version: 66.04
glider: 5
mission: 7
dive: 424
start: 11 2 109 9 35 59
data:
$ID,5
$MISSION,7
$DIVE,424
$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,-108380.38
$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,41
$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
$GPS1,092837,6227.342,-1003.513,34,2.0,34,-10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-60.5
$GPS2,093506,6227.398,-1003.461,16,1.5,32,-10.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.263,-0.015
$KALMAN_X,-251571.1,365.1,1280.4,395146.3,-11094.0
$KALMAN_Y,76683.1,-1153.9,-179.3,-188106.5,7504.2
$MHEAD_RNG_PITCHd_Wd,103.3,17937,-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,15,-1.44,-146.6,0.0,0.0,0,79,0.00,0.00,-61.35,0.000,2,0.000,0.000,423,2148,2795
$GC,83,-1.44,-146.6,2.4,-3.0,3,126,10.88,2.65,-23.27,0.000,4,0.156,0.067,2424,708,3429
$GC,330,-1.35,-146.6,41.1,-15.5,14,335,0.12,2.50,0.00,0.000,6,0.107,0.047,2448,2117,3430
$GC,660,-1.28,-146.6,88.0,-14.6,30,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2118,3430
$GC,967,-1.22,-146.6,135.0,-14.7,45,972,0.15,2.55,0.00,0.000,4,0.099,0.058,2478,706,3430
$GC,1007,-1.22,-146.6,140.4,-12.6,47,1011,0.00,2.53,0.00,0.000,6,0.000,0.047,2478,2130,3430
$GC,1326,-1.22,-146.6,178.2,-12.2,66,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2131,3430
$GC,1638,-1.22,-146.6,216.8,-12.2,86,1642,0.00,2.58,0.00,0.000,4,0.000,0.060,2478,710,3430
$GC,1701,-1.26,-146.6,224.5,-12.3,90,1705,0.00,2.50,0.00,0.000,6,0.000,0.048,2478,2123,3430
$GC,2026,-1.26,-146.6,263.2,-11.6,111,2030,0.00,2.58,0.00,0.000,4,0.000,0.063,2478,707,3430
$GC,2073,-1.30,-146.6,268.6,-11.7,114,2078,0.00,2.50,0.00,0.000,6,0.000,0.049,2478,2116,3430
$GC,2401,-1.30,-146.6,305.6,-11.2,135,2405,0.00,2.55,0.00,0.000,4,0.000,0.061,2478,714,3430
$GC,2447,-1.34,-146.6,311.1,-11.6,138,2452,0.12,2.45,0.00,0.000,6,0.060,0.050,2445,2097,3430
$GC,2774,-1.28,-146.6,353.2,-13.3,159,2776,0.10,0.00,0.00,0.000,6,0.105,0.000,2463,2097,3430
$GC,3083,-1.28,-146.6,393.7,-13.1,179,3088,0.00,2.53,0.00,0.000,4,0.000,0.063,2463,708,3430
$GC,3117,-1.28,-146.6,398.4,-13.2,181,3121,0.00,2.45,0.00,0.000,6,0.000,0.050,2463,2086,3430
$GC,3442,-1.28,-146.6,441.0,-12.7,202,3447,0.00,2.50,0.00,0.000,4,0.000,0.064,2464,716,3430
$GC,3498,-1.28,-146.6,448.5,-12.9,205,3505,0.00,2.40,0.00,0.000,6,0.000,0.051,2463,2064,3430
$GC,3819,-1.28,-146.6,489.3,-12.3,226,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2065,3430
$GC,4130,-1.28,-146.6,526.2,-11.1,246,4135,0.00,2.47,0.00,0.000,4,0.000,0.066,2463,715,3430
$GC,4198,-1.32,-146.6,533.9,-12.4,250,4202,0.00,2.40,0.00,0.000,6,0.000,0.052,2463,2056,3430
$GC,4518,-1.32,-146.6,570.3,-11.5,270,4522,0.00,2.50,0.00,0.000,4,0.000,0.074,2463,709,3430
$GC,4557,-1.37,-146.6,575.2,-12.1,272,4563,0.00,2.40,0.00,0.000,6,0.000,0.056,2463,2042,3430
$STATE,4764,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4764,begin apogee
$GC,4773,-0.33,0.0,598.0,10.5,286,4908,0.98,0.00,132.12,1.214,6,0.084,0.000,2670,1831,2831
$STATE,4909,end apogee,CONTROL_FINISHED_OK
$STATE,4909,begin climb
$GC,4912,1.44,146.6,602.6,0.0,295,5054,1.77,2.67,131.02,1.173,4,0.061,0.081,3058,442,2233
$GC,5194,1.32,149.7,585.3,9.9,312,5204,0.15,2.58,4.68,0.789,6,0.101,0.060,3031,1849,2220
$GC,5520,1.40,197.6,561.2,7.8,332,5565,0.00,0.00,43.08,1.159,6,0.000,0.000,3031,1861,2025
