version: 66.04
glider: 5
mission: 7
dive: 406
start: 10 30 109 23 53 23
data:
$ID,5
$MISSION,7
$DIVE,406
$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,-107987.2
$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,24
$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
$GPS1,234724,6231.588,-1036.341,24,1.0,41,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-62.5
$GPS2,235232,6231.585,-1036.441,14,1.0,14,-10.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.260,0.043
$KALMAN_X,-215570.7,1678.0,604.8,331216.9,-17157.1
$KALMAN_Y,73546.0,-573.7,-971.7,-176977.0,5763.2
$MHEAD_RNG_PITCHd_Wd,91.0,6242,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-40.90,0.000,2,0.000,0.000,419,2148,2408
$GC,63,-1.44,-146.6,2.1,-4.4,2,127,10.90,2.55,-46.80,0.000,4,0.158,0.081,2420,3540,3429
$GC,193,-1.30,-146.6,14.6,-15.7,7,200,0.20,2.55,0.00,0.000,6,0.097,0.051,2460,2117,3429
$GC,511,-1.27,-146.6,60.3,-14.8,23,515,0.00,2.47,0.00,0.000,4,0.000,0.058,2461,717,3429
$GC,556,-1.27,-146.6,67.4,-14.4,25,560,0.00,2.53,0.00,0.000,6,0.000,0.048,2461,2140,3430
$GC,878,-1.27,-146.6,112.9,-13.4,41,882,0.00,2.58,0.00,0.000,4,0.000,0.056,2461,711,3429
$GC,905,-1.27,-146.6,116.8,-12.9,42,910,0.00,2.53,0.00,0.000,6,0.000,0.048,2461,2136,3430
$GC,1227,-1.27,-146.6,157.4,-12.6,58,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2135,3430
$GC,1540,-1.27,-146.6,198.0,-13.5,78,1544,0.00,2.58,0.00,0.000,4,0.000,0.058,2461,709,3430
$GC,1573,-1.27,-146.6,202.7,-13.0,80,1577,0.00,2.50,0.00,0.000,6,0.000,0.048,2461,2120,3430
$GC,1892,-1.27,-146.6,244.5,-13.0,100,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2120,3431
$GC,2205,-1.27,-146.6,286.2,-13.6,120,2209,0.00,2.53,0.00,0.000,4,0.000,0.060,2461,719,3430
$GC,2255,-1.27,-146.6,293.4,-14.3,123,2259,0.00,2.50,0.00,0.000,6,0.000,0.049,2461,2125,3430
$GC,2575,-1.27,-146.6,335.8,-12.9,143,2579,0.00,2.55,0.00,0.000,4,0.000,0.063,2461,720,3430
$GC,2613,-1.27,-146.6,341.0,-13.0,145,2620,0.00,2.47,0.00,0.000,6,0.000,0.050,2461,2115,3430
$GC,2934,-1.27,-146.6,381.1,-12.4,166,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2114,3430
$GC,3245,-1.27,-146.6,417.7,-11.5,186,3249,0.00,2.53,0.00,0.000,4,0.000,0.063,2461,719,3430
$GC,3301,-1.30,-146.6,424.3,-10.5,189,3306,0.00,2.45,0.00,0.000,6,0.000,0.050,2461,2100,3430
$GC,3621,-1.30,-146.6,457.7,-9.9,209,3626,0.00,2.53,0.00,0.000,4,0.000,0.066,2461,716,3430
$GC,3689,-1.30,-146.6,465.1,-10.6,213,3693,0.00,2.45,0.00,0.000,6,0.000,0.051,2461,2091,3430
$GC,4009,-1.30,-146.6,496.5,-10.0,233,4013,0.00,2.50,0.00,0.000,4,0.000,0.064,2461,721,3430
$GC,4048,-1.30,-146.6,500.7,-10.9,235,4055,0.00,2.42,0.00,0.000,6,0.000,0.052,2461,2080,3430
$GC,4369,-1.30,-146.6,535.3,-11.3,256,4373,0.00,2.50,0.00,0.000,4,0.000,0.070,2462,723,3430
$GC,4409,-1.33,-146.6,540.1,-11.8,258,4415,0.00,2.38,0.00,0.000,6,0.000,0.054,2461,2043,3430
$GC,4729,-1.33,-146.6,578.7,-12.5,279,4733,0.00,2.75,0.00,0.000,4,0.000,0.078,2461,3530,3429
$GC,4757,-1.33,-146.6,582.5,-13.1,281,4762,0.00,2.72,0.00,0.000,6,0.000,0.070,2462,2052,3430
$STATE,4970,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4970,begin apogee
$GC,4978,-0.33,0.0,608.5,11.2,295,5113,0.98,0.00,131.15,1.226,6,0.083,0.000,2670,1843,2831
$STATE,5114,end apogee,CONTROL_FINISHED_OK
$STATE,5114,begin climb
$GC,5117,1.44,146.6,614.4,0.0,304,5261,1.75,2.75,132.15,1.183,4,0.057,0.073,3061,3250,2232
