version: 66.04
glider: 5
mission: 7
dive: 437
start: 11 4 109 2 39 12
data:
$ID,5
$MISSION,7
$DIVE,437
$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,-108614.93
$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,30
$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
$GPS1,022509,6221.979,-948.926,44,1.6,47,-10.0
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-45.4
$GPS2,023820,6221.920,-949.196,13,1.3,13,-10.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.262,0.033
$KALMAN_X,-277772.0,1440.4,355.0,432990.6,-10102.2
$KALMAN_Y,92741.1,-860.4,-1099.6,-213658.4,8656.5
$MHEAD_RNG_PITCHd_Wd,92.8,61315,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.44,-146.6,0.0,0.0,0,141,0.00,0.00,-121.07,0.000,2,0.000,0.000,421,2152,2769
$GC,145,-1.44,-146.6,2.5,-2.0,6,181,11.12,0.00,-22.00,0.000,6,0.163,0.000,2423,2145,3430
$GC,495,-1.34,-146.6,54.6,-15.1,22,500,0.15,2.58,0.00,0.000,4,0.112,0.055,2452,714,3429
$GC,562,-1.34,-146.6,64.2,-12.3,25,566,0.00,2.53,0.00,0.000,6,0.000,0.048,2452,2137,3429
$GC,886,-1.29,-146.6,107.7,-13.3,41,890,0.00,2.58,0.00,0.000,4,0.000,0.058,2452,714,3429
$GC,949,-1.29,-146.6,116.7,-13.5,44,953,0.00,2.50,0.00,0.000,6,0.000,0.049,2452,2116,3429
$GC,1266,-1.24,-146.6,155.3,-12.2,60,1271,0.10,2.55,0.00,0.000,4,0.114,0.059,2471,708,3429
$GC,1303,-1.24,-146.6,159.5,-12.1,62,1307,0.00,2.50,0.00,0.000,6,0.000,0.048,2471,2116,3429
$GC,1622,-1.24,-146.6,197.8,-12.1,82,1626,0.00,2.55,0.00,0.000,4,0.000,0.061,2471,709,3429
$GC,1689,-1.24,-146.6,206.1,-12.2,86,1693,0.00,2.47,0.00,0.000,6,0.000,0.048,2471,2103,3429
$GC,2010,-1.24,-146.6,245.8,-12.5,106,2014,0.00,2.53,0.00,0.000,4,0.000,0.064,2471,716,3429
$GC,2055,-1.28,-146.6,251.8,-13.1,109,2060,0.00,2.42,0.00,0.000,6,0.000,0.050,2471,2082,3429
$GC,2381,-1.28,-146.6,293.1,-12.8,130,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2082,3429
$GC,2692,-1.28,-146.6,331.9,-12.4,150,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2084,3428
$GC,3006,-1.28,-146.6,371.1,-12.9,170,3011,0.00,2.50,0.00,0.000,4,0.000,0.066,2471,715,3428
$GC,3046,-1.32,-146.6,376.6,-13.2,172,3052,0.00,2.45,0.00,0.000,6,0.000,0.051,2471,2090,3429
$GC,3365,-1.32,-146.6,417.6,-12.5,193,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2090,3429
$GC,3678,-1.32,-146.6,459.2,-13.0,213,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2090,3428
$GC,3989,-1.32,-146.6,499.3,-13.3,233,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2090,3428
$GC,4302,-1.32,-146.6,539.7,-12.5,253,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2090,3428
$GC,4615,-1.32,-146.6,578.0,-11.6,273,4619,0.00,2.55,0.00,0.000,4,0.000,0.069,2471,707,3427
$GC,4661,-1.38,-146.6,583.4,-12.2,276,4666,0.12,2.47,0.00,0.000,6,0.059,0.056,2439,2087,3427
$STATE,4904,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4904,begin apogee
$GC,4913,-0.33,0.0,615.5,13.0,292,5049,1.10,0.00,131.77,1.209,6,0.084,0.000,2672,1831,2832
$STATE,5049,end apogee,CONTROL_FINISHED_OK
$STATE,5049,begin climb
$GC,5053,1.44,146.6,620.9,0.0,301,5194,1.75,2.62,131.85,1.170,4,0.058,0.074,3056,442,2233
$GC,5407,1.33,146.6,596.7,10.1,322,5414,0.12,2.58,0.00,0.000,6,0.105,0.058,3035,1859,2232
$GC,5728,1.36,166.8,568.4,9.1,343,5752,0.00,2.75,18.48,1.098,4,0.000,0.076,3035,448,2152
