version: 66.04
glider: 5
mission: 7
dive: 421
start: 11 2 109 0 5 38
data:
$ID,5
$MISSION,7
$DIVE,421
$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,-108298.85
$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,52
$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
$GPS1,235336,6227.045,-1008.040,14,1.5,24,-10.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-62.0
$GPS2,000444,6226.959,-1008.081,13,1.7,13,-10.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.218,-0.148
$KALMAN_X,-242987.4,924.2,597.5,382867.3,-7549.6
$KALMAN_Y,71798.8,391.2,-788.9,-184978.4,5699.9
$MHEAD_RNG_PITCHd_Wd,134.3,20196,-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,-61.17,0.000,2,0.000,0.000,418,2157,2806
$GC,83,-1.44,-146.6,2.6,-2.9,3,120,10.90,2.62,-20.85,0.000,4,0.159,0.068,2424,706,3428
$GC,356,-1.36,-146.6,45.3,-14.1,14,361,0.12,2.50,0.00,0.000,6,0.114,0.047,2448,2114,3429
$GC,674,-1.30,-146.6,88.8,-14.1,29,678,0.00,2.55,0.00,0.000,4,0.000,0.058,2448,706,3429
$GC,701,-1.26,-146.6,93.1,-14.2,30,706,0.10,2.55,0.00,0.000,6,0.108,0.048,2467,2139,3429
$GC,1018,-1.26,-146.6,134.7,-12.9,45,1022,0.00,2.58,0.00,0.000,4,0.000,0.058,2468,717,3429
$GC,1051,-1.26,-146.6,139.2,-13.5,46,1058,0.00,2.47,0.00,0.000,6,0.000,0.048,2468,2114,3429
$GC,1375,-1.26,-146.6,181.3,-13.4,66,1380,0.00,2.55,0.00,0.000,4,0.000,0.060,2468,707,3429
$GC,1426,-1.26,-146.6,188.0,-13.2,69,1430,0.00,2.50,0.00,0.000,6,0.000,0.048,2468,2116,3429
$GC,1746,-1.26,-146.6,227.5,-12.4,89,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2116,3430
$GC,2057,-1.26,-146.6,266.3,-12.8,109,2061,0.00,2.55,0.00,0.000,4,0.000,0.061,2468,710,3430
$GC,2096,-1.26,-146.6,271.6,-13.0,111,2102,0.00,2.47,0.00,0.000,6,0.000,0.049,2469,2106,3429
$GC,2415,-1.26,-146.6,313.0,-12.6,132,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2106,3429
$GC,2727,-1.26,-146.6,351.5,-12.5,152,2731,0.00,2.55,0.00,0.000,4,0.000,0.064,2468,709,3430
$GC,2773,-1.26,-146.6,357.3,-12.4,155,2777,0.00,2.47,0.00,0.000,6,0.000,0.051,2468,2101,3430
$GC,3098,-1.26,-146.6,398.4,-12.0,176,3102,0.00,2.53,0.00,0.000,4,0.000,0.065,2468,717,3430
$GC,3148,-1.29,-146.6,404.7,-12.3,179,3152,0.00,2.42,0.00,0.000,6,0.000,0.051,2468,2077,3429
$GC,3468,-1.29,-146.6,441.3,-11.9,199,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2077,3430
$GC,3779,-1.29,-146.6,478.5,-12.3,219,3783,0.00,2.50,0.00,0.000,4,0.000,0.067,2468,713,3429
$GC,3813,-1.32,-146.6,483.1,-14.1,221,3817,0.00,2.40,0.00,0.000,6,0.000,0.052,2468,2054,3429
$GC,4134,-1.32,-146.6,520.5,-11.7,241,4138,0.00,2.45,0.00,0.000,4,0.000,0.067,2468,718,3429
$GC,4162,-1.35,-146.6,524.0,-11.3,242,4168,0.00,2.38,0.00,0.000,6,0.000,0.054,2468,2044,3429
$GC,4482,-1.35,-146.6,557.0,-9.7,263,4487,0.00,2.75,0.00,0.000,4,0.000,0.075,2468,3537,3429
$GC,4583,-1.35,-146.6,568.3,-11.2,269,4588,0.00,2.72,0.00,0.000,6,0.000,0.067,2468,2057,3429
$GC,4903,-1.35,-146.6,601.2,-10.3,289,4907,0.00,2.45,0.00,0.000,4,0.000,0.074,2468,709,3428
$GC,4959,-1.41,-146.6,607.5,-10.8,292,4966,0.15,2.45,0.00,0.000,6,0.067,0.058,2431,2064,3428
$STATE,5072,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5072,begin apogee
$GC,5080,-0.33,0.0,622.1,12.9,300,5216,1.12,0.00,132.43,1.243,6,0.084,0.000,2669,1836,2831
$STATE,5217,end apogee,CONTROL_FINISHED_OK
$STATE,5217,begin climb
$GC,5221,1.44,146.6,626.8,0.0,309,5363,1.77,2.62,132.85,1.200,4,0.061,0.075,3058,448,2232
