version: 66.04
glider: 5
mission: 7
dive: 413
start: 10 31 109 21 50 12
data:
$ID,5
$MISSION,7
$DIVE,413
$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,-108108.3
$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,24
$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
$GPS1,214037,6230.879,-1029.733,27,1.3,27,-10.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-62.6
$GPS2,214919,6230.822,-1029.638,11,2.0,11,-10.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.244,-0.100
$KALMAN_X,-231953.8,1645.6,1266.7,352582.5,-13810.1
$KALMAN_Y,68277.0,264.6,344.8,-175328.0,-907.6
$MHEAD_RNG_PITCHd_Wd,122.7,39542,-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,-60.58,0.000,2,0.000,0.000,419,2157,2814
$GC,83,-1.44,-146.6,2.9,-3.7,3,119,10.88,2.60,-19.40,0.000,4,0.153,0.072,2424,716,3430
$GC,373,-1.37,-146.6,45.7,-14.9,15,378,0.10,2.53,0.00,0.000,6,0.112,0.048,2443,2138,3430
$GC,697,-1.32,-146.6,88.5,-13.1,31,701,0.00,2.58,0.00,0.000,4,0.000,0.057,2443,710,3430
$GC,809,-1.32,-146.6,103.2,-12.1,36,814,0.00,2.50,0.00,0.000,6,0.000,0.047,2444,2122,3430
$GC,1131,-1.27,-146.6,143.2,-12.7,52,1136,0.12,2.55,0.00,0.000,4,0.101,0.058,2468,713,3431
$GC,1187,-1.30,-146.6,150.0,-11.2,54,1194,0.00,2.50,0.00,0.000,6,0.000,0.048,2468,2123,3431
$GC,1507,-1.30,-146.6,188.6,-12.2,75,1511,0.00,2.55,0.00,0.000,4,0.000,0.061,2468,717,3430
$GC,1553,-1.33,-146.6,194.3,-12.8,78,1558,0.00,2.45,0.00,0.000,6,0.000,0.049,2468,2103,3431
$GC,1884,-1.33,-146.6,233.7,-11.7,99,1888,0.00,2.53,0.00,0.000,4,0.000,0.062,2468,714,3431
$GC,1916,-1.33,-146.6,237.9,-12.3,101,1921,0.00,2.45,0.00,0.000,6,0.000,0.050,2468,2094,3431
$GC,2239,-1.33,-146.6,274.7,-11.5,121,2243,0.00,2.62,0.00,0.000,4,0.000,0.070,2468,3533,3431
$GC,2273,-1.33,-146.6,279.1,-12.1,123,2277,0.00,2.62,0.00,0.000,6,0.000,0.058,2468,2084,3431
$GC,2592,-1.33,-146.6,313.6,-10.3,143,2596,0.00,2.45,0.00,0.000,4,0.000,0.063,2468,712,3431
$GC,2638,-1.37,-146.6,318.6,-10.9,146,2642,0.00,2.45,0.00,0.000,6,0.000,0.050,2468,2093,3431
$GC,2964,-1.37,-146.6,351.2,-9.5,167,2968,0.00,2.62,0.00,0.000,4,0.000,0.071,2468,3531,3431
$GC,2993,-1.37,-146.6,354.0,-9.6,169,2997,0.00,2.62,0.00,0.000,6,0.000,0.059,2468,2083,3431
$GC,3318,-1.37,-146.6,383.2,-9.6,190,3322,0.00,2.45,0.00,0.000,4,0.000,0.063,2468,712,3431
$GC,3357,-1.41,-146.6,387.2,-9.9,192,3364,0.15,2.45,0.00,0.000,6,0.059,0.050,2428,2095,3431
$GC,3680,-1.35,-146.6,424.9,-12.3,213,3685,0.12,2.50,0.00,0.000,4,0.101,0.063,2452,717,3431
$GC,3730,-1.35,-146.6,431.5,-11.5,216,3734,0.00,2.40,0.00,0.000,6,0.000,0.050,2452,2067,3431
$GC,4049,-1.35,-146.6,468.4,-11.0,236,4054,0.00,2.67,0.00,0.000,4,0.000,0.073,2452,3528,3431
$GC,4151,-1.35,-146.6,479.9,-11.5,242,4156,0.00,2.60,0.00,0.000,6,0.000,0.061,2452,2103,3430
$GC,4470,-1.35,-146.6,514.9,-11.3,262,4474,0.00,2.50,0.00,0.000,4,0.000,0.068,2452,712,3430
$GC,4527,-1.39,-146.6,521.5,-12.0,265,4531,0.00,2.45,0.00,0.000,6,0.000,0.052,2452,2085,3430
$GC,4846,-1.39,-146.6,557.0,-11.0,285,4850,0.00,2.53,0.00,0.000,4,0.000,0.071,2452,717,3430
$GC,4880,-1.39,-146.6,561.0,-12.2,287,4884,0.00,2.45,0.00,0.000,6,0.000,0.056,2452,2082,3430
$GC,5211,-1.39,-146.6,601.4,-12.4,308,5216,0.00,2.72,0.00,0.000,4,0.000,0.084,2452,3537,3429
$STATE,5248,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5248,begin apogee
$GC,5258,-0.33,0.0,606.9,13.7,310,5394,1.00,0.00,132.05,1.229,6,0.083,0.000,2669,1829,2831
$STATE,5395,end apogee,CONTROL_FINISHED_OK
$STATE,5395,begin climb
$GC,5399,1.44,146.6,610.5,0.0,319,5541,1.77,2.67,131.85,1.185,4,0.061,0.081,3057,440,2233
