version: 66.04
glider: 5
mission: 7
dive: 457
start: 11 6 109 17 44 17
data:
$ID,5
$MISSION,7
$DIVE,457
$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,-109005.95
$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,21
$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
$GPS1,173136,6211.264,-934.675,38,0.9,42,-9.8
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-59.2
$GPS2,174326,6211.288,-934.822,12,1.1,12,-9.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.250,-0.083
$KALMAN_X,-294172.8,1111.5,-250.4,462248.8,-5195.9
$KALMAN_Y,121975.6,691.3,-563.2,-264679.6,2159.7
$MHEAD_RNG_PITCHd_Wd,118.3,38032,-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,19,-1.44,-146.6,0.0,0.0,0,82,0.00,0.00,-61.17,0.000,2,0.000,0.000,417,2156,2782
$GC,86,-1.44,-146.6,2.7,-3.8,3,129,11.25,2.65,-21.55,0.000,4,0.166,0.067,2422,702,3430
$GC,170,-1.38,-146.6,13.5,-15.2,6,177,0.10,2.55,0.00,0.000,6,0.117,0.047,2441,2133,3431
$GC,486,-1.31,-146.6,64.7,-16.5,22,491,0.00,2.58,0.00,0.000,4,0.000,0.058,2441,717,3431
$GC,515,-1.26,-146.6,70.0,-17.9,23,520,0.15,2.50,0.00,0.000,6,0.098,0.048,2470,2117,3431
$GC,833,-1.26,-146.6,109.9,-13.4,38,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2118,3431
$GC,1140,-1.26,-146.6,150.3,-13.3,53,1144,0.00,2.55,0.00,0.000,4,0.000,0.058,2471,713,3431
$GC,1231,-1.26,-146.6,161.6,-11.6,58,1237,0.00,2.47,0.00,0.000,6,0.000,0.047,2471,2108,3431
$GC,1550,-1.26,-146.6,201.1,-12.2,79,1554,0.00,2.62,0.00,0.000,4,0.000,0.072,2471,3534,3431
$GC,1582,-1.26,-146.6,205.1,-12.0,81,1587,0.00,2.67,0.00,0.000,6,0.000,0.072,2471,2101,3431
$GC,1903,-1.26,-146.6,240.5,-10.9,101,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2099,3431
$GC,2215,-1.26,-146.6,276.7,-11.8,121,2219,0.00,2.47,0.00,0.000,4,0.000,0.062,2471,707,3431
$GC,2267,-1.30,-146.6,283.4,-12.3,124,2271,0.00,2.50,0.00,0.000,6,0.000,0.048,2471,2110,3431
$GC,2593,-1.30,-146.6,323.4,-13.3,145,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2110,3431
$GC,2904,-1.30,-146.6,362.9,-12.9,165,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2111,3431
$GC,3217,-1.30,-146.6,403.1,-12.8,185,3221,0.00,2.55,0.00,0.000,4,0.000,0.064,2470,713,3431
$GC,3279,-1.34,-146.6,411.5,-13.5,189,3284,0.00,2.47,0.00,0.000,6,0.000,0.051,2471,2104,3431
$GC,3606,-1.34,-146.6,450.4,-11.7,210,3611,0.00,2.65,0.00,0.000,4,0.000,0.080,2471,3535,3431
$GC,3696,-1.34,-146.6,461.6,-12.5,215,3703,0.00,2.65,0.00,0.000,6,0.000,0.084,2471,2139,3431
$GC,4016,-1.37,-146.6,502.5,-13.4,236,4021,0.12,2.55,0.00,0.000,4,0.062,0.066,2438,716,3431
$GC,4200,-1.37,-146.6,531.1,-15.2,247,4205,0.00,2.47,0.00,0.000,6,0.000,0.052,2438,2100,3431
$GC,4525,-1.34,-146.6,575.1,-14.1,267,4529,0.00,2.58,0.00,0.000,4,0.000,0.072,2439,713,3430
$GC,4570,-1.34,-146.6,582.1,-13.6,270,4574,0.00,2.47,0.00,0.000,6,0.000,0.057,2438,2083,3430
$GC,4894,-1.34,-146.6,625.3,-12.8,291,4899,0.00,2.55,0.00,0.000,4,0.000,0.073,2439,710,3429
$GC,4924,-1.34,-146.6,629.2,-13.4,293,4929,0.00,2.47,0.00,0.000,6,0.000,0.060,2438,2072,3429
$STATE,4949,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4949,begin apogee
$GC,4957,-0.33,0.0,632.9,12.9,295,5095,1.10,0.00,134.12,1.246,6,0.087,0.000,2669,1837,2831
$STATE,5096,end apogee,CONTROL_FINISHED_OK
$STATE,5096,begin climb
$GC,5099,1.44,146.6,638.7,0.0,304,5242,1.77,2.67,134.20,1.200,4,0.063,0.074,3053,454,2233
$GC,5274,1.35,171.1,630.8,8.9,314,5304,0.00,2.58,23.48,1.131,6,0.000,0.058,3053,1861,2134
