version: 66.04
glider: 5
mission: 7
dive: 401
start: 10 30 109 8 47 47
data:
$ID,5
$MISSION,7
$DIVE,401
$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,-107895.71
$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,25
$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
$GPS1,084136,6236.140,-1034.832,38,1.0,43,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-58.7
$GPS2,084656,6236.188,-1034.832,13,1.0,13,-10.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.139,-0.224
$KALMAN_X,-198011.5,357.1,855.6,316072.2,-10427.9
$KALMAN_Y,74486.9,-1198.6,-702.8,-169038.0,11932.4
$MHEAD_RNG_PITCHd_Wd,158.8,12183,-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,-60.58,0.000,2,0.000,0.000,423,2147,2802
$GC,83,-1.44,-146.6,3.0,-4.0,3,117,10.80,0.00,-19.98,0.000,6,0.159,0.000,2421,2148,3429
$GC,417,-1.33,-146.6,53.8,-15.0,19,422,0.17,2.58,0.00,0.000,4,0.102,0.057,2459,711,3429
$GC,445,-1.29,-146.6,58.4,-13.7,20,449,0.00,2.53,0.00,0.000,6,0.000,0.048,2460,2136,3430
$GC,761,-1.26,-146.6,101.3,-13.3,35,766,0.00,2.55,0.00,0.000,4,0.000,0.067,2460,3537,3430
$GC,796,-1.22,-146.6,106.3,-14.4,36,803,0.00,2.53,0.00,0.000,6,0.000,0.052,2460,2128,3430
$GC,1112,-1.22,-146.6,149.5,-13.1,52,1117,0.00,2.50,0.00,0.000,4,0.000,0.058,2460,717,3430
$GC,1151,-1.22,-146.6,154.9,-13.7,54,1157,0.00,2.50,0.00,0.000,6,0.000,0.048,2460,2129,3430
$GC,1473,-1.22,-146.6,195.3,-12.3,75,1478,0.00,2.58,0.00,0.000,4,0.000,0.061,2460,709,3430
$GC,1496,-1.22,-146.6,198.6,-12.1,76,1502,0.00,2.50,0.00,0.000,6,0.000,0.049,2460,2122,3430
$GC,1815,-1.22,-146.6,238.9,-12.7,97,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2121,3431
$GC,2128,-1.22,-146.6,280.9,-14.5,117,2132,0.00,2.55,0.00,0.000,4,0.000,0.061,2459,708,3431
$GC,2180,-1.22,-146.6,288.7,-14.9,120,2184,0.00,2.50,0.00,0.000,6,0.000,0.049,2460,2115,3430
$GC,2506,-1.22,-146.6,336.9,-14.4,141,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2115,3430
$GC,2818,-1.22,-146.6,377.6,-11.9,161,2823,0.00,2.53,0.00,0.000,4,0.000,0.062,2460,717,3431
$GC,2858,-1.22,-146.6,382.6,-12.1,163,2864,0.00,2.47,0.00,0.000,6,0.000,0.050,2460,2111,3431
$GC,3178,-1.22,-146.6,418.0,-10.7,184,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2111,3431
$GC,3489,-1.22,-146.6,450.8,-10.6,204,3493,0.00,2.53,0.00,0.000,4,0.000,0.064,2460,717,3430
$GC,3562,-1.25,-146.6,458.3,-9.8,208,3568,0.00,2.45,0.00,0.000,6,0.000,0.051,2460,2098,3430
$GC,3882,-1.25,-146.6,489.6,-8.6,229,3886,0.00,2.50,0.00,0.000,4,0.000,0.064,2459,717,3430
$GC,3910,-1.25,-146.6,492.5,-10.1,230,3917,0.00,2.42,0.00,0.000,6,0.000,0.052,2460,2084,3430
$GC,4230,-1.25,-146.6,530.9,-12.2,251,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2084,3430
$GC,4542,-1.25,-146.6,565.4,-10.7,271,4546,0.00,2.53,0.00,0.000,4,0.000,0.071,2460,716,3430
$GC,4598,-1.30,-146.6,571.7,-11.8,274,4604,0.00,2.42,0.00,0.000,6,0.000,0.056,2460,2064,3430
$STATE,4695,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4695,begin apogee
$GC,4704,-0.33,0.0,581.5,9.7,281,4839,0.98,0.00,131.32,1.196,6,0.080,0.000,2671,1846,2831
$STATE,4840,end apogee,CONTROL_FINISHED_OK
$STATE,4840,begin climb
$GC,4843,1.44,146.6,587.5,0.0,290,4983,1.75,2.65,131.52,1.152,4,0.058,0.076,3055,448,2233
$GC,5009,1.34,146.6,578.4,10.4,300,5013,0.00,2.58,0.00,0.000,6,0.000,0.057,3055,1851,2232
