version: 66.04
glider: 5
mission: 7
dive: 418
start: 11 1 109 14 23 47
data:
$ID,5
$MISSION,7
$DIVE,418
$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,-108255.21
$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,27
$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
$GPS1,141736,6226.165,-1019.149,30,1.1,30,-10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-61.1
$GPS2,142256,6226.146,-1019.247,12,1.1,12,-10.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.254,-0.070
$KALMAN_X,-240232.4,1207.9,106.4,371093.5,-8632.9
$KALMAN_Y,63443.8,648.9,-576.3,-178588.9,-2369.8
$MHEAD_RNG_PITCHd_Wd,115.7,27606,-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,13,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,79,0.00,0.00,-60.62,0.000,2,0.000,0.000,417,2156,2710
$GC,83,-1.44,-146.6,2.6,-3.4,3,127,10.82,2.60,-26.60,0.000,4,0.157,0.069,2423,709,3427
$GC,295,-1.34,-146.6,32.6,-18.6,12,300,0.15,2.53,0.00,0.000,6,0.106,0.048,2452,2132,3428
$GC,612,-1.28,-146.6,76.8,-12.8,27,616,0.00,2.58,0.00,0.000,4,0.000,0.058,2453,708,3428
$GC,652,-1.28,-146.6,82.3,-13.6,29,656,0.00,2.53,0.00,0.000,6,0.000,0.048,2453,2131,3428
$GC,980,-1.24,-146.6,127.9,-14.5,45,985,0.10,2.58,0.00,0.000,4,0.112,0.059,2471,707,3428
$GC,1043,-1.24,-146.6,136.3,-12.4,48,1047,0.00,2.50,0.00,0.000,6,0.000,0.048,2471,2119,3428
$GC,1368,-1.24,-146.6,176.2,-11.3,67,1372,0.00,2.55,0.00,0.000,4,0.000,0.060,2472,708,3428
$GC,1406,-1.24,-146.6,180.9,-11.5,69,1412,0.00,2.45,0.00,0.000,6,0.000,0.048,2472,2093,3428
$GC,1725,-1.24,-146.6,217.0,-11.3,90,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2091,3428
$GC,2038,-1.24,-146.6,255.5,-13.1,110,2043,0.00,2.50,0.00,0.000,4,0.000,0.062,2471,716,3428
$GC,2067,-1.24,-146.6,259.8,-14.7,112,2071,0.00,2.42,0.00,0.000,6,0.000,0.050,2472,2084,3428
$GC,2393,-1.24,-146.6,304.6,-13.5,133,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2084,3428
$GC,2705,-1.24,-146.6,345.6,-12.5,153,2709,0.00,2.50,0.00,0.000,4,0.000,0.064,2472,714,3428
$GC,2751,-1.24,-146.6,351.4,-13.1,156,2755,0.00,2.42,0.00,0.000,6,0.000,0.051,2472,2077,3428
$GC,3076,-1.24,-146.6,390.3,-12.0,177,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2077,3428
$GC,3387,-1.24,-146.6,426.2,-10.9,197,3392,0.00,2.50,0.00,0.000,4,0.000,0.067,2472,716,3428
$GC,3410,-1.24,-146.6,428.7,-10.1,198,3416,0.00,2.42,0.00,0.000,6,0.000,0.052,2472,2077,3428
$GC,3729,-1.24,-146.6,461.3,-10.3,219,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2077,3428
$GC,4041,-1.24,-146.6,497.9,-13.1,239,4045,0.00,2.50,0.00,0.000,4,0.000,0.069,2472,717,3428
$GC,4088,-1.29,-146.6,504.1,-13.4,242,4091,0.00,2.38,0.00,0.000,6,0.000,0.054,2472,2051,3428
$GC,4418,-1.29,-146.6,547.6,-12.0,263,4422,0.00,2.72,0.00,0.000,4,0.000,0.076,2472,3529,3428
$GC,4514,-1.29,-146.6,559.0,-11.5,269,4518,0.00,2.67,0.00,0.000,6,0.000,0.064,2472,2066,3428
$GC,4841,-1.33,-146.6,597.2,-12.0,290,4846,0.00,2.45,0.00,0.000,4,0.000,0.071,2472,716,3428
$GC,4909,-1.38,-146.6,605.5,-11.5,294,4914,0.15,2.47,0.00,0.000,6,0.061,0.054,2434,2098,3428
$STATE,5209,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5210,begin apogee
$GC,5218,-0.33,0.0,643.4,12.7,313,5353,1.12,0.00,131.38,1.246,6,0.086,0.000,2674,1843,2831
$STATE,5354,end apogee,CONTROL_FINISHED_OK
$STATE,5354,begin climb
$GC,5357,1.44,146.6,649.5,0.0,322,5500,1.75,2.67,132.90,1.205,4,0.059,0.076,3057,454,2233
$GC,5537,1.32,146.6,640.1,10.7,333,5542,0.15,2.55,0.00,0.000,6,0.102,0.056,3030,1848,2233
$GC,5856,1.39,194.3,613.7,7.8,353,5907,0.00,2.70,43.58,1.170,4,0.000,0.073,3030,3257,2038
