version: 66.04
glider: 5
mission: 7
dive: 423
start: 11 2 109 6 20 59
data:
$ID,5
$MISSION,7
$DIVE,423
$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,-108347.43
$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,21
$R_STBD_OVSHOOT,36
$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
$GPS1,061436,6225.534,-1007.756,25,1.7,25,-10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-61.6
$GPS2,062009,6225.598,-1007.798,10,2.9,29,-10.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.262,0.031
$KALMAN_X,-250560.0,494.0,508.0,391218.1,-11688.1
$KALMAN_Y,73157.9,-721.3,350.8,-188876.6,3964.3
$MHEAD_RNG_PITCHd_Wd,93.4,18486,-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,-60.90,0.000,2,0.000,0.000,423,2161,2768
$GC,83,-1.44,-146.6,2.6,-3.8,3,126,10.93,2.62,-23.00,0.000,4,0.160,0.070,2421,715,3429
$GC,294,-1.35,-146.6,34.7,-16.4,12,300,0.15,2.50,0.00,0.000,6,0.102,0.048,2451,2123,3429
$GC,611,-1.29,-146.6,80.9,-13.6,27,615,0.00,2.58,0.00,0.000,4,0.000,0.073,2451,3534,3430
$GC,645,-1.23,-146.6,85.5,-13.4,28,653,0.12,2.55,0.00,0.000,6,0.101,0.053,2476,2112,3430
$GC,962,-1.23,-146.6,124.7,-12.8,44,966,0.00,2.50,0.00,0.000,4,0.000,0.060,2475,708,3430
$GC,1002,-1.23,-146.6,130.1,-12.9,46,1006,0.00,2.50,0.00,0.000,6,0.000,0.048,2476,2118,3430
$GC,1326,-1.23,-146.6,166.5,-11.5,64,1331,0.00,2.55,0.00,0.000,4,0.000,0.060,2476,712,3430
$GC,1366,-1.27,-146.6,171.6,-12.9,66,1372,0.00,2.50,0.00,0.000,6,0.000,0.048,2476,2123,3431
$GC,1685,-1.27,-146.6,214.7,-14.2,87,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2123,3431
$GC,1999,-1.27,-146.6,254.6,-11.9,107,2004,0.00,2.58,0.00,0.000,4,0.000,0.063,2476,709,3431
$GC,2046,-1.30,-146.6,260.2,-11.8,110,2050,0.00,2.47,0.00,0.000,6,0.000,0.049,2476,2105,3431
$GC,2372,-1.30,-146.6,299.8,-13.0,131,2377,0.00,2.53,0.00,0.000,4,0.000,0.069,2476,720,3431
$GC,2407,-1.34,-146.6,304.8,-13.2,133,2412,0.12,2.45,0.00,0.000,6,0.061,0.050,2443,2100,3431
$GC,2728,-1.28,-146.6,351.8,-14.6,153,2730,0.12,0.00,0.00,0.000,6,0.103,0.000,2467,2098,3431
$GC,3039,-1.28,-146.6,391.6,-12.6,173,3043,0.00,2.53,0.00,0.000,4,0.000,0.065,2467,716,3431
$GC,3068,-1.28,-146.6,395.5,-13.9,175,3072,0.00,2.45,0.00,0.000,6,0.000,0.051,2467,2087,3431
$GC,3393,-1.28,-146.6,437.2,-12.8,196,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2088,3431
$GC,3705,-1.28,-146.6,478.6,-13.1,216,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2088,3431
$GC,4017,-1.28,-146.6,517.2,-12.1,236,4021,0.00,2.50,0.00,0.000,4,0.000,0.066,2466,718,3431
$GC,4103,-1.32,-146.6,527.4,-11.3,241,4107,0.00,2.42,0.00,0.000,6,0.000,0.052,2467,2084,3431
$GC,4434,-1.32,-146.6,566.9,-11.6,262,4438,0.00,2.70,0.00,0.000,4,0.000,0.080,2467,3539,3431
$GC,4497,-1.32,-146.6,574.0,-10.9,266,4501,0.00,2.70,0.00,0.000,6,0.000,0.067,2467,2069,3431
$GC,4821,-1.32,-146.6,609.6,-10.4,287,4826,0.00,2.78,0.00,0.000,4,0.000,0.081,2467,3534,3431
$STATE,4852,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4852,begin apogee
$GC,4863,-0.33,0.0,613.4,10.7,289,5000,0.93,0.00,133.15,1.226,6,0.082,0.000,2668,1851,2831
$STATE,5001,end apogee,CONTROL_FINISHED_OK
$STATE,5001,begin climb
$GC,5004,1.44,146.6,619.8,0.0,298,5147,1.77,2.72,133.65,1.180,4,0.058,0.077,3059,442,2233
$GC,5223,1.32,146.6,608.3,11.8,311,5229,0.15,2.58,0.00,0.000,6,0.102,0.063,3032,1847,2233
$GC,5543,1.35,169.4,580.7,9.0,331,5574,0.00,2.70,21.38,1.127,4,0.000,0.086,3032,3260,2140
$GC,5609,1.35,169.4,574.1,10.2,335,5613,0.00,2.62,0.00,0.000,6,0.000,0.072,3032,1863,2140