$GC,5877,1.44,226.1,529.4,8.7,355,5906,0.12,0.00,25.90,1.144,6,0.066,0.000,3062,1861,1909
$GC,6218,1.39,226.1,492.5,11.6,377,6222,0.00,2.65,0.00,0.000,4,0.000,0.080,3062,450,1908
$GC,6231,1.34,226.1,491.1,11.4,378,6236,0.15,2.58,0.00,0.000,6,0.103,0.061,3034,1856,1908
$GC,6556,1.34,231.0,459.3,9.8,399,6566,0.00,2.60,5.65,0.901,4,0.000,0.071,3034,3255,1889
$GC,6589,1.38,231.4,455.8,10.0,400,6594,0.00,2.62,0.00,0.000,6,0.000,0.067,3034,1841,1889
$GC,6910,1.40,243.6,425.0,9.4,420,6927,0.00,2.72,12.23,1.052,4,0.000,0.067,3034,3254,1838
$GC,6990,1.45,243.6,416.9,10.1,424,6997,0.12,2.58,0.00,0.000,6,0.064,0.062,3066,1852,1838
$GC,7310,1.41,243.6,380.2,12.1,445,7315,0.00,2.60,0.00,0.000,4,0.000,0.065,3066,3262,1838
$GC,7361,1.41,243.6,373.9,12.3,448,7365,0.00,2.53,0.00,0.000,6,0.000,0.059,3066,1871,1838
$GC,7680,1.37,243.6,335.6,12.4,468,7685,0.12,2.58,0.00,0.000,4,0.100,0.064,3042,3263,1838
$GC,7733,1.41,243.6,329.7,11.0,471,7737,0.00,2.50,0.00,0.000,6,0.000,0.057,3042,1887,1838
$GC,8052,1.41,243.6,294.9,10.8,491,8057,0.00,2.53,0.00,0.000,4,0.000,0.064,3043,3258,1838
$GC,8099,1.45,243.6,289.7,11.4,494,8104,0.00,2.45,0.00,0.000,6,0.000,0.055,3042,1904,1838
$GC,8424,1.45,247.3,256.3,9.8,515,8435,0.00,2.53,5.45,0.767,4,0.000,0.062,3042,3264,1821
$GC,8470,1.50,247.3,251.5,10.6,517,8475,0.12,2.42,0.00,0.000,6,0.060,0.054,3075,1919,1821
$GC,8798,1.45,247.3,213.7,11.5,538,8802,0.00,2.45,0.00,0.000,4,0.000,0.061,3074,3258,1822
$GC,8826,1.42,247.3,209.8,12.1,539,8832,0.00,2.40,0.00,0.000,6,0.000,0.053,3074,1925,1822
$GC,9146,1.37,247.3,173.6,11.6,560,9151,0.15,2.45,0.00,0.000,4,0.095,0.060,3045,3263,1823
$GC,9185,1.42,247.3,168.9,10.9,562,9191,0.00,2.40,0.00,0.000,6,0.000,0.051,3045,1924,1823
$GC,9504,1.43,254.6,137.2,9.7,581,9518,0.00,2.47,8.07,0.784,4,0.000,0.059,3045,3254,1792
$GC,9542,1.47,254.6,133.1,11.1,582,9549,0.00,2.35,0.00,0.000,6,0.000,0.051,3045,1949,1792
$GC,9861,1.51,254.6,101.8,10.1,598,9865,0.12,2.40,0.00,0.000,4,0.058,0.058,3079,3261,1792
$GC,9894,1.51,254.6,97.5,12.7,599,9900,0.00,2.33,0.00,0.000,6,0.000,0.050,3079,1965,1792
$GC,10211,1.47,254.6,58.4,12.5,615,10213,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1965,1792
$GC,10521,1.47,254.6,21.3,13.0,630,10522,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1965,1792
$STATE,10682,end climb,SURFACE_DEPTH_REACHED
$STATE,10683,begin surface coast
$FINISH,0.3,1.027132
$STATE,10703,end surface coast,CONTROL_FINISHED_OK
$STATE,10703,begin surface
$SM_CCo,10728,23.60,0.769,0,0,1608,300.00
$SM_GC,1.09,0.00,0.00,23.60,0.000,0.000,0.769,421,2155,1608,-10.69,0.59,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1842
$TCM_TEMP,17.50
$XPDR_PINGS,35
$ALTIM_BOTTOM_PING,546.3,60.4
$24V_AH,23.7,68.048
$10V_AH,10.1,30.687
$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,26.725,106.100,368.200,23.600,0.000,37.772,28.312,174.796,13.500,0.000,0.000,32.318,1159.409,7618.408,498.567,1360.291,508.296,33.358,1192.909,0.000,1310.746,0.000,33.460,0.000
$DEVICE_MAMPS,155.701,81.302,1214.161,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.106,467.623,378.042,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31649,639
$CAP_FILE_SIZE,95525,0
$CFSIZE,254472192,229150720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,021109,123631,6227.156,-1000.411,40,1.8,40,-10.1