version: 66.04
glider: 5
mission: 7
dive: 439
start: 11 4 109 8 44 44
data:
$ID,5
$MISSION,7
$DIVE,439
$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,-108646.42
$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,18
$R_STBD_OVSHOOT,22
$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
$GPS1,083754,6223.092,-949.089,43,0.9,43,-10.0
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-57.7
$GPS2,084350,6223.170,-949.089,13,0.9,13,-10.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.146,-0.220
$KALMAN_X,-284485.8,825.1,1405.5,439362.8,-14579.0
$KALMAN_Y,95973.9,-991.5,678.7,-216256.4,8772.7
$MHEAD_RNG_PITCHd_Wd,156.5,63302,-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,-61.25,0.000,2,0.000,0.000,423,2148,2717
$GC,83,-1.44,-146.6,2.3,-2.5,3,127,11.25,2.65,-26.67,0.000,4,0.168,0.084,2421,3539,3430
$GC,155,-1.29,-146.6,9.8,-14.6,6,161,0.20,2.62,0.00,0.000,6,0.101,0.064,2460,2118,3430
$GC,477,-1.29,-146.6,50.4,-12.2,22,482,0.00,2.50,0.00,0.000,4,0.000,0.061,2460,713,3430
$GC,533,-1.29,-146.6,57.7,-12.6,24,540,0.00,2.53,0.00,0.000,6,0.000,0.050,2461,2136,3431
$GC,851,-1.29,-146.6,98.3,-13.0,40,855,0.00,2.58,0.00,0.000,4,0.000,0.071,2461,3541,3431
$GC,873,-1.25,-146.6,101.3,-12.4,41,877,0.00,2.60,0.00,0.000,6,0.000,0.064,2461,2125,3431
$GC,1195,-1.25,-146.6,140.7,-12.6,57,1200,0.00,2.50,0.00,0.000,4,0.000,0.061,2461,716,3431
$GC,1292,-1.25,-146.6,152.8,-11.5,62,1296,0.00,2.47,0.00,0.000,6,0.000,0.047,2461,2116,3431
$GC,1616,-1.25,-146.6,190.6,-11.8,83,1620,0.00,2.53,0.00,0.000,4,0.000,0.060,2461,718,3431
$GC,1656,-1.25,-146.6,195.5,-12.7,85,1663,0.00,2.45,0.00,0.000,6,0.000,0.048,2461,2105,3431
$GC,1977,-1.25,-146.6,236.4,-13.1,106,1981,0.00,2.53,0.00,0.000,4,0.000,0.064,2461,716,3431
$GC,2016,-1.25,-146.6,242.0,-13.3,108,2022,0.00,2.42,0.00,0.000,6,0.000,0.049,2461,2080,3431
$GC,2336,-1.25,-146.6,285.8,-14.1,129,2340,0.00,2.67,0.00,0.000,4,0.000,0.078,2461,3528,3431
$GC,2369,-1.25,-146.6,291.0,-14.8,131,2373,0.00,2.72,0.00,0.000,6,0.000,0.076,2461,2070,3431
$GC,2691,-1.25,-146.6,338.6,-15.2,151,2695,0.00,2.78,0.00,0.000,4,0.000,0.078,2461,3538,3431
$GC,2721,-1.25,-146.6,343.6,-16.4,153,2725,0.00,2.70,0.00,0.000,6,0.000,0.075,2461,2086,3430
$GC,3045,-1.25,-146.6,392.6,-15.0,174,3049,0.00,2.45,0.00,0.000,4,0.000,0.064,2462,714,3431
$GC,3079,-1.25,-146.6,397.6,-15.4,176,3083,0.00,2.45,0.00,0.000,6,0.000,0.049,2461,2097,3431
$GC,3403,-1.25,-146.6,442.2,-13.0,197,3408,0.00,2.67,0.00,0.000,4,0.000,0.084,2461,3527,3431
$GC,3432,-1.25,-146.6,446.1,-12.9,199,3437,0.00,2.70,0.00,0.000,6,0.000,0.081,2461,2096,3430
$GC,3758,-1.25,-146.6,484.8,-11.1,220,3762,0.00,2.47,0.00,0.000,4,0.000,0.065,2461,713,3431
$GC,3791,-1.25,-146.6,488.9,-11.6,222,3795,0.00,2.42,0.00,0.000,6,0.000,0.050,2461,2078,3432
$GC,4111,-1.25,-146.6,524.6,-11.9,242,4115,0.00,2.50,0.00,0.000,4,0.000,0.067,2461,714,3431
$GC,4195,-1.29,-146.6,535.7,-14.1,247,4199,0.00,2.40,0.00,0.000,6,0.000,0.053,2461,2055,3431
$GC,4514,-1.29,-146.6,574.7,-11.6,267,4518,0.00,2.75,0.00,0.000,4,0.000,0.084,2461,3529,3431
$GC,4662,-1.29,-146.6,593.1,-8.1,276,4666,0.00,2.75,0.00,0.000,6,0.000,0.084,2461,2076,3431
$STATE,4733,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4733,begin apogee
$GC,4741,-0.33,0.0,600.8,9.9,281,4877,0.98,0.00,132.50,1.190,6,0.077,0.000,2672,1840,2831
$STATE,4878,end apogee,CONTROL_FINISHED_OK
$STATE,4878,begin climb
$GC,4882,1.44,146.6,607.0,0.0,290,5020,1.75,0.00,133.27,1.149,6,0.054,0.000,3059,1840,2233
$GC,5333,1.37,147.2,573.5,10.0,319,5338,0.00,2.67,0.00,0.000,4,0.000,0.077,3059,3248,2232