$GC,5329,1.34,181.4,546.7,8.4,320,5362,0.00,0.00,32.00,1.113,6,0.000,0.000,3055,1867,2091
$GC,5672,1.41,254.8,518.8,6.7,342,5743,0.00,2.75,64.95,1.145,4,0.000,0.076,3055,449,1792
$GC,5756,1.41,280.5,512.5,8.8,347,5785,0.00,2.62,23.92,1.095,6,0.000,0.060,3055,1868,1687
$GC,6115,1.41,280.5,475.9,10.4,370,6119,0.00,2.58,0.00,0.000,4,0.000,0.074,3055,3258,1687
$GC,6177,1.41,280.5,468.9,10.6,374,6181,0.00,2.58,0.00,0.000,6,0.000,0.069,3055,1870,1687
$GC,6501,1.43,289.3,437.7,9.6,395,6518,0.00,2.65,9.15,0.988,4,0.000,0.070,3055,3255,1651
$GC,6537,1.43,289.3,434.3,10.1,397,6542,0.00,2.58,0.00,0.000,6,0.000,0.064,3055,1872,1651
$GC,6861,1.47,319.7,405.2,8.6,418,6894,0.00,2.67,27.55,1.083,4,0.000,0.066,3055,3258,1528
$GC,6907,1.49,326.3,400.8,9.7,420,6921,0.00,2.55,7.38,0.908,6,0.000,0.061,3055,1885,1500
$GC,7242,1.49,326.3,361.3,12.6,442,7246,0.00,2.55,0.00,0.000,4,0.000,0.066,3055,3259,1500
$GC,7275,1.53,326.3,356.6,13.3,444,7280,0.10,2.50,0.00,0.000,6,0.066,0.058,3082,1892,1500
$GC,7598,1.49,326.3,306.4,15.9,464,7602,0.00,2.53,0.00,0.000,4,0.000,0.064,3083,3261,1501
$GC,7632,1.49,326.3,300.5,15.5,466,7636,0.00,2.45,0.00,0.000,6,0.000,0.057,3083,1908,1501
$GC,7964,1.45,326.3,251.0,14.3,487,7969,0.12,2.50,0.00,0.000,4,0.102,0.063,3059,3262,1501
$GC,7992,1.45,326.3,246.8,13.6,489,7997,0.00,2.42,0.00,0.000,6,0.000,0.054,3059,1922,1502
$GC,8317,1.45,326.3,205.7,12.3,510,8321,0.00,2.45,0.00,0.000,4,0.000,0.063,3059,3255,1502
$GC,8351,1.50,326.3,201.4,12.3,512,8355,0.00,2.35,0.00,0.000,6,0.000,0.054,3059,1953,1502
$GC,8670,1.50,326.3,163.3,11.3,532,8674,0.00,2.40,0.00,0.000,4,0.000,0.062,3059,3260,1502
$GC,8687,1.50,326.3,161.2,11.2,533,8691,0.00,2.33,0.00,0.000,6,0.000,0.052,3059,1967,1502
$GC,9010,1.50,326.3,126.8,10.9,550,9015,0.00,2.38,0.00,0.000,4,0.000,0.061,3059,3262,1502
$GC,9039,1.55,326.3,123.2,12.4,551,9043,0.10,2.30,0.00,0.000,6,0.064,0.051,3087,1980,1502
$GC,9355,1.55,326.3,80.7,14.7,566,9359,0.00,2.35,0.00,0.000,4,0.000,0.060,3087,3264,1502
$GC,9383,1.55,326.3,76.3,14.7,567,9387,0.00,2.28,0.00,0.000,6,0.000,0.049,3087,1992,1502
$GC,9701,1.52,326.3,32.4,14.2,582,9706,0.00,2.33,0.00,0.000,4,0.000,0.060,3087,3264,1503
$GC,9720,1.52,326.3,29.3,14.3,583,9723,0.00,2.25,0.00,0.000,6,0.000,0.051,3087,2007,1504
$STATE,9905,end climb,SURFACE_DEPTH_REACHED
$STATE,9905,begin surface coast
$FINISH,0.5,1.002856
$STATE,9928,end surface coast,CONTROL_FINISHED_OK
$STATE,9929,begin surface
$SM_CCo,10012,0.00,0.000,0,0,1503,325.76
$SM_GC,1.24,11.60,0.00,0.00,0.040,0.000,0.000,426,2139,1503,-10.58,0.34,325.76
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1847
$TCM_TEMP,17.40
$XPDR_PINGS,41
$ALTIM_BOTTOM_PING,521.2,70.1
$24V_AH,23.7,64.684
$10V_AH,10.1,29.260
$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,25.625,110.325,427.800,0.000,0.000,37.760,34.651,126.823,14.750,0.000,0.000,13.872,1060.038,7112.435,508.687,1209.169,441.351,33.362,1164.475,0.000,1176.549,0.000,35.165,0.000
$DEVICE_MAMPS,158.769,75.933,1195.753,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.646,432.163,348.948,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31719,593
$CAP_FILE_SIZE,87560,0
$CFSIZE,254472192,230277120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,301009,113555,6234.444,-1035.756,39,1.8,39,-10.5