version: 66.04
glider: 5
mission: 7
dive: 411
start: 10 31 109 15 25 18
data:
$ID,5
$MISSION,7
$DIVE,411
$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,-108078.32
$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,24
$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
$GPS1,151854,6230.712,-1036.340,38,1.6,38,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-64.1
$GPS2,152428,6230.726,-1036.385,11,3.7,30,-10.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.263,0.022
$KALMAN_X,-230963.3,1806.9,771.5,346369.0,-18308.6
$KALMAN_Y,65867.2,707.4,-62.3,-173111.4,-3298.6
$MHEAD_RNG_PITCHd_Wd,95.8,5623,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,79,0.00,0.00,-61.00,0.000,2,0.000,0.000,424,2111,2804
$GC,83,-1.44,-146.6,2.6,-3.2,3,126,11.00,2.67,-21.45,0.000,4,0.160,0.077,2422,3536,3430
$GC,249,-1.31,-146.6,27.3,-16.9,10,254,0.17,2.53,0.00,0.000,6,0.100,0.049,2457,2121,3430
$GC,566,-1.28,-146.6,73.0,-14.2,25,570,0.00,2.50,0.00,0.000,4,0.000,0.056,2457,708,3430
$GC,615,-1.28,-146.6,80.4,-14.4,27,620,0.00,2.53,0.00,0.000,6,0.000,0.048,2457,2134,3430
$GC,933,-1.25,-146.6,126.1,-14.8,42,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2133,3430
$GC,1242,-1.25,-146.6,170.7,-14.5,59,1247,0.00,2.55,0.00,0.000,4,0.000,0.058,2457,717,3430
$GC,1327,-1.25,-146.6,182.7,-13.8,64,1331,0.00,2.50,0.00,0.000,6,0.000,0.048,2457,2129,3431
$GC,1646,-1.25,-146.6,224.9,-12.9,84,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2129,3431
$GC,1958,-1.25,-146.6,264.6,-12.4,104,1963,0.00,2.55,0.00,0.000,4,0.000,0.061,2457,719,3431
$GC,2006,-1.25,-146.6,270.4,-12.7,107,2010,0.00,2.47,0.00,0.000,6,0.000,0.049,2457,2118,3431
$GC,2330,-1.25,-146.6,311.7,-12.6,128,2334,0.00,2.53,0.00,0.000,4,0.000,0.060,2457,720,3431
$GC,2363,-1.25,-146.6,316.1,-12.9,130,2367,0.00,2.47,0.00,0.000,6,0.000,0.049,2457,2117,3431
$GC,2683,-1.25,-146.6,357.5,-13.4,150,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2116,3431
$GC,2994,-1.25,-146.6,399.2,-13.3,170,2999,0.00,2.53,0.00,0.000,4,0.000,0.061,2457,720,3431
$GC,3034,-1.25,-146.6,404.5,-13.6,172,3040,0.00,2.45,0.00,0.000,6,0.000,0.050,2457,2101,3431
$GC,3353,-1.25,-146.6,448.9,-14.4,193,3358,0.00,2.50,0.00,0.000,4,0.000,0.064,2457,724,3431
$GC,3400,-1.25,-146.6,455.4,-14.6,196,3404,0.00,2.45,0.00,0.000,6,0.000,0.051,2457,2098,3431
$GC,3724,-1.25,-146.6,498.7,-12.8,217,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2098,3431
$GC,4036,-1.25,-146.6,534.8,-10.8,237,4040,0.00,2.53,0.00,0.000,4,0.000,0.067,2457,716,3431
$GC,4144,-1.28,-146.6,546.8,-11.3,243,4150,0.00,2.42,0.00,0.000,6,0.000,0.054,2457,2073,3431
$GC,4463,-1.28,-146.6,579.8,-10.4,264,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2073,3430
$GC,4776,-1.28,-146.6,610.6,-9.2,284,4780,0.00,2.72,0.00,0.000,6,0.000,0.082,2457,3535,3429
$STATE,4781,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4781,begin apogee
$GC,4792,-0.33,0.0,611.2,9.1,284,4927,0.98,0.00,131.85,1.234,6,0.084,0.000,2669,1854,2831
$STATE,4928,end apogee,CONTROL_FINISHED_OK
$STATE,4928,begin climb
$GC,4931,1.44,146.6,615.3,0.0,293,5073,1.77,2.70,132.90,1.189,4,0.060,0.079,3058,436,2232
$GC,5129,1.31,146.6,602.6,11.9,305,5134,0.15,2.58,0.00,0.000,6,0.104,0.059,3031,1846,2232
$GC,5456,1.33,159.4,570.8,9.4,326,5474,0.00,2.72,12.38,1.076,4,0.000,0.078,3030,3260,2181
$GC,5554,1.36,181.5,561.5,9.0,331,5580,0.00,2.62,21.02,1.138,6,0.000,0.074,3030,1863,2090