$GC,5541,1.37,184.0,554.0,8.3,331,5582,0.00,2.62,34.35,1.115,6,0.000,0.081,3059,1866,2079
$GC,5910,1.32,184.0,517.0,10.7,355,5912,0.15,0.00,0.00,0.000,6,0.099,0.000,3031,1866,2078
$GC,6220,1.32,184.0,485.2,10.4,375,6224,0.00,2.62,0.00,0.000,4,0.000,0.077,3031,3248,2077
$GC,6237,1.32,184.0,483.4,10.6,376,6242,0.00,2.60,0.00,0.000,6,0.000,0.079,3031,1875,2077
$GC,6558,1.33,193.3,451.5,9.6,396,6574,0.00,2.65,8.98,0.975,4,0.000,0.069,3031,437,2042
$GC,6609,1.33,193.3,446.0,10.4,399,6614,0.00,2.60,0.00,0.000,6,0.000,0.053,3031,1879,2042
$GC,6934,1.39,227.4,417.4,8.4,420,6970,0.00,2.58,30.75,1.071,4,0.000,0.073,3031,3255,1903
$GC,7023,1.45,233.7,409.3,9.7,425,7038,0.15,2.60,7.30,0.904,6,0.058,0.076,3069,1875,1878
$GC,7361,1.41,233.7,373.8,10.3,447,7366,0.00,2.60,0.00,0.000,4,0.000,0.071,3069,3257,1878
$GC,7385,1.37,233.7,370.9,10.7,448,7392,0.12,2.55,0.00,0.000,6,0.100,0.073,3045,1893,1877
$GC,7704,1.43,272.2,342.7,8.2,469,7744,0.00,2.62,33.90,1.020,4,0.000,0.072,3045,3247,1721
$GC,7771,1.52,299.3,337.1,8.8,473,7805,0.15,2.53,24.23,0.985,6,0.058,0.073,3082,1899,1612
$GC,8117,1.47,299.3,298.5,11.4,495,8122,0.00,2.53,0.00,0.000,4,0.000,0.072,3082,3251,1613
$GC,8157,1.47,299.3,293.8,11.8,497,8163,0.00,2.50,0.00,0.000,6,0.000,0.071,3082,1905,1613
$GC,8477,1.43,299.3,256.6,11.6,518,8482,0.15,2.53,0.00,0.000,4,0.094,0.073,3053,3251,1614
$GC,8533,1.48,299.3,250.4,10.4,521,8539,0.00,2.45,0.00,0.000,6,0.000,0.069,3053,1925,1614
$GC,8853,1.48,299.3,217.8,10.4,542,8857,0.00,2.47,0.00,0.000,4,0.000,0.069,3053,3252,1614
$GC,8875,1.52,299.3,215.1,11.1,543,8881,0.00,2.42,0.00,0.000,6,0.000,0.077,3053,1944,1614
$GC,9194,1.52,299.3,180.2,10.9,564,9198,0.00,2.45,0.00,0.000,4,0.000,0.068,3053,3257,1614
$GC,9211,1.55,299.3,178.4,10.7,565,9216,0.12,2.38,0.00,0.000,6,0.061,0.065,3086,1962,1614
$GC,9536,1.52,299.3,138.2,12.6,584,9540,0.00,2.72,0.00,0.000,4,0.000,0.066,3086,436,1615
$GC,9569,1.44,299.3,133.7,13.1,585,9576,0.15,2.70,0.00,0.000,6,0.096,0.048,3057,1958,1615
$GC,9886,1.44,299.3,99.9,10.6,601,9891,0.00,2.78,0.00,0.000,4,0.000,0.061,3057,433,1615
$GC,9927,1.44,299.3,95.2,11.2,603,9931,0.00,2.67,0.00,0.000,6,0.000,0.053,3057,1947,1615
$GC,10255,1.48,299.3,58.2,11.5,619,10259,0.00,2.35,0.00,0.000,4,0.000,0.064,3057,3254,1615
$GC,10289,1.54,299.3,54.1,11.5,620,10296,0.10,2.38,0.00,0.000,6,0.064,0.061,3084,1936,1615
$GC,10607,1.54,299.3,14.1,11.5,636,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1936,1615
$STATE,10707,end climb,SURFACE_DEPTH_REACHED
$STATE,10707,begin surface coast
$FINISH,0.4,1.026910
$STATE,10727,end surface coast,CONTROL_FINISHED_OK
$STATE,10727,begin surface
$SM_CCo,10752,1.05,0.121,0,0,1609,300.00
$SM_GC,1.61,0.00,0.00,1.05,0.000,0.000,0.121,420,2148,1609,-10.69,0.51,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1832
$TCM_TEMP,17.50
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,546.7,63.2
$24V_AH,23.7,70.277
$10V_AH,10.1,31.613
$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,26.775,134.150,405.275,1.050,0.000,37.762,32.372,164.683,15.250,0.000,0.000,13.838,1173.182,7528.019,523.879,1383.415,508.383,33.386,1258.574,0.000,1349.254,0.000,36.815,0.000
$DEVICE_MAMPS,167.973,84.370,1189.617,121.186,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.736,469.918,388.385,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31731,642
$CAP_FILE_SIZE,100094,0
$CFSIZE,254472192,228433920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,041109,114507,6224.153,-945.149,29,1.6,29,-10.0