version: 66.04
glider: 5
mission: 7
dive: 415
start: 11 1 109 4 25 26
data:
$ID,5
$MISSION,7
$DIVE,415
$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,-108171.9
$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,21
$R_STBD_OVSHOOT,28
$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
$GPS1,041821,6226.664,-1028.046,39,2.1,58,-10.4
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-65.6
$GPS2,042433,6226.672,-1028.055,11,2.3,30,-10.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.258,-0.055
$KALMAN_X,-237419.5,1650.3,502.2,360155.4,-13688.2
$KALMAN_Y,64767.2,-171.1,11.9,-178711.1,-2724.6
$MHEAD_RNG_PITCHd_Wd,112.4,34980,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.53,0.000,2,0.000,0.000,417,2158,2814
$GC,82,-1.44,-146.6,2.9,-3.8,3,118,11.07,2.53,-19.65,0.000,4,0.163,0.080,2423,3527,3428
$GC,270,-1.33,-146.6,31.3,-17.0,10,277,0.15,2.50,0.00,0.000,6,0.103,0.049,2453,2125,3428
$GC,587,-1.28,-146.6,75.3,-13.8,26,591,0.00,2.50,0.00,0.000,4,0.000,0.059,2453,716,3428
$GC,615,-1.28,-146.6,79.5,-14.3,27,620,0.00,2.50,0.00,0.000,6,0.000,0.048,2453,2125,3428
$GC,933,-1.24,-146.6,122.2,-13.4,42,938,0.10,2.58,0.00,0.000,4,0.107,0.061,2472,711,3429
$GC,989,-1.27,-146.6,129.5,-11.9,44,995,0.00,2.50,0.00,0.000,6,0.000,0.048,2472,2125,3429
$GC,1307,-1.27,-146.6,165.7,-11.6,62,1311,0.00,2.58,0.00,0.000,4,0.000,0.061,2472,708,3429
$GC,1358,-1.27,-146.6,172.1,-11.9,65,1362,0.00,2.47,0.00,0.000,6,0.000,0.048,2472,2104,3429
$GC,1678,-1.27,-146.6,210.5,-11.9,85,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2105,3429
$GC,1989,-1.27,-146.6,248.6,-12.1,105,1994,0.00,2.53,0.00,0.000,4,0.000,0.063,2472,716,3429
$GC,2023,-1.30,-146.6,252.9,-12.0,107,2028,0.00,2.45,0.00,0.000,6,0.000,0.050,2472,2097,3429
$GC,2343,-1.30,-146.6,290.0,-11.6,127,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2096,3429
$GC,2654,-1.30,-146.6,327.4,-12.5,147,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2096,3429
$GC,2968,-1.30,-146.6,368.7,-13.7,167,2972,0.00,2.50,0.00,0.000,4,0.000,0.063,2472,719,3429
$GC,3023,-1.34,-146.6,376.7,-14.4,170,3030,0.00,2.40,0.00,0.000,6,0.000,0.051,2472,2073,3429
$GC,3344,-1.34,-146.6,420.1,-12.8,191,3348,0.00,2.67,0.00,0.000,4,0.000,0.074,2472,3532,3429
$GC,3377,-1.34,-146.6,424.6,-13.2,193,3382,0.00,2.65,0.00,0.000,6,0.000,0.061,2472,2079,3429
$GC,3696,-1.34,-146.6,461.5,-12.2,213,3701,0.00,2.42,0.00,0.000,4,0.000,0.064,2472,717,3429
$GC,3759,-1.39,-146.6,469.3,-12.1,217,3765,0.15,2.38,0.00,0.000,6,0.059,0.051,2433,2053,3429
$GC,4093,-1.34,-146.6,512.8,-13.2,238,4099,0.10,2.72,0.00,0.000,4,0.106,0.075,2452,3537,3428
$GC,4150,-1.34,-146.6,520.6,-12.8,241,4156,0.00,2.70,0.00,0.000,6,0.000,0.063,2452,2059,3429
$GC,4470,-1.34,-146.6,560.0,-12.3,262,4474,0.00,2.40,0.00,0.000,4,0.000,0.067,2452,719,3429
$GC,4526,-1.34,-146.6,567.4,-12.9,265,4532,0.00,2.38,0.00,0.000,6,0.000,0.053,2452,2050,3429
$GC,4848,-1.34,-146.6,606.1,-12.0,286,4852,0.00,2.75,0.00,0.000,4,0.000,0.081,2452,3531,3428
$GC,4954,-1.34,-146.6,619.6,-11.7,292,4960,0.00,2.72,0.00,0.000,6,0.000,0.069,2452,2057,3428
$STATE,5176,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5176,begin apogee
$GC,5185,-0.33,0.0,645.8,11.2,307,5321,1.02,0.00,132.65,1.256,6,0.083,0.000,2670,1848,2831
$STATE,5322,end apogee,CONTROL_FINISHED_OK
$STATE,5322,begin climb
$GC,5325,1.44,146.6,650.6,0.0,316,5466,1.77,2.75,132.80,1.214,4,0.058,0.072,3058,3251,2233
$GC,5507,1.36,161.4,642.5,9.3,327,5526,0.00,2.65,14.50,1.098,6,0.000,0.074,3058,1845,2173
