version: 66.04
glider: 5
mission: 7
dive: 422
start: 11 2 109 3 13 23
data:
$ID,5
$MISSION,7
$DIVE,422
$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,-108316.91
$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,20
$R_STBD_OVSHOOT,33
$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
$GPS1,030706,6225.424,-1008.295,34,1.0,34,-10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-58.6
$GPS2,031232,6225.396,-1008.428,17,1.1,17,-10.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.246,-0.095
$KALMAN_X,-246232.0,796.7,-252.0,386830.2,-8256.2
$KALMAN_Y,71315.9,82.6,-621.6,-187222.6,4108.6
$MHEAD_RNG_PITCHd_Wd,121.4,18735,-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,-60.53,0.000,2,0.000,0.000,423,2156,2707
$GC,83,-1.44,-146.6,2.6,-3.6,3,126,10.80,2.60,-24.88,0.000,4,0.156,0.067,2423,713,3428
$GC,294,-1.37,-146.6,36.9,-15.1,12,300,0.12,2.50,0.00,0.000,6,0.108,0.048,2448,2121,3429
$GC,611,-1.30,-146.6,82.6,-15.0,27,615,0.00,2.55,0.00,0.000,4,0.000,0.058,2448,709,3429
$GC,680,-1.27,-146.6,93.5,-15.8,30,685,0.10,2.50,0.00,0.000,6,0.107,0.048,2467,2121,3429
$GC,1001,-1.27,-146.6,138.5,-13.7,46,1006,0.00,2.55,0.00,0.000,4,0.000,0.058,2467,709,3430
$GC,1024,-1.27,-146.6,141.5,-12.9,47,1028,0.00,2.47,0.00,0.000,6,0.000,0.048,2466,2105,3430
$GC,1348,-1.27,-146.6,182.4,-12.3,67,1352,0.00,2.53,0.00,0.000,4,0.000,0.061,2467,713,3430
$GC,1387,-1.27,-146.6,187.7,-13.1,69,1393,0.00,2.47,0.00,0.000,6,0.000,0.048,2467,2108,3430
$GC,1706,-1.27,-146.6,224.0,-10.5,90,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2109,3430
$GC,2019,-1.27,-146.6,257.9,-11.4,110,2024,0.00,2.55,0.00,0.000,4,0.000,0.061,2467,701,3430
$GC,2071,-1.27,-146.6,264.2,-12.3,113,2076,0.00,2.47,0.00,0.000,6,0.000,0.049,2467,2098,3430
$GC,2391,-1.27,-146.6,305.3,-12.7,133,2395,0.00,2.62,0.00,0.000,4,0.000,0.070,2467,3535,3430
$GC,2430,-1.27,-146.6,310.5,-12.9,135,2436,0.00,2.65,0.00,0.000,6,0.000,0.059,2467,2075,3430
$GC,2751,-1.27,-146.6,349.5,-11.8,156,2755,0.00,2.72,0.00,0.000,4,0.000,0.071,2467,3538,3430
$GC,2780,-1.27,-146.6,353.2,-12.0,158,2784,0.00,2.62,0.00,0.000,6,0.000,0.060,2467,2092,3430
$GC,3104,-1.27,-146.6,393.3,-12.7,179,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2091,3430
$GC,3417,-1.27,-146.6,430.0,-11.7,199,3421,0.00,2.70,0.00,0.000,4,0.000,0.072,2467,3536,3430
$GC,3468,-1.27,-146.6,436.1,-11.7,202,3473,0.00,2.62,0.00,0.000,6,0.000,0.061,2467,2095,3430
$GC,3787,-1.27,-146.6,471.8,-10.6,222,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2077,3430
$GC,4100,-1.27,-146.6,508.2,-12.6,242,4105,0.00,2.70,0.00,0.000,4,0.000,0.074,2467,3534,3430
$GC,4191,-1.27,-146.6,520.5,-13.8,247,4197,0.00,2.60,0.00,0.000,6,0.000,0.062,2467,2108,3430
$GC,4511,-1.27,-146.6,560.7,-12.3,268,4515,0.00,2.50,0.00,0.000,4,0.000,0.069,2467,719,3430
$GC,4550,-1.32,-146.6,565.6,-12.2,270,4556,0.00,2.47,0.00,0.000,6,0.000,0.053,2467,2107,3430
$GC,4871,-1.32,-146.6,603.5,-11.2,291,4875,0.00,2.58,0.00,0.000,4,0.000,0.072,2467,717,3430
$GC,4968,-1.36,-146.6,615.1,-12.2,297,4972,0.00,2.50,0.00,0.000,6,0.000,0.058,2467,2101,3430
$STATE,5133,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5133,begin apogee
$GC,5140,-0.33,0.0,634.3,11.3,308,5278,0.95,0.00,134.18,1.247,6,0.081,0.000,2671,1837,2831
$STATE,5279,end apogee,CONTROL_FINISHED_OK
$STATE,5279,begin climb
$GC,5283,1.44,146.6,638.4,0.0,317,5426,1.77,2.70,133.88,1.199,4,0.063,0.077,3057,449,2233
