version: 66.04
glider: 5
mission: 7
dive: 447
start: 11 5 109 9 56 34
data:
$ID,5
$MISSION,7
$DIVE,447
$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,-108779.08
$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,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
$GPS1,095007,6223.774,-935.330,31,1.6,31,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-65.7
$GPS2,095543,6223.865,-935.271,16,0.9,16,-9.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.061,-0.256
$KALMAN_X,-282912.8,333.6,744.5,450403.6,-3187.5
$KALMAN_Y,117953.6,-1183.1,309.3,-236362.6,11789.1
$MHEAD_RNG_PITCHd_Wd,176.4,59837,-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,-146.4,0.0,0.0,0,82,0.00,0.00,-61.28,0.000,2,0.000,0.000,419,2143,2771
$GC,86,-1.44,-146.6,2.8,-3.8,3,129,11.10,2.62,-21.65,0.000,4,0.163,0.071,2424,710,3430
$GC,170,-1.38,-146.6,13.9,-15.5,6,176,0.00,2.55,0.00,0.000,6,0.000,0.048,2425,2141,3431
$GC,486,-1.28,-146.6,65.7,-17.2,22,491,0.17,2.58,0.00,0.000,4,0.104,0.055,2462,714,3430
$GC,542,-1.28,-146.6,74.8,-15.8,24,548,0.00,2.50,0.00,0.000,6,0.000,0.048,2463,2123,3431
$GC,860,-1.28,-146.6,121.2,-14.0,40,864,0.00,2.55,0.00,0.000,4,0.000,0.061,2462,716,3431
$GC,915,-1.28,-146.6,129.3,-14.1,42,920,0.00,2.47,0.00,0.000,6,0.000,0.048,2463,2111,3431
$GC,1243,-1.28,-146.6,172.2,-13.0,60,1248,0.00,2.62,0.00,0.000,4,0.000,0.073,2462,3537,3432
$GC,1300,-1.28,-146.6,179.9,-13.9,63,1307,0.00,2.70,0.00,0.000,6,0.000,0.070,2463,2083,3431
$GC,1619,-1.28,-146.6,219.7,-12.2,84,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2082,3431
$GC,1932,-1.28,-146.6,257.8,-12.5,104,1937,0.00,2.75,0.00,0.000,4,0.000,0.077,2463,3538,3431
$GC,1961,-1.28,-146.6,261.3,-12.6,106,1966,0.00,2.70,0.00,0.000,6,0.000,0.074,2463,2091,3431
$GC,2288,-1.28,-146.6,301.1,-12.3,127,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2091,3431
$GC,2599,-1.28,-146.6,337.4,-11.6,147,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2091,3431
$GC,2910,-1.28,-146.6,372.9,-11.6,167,2914,0.00,2.72,0.00,0.000,4,0.000,0.081,2463,3534,3431
$GC,2932,-1.28,-146.6,375.6,-11.6,168,2938,0.00,2.70,0.00,0.000,6,0.000,0.081,2463,2105,3431
$GC,3252,-1.28,-146.6,411.1,-11.0,189,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2103,3431
$GC,3565,-1.28,-146.6,445.1,-11.1,209,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2104,3431
$GC,3876,-1.28,-146.6,483.4,-13.8,229,3881,0.00,2.72,0.00,0.000,4,0.000,0.084,2463,3541,3431
$GC,3932,-1.28,-146.6,491.3,-13.7,232,3938,0.00,2.70,0.00,0.000,6,0.000,0.081,2463,2112,3431
$GC,4251,-1.28,-146.6,534.7,-14.2,253,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2097,3431
$GC,4564,-1.28,-146.6,575.6,-10.7,273,4568,0.00,2.72,0.00,0.000,4,0.000,0.083,2463,3539,3430
$GC,4664,-1.28,-146.6,586.4,-11.3,279,4669,0.00,2.70,0.00,0.000,6,0.000,0.085,2463,2120,3430
$GC,4987,-1.71,-146.6,598.1,-0.1,299,4992,0.38,2.53,0.00,0.000,4,0.052,0.068,2369,719,3430
$STATE,5127,end dive,NO_VERTICAL_VELOCITY
$STATE,5127,begin apogee
$GC,5136,-0.33,0.0,598.1,0.0,307,5272,1.35,0.00,131.38,1.191,6,0.056,0.000,2674,1880,2831
$STATE,5272,end apogee,CONTROL_FINISHED_OK
$STATE,5272,begin climb
$GC,5276,1.44,146.6,597.9,0.0,316,5417,1.73,2.72,131.18,1.147,4,0.051,0.072,3059,445,2233
$GC,5426,1.43,212.3,592.4,7.0,325,5492,0.00,2.58,59.67,1.109,6,0.000,0.052,3058,1874,1965
