version: 66.04
glider: 5
mission: 7
dive: 426
start: 11 2 109 15 44 35
data:
$ID,5
$MISSION,7
$DIVE,426
$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,-108415.08
$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,39
$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
$GPS1,153826,6226.578,-959.795,23,4.6,42,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-67.1
$GPS2,154344,6226.601,-959.866,16,2.0,16,-10.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.209,-0.161
$KALMAN_X,-257272.9,1578.3,74.5,403835.1,-12484.0
$KALMAN_Y,73903.9,-556.6,-518.8,-187032.7,3642.9
$MHEAD_RNG_PITCHd_Wd,137.7,14880,-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,-60.53,0.000,2,0.000,0.000,419,2141,2676
$GC,83,-1.44,-146.6,2.5,-3.0,3,127,11.00,2.65,-27.52,0.000,4,0.160,0.069,2422,703,3429
$GC,335,-1.35,-146.6,39.9,-17.0,14,340,0.15,2.53,0.00,0.000,6,0.104,0.047,2452,2128,3430
$GC,658,-1.30,-146.6,85.5,-13.4,30,663,0.00,2.58,0.00,0.000,4,0.000,0.061,2452,711,3429
$GC,683,-1.25,-146.6,89.0,-13.4,31,688,0.10,2.53,0.00,0.000,6,0.110,0.048,2470,2134,3429
$GC,1006,-1.25,-146.6,129.0,-13.0,47,1011,0.00,2.58,0.00,0.000,4,0.000,0.060,2470,714,3430
$GC,1040,-1.25,-146.6,133.7,-12.8,48,1046,0.00,2.50,0.00,0.000,6,0.000,0.048,2470,2124,3430
$GC,1364,-1.25,-146.6,173.8,-12.3,67,1368,0.00,2.58,0.00,0.000,4,0.000,0.063,2470,712,3430
$GC,1413,-1.25,-146.6,180.5,-12.8,70,1418,0.00,2.45,0.00,0.000,6,0.000,0.048,2470,2090,3430
$GC,1732,-1.25,-146.6,218.4,-12.2,90,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2091,3430
$GC,2045,-1.25,-146.6,257.0,-12.8,110,2050,0.00,2.53,0.00,0.000,4,0.000,0.062,2470,703,3431
$GC,2096,-1.25,-146.6,263.7,-12.5,113,2100,0.00,2.45,0.00,0.000,6,0.000,0.048,2470,2086,3430
$GC,2416,-1.25,-146.6,303.5,-12.3,133,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2086,3430
$GC,2727,-1.25,-146.6,341.5,-12.6,153,2731,0.00,2.50,0.00,0.000,4,0.000,0.064,2470,717,3430
$GC,2773,-1.25,-146.6,347.5,-13.1,156,2777,0.00,2.42,0.00,0.000,6,0.000,0.050,2470,2077,3430
$GC,3098,-1.25,-146.6,390.7,-13.5,177,3103,0.00,2.50,0.00,0.000,4,0.000,0.067,2470,716,3430
$GC,3137,-1.25,-146.6,396.0,-13.0,179,3143,0.00,2.42,0.00,0.000,6,0.000,0.051,2470,2077,3430
$GC,3457,-1.25,-146.6,437.4,-12.9,200,3462,0.00,2.67,0.00,0.000,4,0.000,0.074,2470,3533,3430
$GC,3503,-1.25,-146.6,443.5,-12.8,203,3508,0.00,2.65,0.00,0.000,6,0.000,0.063,2470,2079,3430
$GC,3827,-1.25,-146.6,486.3,-13.7,224,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2078,3430
$GC,4141,-1.25,-146.6,529.6,-12.4,244,4145,0.00,2.45,0.00,0.000,4,0.000,0.067,2471,716,3430
$GC,4174,-1.30,-146.6,533.6,-11.8,246,4179,0.00,2.47,0.00,0.000,6,0.000,0.052,2471,2101,3430
$GC,4494,-1.30,-146.6,565.5,-10.1,266,4499,0.00,2.58,0.00,0.000,4,0.000,0.072,2470,713,3430
$GC,4541,-1.36,-146.6,570.5,-11.0,269,4546,0.00,2.47,0.00,0.000,6,0.000,0.056,2471,2090,3430
$STATE,4832,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4832,begin apogee
$GC,4840,-0.33,0.0,602.6,10.1,288,4976,0.95,0.00,132.43,1.210,6,0.083,0.000,2674,1835,2831
$STATE,4976,end apogee,CONTROL_FINISHED_OK
$STATE,4977,begin climb
$GC,4981,1.44,146.6,607.1,0.0,297,5123,1.75,2.75,131.93,1.170,4,0.061,0.072,3056,3257,2233
$GC,5216,1.37,146.6,592.1,10.2,311,5220,0.00,2.60,0.00,0.000,6,0.000,0.068,3056,1862,2232
$GC,5537,1.37,178.3,561.9,8.6,331,5572,0.00,2.70,29.17,1.131,4,0.000,0.074,3056,3245,2103