$GC,5640,1.35,164.9,595.7,9.2,333,5662,0.00,2.58,17.73,1.095,6,0.000,0.059,3056,1849,2158
$GC,5978,1.35,201.2,566.6,8.3,355,6018,0.00,2.72,33.08,1.154,4,0.000,0.078,3056,3257,2010
$GC,6037,1.34,219.0,560.7,9.2,358,6061,0.00,2.65,16.90,1.104,6,0.000,0.074,3056,1850,1938
$GC,6377,1.30,219.0,527.2,10.1,380,6382,0.15,2.67,0.00,0.000,4,0.100,0.077,3029,3257,1936
$GC,6433,1.36,230.2,521.5,9.5,383,6449,0.00,2.60,10.88,1.065,6,0.000,0.073,3029,1866,1892
$GC,6764,1.36,230.2,490.5,10.1,404,6768,0.00,2.62,0.00,0.000,4,0.000,0.075,3029,3254,1891
$GC,6816,1.41,230.2,485.1,10.7,407,6820,0.00,2.50,0.00,0.000,6,0.000,0.070,3029,1905,1891
$GC,7135,1.44,230.2,451.6,10.1,427,7140,0.12,2.55,0.00,0.000,4,0.064,0.073,3060,3260,1891
$GC,7152,1.44,230.2,449.5,10.7,428,7156,0.00,2.53,0.00,0.000,6,0.000,0.067,3060,1896,1891
$GC,7471,1.40,230.2,412.3,11.8,448,7476,0.00,2.53,0.00,0.000,4,0.000,0.071,3060,3255,1891
$GC,7505,1.40,230.2,408.1,11.9,450,7509,0.00,2.45,0.00,0.000,6,0.000,0.063,3060,1913,1891
$GC,7826,1.36,235.4,373.6,9.8,470,7837,0.00,2.70,6.07,0.880,4,0.000,0.067,3060,436,1871
$GC,7849,1.31,235.4,370.8,11.0,470,7856,0.15,2.70,0.00,0.000,6,0.101,0.052,3032,1931,1870
$GC,8170,1.44,296.1,346.9,7.2,491,8227,0.12,0.00,53.22,1.071,6,0.063,0.000,3064,1946,1623
$GC,8543,1.44,296.9,310.8,10.0,515,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1946,1624
$GC,8853,1.44,296.9,277.7,10.8,535,8858,0.00,2.75,0.00,0.000,4,0.000,0.065,3064,437,1624
$GC,8876,1.40,296.9,274.8,12.0,536,8882,0.00,2.65,0.00,0.000,6,0.000,0.050,3064,1919,1624
$GC,9195,1.40,296.9,238.1,12.0,557,9199,0.00,2.40,0.00,0.000,4,0.000,0.063,3064,3254,1624
$GC,9211,1.40,296.9,235.8,12.7,558,9215,0.00,2.42,0.00,0.000,6,0.000,0.054,3064,1915,1624
$GC,9531,1.40,296.9,195.6,12.7,578,9535,0.00,2.47,0.00,0.000,4,0.000,0.062,3064,3262,1624
$GC,9570,1.40,296.9,190.2,13.0,580,9576,0.00,2.40,0.00,0.000,6,0.000,0.053,3064,1928,1624
$GC,9890,1.40,296.9,148.8,13.4,601,9891,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1928,1625
$GC,10200,1.40,296.9,108.0,12.5,616,10204,0.00,2.42,0.00,0.000,4,0.000,0.061,3064,3257,1626
$GC,10267,1.45,296.9,99.4,12.6,619,10271,0.00,2.38,0.00,0.000,6,0.000,0.050,3064,1928,1626
$GC,10589,1.45,296.9,61.4,11.9,635,10593,0.00,2.42,0.00,0.000,4,0.000,0.059,3064,3261,1626
$GC,10613,1.45,296.9,58.4,12.2,636,10617,0.00,2.38,0.00,0.000,6,0.000,0.050,3064,1933,1626
$GC,10940,1.45,296.9,19.7,12.2,652,10941,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1933,1627
$STATE,11102,end climb,SURFACE_DEPTH_REACHED
$STATE,11102,begin surface coast
$FINISH,0.6,1.027177
$STATE,11124,end surface coast,CONTROL_FINISHED_OK
$STATE,11124,begin surface
$SM_CCo,11149,2.47,0.305,0,0,1608,300.00
$SM_GC,2.15,0.00,0.00,2.47,0.000,0.000,0.305,421,2145,1608,-10.69,0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1836
$TCM_TEMP,17.40
$XPDR_PINGS,37
$ALTIM_BOTTOM_PING,570.4,45.9
$24V_AH,23.7,66.410
$10V_AH,10.1,29.994
$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,26.175,133.100,401.775,2.475,0.000,75.519,56.519,205.436,14.500,0.000,0.000,14.185,1208.791,7902.168,504.967,1445.314,616.603,33.362,1262.023,0.000,1409.118,0.000,42.153,0.000
$DEVICE_MAMPS,153.400,84.370,1228.734,305.266,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.168,481.361,386.993,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34848,661
$CAP_FILE_SIZE,104417,0
$CFSIZE,254472192,229691392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,011109,005724,6228.542,-1028.055,40,2.0,40,-10.4