version: 66.04
glider: 5
mission: 7
dive: 436
start: 11 3 109 23 15 26
data:
$ID,5
$MISSION,7
$DIVE,436
$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,598.77728
$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,-108600.41
$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,33
$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
$GPS1,225825,6223.538,-949.953,40,1.2,40,-10.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-60.5
$GPS2,231431,6223.586,-949.926,17,1.3,17,-10.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.188,-0.185
$KALMAN_X,-277465.0,1546.1,1717.2,430589.5,-13988.9
$KALMAN_Y,91569.7,-600.5,-4.1,-210786.8,7143.8
$MHEAD_RNG_PITCHd_Wd,144.6,6643,-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,-61.33,0.000,2,0.000,0.000,416,2149,2795
$GC,83,-1.44,-146.6,2.4,-3.2,3,126,10.98,2.65,-22.08,0.000,4,0.158,0.073,2423,716,3431
$GC,252,-1.36,-146.6,26.5,-17.5,10,257,0.12,2.50,0.00,0.000,6,0.108,0.048,2447,2123,3431
$GC,570,-1.30,-146.6,73.3,-14.5,25,574,0.00,2.55,0.00,0.000,4,0.000,0.061,2447,715,3431
$GC,625,-1.30,-146.6,81.6,-14.9,27,631,0.00,2.50,0.00,0.000,6,0.000,0.049,2447,2123,3431
$GC,943,-1.25,-146.6,128.5,-14.4,43,948,0.12,2.60,0.00,0.000,4,0.104,0.074,2471,3533,3431
$GC,976,-1.25,-146.6,133.6,-13.8,44,982,0.00,2.60,0.00,0.000,6,0.000,0.061,2472,2109,3431
$GC,1294,-1.25,-146.6,175.7,-12.9,63,1298,0.00,2.47,0.00,0.000,4,0.000,0.063,2472,716,3431
$GC,1351,-1.28,-146.6,183.3,-12.8,66,1357,0.00,2.50,0.00,0.000,6,0.000,0.051,2472,2125,3431
$GC,1670,-1.28,-146.6,223.3,-12.3,87,1674,0.00,2.58,0.00,0.000,4,0.000,0.063,2472,710,3431
$GC,1693,-1.28,-146.6,226.2,-12.4,88,1699,0.00,2.47,0.00,0.000,6,0.000,0.049,2472,2106,3431
$GC,2013,-1.28,-146.6,263.4,-10.8,109,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2105,3431
$GC,2324,-1.28,-146.6,297.3,-10.4,129,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2105,3431
$GC,2638,-1.28,-146.6,332.1,-11.4,149,2642,0.00,2.55,0.00,0.000,4,0.000,0.066,2472,709,3431
$GC,2705,-1.32,-146.6,340.1,-11.6,153,2709,0.00,2.45,0.00,0.000,6,0.000,0.050,2472,2089,3431
$GC,3024,-1.32,-146.6,374.7,-10.7,173,3028,0.00,2.50,0.00,0.000,4,0.000,0.067,2472,717,3431
$GC,3058,-1.36,-146.6,378.5,-11.0,175,3063,0.10,2.42,0.00,0.000,6,0.066,0.051,2444,2082,3431
$GC,3380,-1.31,-146.6,419.0,-13.4,195,3387,0.00,2.67,0.00,0.000,4,0.000,0.078,2445,3529,3431
$GC,3411,-1.27,-146.6,423.8,-14.1,196,3418,0.12,2.72,0.00,0.000,6,0.104,0.074,2468,2066,3431
$GC,3730,-1.27,-146.6,464.0,-12.3,217,3734,0.00,2.40,0.00,0.000,4,0.000,0.067,2468,718,3431
$GC,3747,-1.27,-146.6,466.2,-11.9,218,3751,0.00,2.47,0.00,0.000,6,0.000,0.054,2468,2103,3431
$GC,4067,-1.27,-146.6,502.0,-11.1,238,4071,0.00,2.55,0.00,0.000,4,0.000,0.065,2468,715,3431
$GC,4100,-1.32,-146.6,506.0,-11.5,240,4105,0.00,2.42,0.00,0.000,6,0.000,0.054,2468,2074,3431
$GC,4420,-1.32,-146.6,541.4,-11.8,260,4425,0.00,2.50,0.00,0.000,4,0.000,0.072,2468,718,3431
$GC,4500,-1.36,-146.6,551.6,-12.8,265,4505,0.00,2.40,0.00,0.000,6,0.000,0.055,2468,2053,3431
$GC,4826,-1.36,-146.6,591.0,-11.7,286,4830,0.00,2.75,0.00,0.000,4,0.000,0.082,2468,3529,3430
$GC,4888,-1.36,-146.6,598.7,-12.4,290,4893,0.00,2.70,0.00,0.000,6,0.000,0.075,2468,2081,3430
$STATE,4960,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4960,begin apogee
$GC,4967,-0.33,0.0,607.1,11.4,295,5102,0.95,0.00,130.50,1.208,6,0.081,0.000,2670,1835,2831
$STATE,5102,end apogee,CONTROL_FINISHED_OK
$STATE,5102,begin climb
$GC,5106,1.44,146.6,612.7,0.0,304,5247,1.77,2.65,129.62,1.171,4,0.064,0.077,3055,453,2232
$GC,5313,1.32,147.6,602.3,10.0,316,5320,0.12,2.55,0.00,0.000,6,0.104,0.058,3032,1851,2233