$GC,5620,1.35,189.0,554.4,9.5,336,5637,0.00,2.65,10.98,1.037,6,0.000,0.070,3056,1833,2060
$GC,5953,1.31,193.6,522.3,9.8,357,5964,0.15,2.72,5.62,0.888,4,0.100,0.074,3029,3258,2040
$GC,5993,1.36,208.9,518.1,9.3,358,6016,0.00,2.60,15.02,1.091,6,0.000,0.069,3029,1856,1979
$GC,6332,1.46,270.3,490.7,7.2,380,6396,0.17,2.72,53.85,1.155,4,0.059,0.071,3075,3256,1729
$GC,6468,1.43,270.3,477.8,10.1,388,6472,0.00,2.58,0.00,0.000,6,0.000,0.067,3075,1870,1729
$GC,6793,1.37,270.3,441.7,12.1,409,6798,0.17,2.60,0.00,0.000,4,0.104,0.069,3042,3262,1729
$GC,6833,1.42,270.3,436.6,11.1,411,6839,0.00,2.55,0.00,0.000,6,0.000,0.062,3042,1870,1729
$GC,7153,1.42,270.3,402.1,10.7,432,7157,0.00,2.58,0.00,0.000,4,0.000,0.067,3042,3253,1729
$GC,7220,1.48,270.3,394.3,11.5,436,7225,0.12,2.47,0.00,0.000,6,0.064,0.061,3073,1899,1728
$GC,7543,1.43,270.3,357.5,11.2,456,7547,0.00,2.53,0.00,0.000,4,0.000,0.066,3074,3263,1729
$GC,7571,1.43,270.3,353.8,11.5,457,7577,0.00,2.45,0.00,0.000,6,0.000,0.059,3073,1915,1728
$GC,7890,1.40,270.3,321.7,10.2,478,7892,0.12,0.00,0.00,0.000,6,0.104,0.000,3050,1915,1729
$GC,8203,1.40,270.3,290.2,11.0,498,8207,0.00,2.47,0.00,0.000,4,0.000,0.064,3050,3258,1729
$GC,8219,1.40,270.3,288.2,11.1,499,8223,0.00,2.42,0.00,0.000,6,0.000,0.055,3050,1919,1729
$GC,8538,1.40,270.3,251.2,12.0,519,8542,0.00,2.47,0.00,0.000,4,0.000,0.066,3050,3264,1729
$GC,8555,1.40,270.3,249.0,12.1,520,8559,0.00,2.42,0.00,0.000,6,0.000,0.054,3050,1921,1729
$GC,8881,1.40,270.3,210.1,12.1,541,8882,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1921,1729
$GC,9192,1.40,270.3,175.3,10.8,561,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1921,1730
$GC,9505,1.42,282.4,143.6,9.4,580,9527,0.00,2.53,11.90,0.838,4,0.000,0.059,3050,3262,1679
$GC,9551,1.49,292.9,139.3,9.5,582,9567,0.00,2.40,10.50,0.822,6,0.000,0.051,3050,1935,1636
$GC,9880,1.56,311.8,111.1,9.1,597,9899,0.15,0.00,16.98,0.841,6,0.056,0.000,3090,1935,1559
$GC,10210,1.52,311.8,72.1,13.0,613,10214,0.00,2.42,0.00,0.000,4,0.000,0.059,3090,3261,1559
$GC,10243,1.52,311.8,67.1,14.2,614,10249,0.00,2.38,0.00,0.000,6,0.000,0.050,3090,1933,1559
$GC,10560,1.52,311.8,25.1,13.9,630,10564,0.00,2.42,0.00,0.000,4,0.000,0.059,3090,3264,1559
$GC,10588,1.52,311.8,20.8,14.7,631,10592,0.00,2.35,0.00,0.000,6,0.000,0.050,3090,1956,1559
$STATE,10721,end climb,SURFACE_DEPTH_REACHED
$STATE,10721,begin surface coast
$FINISH,0.2,1.003655
$STATE,10743,end surface coast,CONTROL_FINISHED_OK
$STATE,10743,begin surface
$SM_CCo,10827,0.00,0.000,0,0,1559,312.02
$SM_GC,1.19,11.52,0.00,0.00,0.035,0.000,0.000,421,2125,1559,-10.59,-0.17,312.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1840
$TCM_TEMP,17.50
$XPDR_PINGS,31
$ALTIM_BOTTOM_PING,545.2,67.4
$24V_AH,23.7,68.346
$10V_AH,10.1,30.808
$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,26.375,112.050,418.375,0.000,0.000,37.760,28.530,126.858,12.500,0.000,0.000,16.547,1146.823,7680.259,503.064,1363.048,451.295,33.362,1224.874,0.000,1323.457,0.000,36.826,0.000
$DEVICE_MAMPS,159.536,73.632,1209.559,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.754,464.409,381.524,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31708,639
$CAP_FILE_SIZE,93955,0
$CFSIZE,254472192,229060608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,021109,184607,6227.259,-958.022,28,1.6,28,-10.1