version: 66.04
glider: 5
mission: 7
dive: 412
start: 10 31 109 18 38 59
data:
$ID,5
$MISSION,7
$DIVE,412
$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,-108093.48
$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,20
$R_STBD_OVSHOOT,31
$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
$GPS1,182835,6231.213,-1033.909,39,1.6,43,-10.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-63.7
$GPS2,183807,6231.217,-1033.720,9,1.1,14,-10.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.251,-0.080
$KALMAN_X,-232512.4,1576.6,1510.8,349593.2,-17288.1
$KALMAN_Y,66224.1,563.8,672.7,-173167.9,-3692.4
$MHEAD_RNG_PITCHd_Wd,118.1,42954,-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,15,-1.44,-146.6,0.0,0.0,0,79,0.00,0.00,-61.38,0.000,2,0.000,0.000,424,2160,2822
$GC,83,-1.44,-146.6,2.7,-3.2,3,118,10.95,2.53,-19.08,0.000,4,0.156,0.080,2424,3527,3429
$GC,332,-1.34,-146.6,42.7,-16.7,14,337,0.12,2.53,0.00,0.000,6,0.106,0.049,2448,2120,3430
$GC,654,-1.30,-146.6,90.4,-14.8,30,658,0.00,2.50,0.00,0.000,4,0.000,0.058,2448,711,3430
$GC,699,-1.30,-146.6,97.3,-14.7,32,703,0.00,2.50,0.00,0.000,6,0.000,0.048,2448,2122,3430
$GC,1020,-1.25,-146.6,141.0,-13.2,48,1025,0.12,2.55,0.00,0.000,4,0.100,0.058,2472,713,3430
$GC,1094,-1.29,-146.6,149.7,-11.0,51,1098,0.00,2.50,0.00,0.000,6,0.000,0.048,2472,2122,3430
$GC,1414,-1.29,-146.6,184.2,-11.4,71,1418,0.00,2.58,0.00,0.000,4,0.000,0.069,2472,3535,3430
$GC,1442,-1.29,-146.6,187.5,-12.0,73,1447,0.00,2.58,0.00,0.000,6,0.000,0.055,2472,2106,3430
$GC,1767,-1.29,-146.6,226.5,-12.0,94,1771,0.00,2.47,0.00,0.000,4,0.000,0.061,2472,713,3431
$GC,1813,-1.33,-146.6,232.0,-12.1,97,1817,0.00,2.47,0.00,0.000,6,0.000,0.049,2472,2105,3430
$GC,2138,-1.33,-146.6,271.6,-12.2,118,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2104,3430
$GC,2449,-1.33,-146.6,308.2,-11.7,138,2453,0.00,2.53,0.00,0.000,4,0.000,0.064,2473,716,3431
$GC,2499,-1.38,-146.6,314.3,-11.9,141,2504,0.15,2.47,0.00,0.000,6,0.057,0.050,2433,2113,3430
$GC,2824,-1.31,-146.6,358.4,-13.9,161,2826,0.12,0.00,0.00,0.000,6,0.102,0.000,2457,2113,3431
$GC,3131,-1.31,-146.6,399.0,-13.2,181,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2111,3430
$GC,3446,-1.31,-146.6,439.8,-13.4,201,3450,0.00,2.53,0.00,0.000,4,0.000,0.063,2457,717,3430
$GC,3485,-1.31,-146.6,445.2,-12.9,203,3491,0.00,2.47,0.00,0.000,6,0.000,0.051,2457,2111,3430
$GC,3804,-1.31,-146.6,483.2,-13.1,224,3808,0.00,2.62,0.00,0.000,4,0.000,0.074,2457,3540,3430
$GC,3850,-1.31,-146.6,489.5,-14.4,227,3854,0.00,2.65,0.00,0.000,6,0.000,0.063,2457,2083,3430
$GC,4174,-1.31,-146.6,530.0,-12.3,248,4178,0.00,2.45,0.00,0.000,4,0.000,0.068,2457,719,3430
$GC,4254,-1.31,-146.6,539.9,-11.9,253,4258,0.00,2.47,0.00,0.000,6,0.000,0.053,2457,2102,3430
$GC,4578,-1.31,-146.6,579.2,-11.9,274,4582,0.00,2.58,0.00,0.000,4,0.000,0.074,2457,716,3430
$GC,4634,-1.37,-146.6,586.3,-13.1,277,4640,0.00,2.45,0.00,0.000,6,0.000,0.058,2457,2074,3430
$STATE,4794,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4794,begin apogee
$GC,4802,-0.33,0.0,605.1,11.4,288,4938,1.00,0.00,131.80,1.233,6,0.081,0.000,2671,1842,2831
$STATE,4938,end apogee,CONTROL_FINISHED_OK
$STATE,4939,begin climb
$GC,4942,1.44,146.6,610.9,0.0,297,5084,1.77,2.65,131.88,1.190,4,0.061,0.078,3058,448,2232
$GC,5178,1.32,157.4,597.6,9.5,311,5194,0.15,2.58,10.82,1.033,6,0.101,0.060,3030,1855,2189
