version: 66.04
glider: 5
mission: 7
dive: 432
start: 11 3 109 10 22 24
data:
$ID,5
$MISSION,7
$DIVE,432
$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,-108542.54
$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,25
$R_STBD_OVSHOOT,37
$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
$GPS1,101506,6224.988,-953.628,39,1.5,39,-10.0
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-64.2
$GPS2,102131,6225.024,-953.612,17,2.0,29,-10.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.162,-0.208
$KALMAN_X,-267386.6,188.5,1309.7,419247.6,-12645.1
$KALMAN_Y,88011.0,-2015.5,-135.0,-203013.2,10728.1
$MHEAD_RNG_PITCHd_Wd,151.9,9809,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.50,0.000,2,0.000,0.000,416,2162,2761
$GC,82,-1.44,-146.6,2.7,-4.0,3,125,11.02,2.62,-22.38,0.000,4,0.165,0.067,2424,723,3429
$GC,172,-1.35,-146.6,13.8,-14.5,7,177,0.12,2.50,0.00,0.000,6,0.108,0.047,2448,2129,3429
$GC,501,-1.28,-146.6,60.8,-13.6,23,506,0.00,2.58,0.00,0.000,4,0.000,0.059,2448,712,3429
$GC,567,-1.25,-146.6,70.0,-14.5,26,572,0.12,2.47,0.00,0.000,6,0.101,0.047,2472,2108,3430
$GC,896,-1.25,-146.6,109.8,-11.8,42,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2108,3430
$GC,1204,-1.25,-146.6,148.3,-12.3,57,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2108,3430
$GC,1522,-1.25,-146.6,190.6,-13.8,77,1526,0.00,2.53,0.00,0.000,4,0.000,0.059,2472,713,3430
$GC,1589,-1.29,-146.6,200.6,-13.8,81,1594,0.00,2.45,0.00,0.000,6,0.000,0.047,2472,2096,3430
$GC,1910,-1.29,-146.6,244.6,-14.2,101,1917,0.00,2.62,0.00,0.000,4,0.000,0.067,2473,3538,3430
$GC,1951,-1.29,-146.6,250.7,-13.9,103,1956,0.00,2.60,0.00,0.000,6,0.000,0.055,2472,2090,3430
$GC,2271,-1.29,-146.6,291.6,-12.1,123,2275,0.00,2.45,0.00,0.000,4,0.000,0.061,2472,714,3430
$GC,2319,-1.32,-146.6,297.6,-12.6,126,2323,0.00,2.47,0.00,0.000,6,0.000,0.048,2473,2110,3430
$GC,2643,-1.32,-146.6,337.9,-12.3,147,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2110,3430
$GC,2956,-1.32,-146.6,373.1,-10.3,167,2960,0.00,2.53,0.00,0.000,4,0.000,0.062,2473,719,3430
$GC,3019,-1.36,-146.6,380.0,-10.6,171,3024,0.12,2.42,0.00,0.000,6,0.060,0.050,2440,2090,3430
$GC,3347,-1.31,-146.6,420.4,-13.0,192,3351,0.00,2.50,0.00,0.000,4,0.000,0.063,2440,717,3430
$GC,3427,-1.31,-146.6,430.9,-11.6,197,3432,0.10,2.42,0.00,0.000,6,0.107,0.051,2458,2077,3430
$GC,3756,-1.31,-146.6,470.8,-12.3,218,3760,0.00,2.50,0.00,0.000,4,0.000,0.067,2458,717,3430
$GC,3790,-1.31,-146.6,476.0,-13.7,220,3794,0.00,2.40,0.00,0.000,6,0.000,0.052,2458,2056,3430
$GC,4109,-1.31,-146.6,513.2,-11.4,240,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2056,3430
$GC,4423,-1.31,-146.6,545.3,-10.3,260,4427,0.00,2.72,0.00,0.000,4,0.000,0.077,2458,3537,3429
$GC,4451,-1.31,-146.6,548.5,-10.5,262,4456,0.00,2.72,0.00,0.000,6,0.000,0.067,2458,2050,3429
$GC,4776,-1.31,-146.6,587.0,-11.9,283,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2050,3429
$STATE,4929,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4929,begin apogee
$GC,4938,-0.33,0.0,606.2,12.1,293,5073,1.00,0.00,131.65,1.213,6,0.083,0.000,2673,1843,2831
$STATE,5074,end apogee,CONTROL_FINISHED_OK
$STATE,5074,begin climb
$GC,5077,1.44,146.6,611.4,0.0,302,5219,1.75,2.62,131.90,1.167,4,0.061,0.075,3054,451,2232
$GC,5335,1.32,146.6,595.7,11.2,317,5342,0.12,2.55,0.00,0.000,6,0.101,0.055,3033,1855,2232
$GC,5655,1.38,182.2,568.4,8.4,338,5694,0.00,2.65,32.20,1.132,4,0.000,0.071,3032,3257,2088
