version: 66.04
glider: 5
mission: 7
dive: 438
start: 11 4 109 5 47 59
data:
$ID,5
$MISSION,7
$DIVE,438
$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,-108631.96
$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,28
$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
$GPS1,054125,6222.015,-949.732,41,1.2,41,-10.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-58.6
$GPS2,054708,6222.049,-949.864,16,1.3,16,-10.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.149,-0.217
$KALMAN_X,-282373.2,1234.6,-7.4,437636.9,-12225.5
$KALMAN_Y,91155.8,-1152.4,-722.2,-211907.3,5953.7
$MHEAD_RNG_PITCHd_Wd,155.5,61808,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.44,-146.6,0.0,0.0,0,62,0.00,0.00,-41.62,0.000,2,0.000,0.000,418,2150,2415
$GC,66,-1.44,-146.6,2.0,-3.4,2,130,11.07,2.60,-45.75,0.000,4,0.160,0.068,2424,706,3427
$GC,282,-1.35,-146.6,31.3,-16.1,11,290,0.12,2.53,0.00,0.000,6,0.112,0.048,2448,2134,3428
$GC,599,-1.29,-146.6,78.2,-14.6,27,603,0.00,2.58,0.00,0.000,4,0.000,0.058,2448,707,3428
$GC,650,-1.29,-146.6,86.7,-16.6,29,653,0.00,2.47,0.00,0.000,6,0.000,0.048,2448,2106,3428
$GC,972,-1.24,-146.6,140.4,-17.0,45,977,0.12,2.53,0.00,0.000,4,0.105,0.061,2472,717,3428
$GC,1017,-1.28,-146.6,147.6,-14.9,47,1021,0.00,2.45,0.00,0.000,6,0.000,0.050,2472,2096,3428
$GC,1348,-1.28,-146.6,196.2,-14.0,68,1352,0.00,2.65,0.00,0.000,4,0.000,0.074,2472,3535,3428
$GC,1403,-1.28,-146.6,204.4,-14.2,71,1410,0.00,2.62,0.00,0.000,6,0.000,0.061,2472,2096,3428
$GC,1723,-1.28,-146.6,251.5,-15.2,92,1728,0.00,2.45,0.00,0.000,4,0.000,0.063,2472,721,3428
$GC,1813,-1.31,-146.6,265.5,-15.8,97,1820,0.00,2.42,0.00,0.000,6,0.000,0.048,2472,2087,3428
$GC,2135,-1.31,-146.6,313.1,-14.7,118,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2087,3428
$GC,2445,-1.31,-146.6,356.4,-13.7,138,2449,0.00,2.50,0.00,0.000,4,0.000,0.063,2472,714,3428
$GC,2512,-1.35,-146.6,365.5,-13.3,142,2516,0.00,2.45,0.00,0.000,6,0.000,0.050,2472,2089,3428
$GC,2832,-1.35,-146.6,407.4,-13.2,162,2836,0.00,2.67,0.00,0.000,4,0.000,0.081,2472,3531,3428
$GC,2898,-1.35,-146.6,416.8,-13.5,166,2903,0.00,2.67,0.00,0.000,6,0.000,0.071,2472,2088,3428
$GC,3219,-1.35,-146.6,458.2,-13.0,186,3223,0.00,2.45,0.00,0.000,4,0.000,0.067,2472,718,3428
$GC,3321,-1.40,-146.6,471.5,-13.4,192,3326,0.15,2.42,0.00,0.000,6,0.056,0.051,2433,2076,3428
$GC,3644,-1.34,-146.6,516.6,-12.8,212,3648,0.00,2.72,0.00,0.000,4,0.000,0.085,2433,3538,3428
$GC,3733,-1.30,-146.6,529.1,-13.0,217,3740,0.12,2.65,0.00,0.000,6,0.101,0.077,2458,2127,3428
$GC,4055,-1.30,-146.6,564.9,-10.6,238,4060,0.00,2.70,0.00,0.000,4,0.000,0.083,2458,3539,3428
$GC,4145,-1.30,-146.6,574.8,-10.4,243,4151,0.00,2.60,0.00,0.000,6,0.000,0.079,2458,2149,3428
$GC,4464,-1.30,-146.6,607.3,-10.6,264,4468,0.00,2.58,0.00,0.000,4,0.000,0.070,2458,718,3428
$GC,4521,-1.35,-146.6,613.1,-9.4,267,4527,0.00,2.60,0.00,0.000,6,0.000,0.056,2458,2163,3427
$STATE,4540,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4540,begin apogee
$GC,4548,-0.33,0.0,615.3,8.5,269,4684,1.00,0.00,132.43,1.203,6,0.083,0.000,2670,1846,2831
$STATE,4685,end apogee,CONTROL_FINISHED_OK
$STATE,4685,begin climb
$GC,4688,1.44,146.6,621.6,0.0,278,4830,1.77,2.75,132.60,1.164,4,0.059,0.076,3058,3257,2233
