version: 66.04
glider: 5
mission: 7
dive: 416
start: 11 1 109 7 42 6
data:
$ID,5
$MISSION,7
$DIVE,416
$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,-108209.01
$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,29
$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
$GPS1,073536,6226.599,-1024.948,34,1.5,34,-10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-67.2
$GPS2,074116,6226.611,-1024.877,16,3.1,35,-10.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.257,-0.058
$KALMAN_X,-238685.1,970.9,1317.3,363895.0,-13455.9
$KALMAN_Y,65395.6,-182.4,798.2,-180248.2,-2642.2
$MHEAD_RNG_PITCHd_Wd,113.1,32395,-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,16,-1.44,-146.6,0.0,0.0,0,59,0.00,0.00,-41.35,0.000,2,0.000,0.000,422,2159,2419
$GC,63,-1.44,-146.6,2.1,-4.2,2,128,10.85,2.67,-48.78,0.000,4,0.158,0.070,2426,709,3430
$GC,235,-1.38,-146.6,20.2,-16.3,9,242,0.00,2.50,0.00,0.000,6,0.000,0.047,2426,2125,3430
$GC,553,-1.27,-146.6,68.5,-15.3,25,558,0.17,2.58,0.00,0.000,4,0.103,0.058,2464,706,3431
$GC,598,-1.27,-146.6,75.1,-12.9,27,602,0.00,2.53,0.00,0.000,6,0.000,0.048,2464,2129,3430
$GC,920,-1.27,-146.6,116.0,-12.1,43,924,0.00,2.58,0.00,0.000,4,0.000,0.060,2464,708,3431
$GC,971,-1.27,-146.6,122.6,-12.6,45,975,0.00,2.47,0.00,0.000,6,0.000,0.048,2465,2103,3431
$GC,1298,-1.27,-146.6,162.9,-12.4,62,1302,0.00,2.53,0.00,0.000,4,0.000,0.061,2464,710,3431
$GC,1338,-1.27,-146.6,168.1,-13.4,64,1344,0.00,2.47,0.00,0.000,6,0.000,0.048,2464,2107,3431
$GC,1657,-1.27,-146.6,208.9,-12.6,85,1662,0.00,2.62,0.00,0.000,4,0.000,0.071,2464,3542,3431
$GC,1696,-1.27,-146.6,214.4,-13.9,87,1702,0.00,2.60,0.00,0.000,6,0.000,0.055,2465,2103,3431
$GC,2018,-1.27,-146.6,256.1,-12.9,108,2022,0.00,2.47,0.00,0.000,4,0.000,0.064,2464,710,3431
$GC,2063,-1.27,-146.6,262.2,-12.4,111,2068,0.00,2.47,0.00,0.000,6,0.000,0.048,2464,2110,3431
$GC,2391,-1.27,-146.6,300.8,-11.4,132,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2110,3431
$GC,2700,-1.27,-146.6,337.5,-12.0,152,2705,0.00,2.55,0.00,0.000,4,0.000,0.061,2465,701,3431
$GC,2729,-1.27,-146.6,340.9,-13.1,154,2733,0.00,2.47,0.00,0.000,6,0.000,0.049,2464,2096,3431
$GC,3060,-1.27,-146.6,382.8,-12.4,175,3064,0.00,2.62,0.00,0.000,4,0.000,0.072,2465,3528,3431
$GC,3093,-1.27,-146.6,387.4,-13.5,177,3097,0.00,2.62,0.00,0.000,6,0.000,0.060,2465,2086,3431
$GC,3412,-1.27,-146.6,428.9,-12.9,197,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2070,3431
$GC,3724,-1.27,-146.6,468.1,-12.2,217,3728,0.00,2.45,0.00,0.000,4,0.000,0.063,2465,710,3431
$GC,3770,-1.31,-146.6,473.8,-12.4,220,3774,0.00,2.45,0.00,0.000,6,0.000,0.051,2464,2089,3431
$GC,4095,-1.31,-146.6,514.0,-12.3,241,4100,0.00,2.65,0.00,0.000,4,0.000,0.073,2465,3538,3431
$GC,4192,-1.31,-146.6,526.7,-12.7,247,4197,0.00,2.62,0.00,0.000,6,0.000,0.060,2465,2093,3431
$GC,4518,-1.31,-146.6,566.3,-12.8,268,4522,0.00,2.45,0.00,0.000,4,0.000,0.066,2464,718,3431
$GC,4563,-1.37,-146.6,571.9,-12.7,270,4569,0.00,2.42,0.00,0.000,6,0.000,0.052,2464,2082,3430
$GC,4886,-1.41,-146.6,609.6,-10.5,291,4891,0.12,2.67,0.00,0.000,4,0.064,0.076,2432,3531,3431
$GC,5004,-1.35,-146.6,629.2,-14.0,298,5008,0.00,2.62,0.00,0.000,6,0.000,0.064,2432,2101,3430
$STATE,5055,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5055,begin apogee
$GC,5063,-0.33,0.0,636.7,14.1,301,5199,1.12,0.00,133.02,1.240,6,0.081,0.000,2674,1831,2831
$STATE,5200,end apogee,CONTROL_FINISHED_OK
$STATE,5200,begin climb
$GC,5204,1.44,146.6,643.1,0.0,310,5346,1.75,2.72,133.02,1.198,4,0.058,0.070,3059,3253,2233
$GC,5608,1.36,146.6,612.1,13.5,334,5612,0.00,2.62,0.00,0.000,6,0.000,0.067,3059,1845,2231