$GC,5530,1.32,155.1,606.0,9.6,327,5546,0.12,2.58,9.15,1.013,6,0.106,0.058,3036,1858,2198
$GC,5869,1.46,239.4,582.4,6.2,349,5951,0.12,2.67,75.72,1.189,4,0.064,0.076,3067,3256,1854
$GC,5965,1.39,239.4,573.9,10.4,355,5970,0.00,2.65,0.00,0.000,6,0.000,0.073,3067,1862,1854
$GC,6290,1.33,239.4,535.7,15.2,376,6295,0.17,2.65,0.00,0.000,4,0.105,0.079,3030,435,1853
$GC,6307,1.28,239.4,532.9,15.0,377,6312,0.00,2.65,0.00,0.000,6,0.000,0.060,3030,1883,1852
$GC,6627,1.34,281.6,499.5,8.1,397,6674,0.00,2.65,37.47,1.163,4,0.000,0.074,3030,3261,1683
$GC,6710,1.47,318.2,492.7,8.3,402,6750,0.17,2.60,33.62,1.139,6,0.060,0.071,3072,1879,1533
$GC,7072,1.41,318.2,447.6,14.4,425,7076,0.00,2.60,0.00,0.000,4,0.000,0.071,3072,3261,1533
$GC,7088,1.37,318.2,444.7,14.7,426,7094,0.15,2.53,0.00,0.000,6,0.103,0.067,3044,1885,1534
$GC,7409,1.37,318.2,406.7,11.2,446,7413,0.00,2.58,0.00,0.000,4,0.000,0.069,3044,3264,1534
$GC,7464,1.42,318.2,399.8,11.8,449,7470,0.00,2.47,0.00,0.000,6,0.000,0.064,3044,1912,1534
$GC,7783,1.42,318.2,362.7,12.1,470,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1912,1534
$GC,8096,1.42,318.2,326.4,11.1,490,8101,0.00,2.50,0.00,0.000,4,0.000,0.066,3044,3260,1534
$GC,8153,1.48,318.2,319.9,11.5,493,8159,0.12,2.45,0.00,0.000,6,0.062,0.058,3076,1914,1534
$GC,8473,1.43,318.2,279.2,13.0,514,8477,0.00,2.47,0.00,0.000,4,0.000,0.064,3076,3257,1535
$GC,8506,1.43,318.2,274.6,12.4,516,8510,0.00,2.40,0.00,0.000,6,0.000,0.057,3076,1935,1535
$GC,8826,1.39,318.2,235.9,12.4,536,8831,0.15,2.45,0.00,0.000,4,0.095,0.062,3047,3266,1535
$GC,8843,1.39,318.2,233.6,13.0,537,8847,0.00,2.40,0.00,0.000,6,0.000,0.054,3047,1939,1535
$GC,9162,1.39,318.2,197.2,12.0,557,9163,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1939,1535
$GC,9476,1.42,318.2,159.2,11.9,577,9480,0.00,2.42,0.00,0.000,4,0.000,0.061,3047,3262,1536
$GC,9513,1.50,318.2,154.9,11.2,579,9517,0.10,2.38,0.00,0.000,6,0.063,0.052,3075,1941,1536
$GC,9835,1.50,318.2,115.1,12.3,595,9836,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1941,1536
$GC,10145,1.50,318.2,74.7,13.1,610,10149,0.00,2.40,0.00,0.000,4,0.000,0.059,3074,3260,1537
$GC,10163,1.50,318.2,72.2,12.7,611,10167,0.00,2.35,0.00,0.000,6,0.000,0.050,3074,1945,1537
$GC,10491,1.50,318.2,31.2,10.2,627,10495,0.00,2.70,0.00,0.000,4,0.000,0.061,3074,429,1538
$GC,10509,1.47,318.2,29.1,10.6,628,10513,0.00,2.72,0.00,0.000,6,0.000,0.047,3075,1967,1538
$STATE,10709,end climb,SURFACE_DEPTH_REACHED
$STATE,10709,begin surface coast
$FINISH,0.4,1.012870
$STATE,10732,end surface coast,CONTROL_FINISHED_OK
$STATE,10732,begin surface
$SM_CCo,10817,0.00,0.000,0,0,1536,317.66
$SM_GC,1.22,11.50,0.00,0.00,0.037,0.000,0.000,424,2168,1536,-10.60,1.07,317.66
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1844
$TCM_TEMP,17.30
$XPDR_PINGS,39
$ALTIM_BOTTOM_PING,546.2,83.9
$24V_AH,23.7,67.615
$10V_AH,10.1,30.502
$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,26.800,117.025,421.250,0.000,0.000,75.522,71.374,329.342,14.500,0.000,0.000,13.630,1158.255,7702.666,497.514,1384.560,744.023,33.364,1231.667,0.000,1345.692,0.000,38.031,0.000
$DEVICE_MAMPS,158.769,79.001,1243.307,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.076,463.863,367.996,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31782,639
$CAP_FILE_SIZE,100892,0
$CFSIZE,254472192,229298176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,021109,030706,6225.424,-1008.295,34,1.0,34,-10.2