version: 66.04
glider: 5
mission: 7
dive: 435
start: 11 3 109 19 49 58
data:
$ID,5
$MISSION,7
$DIVE,435
$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,-108582.52
$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,22
$R_STBD_OVSHOOT,31
$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
$GPS1,194355,6222.642,-954.431,42,1.0,42,-10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-58.5
$GPS2,194907,6222.697,-954.447,12,1.0,12,-10.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.244,-0.099
$KALMAN_X,-278370.7,1968.4,1223.7,427855.7,-17634.5
$KALMAN_Y,87038.2,-51.6,387.4,-208829.7,3682.5
$MHEAD_RNG_PITCHd_Wd,122.1,6290,-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,13,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,79,0.00,0.00,-60.62,0.000,2,0.000,0.000,420,2148,2758
$GC,83,-1.44,-146.6,2.6,-3.6,3,126,10.95,2.60,-22.92,0.000,4,0.163,0.069,2421,717,3430
$GC,196,-1.34,-146.6,16.6,-15.1,8,201,0.15,2.50,0.00,0.000,6,0.101,0.048,2450,2128,3430
$GC,524,-1.28,-146.6,62.3,-14.3,24,528,0.00,2.58,0.00,0.000,4,0.000,0.061,2450,714,3430
$GC,557,-1.28,-146.6,67.4,-14.6,25,563,0.00,2.50,0.00,0.000,6,0.000,0.048,2450,2123,3430
$GC,876,-1.23,-146.6,111.4,-14.1,41,881,0.12,2.58,0.00,0.000,4,0.106,0.060,2475,705,3430
$GC,926,-1.27,-146.6,118.8,-13.5,43,931,0.00,2.50,0.00,0.000,6,0.000,0.048,2475,2116,3430
$GC,1243,-1.27,-146.6,158.0,-11.7,59,1247,0.00,2.58,0.00,0.000,4,0.000,0.066,2475,3535,3430
$GC,1273,-1.27,-146.6,161.3,-11.7,61,1278,0.00,2.58,0.00,0.000,6,0.000,0.054,2475,2100,3430
$GC,1597,-1.27,-146.6,196.9,-10.5,82,1601,0.00,2.47,0.00,0.000,4,0.000,0.061,2475,707,3431
$GC,1654,-1.31,-146.6,203.4,-12.1,85,1660,0.00,2.47,0.00,0.000,6,0.000,0.047,2474,2110,3431
$GC,1973,-1.31,-146.6,240.1,-11.2,106,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2110,3431
$GC,2286,-1.31,-146.6,273.0,-10.0,126,2289,0.00,2.53,0.00,0.000,4,0.000,0.061,2475,714,3431
$GC,2332,-1.34,-146.6,277.6,-10.2,128,2338,0.12,2.45,0.00,0.000,6,0.056,0.048,2442,2099,3431
$GC,2653,-1.29,-146.6,318.0,-12.8,149,2658,0.12,2.53,0.00,0.000,4,0.100,0.062,2466,711,3431
$GC,2700,-1.29,-146.6,323.9,-11.5,152,2704,0.00,2.42,0.00,0.000,6,0.000,0.048,2466,2086,3431
$GC,3030,-1.29,-146.6,365.2,-13.1,173,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2087,3431
$GC,3342,-1.29,-146.6,406.7,-13.8,193,3347,0.00,2.50,0.00,0.000,4,0.000,0.064,2466,715,3431
$GC,3383,-1.33,-146.6,412.0,-12.9,195,3389,0.00,2.42,0.00,0.000,6,0.000,0.050,2466,2084,3431
$GC,3704,-1.33,-146.6,453.9,-12.7,216,3708,0.00,2.50,0.00,0.000,4,0.000,0.064,2466,714,3431
$GC,3742,-1.33,-146.6,459.3,-12.9,218,3748,0.00,2.40,0.00,0.000,6,0.000,0.051,2466,2062,3431
$GC,4062,-1.33,-146.6,498.7,-12.6,239,4067,0.00,2.47,0.00,0.000,4,0.000,0.066,2466,712,3431
$GC,4096,-1.36,-146.6,503.0,-12.3,241,4101,0.00,2.40,0.00,0.000,6,0.000,0.051,2466,2061,3431
$GC,4417,-1.36,-146.6,541.6,-12.4,261,4421,0.00,2.70,0.00,0.000,4,0.000,0.074,2465,3534,3431
$GC,4474,-1.36,-146.6,549.1,-12.4,264,4480,0.00,2.72,0.00,0.000,6,0.000,0.067,2466,2053,3431
$GC,4793,-1.36,-146.6,586.5,-11.7,285,4797,0.00,2.78,0.00,0.000,4,0.000,0.077,2466,3527,3430
$GC,4826,-1.36,-146.6,590.3,-11.4,287,4831,0.00,2.72,0.00,0.000,6,0.000,0.070,2466,2059,3430
$GC,5145,-1.36,-146.6,624.6,-10.5,307,5150,0.00,2.78,0.00,0.000,4,0.000,0.079,2466,3527,3429
$STATE,5154,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5154,begin apogee
$GC,5166,-0.33,0.0,625.8,10.7,308,5301,0.93,0.00,132.18,1.222,6,0.083,0.000,2666,1855,2831
$STATE,5302,end apogee,CONTROL_FINISHED_OK
