version: 66.04
glider: 5
mission: 7
dive: 417
start: 11 1 109 11 4 6
data:
$ID,5
$MISSION,7
$DIVE,417
$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,-108242.47
$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,34
$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
$GPS1,105707,6226.111,-1020.665,32,1.7,32,-10.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-63.5
$GPS2,110313,6226.061,-1020.695,15,1.6,32,-10.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.220,0.146
$KALMAN_X,-238319.7,794.3,935.1,367544.4,-9857.3
$KALMAN_Y,66233.6,313.2,-59.9,-181739.2,-456.3
$MHEAD_RNG_PITCHd_Wd,66.8,28683,-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,-61.42,0.000,2,0.000,0.000,416,2162,2826
$GC,83,-1.44,-146.6,2.9,-3.6,3,119,10.90,2.62,-19.40,0.000,4,0.160,0.070,2423,704,3430
$GC,171,-1.35,-146.6,15.3,-16.4,6,176,0.12,2.53,0.00,0.000,6,0.110,0.048,2448,2123,3431
$GC,495,-1.29,-146.6,63.1,-15.6,22,499,0.00,2.58,0.00,0.000,4,0.000,0.060,2448,704,3431
$GC,596,-1.29,-146.6,79.4,-15.0,26,602,0.00,2.50,0.00,0.000,6,0.000,0.048,2448,2118,3430
$GC,913,-1.24,-146.6,127.0,-14.1,42,918,0.12,2.55,0.00,0.000,4,0.107,0.058,2472,705,3431
$GC,940,-1.24,-146.6,130.9,-13.1,43,944,0.00,2.47,0.00,0.000,6,0.000,0.048,2472,2102,3431
$GC,1264,-1.24,-146.6,172.7,-13.7,61,1268,0.00,2.53,0.00,0.000,4,0.000,0.061,2472,713,3431
$GC,1292,-1.24,-146.6,176.9,-13.7,62,1298,0.00,2.47,0.00,0.000,6,0.000,0.048,2472,2106,3431
$GC,1611,-1.24,-146.6,217.8,-12.6,83,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2107,3431
$GC,1924,-1.24,-146.6,258.6,-12.9,103,1929,0.00,2.55,0.00,0.000,4,0.000,0.063,2472,703,3431
$GC,1981,-1.27,-146.6,266.1,-13.0,106,1987,0.00,2.47,0.00,0.000,6,0.000,0.049,2472,2099,3431
$GC,2302,-1.27,-146.6,307.0,-13.1,127,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2097,3431
$GC,2612,-1.27,-146.6,347.9,-12.7,147,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2097,3431
$GC,2924,-1.27,-146.6,385.5,-11.4,167,2928,0.00,2.53,0.00,0.000,4,0.000,0.064,2472,710,3431
$GC,3010,-1.32,-146.6,395.5,-11.8,172,3015,0.00,2.45,0.00,0.000,6,0.000,0.050,2472,2088,3431
$GC,3329,-1.32,-146.6,430.1,-10.5,192,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2088,3431
$GC,3642,-1.32,-146.6,463.6,-11.2,212,3646,0.00,2.50,0.00,0.000,4,0.000,0.064,2472,714,3431
$GC,3671,-1.36,-146.6,467.0,-11.4,213,3677,0.12,2.45,0.00,0.000,6,0.063,0.051,2441,2090,3431
$GC,3992,-1.31,-146.6,506.8,-12.7,234,3997,0.00,2.50,0.00,0.000,4,0.000,0.064,2441,717,3431
$GC,4062,-1.31,-146.6,516.1,-12.9,238,4066,0.00,2.40,0.00,0.000,6,0.000,0.051,2440,2062,3431
$GC,4384,-1.28,-146.6,560.4,-13.9,258,4389,0.12,2.70,0.00,0.000,4,0.104,0.074,2464,3534,3431
$GC,4413,-1.28,-146.6,564.7,-13.6,260,4418,0.00,2.70,0.00,0.000,6,0.000,0.064,2464,2060,3431
$GC,4738,-1.28,-146.6,602.2,-11.6,281,4742,0.00,2.42,0.00,0.000,4,0.000,0.070,2464,717,3431
