version: 66.04
glider: 5
mission: 7
dive: 410
start: 10 31 109 12 18 58
data:
$ID,5
$MISSION,7
$DIVE,410
$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,-108046.26
$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,23
$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
$GPS1,121237,6231.713,-1035.780,35,1.1,35,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-62.0
$GPS2,121807,6231.714,-1035.848,12,1.1,12,-10.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.262,-0.027
$KALMAN_X,-226617.5,1862.5,626.0,342545.2,-16280.6
$KALMAN_Y,67870.1,245.5,-273.5,-172611.3,-966.3
$MHEAD_RNG_PITCHd_Wd,106.5,5923,-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,-60.58,0.000,2,0.000,0.000,422,2145,2808
$GC,83,-1.44,-146.6,2.5,-2.8,3,126,10.98,2.55,-21.05,0.000,4,0.160,0.079,2421,3535,3428
$GC,178,-1.31,-146.6,16.1,-14.1,7,183,0.20,2.53,0.00,0.000,6,0.100,0.049,2460,2127,3428
$GC,501,-1.27,-146.6,62.2,-14.2,23,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2113,3429
$GC,809,-1.27,-146.6,108.5,-15.5,38,813,0.00,2.60,0.00,0.000,4,0.000,0.067,2460,3538,3429
$GC,853,-1.27,-146.6,115.8,-15.7,40,858,0.00,2.55,0.00,0.000,6,0.000,0.050,2460,2111,3429
$GC,1170,-1.27,-146.6,164.5,-15.0,57,1174,0.00,2.47,0.00,0.000,4,0.000,0.058,2461,715,3429
$GC,1210,-1.27,-146.6,170.5,-14.9,59,1216,0.00,2.50,0.00,0.000,6,0.000,0.048,2460,2128,3429
$GC,1530,-1.27,-146.6,216.6,-14.4,80,1534,0.00,2.55,0.00,0.000,4,0.000,0.059,2461,718,3429
$GC,1562,-1.27,-146.6,221.5,-14.8,82,1566,0.00,2.47,0.00,0.000,6,0.000,0.048,2461,2119,3429
$GC,1888,-1.27,-146.6,266.1,-14.1,103,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2119,3429
$GC,2199,-1.27,-146.6,310.3,-13.9,123,2204,0.00,2.53,0.00,0.000,4,0.000,0.060,2460,724,3429
$GC,2250,-1.27,-146.6,317.8,-14.5,126,2254,0.00,2.45,0.00,0.000,6,0.000,0.048,2461,2105,3429
$GC,2575,-1.27,-146.6,363.6,-14.5,147,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2104,3429
$GC,2887,-1.27,-146.6,407.4,-14.3,167,2890,0.00,2.53,0.00,0.000,4,0.000,0.064,2460,719,3430
$GC,2955,-1.27,-146.6,417.1,-13.6,171,2959,0.00,2.45,0.00,0.000,6,0.000,0.051,2461,2101,3429
$GC,3281,-1.27,-146.6,461.0,-13.1,192,3285,0.00,2.53,0.00,0.000,4,0.000,0.065,2461,720,3429
$GC,3344,-1.30,-146.6,469.5,-13.3,196,3351,0.00,2.38,0.00,0.000,6,0.000,0.051,2461,2057,3429
$GC,3677,-1.30,-146.6,510.5,-11.2,217,3681,0.00,2.45,0.00,0.000,4,0.000,0.067,2461,725,3429
$GC,3734,-1.35,-146.6,517.6,-12.4,220,3740,0.00,2.38,0.00,0.000,6,0.000,0.053,2461,2055,3429
$GC,4054,-1.35,-146.6,554.4,-12.4,241,4058,0.00,2.72,0.00,0.000,4,0.000,0.078,2461,3529,3429
$GC,4092,-1.35,-146.6,559.7,-13.2,243,4099,0.00,2.72,0.00,0.000,6,0.000,0.067,2461,2051,3429
$GC,4411,-1.35,-146.6,598.3,-11.8,264,4416,0.00,2.42,0.00,0.000,4,0.000,0.075,2461,722,3429
$GC,4442,-1.38,-146.6,601.6,-11.5,266,4446,0.00,2.38,0.00,0.000,6,0.000,0.056,2461,2040,3429
$STATE,4482,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4482,begin apogee
$GC,4490,-0.33,0.0,606.5,11.3,269,4625,0.98,0.00,130.98,1.226,6,0.080,0.000,2670,1839,2831
$STATE,4625,end apogee,CONTROL_FINISHED_OK
$STATE,4625,begin climb
$GC,4628,1.44,146.6,610.2,0.0,278,4770,1.77,2.62,131.65,1.182,4,0.061,0.078,3057,466,2233
$GC,4937,1.34,158.0,589.6,9.5,296,4954,0.00,2.53,11.52,1.039,6,0.000,0.059,3057,1853,2187
$GC,5270,1.31,174.7,560.3,9.2,317,5292,0.15,2.70,16.10,1.104,4,0.101,0.081,3030,460,2118
$GC,5316,1.31,174.7,555.5,10.1,320,5320,0.00,2.55,0.00,0.000,6,0.000,0.062,3030,1838,2118
