version: 66.04
glider: 5
mission: 7
dive: 403
start: 10 30 109 14 44 19
data:
$ID,5
$MISSION,7
$DIVE,403
$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,-107942.63
$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,25
$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
$GPS1,143756,6233.627,-1037.366,32,3.5,51,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-55.1
$GPS2,144329,6233.646,-1037.470,14,1.8,29,-10.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.231,-0.126
$KALMAN_X,-207035.6,1443.3,218.0,322489.1,-15992.6
$KALMAN_Y,71613.8,-641.6,-663.1,-171453.4,5329.5
$MHEAD_RNG_PITCHd_Wd,129.2,9296,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,79,0.00,0.00,-60.83,0.000,2,0.000,0.000,419,2154,2765
$GC,83,-1.44,-146.6,2.6,-3.6,3,123,10.95,2.58,-22.62,0.000,4,0.159,0.078,2428,3531,3430
$GC,167,-1.35,-146.6,13.8,-18.8,7,172,0.12,2.53,0.00,0.000,6,0.106,0.049,2452,2120,3429
$GC,496,-1.30,-146.6,63.1,-15.1,23,500,0.00,2.60,0.00,0.000,4,0.000,0.065,2453,3535,3430
$GC,529,-1.25,-146.6,68.9,-16.1,24,536,0.10,2.47,0.00,0.000,6,0.106,0.050,2471,2148,3430
$GC,847,-1.25,-146.6,113.6,-13.8,40,851,0.00,2.55,0.00,0.000,4,0.000,0.059,2472,708,3430
$GC,947,-1.28,-146.6,128.0,-13.5,44,954,0.00,2.50,0.00,0.000,6,0.000,0.047,2472,2122,3431
$GC,1276,-1.28,-146.6,172.7,-13.9,63,1280,0.00,2.55,0.00,0.000,4,0.000,0.060,2472,711,3431
$GC,1309,-1.31,-146.6,177.5,-13.2,65,1314,0.00,2.50,0.00,0.000,6,0.000,0.048,2472,2122,3430
$GC,1629,-1.31,-146.6,219.9,-12.9,85,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2123,3431
$GC,1942,-1.31,-146.6,261.9,-13.7,105,1946,0.00,2.55,0.00,0.000,4,0.000,0.063,2472,717,3431
$GC,1970,-1.31,-146.6,266.3,-14.8,107,1974,0.00,2.47,0.00,0.000,6,0.000,0.050,2472,2114,3431
$GC,2296,-1.31,-146.6,311.1,-14.0,128,2301,0.00,2.53,0.00,0.000,4,0.000,0.061,2472,717,3431
$GC,2337,-1.35,-146.6,317.2,-14.7,130,2343,0.00,2.45,0.00,0.000,6,0.000,0.049,2472,2101,3431
$GC,2657,-1.35,-146.6,358.3,-11.4,151,2662,0.00,2.62,0.00,0.000,4,0.000,0.079,2471,3527,3431
$GC,2686,-1.35,-146.6,361.9,-11.9,153,2691,0.00,2.62,0.00,0.000,6,0.000,0.061,2472,2077,3431
$GC,3012,-1.35,-146.6,394.5,-9.6,174,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2077,3431
$GC,3324,-1.35,-146.6,423.5,-8.7,194,3328,0.00,2.70,0.00,0.000,4,0.000,0.071,2472,3534,3431
$GC,3380,-1.35,-146.6,428.5,-9.1,197,3387,0.00,2.62,0.00,0.000,6,0.000,0.060,2472,2086,3430
$GC,3700,-1.35,-146.6,460.1,-9.9,218,3704,0.00,2.45,0.00,0.000,4,0.000,0.063,2472,713,3430
$GC,3770,-1.39,-146.6,466.7,-9.6,222,3775,0.15,2.42,0.00,0.000,6,0.059,0.050,2434,2077,3430
$GC,4091,-1.34,-146.6,507.1,-15.1,242,4096,0.00,2.67,0.00,0.000,4,0.000,0.076,2433,3528,3430
$GC,4114,-1.30,-146.6,511.0,-15.5,243,4120,0.12,2.70,0.00,0.000,6,0.100,0.064,2459,2054,3430
$GC,4436,-1.30,-146.6,551.5,-12.4,264,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2054,3430
$GC,4745,-1.30,-146.6,591.8,-12.9,284,4749,0.00,2.80,0.00,0.000,4,0.000,0.080,2459,3535,3430
$STATE,4771,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4771,begin apogee
$GC,4783,-0.33,0.0,595.4,12.1,286,4917,0.95,0.00,130.98,1.210,6,0.086,0.000,2664,1846,2831
$STATE,4918,end apogee,CONTROL_FINISHED_OK
$STATE,4918,begin climb
$GC,4921,1.44,146.6,602.8,0.0,295,5062,1.80,2.72,132.07,1.166,4,0.061,0.072,3058,3257,2233
$GC,5319,1.44,189.8,578.5,8.0,319,5366,0.00,2.65,38.90,1.145,6,0.000,0.070,3058,1841,2057
$GC,5683,1.44,217.9,547.1,8.7,342,5715,0.00,2.72,25.67,1.135,4,0.000,0.075,3058,3247,1941