$STATE,5302,begin climb
$GC,5305,1.44,146.6,631.8,0.0,317,5447,1.80,2.70,132.25,1.178,4,0.062,0.071,3058,3249,2233
$GC,5541,1.42,181.0,617.5,8.4,331,5578,0.00,2.62,31.50,1.127,6,0.000,0.067,3058,1838,2093
$GC,5894,1.36,181.0,582.3,11.0,353,5898,0.00,2.65,0.00,0.000,4,0.000,0.072,3058,3252,2092
$GC,5996,1.32,181.0,571.1,11.6,359,6001,0.15,2.55,0.00,0.000,6,0.100,0.068,3031,1875,2092
$GC,6315,1.36,203.6,540.5,9.0,379,6342,0.00,2.65,21.30,1.111,4,0.000,0.071,3031,3248,2000
$GC,6416,1.37,210.1,530.7,9.7,384,6428,0.00,2.50,7.47,0.962,6,0.000,0.067,3031,1901,1974
$GC,6740,1.37,210.1,498.0,10.0,405,6744,0.00,2.55,0.00,0.000,4,0.000,0.073,3031,3255,1973
$GC,6768,1.37,210.1,495.0,10.8,407,6773,0.00,2.50,0.00,0.000,6,0.000,0.068,3031,1911,1973
$GC,7094,1.40,232.7,462.9,9.0,428,7117,0.00,0.00,20.80,1.087,6,0.000,0.000,3031,1911,1882
$GC,7421,1.44,251.9,432.4,9.1,449,7445,0.12,2.58,18.25,1.061,4,0.064,0.070,3063,3244,1803
$GC,7470,1.44,251.9,427.1,11.2,452,7474,0.00,2.47,0.00,0.000,6,0.000,0.066,3063,1917,1803
$GC,7795,1.40,251.9,391.4,11.2,473,7799,0.00,2.67,0.00,0.000,4,0.000,0.067,3063,436,1803
$GC,7811,1.35,251.9,389.2,11.6,474,7816,0.12,2.70,0.00,0.000,6,0.102,0.051,3040,1940,1802
$GC,8131,1.35,251.9,355.6,10.2,494,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1941,1802
$GC,8443,1.38,267.5,324.9,9.3,514,8465,0.00,2.88,14.82,0.973,4,0.000,0.064,3040,439,1739
$GC,8473,1.38,269.1,321.8,9.9,516,8478,0.00,2.70,0.00,0.000,6,0.000,0.051,3040,1931,1739
$GC,8799,1.42,269.1,289.0,10.5,537,8800,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1931,1739
$GC,9111,1.47,280.2,257.7,9.5,557,9128,0.12,2.47,12.12,0.902,4,0.061,0.064,3073,3248,1688
$GC,9141,1.47,280.2,254.2,12.0,558,9147,0.00,2.42,0.00,0.000,6,0.000,0.056,3073,1925,1688
$GC,9460,1.47,280.2,216.5,12.0,579,9464,0.00,2.45,0.00,0.000,4,0.000,0.063,3073,3254,1688
$GC,9498,1.47,280.2,211.3,12.8,581,9504,0.00,2.38,0.00,0.000,6,0.000,0.057,3073,1937,1688
$GC,9818,1.47,280.2,169.6,13.3,602,9819,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1937,1688
$GC,10139,1.47,280.2,127.9,12.1,620,10140,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1937,1689
$GC,10448,1.47,280.2,91.4,12.3,635,10452,0.00,2.40,0.00,0.000,4,0.000,0.060,3073,3249,1689
$GC,10493,1.47,280.2,85.3,13.7,637,10497,0.00,2.38,0.00,0.000,6,0.000,0.053,3073,1927,1689
$GC,10816,1.47,280.2,45.2,12.8,653,10820,0.00,2.42,0.00,0.000,4,0.000,0.060,3073,3257,1690
$GC,10850,1.47,280.2,40.3,13.0,654,10854,0.00,2.35,0.00,0.000,6,0.000,0.053,3073,1945,1690
$STATE,11169,end climb,SURFACE_DEPTH_REACHED
$STATE,11169,begin surface coast
$FINISH,0.3,1.023466
$STATE,11191,end surface coast,CONTROL_FINISHED_OK
$STATE,11191,begin surface
$SM_CCo,11215,10.35,0.706,0,0,1607,300.00
$SM_GC,1.79,0.00,0.00,10.35,0.000,0.000,0.706,417,2154,1607,-10.71,0.68,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1845
$TCM_TEMP,17.60
$XPDR_PINGS,51
$ALTIM_BOTTOM_PING,595.8,39.9
$24V_AH,23.7,69.632
$10V_AH,10.1,31.356
$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,26.175,123.125,390.700,10.350,0.000,37.764,26.641,127.136,18.250,0.000,0.000,12.010,1194.438,7997.733,505.815,1387.578,455.353,33.365,1232.996,0.000,1353.952,0.000,42.829,0.000
$DEVICE_MAMPS,162.604,79.001,1221.831,706.407,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,458.452,488.930,388.526,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34860,671
$CAP_FILE_SIZE,97237,0
$CFSIZE,254472192,228626432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,031109,225825,6223.538,-949.953,40,1.2,40,-10.0