version: 66.04
glider: 5
mission: 7
dive: 400
start: 10 30 109 5 47 10
data:
$ID,5
$MISSION,7
$DIVE,400
$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,-107881.21
$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,23
$R_STBD_OVSHOOT,34
$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
$GPS1,054107,6236.825,-1035.913,26,1.4,26,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-64.5
$GPS2,054619,6236.884,-1035.992,16,1.3,16,-10.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.156,-0.212
$KALMAN_X,-197393.1,481.0,956.5,314278.5,-12133.7
$KALMAN_Y,72287.6,-1534.3,-100.5,-165818.8,10525.8
$MHEAD_RNG_PITCHd_Wd,154.2,13740,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,79,0.00,0.00,-60.60,0.000,2,0.000,0.000,417,2162,2816
$GC,83,-1.44,-146.6,2.8,-3.5,3,120,11.27,2.58,-20.00,0.000,4,0.161,0.078,2428,3528,3430
$GC,144,-1.33,-146.6,10.6,-14.5,6,150,0.12,2.55,0.00,0.000,6,0.106,0.052,2452,2115,3430
$GC,473,-1.28,-146.6,56.9,-14.1,22,477,0.00,2.50,0.00,0.000,4,0.000,0.059,2452,708,3431
$GC,506,-1.28,-146.6,61.9,-14.3,23,512,0.00,2.50,0.00,0.000,6,0.000,0.048,2452,2122,3430
$GC,825,-1.24,-146.6,107.5,-14.5,39,830,0.12,2.55,0.00,0.000,4,0.104,0.058,2476,714,3431
$GC,852,-1.24,-146.6,111.8,-13.8,40,857,0.00,2.53,0.00,0.000,6,0.000,0.048,2476,2139,3430
$GC,1180,-1.24,-146.6,154.2,-12.6,56,1184,0.00,2.58,0.00,0.000,4,0.000,0.059,2476,716,3431
$GC,1231,-1.28,-146.6,160.7,-12.9,59,1235,0.00,2.50,0.00,0.000,6,0.000,0.048,2476,2128,3431
$GC,1550,-1.28,-146.6,199.5,-12.0,79,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2129,3431
$GC,1862,-1.28,-146.6,237.6,-12.3,99,1866,0.00,2.58,0.00,0.000,4,0.000,0.063,2476,711,3431
$GC,1935,-1.32,-146.6,246.5,-12.5,103,1942,0.00,2.50,0.00,0.000,6,0.000,0.049,2476,2122,3431
$GC,2254,-1.32,-146.6,286.4,-12.8,124,2258,0.00,2.55,0.00,0.000,4,0.000,0.061,2476,709,3431
$GC,2283,-1.35,-146.6,290.2,-13.1,125,2291,0.12,2.50,0.00,0.000,6,0.062,0.050,2444,2122,3431
$GC,2606,-1.30,-146.6,337.1,-14.7,146,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2122,3431
$GC,2916,-1.25,-146.6,380.5,-13.3,166,2921,0.12,2.55,0.00,0.000,4,0.100,0.062,2468,716,3431
$GC,2956,-1.28,-146.6,385.8,-12.7,168,2962,0.00,2.47,0.00,0.000,6,0.000,0.050,2468,2111,3431
$GC,3275,-1.28,-146.6,422.1,-11.5,189,3279,0.00,2.53,0.00,0.000,4,0.000,0.063,2468,719,3431
$GC,3304,-1.28,-146.6,425.5,-12.4,191,3308,0.00,2.45,0.00,0.000,6,0.000,0.051,2468,2093,3431
$GC,3629,-1.28,-146.6,461.9,-12.0,212,3633,0.00,2.50,0.00,0.000,4,0.000,0.064,2468,717,3431
$GC,3662,-1.28,-146.6,466.3,-12.6,214,3666,0.00,2.42,0.00,0.000,6,0.000,0.051,2468,2079,3431
$GC,3982,-1.28,-146.6,501.5,-10.8,234,3986,0.00,2.67,0.00,0.000,4,0.000,0.074,2468,3533,3431
$GC,4037,-1.28,-146.6,507.6,-11.0,237,4044,0.00,2.67,0.00,0.000,6,0.000,0.064,2468,2069,3430
$GC,4358,-1.28,-146.6,537.5,-9.5,258,4362,0.00,2.42,0.00,0.000,4,0.000,0.068,2468,719,3430
$GC,4431,-1.35,-146.6,546.8,-13.7,262,4437,0.00,2.42,0.00,0.000,6,0.000,0.053,2468,2077,3431
$STATE,4702,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4702,begin apogee
$GC,4709,-0.33,0.0,577.8,12.1,280,4844,0.95,0.00,130.90,1.191,6,0.079,0.000,2673,1846,2831
$STATE,4844,end apogee,CONTROL_FINISHED_OK
$STATE,4844,begin climb
$GC,4848,1.44,146.6,582.7,0.0,289,4990,1.75,2.65,131.93,1.148,4,0.055,0.074,3060,442,2233