$GC,5283,1.39,180.5,609.3,8.5,315,5320,0.00,2.62,31.60,1.128,6,0.000,0.068,3062,1855,2094
$GC,5644,1.37,209.2,575.8,8.7,338,5678,0.00,2.72,26.52,1.132,4,0.000,0.076,3061,3253,1978
$GC,5692,1.36,226.3,571.2,9.2,341,5718,0.00,2.65,16.42,1.089,6,0.000,0.071,3061,1850,1908
$GC,6033,1.32,229.9,537.0,9.8,363,6044,0.15,2.67,4.65,0.817,4,0.101,0.076,3034,3255,1894
$GC,6107,1.39,247.8,529.7,9.2,366,6130,0.00,2.60,17.35,1.116,6,0.000,0.071,3034,1863,1820
$GC,6444,1.41,264.6,498.6,9.2,388,6462,0.00,0.00,16.10,1.111,6,0.000,0.000,3034,1863,1753
$GC,6771,1.46,269.6,466.3,9.8,409,6782,0.15,2.65,5.95,0.916,4,0.062,0.071,3071,3258,1732
$GC,6827,1.46,269.6,459.6,11.7,411,6834,0.00,2.58,0.00,0.000,6,0.000,0.067,3071,1869,1732
$GC,7148,1.43,269.6,424.4,10.9,432,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1869,1731
$GC,7460,1.39,269.6,388.7,11.6,452,7465,0.12,2.58,0.00,0.000,4,0.103,0.067,3047,3254,1731
$GC,7527,1.43,269.6,381.3,10.5,456,7532,0.00,2.47,0.00,0.000,6,0.000,0.060,3047,1899,1731
$GC,7847,1.43,269.6,348.1,10.6,476,7851,0.00,2.50,0.00,0.000,4,0.000,0.066,3047,3259,1731
$GC,7876,1.47,269.6,344.9,11.3,478,7880,0.00,2.45,0.00,0.000,6,0.000,0.058,3047,1909,1731
$GC,8201,1.47,271.0,311.6,9.9,499,8205,0.00,2.47,0.00,0.000,4,0.000,0.064,3047,3252,1731
$GC,8231,1.51,271.0,308.5,11.5,501,8236,0.12,2.42,0.00,0.000,6,0.061,0.056,3080,1913,1731
$GC,8558,1.47,271.0,270.9,11.8,522,8562,0.00,2.47,0.00,0.000,4,0.000,0.063,3080,3258,1732
$GC,8585,1.47,271.0,267.2,12.1,523,8591,0.00,2.40,0.00,0.000,6,0.000,0.054,3080,1927,1732
$GC,8906,1.42,271.0,230.4,11.7,544,8907,0.12,0.00,0.00,0.000,6,0.099,0.000,3056,1927,1732
$GC,9217,1.45,287.8,199.8,9.2,564,9240,0.00,2.53,16.80,0.902,4,0.000,0.061,3056,3258,1657
$GC,9283,1.50,287.8,193.3,10.2,568,9287,0.00,2.38,0.00,0.000,6,0.000,0.052,3056,1940,1657
$GC,9614,1.50,287.8,160.4,10.3,589,9615,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1941,1657
$GC,9930,1.50,287.8,128.6,10.4,606,9931,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1940,1657
$GC,10240,1.53,287.8,93.9,10.9,621,10244,0.00,2.40,0.00,0.000,4,0.000,0.060,3056,3254,1658
$GC,10280,1.59,287.8,89.3,11.6,623,10285,0.17,2.38,0.00,0.000,6,0.053,0.049,3105,1920,1658
$GC,10608,1.54,287.8,44.9,13.9,639,10613,0.12,2.45,0.00,0.000,4,0.097,0.058,3078,3264,1658
$GC,10649,1.54,287.8,39.6,12.3,641,10653,0.00,2.35,0.00,0.000,6,0.000,0.048,3078,1943,1658
$STATE,10959,end climb,SURFACE_DEPTH_REACHED
$STATE,10959,begin surface coast
$FINISH,0.4,1.026535
$STATE,10981,end surface coast,CONTROL_FINISHED_OK
$STATE,10981,begin surface
$SM_CCo,11005,6.53,0.658,0,0,1608,300.00
$SM_GC,2.00,0.00,0.00,6.53,0.000,0.000,0.658,421,2151,1608,-10.69,0.59,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1849
$TCM_TEMP,17.40
$XPDR_PINGS,36
$ALTIM_BOTTOM_PING,595.6,21.2
$24V_AH,23.7,65.400
$10V_AH,10.1,29.562
$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,26.350,111.775,398.700,6.525,0.000,37.761,26.776,123.072,14.250,0.000,0.000,14.243,1173.944,7852.298,507.340,1342.761,448.310,33.362,1213.641,0.000,1309.769,0.000,39.789,0.000
$DEVICE_MAMPS,158.002,80.535,1226.433,658.086,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.178,481.811,386.423,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34766,657
$CAP_FILE_SIZE,94835,0
$CFSIZE,254472192,230031360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,311009,025807,6230.880,-1037.735,31,1.1,31,-10.5