version: 66.04
glider: 5
mission: 7
dive: 414
start: 11 1 109 1 4 29
data:
$ID,5
$MISSION,7
$DIVE,414
$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,-108140.38
$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,41
$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
$GPS1,005724,6228.542,-1028.055,40,2.0,40,-10.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-64.9
$GPS2,010336,6228.496,-1028.120,15,1.7,31,-10.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.249,-0.085
$KALMAN_X,-233530.2,1891.4,349.4,356110.8,-11996.7
$KALMAN_Y,66886.6,78.4,-560.0,-177129.2,-805.7
$MHEAD_RNG_PITCHd_Wd,119.3,36361,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.72,0.000,2,0.000,0.000,420,2156,2415
$GC,63,-1.44,-146.6,2.0,-3.0,2,130,11.00,2.55,-49.30,0.000,4,0.159,0.087,2423,3510,3429
$GC,284,-1.33,-146.6,28.4,-15.7,12,289,0.15,2.50,0.00,0.000,6,0.106,0.050,2453,2115,3430
$GC,612,-1.29,-146.6,76.7,-14.8,28,617,0.00,2.47,0.00,0.000,4,0.000,0.058,2453,718,3430
$GC,668,-1.29,-146.6,85.2,-14.1,30,675,0.00,2.45,0.00,0.000,6,0.000,0.048,2453,2104,3430
$GC,985,-1.25,-146.6,125.8,-12.4,46,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2104,3430
$GC,1296,-1.22,-146.6,168.5,-14.1,63,1298,0.12,0.00,0.00,0.000,6,0.102,0.000,2478,2104,3430
$GC,1607,-1.22,-146.6,207.8,-12.3,83,1611,0.00,2.53,0.00,0.000,4,0.000,0.061,2477,714,3430
$GC,1663,-1.27,-146.6,215.1,-13.1,86,1667,0.00,2.47,0.00,0.000,6,0.000,0.049,2478,2112,3430
$GC,1983,-1.27,-146.6,254.8,-12.5,106,1988,0.00,2.60,0.00,0.000,4,0.000,0.070,2478,3538,3430
$GC,2034,-1.27,-146.6,261.5,-13.2,109,2038,0.00,2.58,0.00,0.000,6,0.000,0.056,2478,2111,3430
$GC,2354,-1.27,-146.6,302.1,-12.6,129,2358,0.00,2.50,0.00,0.000,4,0.000,0.062,2478,709,3430
$GC,2405,-1.32,-146.6,308.7,-13.6,132,2410,0.00,2.47,0.00,0.000,6,0.000,0.048,2478,2109,3430
$GC,2724,-1.32,-146.6,347.7,-12.0,152,2729,0.00,2.53,0.00,0.000,4,0.000,0.061,2478,715,3430
$GC,2759,-1.36,-146.6,351.7,-11.7,154,2764,0.15,2.45,0.00,0.000,6,0.059,0.050,2440,2096,3430
$GC,3083,-1.31,-146.6,395.9,-14.0,174,3088,0.00,2.50,0.00,0.000,4,0.000,0.064,2440,719,3430
$GC,3130,-1.31,-146.6,403.1,-13.9,177,3135,0.10,2.40,0.00,0.000,6,0.106,0.050,2458,2075,3430
$GC,3454,-1.31,-146.6,444.8,-12.8,198,3459,0.00,2.67,0.00,0.000,4,0.000,0.074,2458,3532,3430
$GC,3488,-1.31,-146.6,449.2,-12.9,200,3493,0.00,2.65,0.00,0.000,6,0.000,0.062,2458,2081,3430
$GC,3813,-1.31,-146.6,486.1,-10.5,221,3818,0.00,2.45,0.00,0.000,4,0.000,0.064,2458,704,3431
$GC,3881,-1.34,-146.6,494.2,-11.4,225,3886,0.00,2.42,0.00,0.000,6,0.000,0.051,2458,2065,3430
$GC,4200,-1.34,-146.6,530.6,-12.7,245,4205,0.00,2.67,0.00,0.000,4,0.000,0.074,2458,3527,3430
$GC,4297,-1.34,-146.6,543.3,-12.6,251,4302,0.00,2.62,0.00,0.000,6,0.000,0.064,2458,2094,3431
$GC,4622,-1.34,-146.6,584.6,-12.7,272,4626,0.00,2.70,0.00,0.000,4,0.000,0.077,2458,3526,3430
$GC,4686,-1.34,-146.6,593.0,-13.7,276,4690,0.00,2.60,0.00,0.000,6,0.000,0.067,2458,2115,3430
$STATE,5009,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5009,begin apogee
$GC,5017,-0.33,0.0,634.5,13.1,297,5154,1.00,0.00,133.00,1.239,6,0.079,0.000,2673,1838,2831
$STATE,5154,end apogee,CONTROL_FINISHED_OK
$STATE,5154,begin climb
$GC,5158,1.44,146.6,639.8,0.0,306,5300,1.75,2.78,133.35,1.203,4,0.062,0.073,3054,3255,2233
$GC,5349,1.41,158.5,633.1,9.5,317,5371,0.00,2.62,12.23,1.065,6,0.000,0.069,3054,1852,2184
$GC,5686,1.34,158.5,601.4,10.1,339,5691,0.00,2.62,0.00,0.000,4,0.000,0.081,3054,439,2183