$GC,5903,1.37,187.9,526.7,9.7,354,5919,0.00,2.70,6.75,0.966,4,0.000,0.077,3031,3259,2065
$GC,5939,1.37,187.9,523.0,10.1,356,5943,0.00,2.60,0.00,0.000,6,0.000,0.073,3030,1874,2065
$GC,6265,1.42,217.6,493.0,8.6,377,6298,0.12,2.78,26.98,1.165,4,0.067,0.075,3061,435,1944
$GC,6327,1.33,217.6,486.2,11.7,380,6334,0.12,2.65,0.00,0.000,6,0.108,0.059,3038,1875,1944
$GC,6647,1.34,223.7,455.7,9.7,401,6663,0.00,2.65,6.85,0.964,4,0.000,0.073,3038,3264,1918
$GC,6749,1.40,241.6,445.9,9.2,407,6773,0.00,2.53,17.15,1.108,6,0.000,0.065,3038,1899,1846
$GC,7099,1.41,244.0,412.2,9.9,429,7108,0.00,2.55,4.00,0.732,4,0.000,0.069,3038,3259,1836
$GC,7133,1.45,244.0,408.4,10.3,431,7137,0.00,2.53,0.00,0.000,6,0.000,0.063,3038,1892,1836
$GC,7458,1.46,255.0,377.2,9.5,452,7476,0.12,2.60,11.00,1.002,4,0.064,0.067,3070,3264,1791
$GC,7511,1.46,255.0,371.1,11.9,455,7515,0.00,2.47,0.00,0.000,6,0.000,0.059,3069,1915,1791
$GC,7836,1.42,255.0,332.6,12.2,476,7840,0.00,2.50,0.00,0.000,4,0.000,0.066,3070,3262,1791
$GC,7864,1.42,255.0,328.7,13.3,477,7870,0.00,2.42,0.00,0.000,6,0.000,0.058,3070,1920,1791
$GC,8184,1.39,255.0,289.3,12.5,498,8189,0.12,2.47,0.00,0.000,4,0.101,0.064,3046,3260,1791
$GC,8213,1.39,255.0,285.8,11.6,500,8217,0.00,2.42,0.00,0.000,6,0.000,0.055,3046,1921,1792
$GC,8538,1.39,255.0,250.8,10.5,521,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1920,1792
$GC,8850,1.39,255.0,217.5,10.5,541,8854,0.00,2.45,0.00,0.000,4,0.000,0.063,3046,3257,1792
$GC,8884,1.43,255.0,214.0,10.1,543,8888,0.00,2.38,0.00,0.000,6,0.000,0.053,3046,1938,1793
$GC,9203,1.44,257.7,182.1,9.9,563,9210,0.00,0.00,4.78,0.689,6,0.000,0.000,3046,1937,1780
$GC,9515,1.44,257.7,150.6,10.3,583,9519,0.00,2.42,0.00,0.000,4,0.000,0.061,3046,3261,1780
$GC,9567,1.49,257.7,145.2,10.3,586,9572,0.10,2.35,0.00,0.000,6,0.064,0.051,3073,1951,1780
$GC,9883,1.49,257.7,108.6,11.5,601,9888,0.00,2.70,0.00,0.000,4,0.000,0.063,3074,438,1781
$GC,9929,1.43,257.7,103.0,12.1,603,9933,0.00,2.67,0.00,0.000,6,0.000,0.048,3073,1942,1781
$GC,10251,1.43,257.7,65.9,11.5,619,10255,0.00,2.35,0.00,0.000,4,0.000,0.064,3074,3264,1781
$GC,10275,1.43,257.7,62.9,12.3,620,10279,0.00,2.38,0.00,0.000,6,0.000,0.049,3074,1932,1782
$GC,10602,1.43,257.7,25.0,11.6,636,10606,0.00,2.67,0.00,0.000,4,0.000,0.061,3074,431,1782
$GC,10621,1.39,257.7,22.9,11.8,637,10626,0.12,2.67,0.00,0.000,6,0.100,0.045,3050,1950,1781
$STATE,10842,end climb,SURFACE_DEPTH_REACHED
$STATE,10842,begin surface coast
$FINISH,0.3,1.018085
$STATE,10865,end surface coast,CONTROL_FINISHED_OK
$STATE,10865,begin surface
$SM_CCo,10889,22.50,0.774,0,0,1608,300.00
$SM_GC,1.09,0.00,0.00,22.50,0.000,0.000,0.774,424,2156,1608,-10.68,0.74,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1855
$TCM_TEMP,17.50
$XPDR_PINGS,45
$ALTIM_BOTTOM_PING,545.5,75.2
$24V_AH,23.7,66.108
$10V_AH,10.1,29.865
$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,26.225,117.925,375.650,22.500,0.000,37.762,27.613,129.010,16.000,0.000,0.000,31.434,1166.654,7737.681,497.498,1391.627,455.242,33.359,1217.467,0.000,1337.463,0.000,36.783,0.000
$DEVICE_MAMPS,160.303,82.069,1234.103,773.903,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.126,471.842,381.866,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34753,649
$CAP_FILE_SIZE,94773,0
$CFSIZE,254472192,229797888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,311009,182835,6231.213,-1033.909,39,1.6,43,-10.4