$GC,5777,1.44,217.9,537.6,10.0,347,5783,0.00,2.60,0.00,0.000,6,0.000,0.071,3059,1857,1941
$GC,6098,1.40,217.9,503.6,11.5,368,6102,0.00,2.62,0.00,0.000,4,0.000,0.074,3058,3248,1940
$GC,6114,1.36,217.9,501.2,12.2,369,6118,0.00,2.55,0.00,0.000,6,0.000,0.067,3059,1878,1940
$GC,6433,1.32,217.9,461.8,13.9,389,6438,0.15,2.65,0.00,0.000,4,0.101,0.073,3031,432,1939
$GC,6473,1.32,217.9,455.7,15.4,391,6479,0.00,2.62,0.00,0.000,6,0.000,0.056,3031,1881,1939
$GC,6792,1.32,217.9,410.2,13.0,412,6796,0.00,2.50,0.00,0.000,4,0.000,0.070,3031,3255,1939
$GC,6825,1.36,217.9,405.6,13.2,414,6830,0.00,2.53,0.00,0.000,6,0.000,0.061,3031,1876,1938
$GC,7146,1.39,217.9,368.4,11.1,434,7150,0.00,2.58,0.00,0.000,4,0.000,0.067,3031,3262,1938
$GC,7179,1.43,217.9,364.5,11.5,436,7184,0.12,2.47,0.00,0.000,6,0.063,0.059,3064,1903,1938
$GC,7502,1.39,217.9,326.9,11.5,456,7506,0.00,2.50,0.00,0.000,4,0.000,0.065,3064,3259,1938
$GC,7541,1.39,217.9,321.8,11.6,458,7545,0.00,2.42,0.00,0.000,6,0.000,0.056,3064,1915,1938
$GC,7866,1.35,217.9,285.6,11.4,479,7871,0.12,2.47,0.00,0.000,4,0.099,0.067,3039,3257,1938
$GC,7889,1.35,217.9,282.9,11.6,480,7895,0.00,2.42,0.00,0.000,6,0.000,0.054,3040,1912,1938
$GC,8208,1.38,234.7,252.2,9.2,501,8229,0.00,2.55,15.12,0.932,4,0.000,0.063,3040,3264,1874
$GC,8263,1.42,234.7,246.7,10.5,504,8269,0.00,2.42,0.00,0.000,6,0.000,0.052,3039,1926,1874
$GC,8583,1.44,243.1,217.8,9.6,525,8600,0.00,2.50,9.00,0.855,4,0.000,0.062,3040,3255,1838
$GC,8623,1.48,243.1,213.2,11.0,527,8628,0.12,2.38,0.00,0.000,6,0.060,0.052,3073,1945,1838
$GC,8943,1.44,243.1,177.3,11.4,547,8947,0.00,2.70,0.00,0.000,4,0.000,0.063,3073,438,1838
$GC,8959,1.39,243.1,175.0,12.0,548,8965,0.15,2.70,0.00,0.000,6,0.095,0.048,3044,1958,1838
$GC,9278,1.39,243.1,143.0,10.1,567,9282,0.00,2.33,0.00,0.000,4,0.000,0.062,3045,3265,1839
$GC,9298,1.43,247.1,141.3,9.8,568,9308,0.00,2.38,5.03,0.682,6,0.000,0.051,3045,1938,1823
$GC,9626,1.45,261.6,110.6,9.3,584,9647,0.00,2.47,13.65,0.833,4,0.000,0.060,3045,3258,1764
$GC,9676,1.52,266.5,105.4,9.8,586,9687,0.15,2.38,5.62,0.688,6,0.054,0.050,3084,1939,1744
$GC,10000,1.48,266.5,70.0,11.1,601,10005,0.00,2.67,0.00,0.000,4,0.000,0.061,3084,442,1744
$GC,10019,1.43,266.5,67.6,11.1,602,10024,0.15,2.70,0.00,0.000,6,0.097,0.047,3056,1969,1744
$GC,10348,1.43,270.8,35.9,9.8,618,10358,0.00,2.30,5.32,0.641,4,0.000,0.057,3056,3257,1727
$GC,10392,1.49,270.8,31.2,11.2,620,10396,0.00,2.35,0.00,0.000,6,0.000,0.048,3056,1945,1727
$STATE,10676,end climb,SURFACE_DEPTH_REACHED
$STATE,10677,begin surface coast
$FINISH,0.5,1.027176
$STATE,10697,end surface coast,CONTROL_FINISHED_OK
$STATE,10697,begin surface
$SM_CCo,10722,15.35,0.752,0,0,1608,300.00
$SM_GC,1.40,0.00,0.00,15.35,0.000,0.000,0.752,416,2166,1608,-10.70,1.13,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1844
$TCM_TEMP,17.40
$XPDR_PINGS,52
$ALTIM_BOTTOM_PING,570.8,34.3
$24V_AH,23.7,64.964
$10V_AH,10.1,29.382
$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,26.600,133.300,381.375,15.350,0.000,37.762,27.752,131.051,18.000,0.000,0.000,29.390,1164.630,7556.050,511.471,1374.936,465.773,33.363,1234.459,0.000,1324.283,0.000,38.267,0.000
$DEVICE_MAMPS,158.769,79.768,1210.326,752.427,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.815,468.194,388.649,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31687,635
$CAP_FILE_SIZE,99823,0
$CFSIZE,254472192,230178816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,301009,174437,6233.452,-1037.692,40,0.8,40,-10.5