$GC,5933,1.35,179.5,582.8,8.5,355,5968,0.00,2.72,30.00,1.164,4,0.000,0.074,3058,3247,2099
$GC,6096,1.32,186.6,569.0,9.7,364,6112,0.15,2.58,8.12,1.012,6,0.102,0.068,3031,1860,2069
$GC,6435,1.32,186.6,537.9,10.4,386,6440,0.00,2.62,0.00,0.000,4,0.000,0.074,3031,3252,2068
$GC,6458,1.32,186.6,534.9,10.8,387,6465,0.00,2.53,0.00,0.000,6,0.000,0.067,3031,1885,2068
$GC,6778,1.34,196.6,504.8,9.5,408,6794,0.00,2.60,9.75,1.055,4,0.000,0.071,3031,3255,2029
$GC,6830,1.38,201.5,499.8,9.8,411,6841,0.00,2.50,6.15,0.937,6,0.000,0.064,3031,1899,2009
$GC,7158,1.44,239.5,471.2,8.3,431,7199,0.12,2.58,34.50,1.145,4,0.065,0.068,3063,3253,1854
$GC,7222,1.44,239.5,464.8,10.3,435,7227,0.00,2.47,0.00,0.000,6,0.000,0.062,3063,1915,1854
$GC,7549,1.41,249.0,433.0,9.6,456,7562,0.00,0.00,9.62,1.001,6,0.000,0.000,3063,1915,1816
$GC,7875,1.38,249.0,400.1,10.0,477,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1915,1816
$GC,8188,1.35,249.0,367.7,10.6,497,8193,0.12,2.47,0.00,0.000,4,0.098,0.064,3039,3254,1816
$GC,8227,1.39,249.0,363.4,10.5,499,8233,0.00,2.45,0.00,0.000,6,0.000,0.057,3039,1905,1816
$GC,8546,1.39,249.0,331.9,10.2,520,8550,0.00,2.50,0.00,0.000,4,0.000,0.064,3039,3261,1816
$GC,8569,1.43,249.0,329.4,11.2,521,8575,0.00,2.42,0.00,0.000,6,0.000,0.055,3039,1921,1816
$GC,8888,1.43,249.0,296.4,10.1,542,8889,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1921,1816
$GC,9201,1.45,263.2,266.8,9.4,562,9220,0.00,2.53,14.18,0.937,4,0.000,0.062,3039,3258,1757
$GC,9269,1.52,266.7,260.5,9.8,566,9279,0.17,2.42,4.62,0.709,6,0.054,0.053,3084,1916,1743
$GC,9596,1.46,266.7,224.1,10.8,586,9597,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1916,1743
$GC,9907,1.41,266.7,190.4,10.8,606,9912,0.17,2.47,0.00,0.000,4,0.093,0.061,3045,3265,1743
$GC,9941,1.47,277.2,186.7,9.5,608,9956,0.00,2.40,10.25,0.850,6,0.000,0.050,3045,1925,1701
$GC,10281,1.50,277.2,154.2,10.1,630,10286,0.12,2.45,0.00,0.000,4,0.058,0.059,3077,3264,1701
$GC,10326,1.50,277.2,148.1,12.9,633,10331,0.00,2.35,0.00,0.000,6,0.000,0.050,3077,1941,1701
$GC,10650,1.47,277.2,107.7,12.4,649,10654,0.00,2.67,0.00,0.000,4,0.000,0.062,3077,433,1701
$GC,10683,1.41,277.2,103.0,13.0,650,10690,0.15,2.67,0.00,0.000,6,0.094,0.047,3048,1942,1701
$GC,11001,1.45,277.2,67.7,11.4,666,11006,0.00,2.75,0.00,0.000,4,0.000,0.061,3048,432,1701
$GC,11035,1.45,277.2,63.5,11.3,667,11041,0.00,2.62,0.00,0.000,6,0.000,0.047,3048,1923,1702
$GC,11352,1.49,277.2,29.6,10.4,683,11356,0.00,2.70,0.00,0.000,4,0.000,0.061,3048,439,1701
$GC,11370,1.55,290.8,27.8,9.4,684,11392,0.15,2.60,12.95,0.770,6,0.055,0.047,3088,1921,1644
$STATE,11576,end climb,SURFACE_DEPTH_REACHED
$STATE,11576,begin surface coast
$FINISH,0.5,1.013397
$STATE,11596,end surface coast,CONTROL_FINISHED_OK
$STATE,11600,begin surface
$SM_CCo,11624,4.78,0.587,0,0,1607,300.00
$SM_GC,2.26,0.00,0.00,4.78,0.000,0.000,0.587,417,2167,1607,-10.71,1.07,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1830
$TCM_TEMP,17.40
$XPDR_PINGS,60
$ALTIM_BOTTOM_PING,595.8,50.3
$24V_AH,23.7,66.848
$10V_AH,10.1,30.189
$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,26.800,128.375,406.200,4.775,0.000,37.759,32.944,124.810,20.250,0.000,0.000,36.485,1267.051,8177.201,511.132,1531.436,483.988,33.358,1304.941,0.000,1471.520,0.000,39.925,0.000
$DEVICE_MAMPS,158.002,75.933,1240.239,586.755,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.816,507.858,400.668,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34843,695
$CAP_FILE_SIZE,104773,0
$CFSIZE,254472192,229535744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,011109,105707,6226.111,-1020.665,32,1.7,32,-10.3