version: 66.04
glider: 5
mission: 7
dive: 404
start: 10 30 109 17 54 17
data:
$ID,5
$MISSION,7
$DIVE,404
$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,-107956.88
$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,22
$R_STBD_OVSHOOT,35
$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
$GPS1,174437,6233.452,-1037.692,40,0.8,40,-10.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-58.5
$GPS2,175326,6233.576,-1037.764,13,1.4,13,-10.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.238,-0.113
$KALMAN_X,-211267.0,1314.3,1204.8,325591.0,-18364.6
$KALMAN_Y,73164.7,-1079.1,164.8,-173560.1,5197.7
$MHEAD_RNG_PITCHd_Wd,126.0,9377,-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,-61.05,0.000,2,0.000,0.000,417,2164,2809
$GC,86,-1.44,-146.6,2.7,-3.2,3,122,10.85,0.00,-22.12,0.000,6,0.157,0.000,2424,2158,3430
$GC,420,-1.34,-146.6,54.3,-16.1,19,425,0.12,2.62,0.00,0.000,4,0.111,0.056,2449,706,3430
$GC,439,-1.26,-146.6,57.5,-15.6,20,444,0.10,2.50,0.00,0.000,6,0.104,0.048,2468,2124,3430
$GC,766,-1.26,-146.6,99.2,-12.3,36,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2124,3430
$GC,1077,-1.26,-146.6,136.0,-12.2,51,1081,0.00,2.55,0.00,0.000,4,0.000,0.059,2468,715,3430
$GC,1122,-1.26,-146.6,142.0,-12.3,53,1126,0.00,2.50,0.00,0.000,6,0.000,0.048,2468,2123,3430
$GC,1445,-1.26,-146.6,184.5,-13.1,73,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2123,3430
$GC,1758,-1.26,-146.6,222.0,-11.5,93,1762,0.00,2.58,0.00,0.000,4,0.000,0.061,2468,704,3430
$GC,1814,-1.26,-146.6,228.4,-11.0,96,1820,0.00,2.50,0.00,0.000,6,0.000,0.049,2468,2114,3431
$GC,2133,-1.26,-146.6,262.5,-10.9,117,2138,0.00,2.55,0.00,0.000,4,0.000,0.061,2468,703,3430
$GC,2164,-1.26,-146.6,265.9,-11.6,119,2168,0.00,2.47,0.00,0.000,6,0.000,0.049,2469,2100,3430
$GC,2489,-1.26,-146.6,301.9,-11.7,140,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2100,3430
$GC,2800,-1.26,-146.6,339.1,-11.7,160,2804,0.00,2.53,0.00,0.000,4,0.000,0.064,2468,716,3430
$GC,2852,-1.30,-146.6,345.0,-11.3,163,2857,0.00,2.45,0.00,0.000,6,0.000,0.050,2468,2094,3430
$GC,3178,-1.30,-146.6,379.6,-10.0,184,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2095,3430
$GC,3490,-1.30,-146.6,410.7,-10.3,204,3494,0.00,2.53,0.00,0.000,4,0.000,0.063,2468,704,3430
$GC,3536,-1.33,-146.6,415.4,-10.3,207,3540,0.00,2.47,0.00,0.000,6,0.000,0.050,2468,2098,3430
$GC,3860,-1.33,-146.6,451.4,-11.7,228,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2098,3430
$GC,4173,-1.33,-146.6,484.2,-9.7,248,4178,0.00,2.53,0.00,0.000,4,0.000,0.063,2469,706,3430
$GC,4220,-1.38,-146.6,489.3,-11.5,251,4225,0.12,2.45,0.00,0.000,6,0.064,0.051,2435,2085,3430
$GC,4545,-1.34,-146.6,535.2,-14.2,272,4549,0.00,2.50,0.00,0.000,4,0.000,0.066,2434,717,3430
$GC,4590,-1.34,-146.6,541.7,-13.7,275,4594,0.00,2.40,0.00,0.000,6,0.000,0.054,2434,2059,3430
$GC,4915,-1.30,-146.6,585.0,-13.5,296,4920,0.12,2.72,0.00,0.000,4,0.105,0.078,2459,3540,3430
$STATE,4980,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4980,begin apogee
$GC,4991,-0.33,0.0,593.6,11.8,300,5125,0.95,0.00,130.50,1.205,6,0.080,0.000,2668,1839,2831
$STATE,5126,end apogee,CONTROL_FINISHED_OK
$STATE,5126,begin climb
$GC,5129,1.44,146.6,600.5,0.0,309,5271,1.77,2.72,129.40,1.168,4,0.060,0.079,3057,436,2233
$GC,5331,1.31,146.6,589.5,10.0,321,5336,0.15,2.60,0.00,0.000,6,0.104,0.058,3031,1858,2233
