version: 66.04
glider: 5
mission: 7
dive: 402
start: 10 30 109 11 42 16
data:
$ID,5
$MISSION,7
$DIVE,402
$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,-107912.62
$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,32
$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
$GPS1,113555,6234.444,-1035.756,39,1.8,39,-10.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-57.3
$GPS2,114125,6234.452,-1035.826,16,1.1,16,-10.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.260,-0.044
$KALMAN_X,-200599.8,952.2,190.4,317921.0,-10853.2
$KALMAN_Y,74210.0,-670.6,-1104.3,-172088.9,10617.7
$MHEAD_RNG_PITCHd_Wd,110.0,9634,-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,-60.62,0.000,2,0.000,0.000,427,2136,2697
$GC,83,-1.44,-146.6,2.7,-3.2,3,127,10.82,2.62,-26.73,0.000,4,0.158,0.067,2425,703,3430
$GC,156,-1.34,-146.6,10.3,-13.6,6,161,0.12,2.53,0.00,0.000,6,0.100,0.046,2449,2128,3430
$GC,478,-1.28,-146.6,54.8,-13.5,22,483,0.00,2.58,0.00,0.000,4,0.000,0.067,2450,3540,3431
$GC,529,-1.21,-146.6,62.0,-13.6,24,534,0.15,2.55,0.00,0.000,6,0.095,0.050,2480,2114,3430
$GC,846,-1.21,-146.6,98.1,-12.5,39,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2114,3430
$GC,1155,-1.21,-146.6,138.5,-13.2,54,1159,0.00,2.47,0.00,0.000,4,0.000,0.059,2480,716,3430
$GC,1211,-1.26,-146.6,146.3,-13.7,56,1217,0.00,2.50,0.00,0.000,6,0.000,0.048,2481,2129,3431
$GC,1540,-1.26,-146.6,190.1,-13.7,77,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2130,3431
$GC,1852,-1.26,-146.6,231.2,-13.1,97,1856,0.00,2.55,0.00,0.000,4,0.000,0.061,2481,717,3431
$GC,1903,-1.32,-146.6,237.8,-12.7,100,1908,0.12,2.50,0.00,0.000,6,0.060,0.049,2447,2128,3431
$GC,2225,-1.27,-146.6,283.6,-14.5,120,2230,0.10,2.55,0.00,0.000,4,0.106,0.062,2466,721,3431
$GC,2275,-1.27,-146.6,291.3,-13.9,123,2279,0.00,2.47,0.00,0.000,6,0.000,0.050,2465,2116,3431
$GC,2595,-1.27,-146.6,334.2,-12.8,143,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2116,3431
$GC,2906,-1.27,-146.6,372.1,-11.9,163,2910,0.00,2.53,0.00,0.000,4,0.000,0.064,2465,720,3431
$GC,2953,-1.30,-146.6,377.5,-12.6,166,2957,0.00,2.45,0.00,0.000,6,0.000,0.050,2465,2103,3431
$GC,3277,-1.30,-146.6,418.5,-13.3,187,3281,0.00,2.53,0.00,0.000,4,0.000,0.066,2465,720,3431
$GC,3310,-1.30,-146.6,423.2,-13.8,189,3314,0.00,2.45,0.00,0.000,6,0.000,0.051,2465,2099,3431
$GC,3630,-1.30,-146.6,468.1,-14.4,209,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2099,3431
$GC,3941,-1.30,-146.6,512.9,-14.7,229,3945,0.00,2.50,0.00,0.000,4,0.000,0.064,2466,722,3431
$GC,4014,-1.34,-146.6,523.6,-14.4,233,4020,0.00,2.45,0.00,0.000,6,0.000,0.052,2465,2100,3431
$GC,4333,-1.34,-146.6,566.6,-13.3,254,4337,0.00,2.53,0.00,0.000,4,0.000,0.071,2465,734,3431
$GC,4425,-1.39,-146.6,579.2,-14.7,259,4430,0.10,2.42,0.00,0.000,6,0.067,0.055,2437,2084,3431
$STATE,4507,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4507,begin apogee
$GC,4514,-0.33,0.0,590.1,13.1,264,4650,1.10,0.00,131.45,1.200,6,0.082,0.000,2674,1838,2831
$STATE,4650,end apogee,CONTROL_FINISHED_OK
$STATE,4650,begin climb
$GC,4653,1.44,146.6,597.1,0.0,273,4795,1.75,2.70,132.62,1.157,4,0.058,0.076,3058,450,2232
$GC,4865,1.36,181.8,584.4,8.4,286,4905,0.00,2.55,32.45,1.111,6,0.000,0.058,3058,1862,2089
$GC,5230,1.31,181.8,547.8,10.2,309,5232,0.15,0.00,0.00,0.000,6,0.104,0.000,3031,1863,2088
$GC,5539,1.36,208.7,521.3,8.8,329,5571,0.00,2.72,24.48,1.125,4,0.000,0.079,3031,448,1980