$GC,5633,1.41,206.2,578.2,7.3,337,5697,0.00,2.70,53.08,1.151,4,0.000,0.078,3033,3251,1990
$GC,5736,1.44,222.4,569.2,9.3,343,5758,0.12,2.62,15.30,1.071,6,0.064,0.077,3063,1871,1924
$GC,6071,1.39,222.4,529.0,12.0,364,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1871,1923
$GC,6383,1.34,222.4,493.0,11.9,384,6388,0.15,2.65,0.00,0.000,4,0.100,0.074,3035,429,1922
$GC,6413,1.30,222.4,489.7,11.8,386,6417,0.00,2.62,0.00,0.000,6,0.000,0.058,3035,1873,1922
$GC,6738,1.30,222.4,453.7,11.4,407,6742,0.00,2.55,0.00,0.000,4,0.000,0.077,3035,3254,1921
$GC,6855,1.30,222.4,441.1,10.8,414,6859,0.00,2.53,0.00,0.000,6,0.000,0.074,3035,1907,1921
$GC,7175,1.30,222.4,407.6,10.8,434,7179,0.00,2.67,0.00,0.000,4,0.000,0.077,3035,436,1920
$GC,7220,1.30,222.4,402.6,10.7,437,7225,0.00,2.62,0.00,0.000,6,0.000,0.054,3035,1897,1920
$GC,7545,1.32,230.7,370.3,9.6,458,7562,0.00,2.53,7.97,0.926,4,0.000,0.071,3035,3246,1890
$GC,7625,1.37,238.1,362.3,9.7,462,7640,0.00,2.50,8.27,0.926,6,0.000,0.064,3035,1884,1859
$GC,7963,1.38,240.9,330.3,9.9,484,7972,0.00,2.58,4.15,0.698,4,0.000,0.068,3034,3260,1849
$GC,7986,1.42,241.9,327.9,10.0,485,7990,0.00,2.50,0.00,0.000,6,0.000,0.063,3035,1898,1849
$GC,8305,1.48,280.6,301.0,8.2,505,8346,0.15,2.60,34.40,0.999,4,0.058,0.066,3074,3255,1687
$GC,8375,1.48,280.6,293.9,10.8,509,8380,0.00,2.47,0.00,0.000,6,0.000,0.061,3074,1911,1687
$GC,8695,1.44,280.6,259.7,11.0,529,8699,0.00,2.50,0.00,0.000,4,0.000,0.065,3074,3257,1687
$GC,8724,1.44,280.6,256.6,11.1,531,8728,0.00,2.45,0.00,0.000,6,0.000,0.059,3074,1916,1688
$GC,9050,1.41,280.6,220.9,10.8,552,9054,0.12,2.47,0.00,0.000,4,0.097,0.063,3050,3257,1688
$GC,9078,1.41,280.6,217.6,10.7,554,9082,0.00,2.40,0.00,0.000,6,0.000,0.058,3050,1931,1689
$GC,9403,1.46,311.3,188.2,8.6,575,9436,0.00,2.53,27.15,0.899,4,0.000,0.061,3050,3254,1562
$GC,9483,1.55,324.2,180.8,9.4,579,9505,0.15,2.35,12.30,0.840,6,0.057,0.056,3088,1959,1509
$GC,9821,1.52,324.2,142.1,11.6,600,9825,0.00,2.72,0.00,0.000,4,0.000,0.064,3088,439,1510
$GC,9839,1.47,324.2,139.3,12.4,601,9844,0.12,2.72,0.00,0.000,6,0.099,0.048,3066,1970,1509
$GC,10168,1.47,324.2,103.7,10.5,617,10173,0.00,2.80,0.00,0.000,4,0.000,0.061,3065,436,1510
$GC,10196,1.47,324.2,100.3,12.2,618,10201,0.00,2.67,0.00,0.000,6,0.000,0.047,3065,1944,1510
$GC,10514,1.47,324.2,66.5,10.5,633,10515,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1945,1510
$GC,10823,1.50,324.2,31.7,12.0,648,10827,0.00,2.75,0.00,0.000,4,0.000,0.061,3065,436,1511
$GC,10840,1.50,324.2,29.4,12.9,649,10845,0.00,2.65,0.00,0.000,6,0.000,0.047,3065,1932,1511
$STATE,11102,end climb,SURFACE_DEPTH_REACHED
$STATE,11102,begin surface coast
$FINISH,0.3,1.027132
$STATE,11124,end surface coast,CONTROL_FINISHED_OK
$STATE,11124,begin surface
$SM_CCo,11149,145.60,0.762,0,0,389,598.78
$SM_GC,0.67,0.00,0.00,145.60,0.000,0.000,0.762,421,2153,389,-10.69,0.62,598.78
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1803
$TCM_TEMP,17.60
$XPDR_PINGS,41
$ALTIM_BOTTOM_PING,570.3,45.3
$24V_AH,23.7,69.824
$10V_AH,10.1,31.426
$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,26.575,134.050,422.750,145.600,0.000,191.999,273.305,124.923,15.250,0.000,0.000,17.261,1201.856,8084.128,669.587,1431.448,881.585,33.364,1438.015,0.000,1391.339,0.000,35.277,0.000
$DEVICE_MAMPS,158.002,82.069,1208.025,761.631,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.810,482.739,388.439,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34837,663
$CAP_FILE_SIZE,106191,0
$CFSIZE,254472192,228560896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,041109,022509,6221.979,-948.926,44,1.6,47,-10.0