$GC,4869,1.34,146.6,616.8,10.6,289,4875,0.12,2.67,0.00,0.000,6,0.103,0.076,3036,1850,2232
$GC,5192,1.29,146.6,583.7,10.7,309,5196,0.00,2.58,0.00,0.000,4,0.000,0.076,3036,439,2231
$GC,5288,1.21,146.6,572.8,10.6,315,5293,0.15,2.58,0.00,0.000,6,0.099,0.056,3007,1863,2231
$GC,5616,1.36,208.4,547.5,7.2,336,5677,0.17,0.00,55.95,1.146,6,0.057,0.000,3054,1876,1981
$GC,5994,1.33,208.4,507.5,10.8,360,5998,0.00,2.60,0.00,0.000,4,0.000,0.078,3054,3258,1980
$GC,6049,1.33,208.4,500.8,11.1,363,6056,0.00,2.62,0.00,0.000,6,0.000,0.077,3054,1866,1979
$GC,6370,1.31,221.2,469.9,9.4,384,6388,0.12,2.72,11.95,1.032,4,0.105,0.074,3031,3260,1929
$GC,6451,1.41,254.9,462.5,8.5,388,6489,0.00,2.55,31.08,1.096,6,0.000,0.074,3032,1902,1792
$GC,6805,1.52,300.3,433.6,7.9,411,6854,0.17,2.72,40.65,1.085,4,0.058,0.067,3078,439,1606
$GC,6877,1.43,300.3,425.6,11.9,415,6882,0.00,2.70,0.00,0.000,6,0.000,0.052,3078,1924,1606
$GC,7198,1.38,300.3,390.9,10.7,435,7202,0.17,2.45,0.00,0.000,4,0.097,0.070,3041,3258,1607
$GC,7237,1.46,316.0,386.7,9.3,437,7259,0.00,2.47,15.50,1.001,6,0.000,0.073,3041,1929,1542
$GC,7575,1.50,316.0,355.3,10.0,459,7580,0.15,2.47,0.00,0.000,4,0.060,0.069,3077,3254,1543
$GC,7604,1.50,316.0,351.6,12.2,461,7608,0.00,2.45,0.00,0.000,6,0.000,0.072,3078,1940,1543
$GC,7934,1.47,316.0,308.1,13.4,482,7935,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1939,1543
$GC,8247,1.43,316.0,263.8,14.6,502,8252,0.00,2.45,0.00,0.000,4,0.000,0.068,3077,3255,1542
$GC,8293,1.43,316.0,256.9,15.0,505,8298,0.12,2.40,0.00,0.000,6,0.098,0.066,3054,1947,1543
$GC,8618,1.43,316.0,212.1,15.1,526,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1947,1543
$GC,8932,1.46,316.0,162.2,16.3,546,8936,0.00,2.72,0.00,0.000,4,0.000,0.065,3054,429,1544
$GC,8953,1.46,316.0,158.2,16.0,547,8959,0.00,2.72,0.00,0.000,6,0.000,0.049,3054,1964,1544
$GC,9276,1.50,316.0,109.1,14.9,564,9278,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1965,1544
$GC,9586,1.55,316.0,65.3,14.2,579,9588,0.12,0.00,0.00,0.000,6,0.058,0.000,3089,1975,1545
$GC,9894,1.55,316.0,16.9,14.6,594,9898,0.00,2.78,0.00,0.000,4,0.000,0.062,3089,439,1545
$GC,9916,1.50,316.0,13.6,14.8,595,9920,0.00,2.70,0.00,0.000,6,0.000,0.048,3089,1962,1545
$STATE,10008,end climb,SURFACE_DEPTH_REACHED
$STATE,10008,begin surface coast
$FINISH,0.3,1.027178
$STATE,10030,end surface coast,CONTROL_FINISHED_OK
$STATE,10030,begin surface
$SM_CCo,10115,0.00,0.000,0,0,1544,315.70
$SM_GC,1.11,11.60,0.00,0.00,0.038,0.000,0.000,424,2152,1544,-10.58,0.62,315.70
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1834
$TCM_TEMP,17.50
$XPDR_PINGS,45
$ALTIM_BOTTOM_PING,546.1,79.0
$24V_AH,23.7,70.133
$10V_AH,10.1,31.551
$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,27.300,109.325,420.150,0.000,0.000,39.110,26.930,151.069,16.000,0.000,0.000,16.406,1092.396,7051.771,513.936,1321.510,477.341,33.361,1212.626,0.000,1285.089,0.000,36.880,0.000
$DEVICE_MAMPS,159.536,85.137,1203.423,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.568,438.382,343.742,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31737,601
$CAP_FILE_SIZE,92667,0
$CFSIZE,254472192,228483072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,041109,083754,6223.092,-949.089,43,0.9,43,-10.0