$GC,5934,1.35,169.4,541.0,10.5,356,5939,0.00,2.65,0.00,0.000,4,0.000,0.077,3032,3263,2138
$GC,5985,1.35,169.4,535.5,10.6,359,5989,0.00,2.58,0.00,0.000,6,0.000,0.071,3031,1879,2138
$GC,6305,1.44,220.5,509.1,7.7,379,6353,0.12,0.00,45.58,1.177,6,0.067,0.000,3062,1879,1931
$GC,6668,1.39,226.9,473.3,9.7,402,6684,0.00,2.67,6.88,0.960,4,0.000,0.074,3062,3261,1906
$GC,6742,1.36,226.9,465.7,10.3,406,6747,0.12,2.58,0.00,0.000,6,0.105,0.067,3040,1869,1906
$GC,7062,1.36,226.9,435.6,10.2,426,7066,0.00,2.58,0.00,0.000,4,0.000,0.070,3040,3254,1905
$GC,7107,1.36,226.9,430.8,10.8,429,7111,0.00,2.50,0.00,0.000,6,0.000,0.062,3040,1894,1905
$GC,7432,1.36,226.9,396.2,10.8,450,7436,0.00,2.53,0.00,0.000,4,0.000,0.068,3040,3258,1905
$GC,7476,1.36,226.9,391.0,11.7,452,7482,0.00,2.45,0.00,0.000,6,0.000,0.060,3040,1907,1905
$GC,7797,1.38,239.2,359.3,9.4,473,7814,0.00,2.60,12.12,0.996,4,0.000,0.065,3040,3264,1856
$GC,7851,1.43,252.8,354.1,9.4,476,7871,0.00,2.47,13.35,0.999,6,0.000,0.058,3040,1913,1799
$GC,8199,1.45,264.0,320.9,9.5,498,8217,0.00,2.58,11.43,0.956,4,0.000,0.064,3040,3261,1753
$GC,8236,1.49,264.0,317.3,10.2,500,8241,0.15,2.45,0.00,0.000,6,0.058,0.056,3077,1922,1753
$GC,8563,1.43,264.0,279.7,11.8,521,8567,0.00,2.45,0.00,0.000,4,0.000,0.064,3077,3257,1754
$GC,8592,1.39,264.0,275.9,12.2,522,8598,0.15,2.38,0.00,0.000,6,0.098,0.055,3049,1937,1754
$GC,8912,1.39,264.0,243.4,10.2,543,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1937,1754
$GC,9223,1.39,264.0,212.2,10.5,563,9227,0.00,2.42,0.00,0.000,4,0.000,0.062,3049,3257,1755
$GC,9263,1.43,264.0,207.8,11.4,565,9269,0.00,2.38,0.00,0.000,6,0.000,0.053,3049,1935,1755
$GC,9582,1.43,264.0,173.0,11.8,586,9583,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1935,1756
$GC,9904,1.43,264.0,136.4,11.8,605,9908,0.00,2.42,0.00,0.000,4,0.000,0.061,3049,3261,1756
$GC,9955,1.48,264.0,130.6,10.5,607,9959,0.00,2.35,0.00,0.000,6,0.000,0.051,3049,1947,1755
$GC,10277,1.48,264.0,96.6,10.4,623,10281,0.00,2.40,0.00,0.000,4,0.000,0.060,3049,3261,1756
$GC,10317,1.53,264.0,92.2,11.2,625,10322,0.12,2.33,0.00,0.000,6,0.059,0.050,3083,1960,1756
$GC,10652,1.49,264.0,51.3,11.6,641,10656,0.00,2.38,0.00,0.000,4,0.000,0.059,3083,3264,1756
$GC,10676,1.45,264.0,48.1,13.2,642,10681,0.12,2.33,0.00,0.000,6,0.099,0.049,3059,1961,1756
$GC,11003,1.45,264.0,15.1,10.3,658,11007,0.00,2.35,0.00,0.000,4,0.000,0.058,3060,3261,1757
$GC,11031,1.45,264.0,11.6,12.5,659,11035,0.00,2.30,0.00,0.000,6,0.000,0.048,3059,1970,1757
$STATE,11118,end climb,SURFACE_DEPTH_REACHED
$STATE,11118,begin surface coast
$FINISH,0.9,1.027138
$STATE,11140,end surface coast,CONTROL_FINISHED_OK
$STATE,11140,begin surface
$SM_CCo,11164,19.20,0.768,0,0,1608,300.00
$SM_GC,0.54,0.00,0.00,19.20,0.000,0.000,0.768,424,2162,1608,-10.68,0.88,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1837
$TCM_TEMP,17.40
$XPDR_PINGS,48
$ALTIM_BOTTOM_PING,596.0,27.0
$24V_AH,23.7,67.908
$10V_AH,10.1,30.626
$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,26.525,121.575,377.525,19.200,0.000,37.761,29.107,126.741,17.500,0.000,0.000,29.891,1198.250,7926.973,493.709,1435.306,463.489,33.365,1238.530,0.000,1378.134,0.000,42.731,0.000
$DEVICE_MAMPS,159.536,85.904,1225.666,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.115,483.273,391.907,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34838,664
$CAP_FILE_SIZE,98107,0
$CFSIZE,254472192,229199872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,021109,092837,6227.342,-1003.513,34,2.0,34,-10.1