$GC,5849,1.31,171.1,608.3,9.6,349,5867,0.15,2.72,10.45,1.065,4,0.100,0.076,3031,3255,2132
$GC,5971,1.37,205.6,597.7,8.4,356,6010,0.00,2.58,31.88,1.180,6,0.000,0.072,3031,1876,1993
$GC,6334,1.37,205.6,562.5,10.2,379,6338,0.00,2.62,0.00,0.000,4,0.000,0.078,3031,3254,1990
$GC,6372,1.40,205.6,557.8,11.3,381,6379,0.00,2.58,0.00,0.000,6,0.000,0.073,3031,1876,1990
$GC,6693,1.41,206.7,523.2,10.0,402,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1876,1989
$GC,7004,1.49,257.3,496.9,7.7,422,7056,0.17,2.65,45.65,1.182,4,0.061,0.071,3076,3250,1781
$GC,7081,1.44,257.3,488.8,12.4,427,7085,0.00,2.55,0.00,0.000,6,0.000,0.066,3076,1885,1781
$GC,7405,1.38,257.3,448.9,12.8,448,7410,0.17,2.58,0.00,0.000,4,0.100,0.070,3039,3257,1781
$GC,7427,1.38,257.3,446.0,12.7,449,7433,0.00,2.53,0.00,0.000,6,0.000,0.063,3039,1888,1781
$GC,7747,1.38,257.3,409.6,11.3,470,7751,0.00,2.53,0.00,0.000,4,0.000,0.068,3039,3252,1781
$GC,7803,1.42,257.3,403.0,11.3,473,7810,0.00,2.45,0.00,0.000,6,0.000,0.060,3039,1911,1781
$GC,8123,1.42,257.3,368.7,10.8,494,8127,0.00,2.50,0.00,0.000,4,0.000,0.066,3039,3259,1781
$GC,8162,1.47,257.3,364.3,11.0,496,8168,0.12,2.45,0.00,0.000,6,0.062,0.058,3071,1915,1781
$GC,8481,1.43,257.3,324.9,12.4,517,8486,0.00,2.47,0.00,0.000,4,0.000,0.065,3072,3255,1781
$GC,8516,1.43,257.3,320.5,12.5,519,8520,0.00,2.38,0.00,0.000,6,0.000,0.056,3071,1935,1781
$GC,8835,1.39,257.3,280.1,12.8,539,8837,0.12,0.00,0.00,0.000,6,0.098,0.000,3047,1935,1781
$GC,9148,1.39,257.3,245.1,11.2,559,9152,0.00,2.42,0.00,0.000,4,0.000,0.064,3047,3254,1782
$GC,9170,1.39,257.3,242.3,11.8,560,9176,0.00,2.40,0.00,0.000,6,0.000,0.054,3047,1923,1782
$GC,9489,1.39,257.3,206.1,11.4,581,9494,0.00,2.45,0.00,0.000,4,0.000,0.062,3047,3258,1783
$GC,9529,1.43,257.3,201.2,12.3,583,9535,0.00,2.35,0.00,0.000,6,0.000,0.052,3047,1948,1783
$GC,9849,1.43,257.3,164.1,11.4,604,9850,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1949,1783
$GC,10159,1.43,257.3,127.2,12.0,621,10160,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1948,1783
$GC,10469,1.46,257.3,92.1,11.2,636,10473,0.00,2.38,0.00,0.000,4,0.000,0.061,3047,3251,1784
$GC,10493,1.51,257.3,89.4,10.5,637,10497,0.12,2.30,0.00,0.000,6,0.058,0.049,3081,1963,1784
$GC,10820,1.47,257.3,52.0,10.9,653,10824,0.00,2.35,0.00,0.000,4,0.000,0.059,3081,3252,1785
$GC,10843,1.47,257.3,49.1,12.3,654,10847,0.00,2.28,0.00,0.000,6,0.000,0.048,3081,1972,1785
$GC,11166,1.43,257.3,11.9,11.6,670,11168,0.12,0.00,0.00,0.000,6,0.094,0.000,3057,1972,1785
$STATE,11267,end climb,SURFACE_DEPTH_REACHED
$STATE,11267,begin surface coast
$FINISH,0.5,1.026959
$STATE,11287,end surface coast,CONTROL_FINISHED_OK
$STATE,11287,begin surface
$SM_CCo,11311,22.65,0.765,0,0,1607,300.00
$SM_GC,1.38,0.00,0.00,22.65,0.000,0.000,0.765,422,2159,1607,-10.69,0.82,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1850
$TCM_TEMP,17.50
$XPDR_PINGS,52
$ALTIM_BOTTOM_PING,596.7,58.3
$24V_AH,23.7,66.702
$10V_AH,10.1,30.123
$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,26.850,116.400,367.925,22.650,0.000,37.758,27.747,160.849,18.250,0.000,0.000,30.890,1212.133,8070.075,495.161,1430.809,503.570,33.363,1232.189,0.000,1378.575,0.000,36.630,0.000
$DEVICE_MAMPS,163.371,80.535,1256.346,765.466,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,462.119,492.356,395.528,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34860,676
$CAP_FILE_SIZE,99213,0
$CFSIZE,254472192,229588992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,011109,073536,6226.599,-1024.948,34,1.5,34,-10.3