$GC,5956,1.45,208.5,605.3,9.4,359,5976,0.15,2.62,14.40,1.089,6,0.059,0.069,3068,1857,1980
$GC,6305,1.39,208.5,567.1,10.6,381,6310,0.00,2.65,0.00,0.000,4,0.000,0.073,3068,3261,1979
$GC,6323,1.34,208.5,564.7,10.8,382,6328,0.15,2.62,0.00,0.000,6,0.103,0.069,3038,1848,1979
$GC,6643,1.38,238.2,537.5,8.7,402,6675,0.00,2.70,26.75,1.154,4,0.000,0.074,3038,442,1860
$GC,6693,1.38,238.2,532.5,10.2,405,6698,0.00,2.62,0.00,0.000,6,0.000,0.058,3037,1866,1859
$GC,7020,1.41,252.1,503.3,9.4,426,7039,0.00,2.65,13.62,1.090,4,0.000,0.071,3038,3257,1803
$GC,7063,1.45,252.8,498.9,10.0,428,7070,0.10,2.60,0.00,0.000,6,0.067,0.065,3064,1856,1802
$GC,7383,1.42,252.8,462.9,11.6,449,7385,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1856,1802
$GC,7694,1.42,252.8,428.2,10.9,469,7699,0.00,2.60,0.00,0.000,4,0.000,0.067,3064,3261,1801
$GC,7716,1.42,252.8,425.6,11.2,470,7723,0.00,2.55,0.00,0.000,6,0.000,0.061,3064,1871,1801
$GC,8037,1.42,252.8,390.9,11.3,491,8041,0.00,2.58,0.00,0.000,4,0.000,0.066,3064,3260,1801
$GC,8058,1.42,252.8,387.9,11.8,492,8065,0.00,2.50,0.00,0.000,6,0.000,0.059,3064,1889,1801
$GC,8378,1.42,252.8,351.9,11.6,513,8382,0.00,2.53,0.00,0.000,4,0.000,0.064,3064,3264,1801
$GC,8417,1.42,252.8,347.0,12.3,515,8424,0.00,2.47,0.00,0.000,6,0.000,0.057,3064,1900,1801
$GC,8737,1.42,252.8,311.0,11.0,536,8738,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1899,1802
$GC,9049,1.42,252.8,276.8,11.0,556,9053,0.00,2.50,0.00,0.000,4,0.000,0.063,3064,3260,1801
$GC,9072,1.42,252.8,274.2,10.5,557,9078,0.00,2.45,0.00,0.000,6,0.000,0.054,3064,1902,1802
$GC,9391,1.42,252.8,239.6,10.4,578,9392,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1902,1802
$GC,9704,1.43,263.2,208.7,9.5,598,9721,0.00,2.53,11.10,0.871,4,0.000,0.060,3064,3259,1758
$GC,9743,1.43,263.2,204.6,10.6,600,9748,0.00,2.45,0.00,0.000,6,0.000,0.051,3064,1905,1757
$GC,10062,1.43,263.2,168.4,12.2,620,10064,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1904,1758
$GC,10385,1.43,263.2,131.0,11.1,638,10389,0.00,2.47,0.00,0.000,4,0.000,0.059,3064,3260,1758
$GC,10412,1.43,263.2,127.6,12.1,639,10416,0.00,2.40,0.00,0.000,6,0.000,0.050,3064,1918,1758
$GC,10728,1.43,263.2,94.9,10.7,654,10733,0.00,2.65,0.00,0.000,4,0.000,0.062,3064,433,1758
$GC,10747,1.43,263.2,92.7,11.3,655,10752,0.00,2.65,0.00,0.000,6,0.000,0.047,3064,1930,1758
$GC,11076,1.43,263.2,55.8,11.4,671,11080,0.00,2.35,0.00,0.000,4,0.000,0.059,3064,3261,1758
$GC,11094,1.43,263.2,53.5,11.1,672,11098,0.00,2.40,0.00,0.000,6,0.000,0.050,3064,1913,1759
$GC,11427,1.43,263.2,17.4,10.6,688,11429,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1913,1759
$STATE,11569,end climb,SURFACE_DEPTH_REACHED
$STATE,11569,begin surface coast
$FINISH,0.4,1.025352
$STATE,11591,end surface coast,CONTROL_FINISHED_OK
$STATE,11591,begin surface
$SM_CCo,11616,19.35,0.763,0,0,1608,300.00
$SM_GC,0.90,0.00,0.00,19.35,0.000,0.000,0.763,420,2162,1608,-10.70,0.93,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1839
$TCM_TEMP,17.40
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,571.0,81.2
$24V_AH,23.7,67.143
$10V_AH,10.1,30.317
$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,26.050,117.625,373.725,19.350,0.000,37.760,28.277,131.504,16.000,0.000,0.000,12.116,1230.154,8346.787,503.495,1411.854,466.107,33.360,1235.968,0.000,1380.882,0.000,38.407,0.000
$DEVICE_MAMPS,157.235,75.933,1246.375,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,475.984,507.780,404.138,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34930,696
$CAP_FILE_SIZE,97075,0
$CFSIZE,254472192,229441536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,011109,173901,6226.264,-1017.328,38,1.3,38,-10.3