$GC,5135,1.34,169.4,565.7,9.0,306,5163,0.12,2.58,21.15,1.082,6,0.106,0.058,3039,1870,2141
$GC,5476,1.34,169.4,533.8,10.5,328,5481,0.00,2.67,0.00,0.000,4,0.000,0.078,3039,442,2139
$GC,5524,1.28,169.4,527.5,13.6,331,5528,0.00,2.53,0.00,0.000,6,0.000,0.061,3039,1821,2139
$GC,5848,1.30,182.6,491.2,9.4,352,5863,0.00,0.00,12.75,1.055,6,0.000,0.000,3039,1835,2086
$GC,6175,1.37,224.4,462.3,8.1,373,6222,0.00,2.70,36.88,1.127,4,0.000,0.071,3039,3254,1916
$GC,6309,1.37,224.4,449.8,10.2,381,6313,0.00,2.65,0.00,0.000,6,0.000,0.066,3039,1831,1916
$GC,6633,1.43,260.6,422.4,8.4,402,6673,0.00,2.72,33.05,1.095,4,0.000,0.067,3038,3247,1768
$GC,6716,1.53,286.6,415.4,8.8,407,6748,0.17,2.58,23.67,1.064,6,0.058,0.063,3081,1855,1662
$GC,7060,1.47,286.6,379.1,10.7,429,7065,0.00,2.62,0.00,0.000,4,0.000,0.067,3081,3264,1662
$GC,7091,1.47,286.6,375.7,11.7,431,7095,0.00,2.55,0.00,0.000,6,0.000,0.061,3081,1864,1663
$GC,7417,1.43,286.6,338.6,11.9,452,7422,0.12,2.58,0.00,0.000,4,0.100,0.064,3058,3254,1663
$GC,7455,1.43,286.6,333.8,11.1,454,7462,0.00,2.50,0.00,0.000,6,0.000,0.057,3058,1880,1663
$GC,7775,1.43,286.6,300.0,10.5,475,7780,0.00,2.55,0.00,0.000,4,0.000,0.064,3058,3261,1663
$GC,7814,1.46,286.6,295.7,10.4,477,7820,0.00,2.47,0.00,0.000,6,0.000,0.055,3058,1896,1663
$GC,8134,1.46,286.6,261.8,10.7,498,8138,0.00,2.50,0.00,0.000,4,0.000,0.064,3058,3254,1663
$GC,8167,1.50,286.6,258.0,10.9,500,8172,0.00,2.42,0.00,0.000,6,0.000,0.054,3058,1913,1663
$GC,8486,1.50,286.6,222.5,11.5,520,8491,0.00,2.47,0.00,0.000,4,0.000,0.063,3058,3261,1664
$GC,8509,1.50,286.6,219.7,11.6,521,8515,0.00,2.40,0.00,0.000,6,0.000,0.053,3058,1927,1664
$GC,8828,1.50,286.6,183.2,11.1,542,8833,0.00,2.45,0.00,0.000,4,0.000,0.062,3058,3262,1664
$GC,8851,1.50,286.6,180.3,11.9,543,8857,0.00,2.38,0.00,0.000,6,0.000,0.052,3058,1939,1664
$GC,9176,1.50,287.9,147.6,9.9,564,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1939,1664
$GC,9484,1.50,287.9,113.6,11.7,579,9488,0.00,2.42,0.00,0.000,4,0.000,0.061,3058,3265,1664
$GC,9548,1.55,287.9,105.9,12.1,582,9552,0.10,2.35,0.00,0.000,6,0.064,0.050,3086,1943,1665
$GC,9876,1.55,287.9,61.9,13.1,598,9881,0.00,2.40,0.00,0.000,4,0.000,0.060,3086,3258,1665
$GC,9932,1.55,287.9,53.9,14.1,600,9939,0.00,2.30,0.00,0.000,6,0.000,0.048,3086,1963,1665
$GC,10249,1.51,287.9,13.9,12.2,616,10250,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1963,1665
$STATE,10328,end climb,SURFACE_DEPTH_REACHED
$STATE,10328,begin surface coast
$FINISH,0.8,1.027201
$STATE,10350,end surface coast,CONTROL_FINISHED_OK
$STATE,10350,begin surface
$SM_CCo,10375,7.38,0.676,0,0,1606,300.00
$SM_GC,1.85,0.00,0.00,7.38,0.000,0.000,0.676,423,2147,1606,-10.68,0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1841
$TCM_TEMP,17.30
$XPDR_PINGS,51
$ALTIM_BOTTOM_PING,520.4,65.7
$24V_AH,23.7,64.533
$10V_AH,10.1,29.204
$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,26.550,116.750,390.325,7.375,0.000,37.762,26.248,123.600,17.250,0.000,0.000,16.369,1115.915,7325.309,504.286,1312.481,439.625,33.367,1198.242,0.000,1277.006,0.000,35.172,0.000
$DEVICE_MAMPS,161.070,78.234,1191.151,676.494,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.511,449.172,367.900,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31714,621
$CAP_FILE_SIZE,92528,0
$CFSIZE,254472192,230318080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,301009,084136,6236.140,-1034.832,38,1.0,43,-10.5