$GC,5815,1.39,212.3,548.7,12.5,350,5819,0.00,2.58,0.00,0.000,4,0.000,0.076,3058,3244,1964
$GC,6038,1.39,212.3,520.0,10.6,363,6046,0.00,2.62,0.00,0.000,6,0.000,0.082,3058,1855,1963
$GC,6358,1.36,219.3,488.0,9.7,384,6374,0.00,2.67,6.95,0.900,4,0.000,0.073,3058,3237,1937
$GC,6393,1.39,235.0,484.8,9.3,386,6413,0.00,2.60,15.57,1.032,6,0.000,0.080,3058,1868,1872
$GC,6738,1.39,235.0,451.4,10.3,408,6742,0.00,2.58,0.00,0.000,4,0.000,0.071,3058,3238,1872
$GC,6771,1.39,235.0,447.2,10.7,410,6776,0.00,2.58,0.00,0.000,6,0.000,0.078,3058,1871,1872
$GC,7091,1.39,235.0,415.3,10.1,430,7096,0.00,2.58,0.00,0.000,4,0.000,0.071,3058,3242,1872
$GC,7130,1.39,235.0,410.9,10.5,432,7136,0.00,2.53,0.00,0.000,6,0.000,0.076,3058,1893,1872
$GC,7450,1.42,256.7,380.7,9.0,453,7474,0.00,2.55,19.55,1.003,4,0.000,0.070,3058,3240,1784
$GC,7510,1.43,263.5,374.9,9.7,456,7524,0.00,2.53,8.05,0.889,6,0.000,0.074,3059,1898,1755
$GC,7845,1.43,263.5,340.7,10.9,478,7849,0.00,2.53,0.00,0.000,4,0.000,0.070,3059,3244,1755
$GC,7879,1.43,263.5,336.7,11.4,480,7883,0.00,2.50,0.00,0.000,6,0.000,0.073,3058,1908,1756
$GC,8206,1.43,263.5,299.6,11.9,501,8210,0.00,2.47,0.00,0.000,4,0.000,0.069,3058,3241,1755
$GC,8234,1.43,263.5,295.6,13.5,503,8238,0.00,2.45,0.00,0.000,6,0.000,0.072,3059,1916,1756
$GC,8565,1.43,263.5,252.8,13.6,524,8570,0.00,2.47,0.00,0.000,4,0.000,0.069,3058,3244,1756
$GC,8595,1.43,263.5,248.9,13.7,526,8599,0.00,2.42,0.00,0.000,6,0.000,0.070,3059,1926,1756
$GC,8919,1.43,263.5,207.4,13.0,547,8923,0.00,2.45,0.00,0.000,4,0.000,0.067,3058,3244,1756
$GC,8940,1.43,263.5,204.1,13.9,548,8947,0.00,2.38,0.00,0.000,6,0.000,0.068,3059,1953,1756
$GC,9260,1.43,263.5,162.1,13.5,569,9265,0.00,2.40,0.00,0.000,4,0.000,0.067,3058,3244,1756
$GC,9277,1.43,263.5,159.6,13.5,570,9282,0.00,2.38,0.00,0.000,6,0.000,0.066,3059,1946,1756
$GC,9610,1.43,263.5,121.2,10.5,587,9611,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1945,1756
$GC,9920,1.43,263.5,89.3,10.9,602,9921,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1945,1756
$GC,10228,1.43,263.5,56.1,10.7,617,10230,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1945,1756
$GC,10539,1.43,263.5,23.1,11.1,632,10543,0.00,2.40,0.00,0.000,4,0.000,0.064,3058,3247,1757
$GC,10568,1.47,263.5,19.6,11.6,633,10572,0.00,2.35,0.00,0.000,6,0.000,0.061,3059,1958,1757
$STATE,10716,end climb,SURFACE_DEPTH_REACHED
$STATE,10716,begin surface coast
$FINISH,0.5,1.016436
$STATE,10739,end surface coast,CONTROL_FINISHED_OK
$STATE,10739,begin surface
$SM_CCo,10763,19.23,0.746,0,0,1607,300.00
$SM_GC,0.94,0.00,0.00,19.23,0.000,0.000,0.746,422,2152,1607,-10.69,0.62,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1842
$TCM_TEMP,16.50
$XPDR_PINGS,81
$24V_AH,23.7,71.381
$10V_AH,10.1,32.104
$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,26.150,107.550,372.350,19.225,0.000,37.762,28.207,138.699,25.500,0.000,0.000,16.371,1140.641,7668.990,489.082,1347.276,474.788,33.365,1190.530,0.000,1312.392,0.000,36.403,0.000
$DEVICE_MAMPS,162.604,85.137,1191.151,745.524,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.246,467.661,379.524,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31655,641
$CAP_FILE_SIZE,90102,0
$CFSIZE,254472192,228044800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,051109,125746,6223.725,-933.170,40,1.5,49,-9.8