$GC,5642,1.32,180.3,524.4,9.7,341,5657,0.00,2.65,6.43,0.953,4,0.000,0.076,3030,3254,2094
$GC,5686,1.33,185.2,519.8,9.8,343,5697,0.00,2.58,6.00,0.930,6,0.000,0.071,3030,1876,2075
$GC,6018,1.38,214.5,490.3,8.7,365,6051,0.00,2.67,26.70,1.158,4,0.000,0.073,3030,3258,1955
$GC,6087,1.42,214.5,483.6,10.5,369,6093,0.10,2.62,0.00,0.000,6,0.070,0.068,3055,1851,1955
$GC,6412,1.42,214.5,448.3,10.9,390,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1851,1954
$GC,6725,1.42,214.5,414.8,10.6,410,6729,0.00,2.62,0.00,0.000,4,0.000,0.069,3055,3258,1953
$GC,6747,1.42,214.5,412.1,11.2,411,6753,0.00,2.58,0.00,0.000,6,0.000,0.062,3055,1857,1953
$GC,7066,1.42,214.5,379.4,10.1,432,7070,0.00,2.60,0.00,0.000,4,0.000,0.066,3055,3258,1953
$GC,7105,1.42,214.5,375.2,11.0,434,7111,0.00,2.55,0.00,0.000,6,0.000,0.060,3055,1862,1953
$GC,7424,1.42,214.5,343.0,10.3,455,7428,0.00,2.58,0.00,0.000,4,0.000,0.065,3055,3255,1953
$GC,7463,1.42,214.5,338.6,11.2,457,7469,0.00,2.50,0.00,0.000,6,0.000,0.057,3055,1877,1953
$GC,7782,1.42,214.5,305.3,10.4,478,7787,0.00,2.55,0.00,0.000,4,0.000,0.064,3055,3261,1953
$GC,7811,1.42,214.5,302.1,11.2,480,7816,0.00,2.47,0.00,0.000,6,0.000,0.055,3055,1892,1953
$GC,8136,1.42,214.5,268.5,10.5,501,8141,0.00,2.50,0.00,0.000,4,0.000,0.062,3055,3257,1954
$GC,8159,1.42,214.5,265.9,11.0,502,8165,0.00,2.42,0.00,0.000,6,0.000,0.053,3056,1908,1954
$GC,8479,1.42,214.5,231.8,10.7,523,8483,0.00,2.47,0.00,0.000,4,0.000,0.067,3056,3254,1954
$GC,8512,1.42,214.5,228.1,11.0,525,8516,0.00,2.40,0.00,0.000,6,0.000,0.052,3055,1915,1954
$GC,8832,1.45,235.0,197.1,9.1,545,8857,0.00,2.53,18.38,0.910,4,0.000,0.060,3055,3257,1873
$GC,8882,1.46,239.6,192.4,9.8,548,8892,0.00,2.40,5.68,0.741,6,0.000,0.051,3055,1927,1854
$GC,9206,1.46,239.6,160.9,10.0,568,9208,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1927,1854
$GC,9517,1.48,255.4,130.8,9.3,585,9539,0.00,2.47,14.60,0.854,4,0.000,0.059,3055,3262,1789
$GC,9569,1.55,273.2,125.8,9.2,587,9590,0.12,2.40,15.95,0.851,6,0.057,0.050,3090,1929,1717
$GC,9922,1.51,273.2,84.4,12.2,604,9926,0.00,2.42,0.00,0.000,4,0.000,0.059,3090,3254,1717
$GC,9966,1.51,273.2,78.4,11.9,606,9970,0.00,2.33,0.00,0.000,6,0.000,0.051,3090,1955,1717
$GC,10288,1.46,273.2,40.3,11.8,622,10293,0.15,2.38,0.00,0.000,4,0.095,0.061,3061,3257,1718
$GC,10306,1.46,273.2,38.2,11.6,623,10311,0.00,2.33,0.00,0.000,6,0.000,0.052,3061,1956,1718
$GC,10635,1.50,273.2,3.8,10.6,639,10639,0.00,2.20,0.00,0.000,3,0.000,0.058,3061,3167,1719
$STATE,10639,end climb,SURFACE_DEPTH_REACHED
$STATE,10640,begin surface coast
$FINISH,0.4,1.027136
$STATE,10677,end surface coast,CONTROL_FINISHED_OK
$STATE,10677,begin surface
$SM_CCo,10703,14.05,0.749,0,0,1608,300.00
$SM_GC,1.26,0.00,0.00,14.05,0.000,0.000,0.749,424,2114,1608,-10.68,-0.48,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1841
$TCM_TEMP,17.50
$XPDR_PINGS,45
$ALTIM_BOTTOM_PING,596.3,18.8
$24V_AH,23.7,65.966
$10V_AH,10.1,29.804
$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,25.975,125.050,383.975,14.050,0.000,37.762,45.423,127.446,16.500,0.000,0.000,12.942,1149.298,7572.138,501.589,1355.754,472.419,33.362,1223.959,0.000,1322.383,0.000,39.821,0.000
$DEVICE_MAMPS,159.536,80.535,1225.666,748.592,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.240,468.130,381.827,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31614,641
$CAP_FILE_SIZE,95530,0
$CFSIZE,254472192,229851136
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,311009,151854,6230.712,-1036.340,38,1.6,38,-10.5