,0.15,2.40,0.00,0.000,6,0.061,0.094,2431,2042,3431
$GC,4058,-1.35,-146.6,497.1,-14.7,237,4063,0.00,2.78,0.00,0.000,4,0.000,0.125,2431,3533,3431
$GC,4122,-1.28,-146.6,507.3,-15.6,241,4127,0.17,2.72,0.00,0.000,6,0.097,0.064,2465,2046,3431
$GC,4449,-1.28,-146.6,552.5,-13.7,262,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2046,3431
$GC,4758,-1.28,-146.6,591.0,-11.2,282,4762,0.00,2.40,0.00,0.000,4,0.000,0.073,2465,722,3431
$GC,4788,-1.32,-146.6,594.7,-12.8,284,4795,0.00,2.40,0.00,0.000,6,0.000,0.058,2465,2052,3431
$STATE,4836,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4836,begin apogee
$GC,4844,-0.33,0.0,600.3,10.6,287,4979,0.98,0.00,131.35,1.218,6,0.084,0.000,2673,1852,2831
$STATE,4980,end apogee,CONTROL_FINISHED_OK
$STATE,4980,begin climb
$GC,4983,1.44,146.6,605.6,0.0,296,5124,1.75,2.72,131.85,1.176,4,0.060,0.085,3055,3250,2232
$GC,5260,1.39,146.6,588.3,11.0,313,5264,0.00,2.65,0.00,0.000,6,0.000,0.074,3056,1848,2231
$GC,5585,1.35,167.8,556.8,9.0,334,5607,0.00,0.00,19.55,1.118,6,0.000,0.000,3055,1848,2147
$GC,5912,1.34,194.2,527.2,8.8,355,5944,0.00,2.75,24.25,1.144,4,0.000,0.077,3055,3249,2039
$GC,5984,1.34,194.2,519.9,10.3,359,5988,0.00,2.62,0.00,0.000,6,0.000,0.073,3055,1855,2039
$GC,6304,1.35,226.7,490.6,8.5,379,6340,0.00,2.72,29.23,1.154,4,0.000,0.074,3055,3252,1907
$GC,6387,1.36,229.2,482.9,9.9,384,6396,0.00,2.62,4.10,0.758,6,0.000,0.069,3055,1852,1896
$GC,6717,1.36,229.2,448.4,12.1,405,6721,0.00,2.62,0.00,0.000,4,0.000,0.072,3055,3250,1895
$GC,6745,1.36,229.2,444.8,12.7,407,6749,0.00,2.58,0.00,0.000,6,0.000,0.065,3055,1856,1895
$GC,7069,1.36,229.2,404.6,11.7,428,7073,0.00,2.60,0.00,0.000,4,0.000,0.069,3055,3257,1895
$GC,7108,1.36,229.2,399.8,12.8,430,7115,0.00,2.58,0.00,0.000,6,0.000,0.062,3056,1855,1894
$GC,7428,1.36,229.2,365.7,10.6,451,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1855,1895
$GC,7741,1.36,229.2,332.1,11.0,471,7745,0.00,2.60,0.00,0.000,4,0.000,0.066,3055,3259,1895
$GC,7796,1.36,229.2,325.6,11.7,474,7802,0.00,2.53,0.00,0.000,6,0.000,0.057,3055,1868,1894
$GC,8115,1.36,229.2,290.5,10.8,495,8119,0.00,2.55,0.00,0.000,4,0.000,0.064,3055,3250,1895
$GC,8154,1.36,229.2,286.1,11.1,497,8160,0.00,2.50,0.00,0.000,6,0.000,0.054,3055,1867,1895
$GC,8474,1.36,229.2,253.3,10.1,518,8478,0.00,2.55,0.00,0.000,4,0.000,0.063,3055,3252,1895
$GC,8513,1.36,229.2,248.8,10.8,520,8519,0.00,2.45,0.00,0.000,6,0.000,0.054,3055,1893,1895
$GC,8833,1.36,229.2,215.9,10.8,541,8837,0.00,2.50,0.00,0.000,4,0.000,0.062,3055,3255,1895
$GC,8866,1.36,229.2,212.0,10.4,543,8870,0.00,2.45,0.00,0.000,6,0.000,0.052,3055,1892,1896
$GC,9185,1.36,229.9,180.0,10.0,563,9189,0.00,2.50,0.00,0.000,4,0.000,0.061,3055,3257,1896
$GC,9224,1.36,229.9,176.1,10.2,565,9231,0.00,2.42,0.00,0.000,6,0.000,0.051,3056,1902,1896
$GC,9559,1.36,229.9,142.5,10.7,586,9563,0.00,2.47,0.00,0.000,4,0.000,0.061,3056,3257,1896
$GC,9587,1.36,229.9,139.0,11.8,587,9591,0.00,2.40,0.00,0.000,6,0.000,0.050,3055,1913,1896
$GC,9904,1.36,229.9,104.5,11.0,602,9908,0.00,2.45,0.00,0.000,4,0.000,0.060,3056,3258,1896
$GC,9982,1.36,229.9,95.3,12.0,605,9988,0.00,2.35,0.00,0.000,6,0.000,0.048,3055,1932,1897
$GC,10298,1.36,229.9,59.9,11.2,621,10299,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1932,1898
$GC,10608,1.36,229.9,26.4,10.5,636,10612,0.00,2.40,0.00,0.000,4,0.000,0.058,3056,3253,1898
$GC,10630,1.36,229.9,23.6,10.8,637,10634,0.00,2.33,0.00,0.000,6,0.000,0.048,3056,1944,1898
$STATE,10846,end climb,SURFACE_DEPTH_REACHED
$STATE,10846,begin surface coast
$FINISH,0.7,1.027157
$STATE,10867,end surface coast,CONTROL_FINISHED_OK
$STATE,10867,begin surface
$SM_CCo,10891,37.38,0.781,0,0,1608,300.00
$SM_GC,1.13,0.00,0.00,37.38,0.000,0.000,0.781,422,2153,1608,-10.68,0.37,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1837
$TCM_TEMP,17.50
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,595.7,13.9
$24V_AH,23.7,65.826
$10V_AH,10.1,29.743
$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,25.700,122.325,340.325,37.375,0.000,37.761,28.427,132.762,16.250,0.000,0.000,15.641,1170.270,7753.422,498.729,1371.881,460.290,33.358,1211.792,0.000,1331.072,0.000,45.558,0.000
$DEVICE_MAMPS,161.070,125.021,1217.996,780.806,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.930,472.098,399.013,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34787,649
$CAP_FILE_SIZE,94938,0
$CFSIZE,254472192,229892096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,311009,121237,6231.713,-1035.780,35,1.1,35,-10.5