$GC,5497,1.34,146.6,623.9,12.3,330,5501,0.00,2.58,0.00,0.000,6,0.000,0.058,3057,1856,2233
$GC,5823,1.32,166.1,593.3,9.1,351,5848,0.15,2.67,18.65,1.131,4,0.104,0.075,3029,3257,2153
$GC,5889,1.40,213.0,587.8,7.9,355,5938,0.00,2.62,43.12,1.179,6,0.000,0.071,3029,1862,1962
$GC,6254,1.40,213.0,555.9,10.4,378,6259,0.00,2.65,0.00,0.000,4,0.000,0.080,3029,435,1960
$GC,6288,1.40,213.0,551.2,12.4,380,6293,0.00,2.65,0.00,0.000,6,0.000,0.061,3029,1878,1960
$GC,6607,1.53,296.4,520.9,6.2,400,6690,0.17,2.65,74.40,1.190,4,0.061,0.075,3075,3254,1622
$GC,6714,1.50,296.4,511.3,11.4,406,6720,0.00,2.60,0.00,0.000,6,0.000,0.070,3075,1871,1622
$GC,7033,1.45,296.4,469.8,12.9,427,7038,0.00,2.62,0.00,0.000,4,0.000,0.072,3075,3262,1622
$GC,7063,1.42,296.4,466.2,12.8,429,7068,0.00,2.58,0.00,0.000,6,0.000,0.066,3075,1871,1622
$GC,7388,1.37,296.4,428.5,12.6,450,7393,0.17,2.60,0.00,0.000,4,0.102,0.069,3042,3259,1622
$GC,7445,1.43,296.4,421.5,11.7,453,7451,0.00,2.50,0.00,0.000,6,0.000,0.062,3042,1892,1622
$GC,7764,1.43,296.4,384.3,11.7,474,7768,0.00,2.53,0.00,0.000,4,0.000,0.067,3042,3257,1622
$GC,7797,1.48,296.4,380.2,11.7,476,7802,0.12,2.47,0.00,0.000,6,0.064,0.060,3073,1905,1622
$GC,8120,1.44,296.4,337.2,13.6,496,8124,0.00,2.50,0.00,0.000,4,0.000,0.066,3074,3260,1622
$GC,8155,1.44,296.4,331.8,14.0,498,8159,0.00,2.45,0.00,0.000,6,0.000,0.058,3074,1914,1622
$GC,8479,1.41,296.4,285.2,14.5,519,8483,0.00,2.50,0.00,0.000,4,0.000,0.064,3074,3266,1623
$GC,8502,1.41,296.4,281.8,14.7,520,8507,0.00,2.42,0.00,0.000,6,0.000,0.055,3074,1927,1623
$GC,8821,1.41,296.4,239.2,12.8,540,8823,0.12,0.00,0.00,0.000,6,0.100,0.000,3050,1927,1623
$GC,9135,1.41,296.4,202.2,12.3,560,9139,0.00,2.45,0.00,0.000,4,0.000,0.062,3049,3261,1624
$GC,9168,1.47,296.4,197.8,12.5,562,9173,0.00,2.40,0.00,0.000,6,0.000,0.052,3050,1925,1624
$GC,9487,1.47,296.4,163.6,10.8,582,9489,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1925,1624
$GC,9800,1.50,296.4,125.1,12.9,599,9804,0.00,2.45,0.00,0.000,4,0.000,0.060,3049,3266,1624
$GC,9828,1.56,296.4,121.0,14.0,600,9832,0.15,2.38,0.00,0.000,6,0.055,0.051,3090,1939,1624
$GC,10144,1.51,296.4,77.1,13.0,615,10146,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1939,1625
$GC,10454,1.47,296.4,37.6,12.9,630,10459,0.12,2.40,0.00,0.000,4,0.093,0.058,3065,3260,1625
$GC,10505,1.51,296.4,31.3,12.0,632,10509,0.00,2.35,0.00,0.000,6,0.000,0.050,3065,1944,1625
$STATE,10756,end climb,SURFACE_DEPTH_REACHED
$STATE,10756,begin surface coast
$FINISH,0.4,1.027175
$STATE,10780,end surface coast,CONTROL_FINISHED_OK
$STATE,10780,begin surface
$SM_CCo,10804,2.90,0.398,0,0,1607,300.00
$SM_GC,2.00,0.00,0.00,2.90,0.000,0.000,0.398,424,2163,1607,-10.68,0.96,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1856
$TCM_TEMP,17.40
$XPDR_PINGS,36
$ALTIM_BOTTOM_PING,620.1,23.8
$24V_AH,23.7,67.766
$10V_AH,10.1,30.563
$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,26.225,118.075,404.225,2.900,0.000,37.762,29.805,131.513,14.500,0.000,0.000,17.436,1163.718,7643.756,490.650,1379.318,458.287,33.363,1219.133,0.000,1338.280,0.000,41.425,0.000
$DEVICE_MAMPS,155.701,79.768,1247.142,398.073,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.410,469.873,366.213,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31682,645
$CAP_FILE_SIZE,95677,0
$CFSIZE,254472192,229253120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,021109,061436,6225.534,-1007.756,25,1.7,25,-10.2