$GC,5630,1.33,181.4,597.9,9.5,337,5643,0.00,0.00,10.40,1.046,6,0.000,0.000,3053,1870,2091
$GC,5953,1.28,181.4,564.3,10.7,358,5955,0.15,0.00,0.00,0.000,6,0.102,0.000,3026,1870,2090
$GC,6265,1.33,210.5,536.4,8.7,378,6298,0.00,2.78,26.88,1.160,4,0.000,0.076,3026,449,1972
$GC,6343,1.33,210.5,529.0,10.1,382,6350,0.00,2.58,0.00,0.000,6,0.000,0.061,3026,1847,1972
$GC,6663,1.44,258.6,502.3,7.8,403,6715,0.15,2.75,43.40,1.168,4,0.063,0.080,3062,3260,1776
$GC,6728,1.44,258.6,496.1,10.4,407,6733,0.00,2.75,0.00,0.000,6,0.000,0.087,3062,1854,1775
$GC,7053,1.40,258.6,456.9,13.7,428,7057,0.00,2.60,0.00,0.000,4,0.000,0.073,3062,434,1775
$GC,7121,1.33,258.6,446.6,15.5,432,7126,0.15,2.55,0.00,0.000,6,0.104,0.058,3035,1834,1775
$GC,7440,1.33,258.6,408.4,12.4,452,7444,0.00,2.62,0.00,0.000,4,0.000,0.075,3034,3255,1774
$GC,7473,1.37,258.6,404.1,12.9,454,7478,0.00,2.70,0.00,0.000,6,0.000,0.077,3034,1822,1774
$GC,7793,1.42,285.8,372.6,8.8,474,7827,0.00,2.78,23.98,1.071,4,0.000,0.071,3035,3255,1666
$GC,7867,1.49,285.8,365.3,10.3,478,7872,0.15,2.67,0.00,0.000,6,0.061,0.074,3071,1840,1666
$GC,8189,1.45,285.8,326.2,12.8,498,8194,0.00,2.62,0.00,0.000,4,0.000,0.069,3071,3252,1667
$GC,8240,1.45,285.8,318.8,13.3,501,8244,0.00,2.60,0.00,0.000,6,0.000,0.072,3071,1858,1667
$GC,8560,1.41,285.8,275.7,13.7,521,8564,0.00,2.60,0.00,0.000,4,0.000,0.067,3071,3255,1667
$GC,8623,1.41,285.8,267.2,13.5,525,8627,0.00,2.53,0.00,0.000,6,0.000,0.068,3071,1882,1667
$GC,8947,1.41,285.8,224.2,13.3,546,8951,0.00,2.55,0.00,0.000,4,0.000,0.064,3071,3258,1667
$GC,8976,1.41,285.8,220.3,13.8,548,8980,0.00,2.50,0.00,0.000,6,0.000,0.066,3071,1895,1667
$GC,9301,1.41,285.8,180.3,12.1,569,9305,0.00,2.53,0.00,0.000,4,0.000,0.064,3071,3263,1668
$GC,9317,1.41,285.8,178.2,11.7,570,9322,0.00,2.47,0.00,0.000,6,0.000,0.062,3071,1904,1668
$GC,9642,1.41,285.8,137.4,13.7,589,9646,0.00,2.50,0.00,0.000,4,0.000,0.062,3071,3262,1668
$GC,9676,1.41,285.8,132.6,13.0,590,9682,0.00,2.42,0.00,0.000,6,0.000,0.061,3071,1923,1668
$GC,9993,1.41,285.8,92.2,12.2,606,9998,0.00,2.65,0.00,0.000,4,0.000,0.061,3071,436,1669
$GC,10022,1.37,285.8,88.2,13.1,607,10027,0.15,2.67,0.00,0.000,6,0.093,0.047,3042,1949,1669
$GC,10340,1.43,285.8,54.8,10.5,622,10341,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1966,1669
$GC,10648,1.52,309.6,26.8,8.9,637,10678,0.15,2.80,21.95,0.786,4,0.053,0.058,3082,438,1567
$GC,10685,1.52,309.6,23.5,11.1,638,10691,0.00,2.67,0.00,0.000,6,0.000,0.045,3082,1936,1567
$STATE,10895,end climb,SURFACE_DEPTH_REACHED
$STATE,10895,begin surface coast
$FINISH,0.4,1.027272
$STATE,10917,end surface coast,CONTROL_FINISHED_OK
$STATE,10917,begin surface
$SM_CCo,11001,0.00,0.000,0,0,1566,310.30
$SM_GC,1.15,11.75,0.00,0.00,0.044,0.000,0.000,425,2146,1566,-10.58,0.45,310.30
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1842
$TCM_TEMP,17.50
$XPDR_PINGS,40
$ALTIM_BOTTOM_PING,570.6,71.7
$24V_AH,23.6,72.927
$10V_AH,10.1,32.737
$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,27.150,119.925,418.400,0.000,0.000,113.279,87.451,251.963,15.000,0.000,0.000,12.226,1168.579,7919.997,506.216,1380.573,733.944,33.363,1242.650,0.000,1342.060,0.000,37.469,0.000
$DEVICE_MAMPS,165.672,86.671,1245.608,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.863,473.902,385.205,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31755,650
$CAP_FILE_SIZE,101300,0
$CFSIZE,254472192,227545088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,061109,204900,6211.460,-931.736,45,1.4,45,-9.8