$GC,5653,1.41,207.1,565.5,7.2,341,5715,0.00,2.70,53.83,1.155,4,0.000,0.076,3031,3255,1986
$GC,5739,1.51,248.4,558.2,8.1,346,5783,0.20,2.65,36.85,1.132,6,0.058,0.071,3077,1847,1818
$GC,6095,1.44,248.4,514.4,13.5,369,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1847,1817
$GC,6407,1.37,248.4,462.4,16.7,389,6412,0.17,2.65,0.00,0.000,4,0.105,0.072,3042,3254,1816
$GC,6487,1.41,248.4,449.0,16.3,394,6491,0.00,2.62,0.00,0.000,6,0.000,0.066,3042,1835,1816
$GC,6811,1.41,248.4,408.0,11.6,415,6816,0.00,2.65,0.00,0.000,4,0.000,0.069,3042,3257,1815
$GC,6862,1.44,248.4,402.1,11.4,418,6866,0.00,2.60,0.00,0.000,6,0.000,0.061,3042,1842,1814
$GC,7182,1.46,260.5,370.9,9.4,438,7199,0.00,2.72,11.48,0.995,4,0.000,0.065,3042,3264,1768
$GC,7239,1.51,263.0,365.2,9.9,441,7251,0.15,2.60,4.00,0.701,6,0.061,0.059,3078,1851,1758
$GC,7566,1.45,263.0,329.2,11.3,462,7570,0.00,2.60,0.00,0.000,4,0.000,0.064,3078,3258,1758
$GC,7622,1.42,263.0,322.4,11.5,465,7630,0.12,2.53,0.00,0.000,6,0.102,0.056,3056,1868,1758
$GC,7942,1.42,263.0,290.4,10.3,486,7946,0.00,2.55,0.00,0.000,4,0.000,0.062,3055,3255,1758
$GC,7976,1.42,263.0,286.8,10.3,488,7980,0.00,2.47,0.00,0.000,6,0.000,0.055,3056,1888,1758
$GC,8295,1.42,263.0,252.1,11.6,508,8299,0.00,2.53,0.00,0.000,4,0.000,0.062,3056,3262,1759
$GC,8323,1.42,263.0,248.8,12.1,510,8327,0.00,2.45,0.00,0.000,6,0.000,0.054,3056,1903,1759
$GC,8648,1.42,263.0,209.7,11.8,531,8653,0.00,2.47,0.00,0.000,4,0.000,0.061,3056,3255,1759
$GC,8687,1.42,263.0,204.6,12.2,533,8693,0.00,2.42,0.00,0.000,6,0.000,0.052,3055,1906,1759
$GC,9006,1.42,263.0,168.8,10.9,554,9011,0.00,2.47,0.00,0.000,4,0.000,0.061,3055,3259,1759
$GC,9036,1.42,263.0,165.6,11.3,556,9041,0.00,2.40,0.00,0.000,6,0.000,0.051,3055,1919,1759
$GC,9371,1.47,292.8,134.1,8.6,575,9402,0.00,2.50,25.98,0.876,4,0.000,0.058,3055,3258,1637
$GC,9413,1.50,312.0,130.3,9.1,577,9435,0.00,2.40,17.08,0.848,6,0.000,0.051,3055,1935,1559
$GC,9758,1.50,312.0,96.1,10.5,594,9763,0.00,2.42,0.00,0.000,4,0.000,0.059,3056,3260,1559
$GC,9815,1.57,312.0,89.9,10.5,596,9822,0.15,2.33,0.00,0.000,6,0.055,0.049,3096,1963,1559
$GC,10132,1.52,312.0,50.0,13.2,612,10133,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1963,1559
$GC,10442,1.44,312.0,7.3,12.8,627,10447,0.17,2.38,0.00,0.000,4,0.094,0.059,3058,3261,1559
$STATE,10467,end climb,SURFACE_DEPTH_REACHED
$STATE,10467,begin surface coast
$FINISH,0.5,1.027174
$STATE,10490,end surface coast,CONTROL_FINISHED_OK
$STATE,10490,begin surface
$SM_CCo,10577,0.00,0.000,0,0,1558,312.27
$SM_GC,1.38,11.55,0.00,0.00,0.041,0.000,0.000,425,2100,1558,-10.58,-0.88,312.27
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1840
$TCM_TEMP,19.20
$XPDR_PINGS,47
$ALTIM_BOTTOM_PING,522.1,81.3
$24V_AH,23.7,65.114
$10V_AH,10.1,29.443
$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,26.725,111.525,409.100,0.000,0.000,75.564,55.876,202.436,16.250,0.000,0.000,13.607,1125.872,7571.539,494.141,1313.904,599.280,33.363,1188.834,0.000,1280.883,0.000,32.877,0.000
$DEVICE_MAMPS,157.235,79.001,1204.957,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.921,457.680,379.924,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31628,629
$CAP_FILE_SIZE,94819,0
$CFSIZE,254472192,230125568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,301009,205136,6233.233,-1035.921,25,2.0,25,-10.5