$GC,5518,1.43,225.7,572.0,6.9,333,5585,0.12,2.65,60.78,1.174,4,0.067,0.077,3061,3251,1912
$GC,5632,1.43,225.7,561.2,10.1,340,5636,0.00,2.62,0.00,0.000,6,0.000,0.074,3061,1864,1911
$GC,5957,1.39,225.7,529.1,10.0,361,5961,0.00,2.65,0.00,0.000,4,0.000,0.078,3062,3258,1910
$GC,5980,1.35,225.7,526.7,10.3,362,5986,0.12,2.60,0.00,0.000,6,0.113,0.072,3039,1868,1910
$GC,6299,1.36,233.7,497.1,9.6,383,6313,0.00,0.00,8.50,1.026,6,0.000,0.000,3039,1868,1878
$GC,6627,1.37,239.3,464.5,9.7,404,6639,0.00,0.00,6.50,0.953,6,0.000,0.000,3039,1868,1855
$GC,6953,1.37,239.3,431.6,10.6,425,6957,0.00,2.60,0.00,0.000,4,0.000,0.071,3039,3257,1855
$GC,7042,1.41,239.3,421.6,10.5,430,7049,0.00,2.60,0.00,0.000,6,0.000,0.063,3039,1847,1854
$GC,7362,1.41,239.3,387.1,10.8,451,7367,0.00,2.62,0.00,0.000,4,0.000,0.067,3039,3259,1854
$GC,7419,1.45,239.3,380.8,11.3,454,7425,0.00,2.55,0.00,0.000,6,0.000,0.060,3040,1864,1854
$GC,7738,1.45,239.3,347.3,10.7,475,7742,0.00,2.55,0.00,0.000,4,0.000,0.066,3039,3253,1854
$GC,7794,1.49,239.3,341.3,10.9,478,7801,0.15,2.47,0.00,0.000,6,0.061,0.058,3076,1892,1854
$GC,8113,1.42,239.3,302.0,12.5,499,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1892,1855
$GC,8427,1.37,239.3,261.7,13.0,519,8431,0.17,2.53,0.00,0.000,4,0.093,0.063,3038,3264,1855
$GC,8466,1.42,239.3,256.7,11.7,521,8472,0.00,2.50,0.00,0.000,6,0.000,0.054,3038,1876,1855
$GC,8786,1.42,239.3,221.3,11.2,542,8790,0.00,2.53,0.00,0.000,4,0.000,0.061,3038,3255,1855
$GC,8832,1.47,239.3,215.8,11.7,545,8837,0.12,2.45,0.00,0.000,6,0.060,0.053,3071,1891,1856
$GC,9159,1.42,239.3,174.7,12.8,566,9163,0.00,2.50,0.00,0.000,4,0.000,0.061,3072,3260,1856
$GC,9182,1.39,239.3,171.4,13.4,567,9187,0.12,2.45,0.00,0.000,6,0.100,0.051,3048,1892,1856
$GC,9500,1.39,239.3,134.6,11.6,585,9505,0.00,2.50,0.00,0.000,4,0.000,0.060,3048,3263,1857
$GC,9546,1.43,239.3,129.3,11.4,587,9550,0.00,2.42,0.00,0.000,6,0.000,0.050,3048,1906,1857
$GC,9868,1.43,239.3,95.3,10.2,603,9869,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1906,1857
$GC,10177,1.44,249.3,66.0,9.5,618,10193,0.00,2.50,10.43,0.765,4,0.000,0.058,3048,3261,1813
$GC,10218,1.49,249.3,62.0,10.5,619,10222,0.00,2.40,0.00,0.000,6,0.000,0.048,3048,1916,1813
$GC,10546,1.56,271.7,30.3,9.0,635,10569,0.17,0.00,19.77,0.792,6,0.054,0.000,3095,1916,1723
$STATE,10768,end climb,SURFACE_DEPTH_REACHED
$STATE,10768,begin surface coast
$FINISH,0.4,1.027184
$STATE,10790,end surface coast,CONTROL_FINISHED_OK
$STATE,10790,begin surface
$SM_CCo,10814,14.93,0.746,0,0,1608,300.00
$SM_GC,1.11,0.00,0.00,14.93,0.000,0.000,0.746,420,2151,1608,-10.70,0.62,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1835
$TCM_TEMP,17.40
$XPDR_PINGS,29
$ALTIM_BOTTOM_PING,545.2,68.9
$24V_AH,23.7,66.257
$10V_AH,10.1,29.929
$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,27.050,107.200,380.475,14.925,0.000,75.523,54.799,253.998,12.000,0.000,0.000,14.528,1168.387,7721.611,491.670,1381.442,643.831,33.361,1203.861,0.000,1345.515,0.000,37.708,0.000
$DEVICE_MAMPS,156.468,79.768,1232.569,746.291,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.744,470.488,385.324,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31650,647
$CAP_FILE_SIZE,99275,0
$CFSIZE,254472192,229748736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,311009,214037,6230.879,-1029.733,27,1.3,27,-10.4