$GC,5623,1.36,208.7,512.6,10.4,334,5627,0.00,2.50,0.00,0.000,6,0.000,0.061,3030,1811,1980
$GC,5948,1.36,208.7,478.5,10.6,355,5952,0.00,2.67,0.00,0.000,4,0.000,0.073,3030,3261,1979
$GC,5993,1.40,208.7,473.4,12.2,358,5997,0.00,2.62,0.00,0.000,6,0.000,0.067,3031,1837,1978
$GC,6318,1.40,208.7,431.7,12.9,379,6322,0.00,2.65,0.00,0.000,4,0.000,0.070,3030,3258,1977
$GC,6357,1.45,208.7,426.5,12.9,381,6364,0.12,2.62,0.00,0.000,6,0.064,0.063,3064,1832,1977
$GC,6676,1.41,208.7,383.9,12.9,402,6681,0.00,2.65,0.00,0.000,4,0.000,0.066,3064,3260,1976
$GC,6706,1.37,208.7,379.9,13.7,404,6711,0.00,2.58,0.00,0.000,6,0.000,0.059,3064,1845,1976
$GC,7032,1.34,208.7,341.4,11.5,425,7037,0.15,2.62,0.00,0.000,4,0.100,0.064,3035,3264,1976
$GC,7078,1.38,208.7,336.4,11.0,428,7083,0.00,2.55,0.00,0.000,6,0.000,0.056,3035,1853,1977
$GC,7403,1.38,208.7,303.3,10.1,449,7407,0.00,2.60,0.00,0.000,4,0.000,0.064,3035,3264,1976
$GC,7449,1.43,212.9,298.7,9.8,452,7459,0.00,2.50,4.85,0.750,6,0.000,0.054,3035,1866,1962
$GC,7776,1.46,231.7,267.7,9.1,472,7799,0.12,2.62,17.12,0.955,4,0.059,0.061,3069,3263,1886
$GC,7833,1.46,231.7,260.9,12.1,475,7840,0.00,2.50,0.00,0.000,6,0.000,0.053,3069,1886,1885
$GC,8154,1.43,231.7,226.0,10.9,496,8158,0.00,2.53,0.00,0.000,4,0.000,0.061,3069,3260,1885
$GC,8182,1.43,231.7,222.6,11.6,498,8187,0.00,2.45,0.00,0.000,6,0.000,0.052,3069,1892,1886
$GC,8508,1.42,241.6,189.3,9.5,519,8524,0.00,2.55,10.23,0.848,4,0.000,0.060,3069,3262,1845
$GC,8560,1.42,241.6,184.1,10.2,522,8564,0.00,2.45,0.00,0.000,6,0.000,0.051,3069,1903,1845
$GC,8885,1.45,265.3,154.1,8.9,543,8911,0.00,2.55,20.90,0.888,4,0.000,0.059,3069,3266,1749
$GC,8934,1.45,265.3,149.1,10.2,545,8938,0.00,2.45,0.00,0.000,6,0.000,0.050,3069,1912,1749
$GC,9251,1.45,265.3,117.0,10.5,560,9252,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1912,1749
$GC,9561,1.45,265.3,84.3,10.6,575,9562,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1911,1750
$GC,9869,1.47,276.9,54.0,9.5,590,9885,0.00,2.50,11.20,0.774,4,0.000,0.058,3069,3262,1701
$GC,9911,1.51,299.0,50.2,9.0,591,9936,0.00,2.45,19.48,0.806,6,0.000,0.049,3069,1899,1611
$GC,10265,1.51,299.0,9.6,10.7,608,10269,0.00,2.50,0.00,0.000,4,0.000,0.058,3069,3267,1612
$GC,10310,1.59,310.8,5.8,9.5,610,10327,0.00,2.40,10.50,0.733,6,0.000,0.048,3069,1918,1564
$STATE,10345,end climb,SURFACE_DEPTH_REACHED
$STATE,10345,begin surface coast
$FINISH,0.4,1.013546
$STATE,10367,end surface coast,CONTROL_FINISHED_OK
$STATE,10367,begin surface
$SM_CCo,10451,0.00,0.000,0,0,1561,311.29
$SM_GC,1.24,11.60,0.00,0.00,0.038,0.000,0.000,420,2146,1561,-10.60,0.45,311.29
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1849
$TCM_TEMP,17.40
$XPDR_PINGS,45
$ALTIM_BOTTOM_PING,570.5,28.8
$24V_AH,23.7,64.826
$10V_AH,10.1,29.320
$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,26.425,112.550,415.275,0.000,0.000,37.761,31.127,139.965,16.250,0.000,0.000,16.270,1113.956,7401.474,500.321,1308.550,458.208,33.362,1195.251,0.000,1271.155,0.000,38.226,0.000
$DEVICE_MAMPS,158.002,79.001,1200.355,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.903,447.637,385.178,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31657,613
$CAP_FILE_SIZE,93313,0
$CFSIZE,254472192,230227968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,301009,143756,6233.627,-1037.366,32,3.5,51,-10.5