$GC,5828,1.32,179.3,558.8,9.4,349,5847,0.00,2.50,12.85,1.058,6,0.000,0.058,3035,1829,2100
$GC,6177,1.32,179.3,522.4,10.8,371,6181,0.00,2.65,0.00,0.000,4,0.000,0.076,3035,3243,2098
$GC,6283,1.32,179.3,510.5,10.3,377,6289,0.00,2.65,0.00,0.000,6,0.000,0.073,3035,1828,2098
$GC,6602,1.39,225.7,483.4,7.9,398,6650,0.00,2.75,41.20,1.132,4,0.000,0.072,3035,3249,1910
$GC,6708,1.43,226.9,474.0,9.9,404,6713,0.00,2.65,0.00,0.000,6,0.000,0.070,3034,1831,1909
$GC,7027,1.48,255.7,446.0,8.7,424,7061,0.15,2.72,27.15,1.091,4,0.063,0.070,3072,3238,1788
$GC,7085,1.43,255.7,439.7,11.9,427,7091,0.00,2.62,0.00,0.000,6,0.000,0.069,3072,1838,1788
$GC,7405,1.38,255.7,404.6,10.7,448,7410,0.15,2.65,0.00,0.000,4,0.100,0.070,3044,3248,1788
$GC,7452,1.43,264.0,400.2,9.6,451,7469,0.00,2.58,8.95,0.953,6,0.000,0.067,3044,1848,1754
$GC,7784,1.46,282.1,369.8,9.2,472,7808,0.00,2.67,16.98,1.009,4,0.000,0.067,3044,3248,1680
$GC,7877,1.51,282.1,360.2,10.4,477,7883,0.15,2.53,0.00,0.000,6,0.060,0.065,3080,1879,1680
$GC,8197,1.45,282.1,318.9,13.3,498,8201,0.00,2.53,0.00,0.000,4,0.000,0.067,3080,3243,1680
$GC,8243,1.45,282.1,312.4,14.4,501,8247,0.00,2.45,0.00,0.000,6,0.000,0.064,3080,1903,1681
$GC,8574,1.40,282.1,267.4,14.4,522,8579,0.15,2.50,0.00,0.000,4,0.097,0.066,3051,3248,1681
$GC,8607,1.40,282.1,262.5,13.6,524,8611,0.00,2.42,0.00,0.000,6,0.000,0.061,3051,1913,1680
$GC,8926,1.40,282.1,224.2,11.7,544,8927,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1913,1681
$GC,9239,1.40,282.1,187.2,11.5,564,9244,0.00,2.47,0.00,0.000,4,0.000,0.064,3051,3255,1681
$GC,9269,1.44,282.1,183.8,12.2,566,9273,0.00,2.42,0.00,0.000,6,0.000,0.057,3051,1912,1681
$GC,9600,1.44,282.1,146.9,11.2,587,9604,0.00,2.45,0.00,0.000,4,0.000,0.062,3051,3248,1682
$GC,9657,1.49,282.1,140.0,12.4,589,9661,0.00,2.35,0.00,0.000,6,0.000,0.054,3051,1945,1682
$GC,9973,1.53,282.1,104.6,10.7,604,9978,0.12,2.40,0.00,0.000,4,0.061,0.061,3085,3252,1682
$GC,10007,1.53,282.1,100.3,12.9,605,10014,0.00,2.33,0.00,0.000,6,0.000,0.054,3085,1949,1682
$GC,10324,1.49,282.1,60.2,12.5,621,10325,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1949,1683
$GC,10633,1.49,282.1,20.1,11.2,636,10634,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1949,1683
$STATE,10795,end climb,SURFACE_DEPTH_REACHED
$STATE,10795,begin surface coast
$FINISH,0.5,1.027133
$STATE,10817,end surface coast,CONTROL_FINISHED_OK
$STATE,10817,begin surface
$SM_CCo,10841,9.68,0.696,0,0,1607,300.00
$SM_GC,1.44,0.00,0.00,9.68,0.000,0.000,0.696,418,2153,1607,-10.70,0.65,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1837
$TCM_TEMP,17.60
$XPDR_PINGS,41
$ALTIM_BOTTOM_PING,570.8,54.2
$24V_AH,23.7,69.982
$10V_AH,10.1,31.492
$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,26.800,97.225,389.225,9.675,0.000,113.296,142.928,278.560,15.250,0.000,0.000,13.897,1145.350,7799.032,538.180,1367.319,795.092,33.362,1248.538,0.000,1333.926,0.000,36.223,0.000
$DEVICE_MAMPS,163.371,75.933,1208.792,695.669,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.537,471.075,383.340,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31725,645
$CAP_FILE_SIZE,96052,0
$CFSIZE,254472192,228528128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,041109,054125,6222.015,-949.732,41,1.2,41,-10.0