$GC,5737,1.24,158.5,595.9,10.0,342,5742,0.20,2.55,0.00,0.000,6,0.097,0.060,3016,1835,2183
$GC,6059,1.31,202.1,571.0,8.0,362,6101,0.00,0.00,39.92,1.196,6,0.000,0.000,3016,1850,2007
$GC,6414,1.37,214.2,539.2,9.4,385,6432,0.12,2.75,12.02,1.103,4,0.065,0.074,3046,3261,1957
$GC,6529,1.37,214.2,526.5,10.9,391,6535,0.00,2.65,0.00,0.000,6,0.000,0.068,3047,1837,1957
$GC,6850,1.38,219.3,494.1,9.8,412,6861,0.00,2.70,5.95,0.938,4,0.000,0.071,3047,3255,1936
$GC,6931,1.41,236.1,486.5,9.2,416,6953,0.00,2.60,16.27,1.124,6,0.000,0.066,3047,1853,1868
$GC,7276,1.41,236.1,452.6,11.6,438,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1853,1867
$GC,7585,1.41,236.1,417.8,10.7,458,7589,0.00,2.60,0.00,0.000,4,0.000,0.067,3047,3255,1867
$GC,7669,1.41,236.1,408.5,10.5,463,7673,0.00,2.53,0.00,0.000,6,0.000,0.060,3046,1871,1867
$GC,7988,1.42,245.7,377.0,9.6,483,8005,0.00,2.60,9.73,0.977,4,0.000,0.064,3047,3262,1829
$GC,8028,1.43,250.5,373.3,9.8,485,8041,0.00,2.50,6.05,0.866,6,0.000,0.058,3047,1892,1809
$GC,8353,1.43,250.5,341.1,10.3,506,8354,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1892,1809
$GC,8666,1.44,258.8,310.1,9.6,526,8682,0.00,2.58,8.85,0.911,4,0.000,0.064,3047,3272,1775
$GC,8728,1.48,258.8,303.5,11.1,529,8734,0.00,2.53,0.00,0.000,6,0.000,0.054,3047,1886,1775
$GC,9047,1.48,259.0,272.0,10.0,550,9051,0.00,2.53,0.00,0.000,4,0.000,0.062,3047,3258,1775
$GC,9082,1.52,259.0,268.4,10.1,552,9087,0.12,2.42,0.00,0.000,6,0.058,0.054,3081,1916,1775
$GC,9404,1.46,259.0,230.3,12.4,572,9408,0.00,2.47,0.00,0.000,4,0.000,0.061,3081,3265,1776
$GC,9439,1.43,259.0,225.6,13.1,574,9444,0.12,2.42,0.00,0.000,6,0.100,0.053,3058,1917,1776
$GC,9763,1.43,259.0,189.4,11.3,595,9764,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1917,1776
$GC,10075,1.43,259.0,154.3,10.9,615,10079,0.00,2.45,0.00,0.000,4,0.000,0.061,3057,3259,1777
$GC,10109,1.43,259.0,150.4,11.0,617,10113,0.00,2.38,0.00,0.000,6,0.000,0.051,3058,1932,1777
$GC,10427,1.43,259.0,116.6,11.0,632,10428,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1932,1778
$GC,10734,1.43,259.0,81.1,11.0,647,10738,0.00,2.42,0.00,0.000,4,0.000,0.059,3057,3264,1778
$GC,10780,1.47,259.0,76.0,11.4,649,10784,0.00,2.33,0.00,0.000,6,0.000,0.049,3058,1960,1778
$GC,11102,1.47,259.0,40.5,11.0,665,11103,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1961,1779
$GC,11411,1.49,272.0,8.2,9.4,680,11430,0.00,0.00,12.50,0.752,6,0.000,0.000,3057,1961,1721
$STATE,11469,end climb,SURFACE_DEPTH_REACHED
$STATE,11469,begin surface coast
$FINISH,0.4,1.003384
$STATE,11492,end surface coast,CONTROL_FINISHED_OK
$STATE,11492,begin surface
$SM_CCo,11517,14.45,0.750,0,0,1608,300.00
$SM_GC,1.49,0.00,0.00,14.45,0.000,0.000,0.750,418,2159,1608,-10.70,0.82,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1830
$TCM_TEMP,17.40
$XPDR_PINGS,37
$ALTIM_BOTTOM_PING,620.0,24.0
$24V_AH,23.7,66.556
$10V_AH,10.1,30.059
$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,26.350,112.625,389.875,14.450,0.000,37.761,33.122,154.855,14.750,0.000,0.000,31.447,1236.171,8189.915,507.116,1471.599,503.671,33.363,1259.953,0.000,1417.316,0.000,38.124,0.000
$DEVICE_MAMPS,158.769,87.438,1238.705,750.126,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,468.072,499.676,404.072,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34909,684
$CAP_FILE_SIZE,100198,0
$CFSIZE,254472192,229642240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,011109,041821,6226.664,-1028.046,39,2.1,58,-10.4