$GC,5707,1.39,191.2,563.9,9.6,341,5722,0.00,2.62,9.65,1.001,6,0.000,0.067,3032,1853,2051
$GC,6050,1.45,223.4,534.1,8.5,363,6085,0.12,2.70,29.00,1.127,4,0.063,0.070,3064,3245,1920
$GC,6104,1.41,223.4,529.1,10.3,366,6108,0.00,2.60,0.00,0.000,6,0.000,0.067,3064,1854,1920
$GC,6424,1.36,223.4,495.5,11.0,386,6429,0.12,2.62,0.00,0.000,4,0.107,0.071,3041,3251,1919
$GC,6497,1.36,223.4,487.8,10.3,390,6503,0.00,2.50,0.00,0.000,6,0.000,0.063,3041,1887,1919
$GC,6817,1.40,246.4,458.3,9.0,411,6843,0.00,2.62,21.38,1.092,4,0.000,0.068,3041,3258,1826
$GC,6855,1.42,258.0,454.6,9.5,412,6871,0.00,2.50,11.70,1.022,6,0.000,0.062,3042,1908,1779
$GC,7188,1.47,290.0,426.3,8.5,433,7224,0.10,2.58,28.75,1.085,4,0.066,0.067,3068,3249,1648
$GC,7253,1.47,290.0,419.6,10.6,437,7257,0.00,2.47,0.00,0.000,6,0.000,0.062,3068,1914,1648
$GC,7578,1.48,297.3,388.0,9.7,458,7595,0.00,2.75,8.07,0.939,4,0.000,0.068,3067,442,1619
$GC,7630,1.43,297.3,382.6,10.6,461,7635,0.00,2.67,0.00,0.000,6,0.000,0.053,3067,1915,1619
$GC,7955,1.43,297.3,345.8,11.7,482,7959,0.00,2.42,0.00,0.000,4,0.000,0.066,3068,3257,1619
$GC,8000,1.43,297.3,340.1,13.1,484,8006,0.00,2.45,0.00,0.000,6,0.000,0.058,3068,1914,1619
$GC,8319,1.43,297.3,301.3,12.4,505,8323,0.00,2.47,0.00,0.000,4,0.000,0.064,3068,3255,1619
$GC,8341,1.43,297.3,298.5,12.5,506,8347,0.00,2.38,0.00,0.000,6,0.000,0.055,3068,1945,1619
$GC,8661,1.43,297.3,261.7,10.3,527,8665,0.00,2.42,0.00,0.000,4,0.000,0.063,3068,3260,1619
$GC,8694,1.43,297.3,257.7,10.9,529,8698,0.00,2.35,0.00,0.000,6,0.000,0.054,3067,1960,1619
$GC,9013,1.43,297.3,222.4,11.0,549,9017,0.00,2.38,0.00,0.000,4,0.000,0.061,3068,3255,1619
$GC,9043,1.43,297.3,219.1,11.9,551,9047,0.00,2.30,0.00,0.000,6,0.000,0.052,3068,1970,1619
$GC,9367,1.43,297.3,181.4,11.3,572,9368,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1970,1620
$GC,9690,1.43,297.3,144.6,12.1,592,9691,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1970,1620
$GC,9999,1.43,297.3,107.6,11.8,607,10003,0.00,2.35,0.00,0.000,4,0.000,0.059,3068,3259,1621
$GC,10027,1.46,297.3,104.0,13.2,608,10031,0.00,2.28,0.00,0.000,6,0.000,0.049,3068,1985,1621
$GC,10345,1.46,297.3,66.4,11.4,623,10350,0.00,2.75,0.00,0.000,4,0.000,0.060,3068,438,1622
$GC,10364,1.46,297.3,64.0,11.9,624,10369,0.00,2.75,0.00,0.000,6,0.000,0.046,3067,2000,1622
$GC,10692,1.46,297.3,26.0,12.6,640,10693,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2000,1622
$STATE,10874,end climb,SURFACE_DEPTH_REACHED
$STATE,10874,begin surface coast
$FINISH,0.3,1.027122
$STATE,10896,end surface coast,CONTROL_FINISHED_OK
$STATE,10897,begin surface
$SM_CCo,10921,1.75,0.114,0,0,1608,300.00
$SM_GC,1.71,0.00,0.00,1.75,0.000,0.000,0.114,420,2160,1608,-10.70,0.79,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1844
$TCM_TEMP,16.60
$XPDR_PINGS,41
$ALTIM_BOTTOM_PING,596.7,19.0
$24V_AH,23.7,69.194
$10V_AH,10.1,31.172
$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,26.125,111.825,404.300,1.750,0.000,37.764,26.573,176.922,15.750,0.000,0.000,31.810,1163.422,7776.479,490.090,1372.154,510.502,33.360,1206.937,0.000,1317.260,0.000,39.406,0.000
$DEVICE_MAMPS,164.905,76.700,1212.627,113.516,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.660,474.370,384.849,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31718,650
$CAP_FILE_SIZE,95658,0
$CFSIZE,254472192,228777984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,031109,132536,6223.396,-953.395,28,1.1,28,-10.0