$GC,4778,-1.32,-146.6,606.9,-12.3,283,4784,0.00,2.42,0.00,0.000,6,0.000,0.054,2464,2069,3431
$STATE,5047,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5048,begin apogee
$GC,5056,-0.33,0.0,637.7,11.9,301,5193,0.98,0.00,133.07,1.236,6,0.082,0.000,2674,1833,2831
$STATE,5194,end apogee,CONTROL_FINISHED_OK
$STATE,5194,begin climb
$GC,5197,1.44,146.6,643.2,0.0,310,5341,1.75,2.75,134.75,1.192,4,0.061,0.071,3056,3260,2232
$GC,5432,1.40,157.6,631.1,9.5,325,5449,0.00,2.60,11.27,1.041,6,0.000,0.068,3055,1859,2188
$GC,5772,1.36,168.8,599.4,9.5,347,5789,0.00,2.72,11.45,1.062,4,0.000,0.077,3056,439,2142
$GC,5829,1.25,168.8,593.2,10.5,350,5834,0.20,2.58,0.00,0.000,6,0.100,0.058,3019,1849,2142
$GC,6148,1.30,202.7,565.2,8.5,370,6181,0.00,0.00,31.15,1.164,6,0.000,0.000,3018,1864,2004
$GC,6492,1.40,242.7,536.6,8.2,392,6534,0.15,0.00,36.10,1.164,6,0.061,0.000,3055,1865,1841
$GC,6847,1.40,242.7,498.6,10.7,415,6852,0.00,2.65,0.00,0.000,4,0.000,0.074,3056,439,1840
$GC,6871,1.35,242.7,495.8,12.1,416,6877,0.00,2.55,0.00,0.000,6,0.000,0.057,3055,1842,1840
$GC,7190,1.35,242.7,461.9,10.5,437,7194,0.00,2.60,0.00,0.000,4,0.000,0.071,3056,3261,1839
$GC,7235,1.35,242.7,456.8,11.4,440,7239,0.00,2.62,0.00,0.000,6,0.000,0.064,3056,1841,1839
$GC,7560,1.35,242.7,418.7,12.5,461,7565,0.00,2.62,0.00,0.000,4,0.000,0.067,3056,3257,1839
$GC,7608,1.35,242.7,412.6,12.6,464,7612,0.00,2.55,0.00,0.000,6,0.000,0.061,3056,1860,1839
$GC,7932,1.35,242.7,372.6,12.2,485,7936,0.00,2.60,0.00,0.000,4,0.000,0.066,3056,3264,1839
$GC,7978,1.35,242.7,366.9,12.4,488,7982,0.00,2.53,0.00,0.000,6,0.000,0.059,3056,1869,1839
$GC,8302,1.35,242.7,329.1,11.9,509,8303,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1869,1838
$GC,8617,1.35,242.7,292.3,11.8,529,8621,0.00,2.55,0.00,0.000,4,0.000,0.064,3056,3255,1839
$GC,8655,1.35,242.7,287.3,12.4,531,8661,0.00,2.50,0.00,0.000,6,0.000,0.056,3056,1875,1839
$GC,8974,1.35,243.2,254.6,10.0,552,8979,0.00,2.55,0.00,0.000,4,0.000,0.062,3056,3264,1839
$GC,9082,1.35,243.2,243.5,10.3,558,9088,0.00,2.42,0.00,0.000,6,0.000,0.053,3056,1914,1840
$GC,9401,1.40,271.0,214.2,8.7,579,9433,0.00,2.50,24.80,0.931,4,0.000,0.061,3056,3257,1726
$GC,9533,1.49,302.0,202.9,8.6,586,9569,0.00,2.38,27.20,0.928,6,0.000,0.051,3056,1939,1599
$GC,9885,1.52,305.1,171.1,9.9,609,9894,0.00,2.42,4.45,0.652,4,0.000,0.061,3056,3260,1587
$GC,9923,1.58,305.1,166.7,10.2,611,9928,0.15,2.35,0.00,0.000,6,0.054,0.052,3097,1962,1588
$GC,10253,1.53,305.1,130.7,10.7,629,10257,0.00,2.38,0.00,0.000,4,0.000,0.061,3097,3258,1588
$GC,10281,1.49,305.1,127.1,12.7,630,10285,0.15,2.30,0.00,0.000,6,0.097,0.051,3068,1981,1588
$GC,10599,1.52,319.7,97.4,9.3,645,10616,0.00,0.00,13.80,0.815,6,0.000,0.000,3068,1982,1527
$GC,10928,1.52,319.7,63.9,10.7,661,10932,0.00,2.35,0.00,0.000,4,0.000,0.060,3068,3262,1527
$GC,10952,1.56,319.7,61.2,11.3,662,10956,0.00,2.30,0.00,0.000,6,0.000,0.049,3068,1977,1527
$GC,11275,1.60,319.7,25.2,11.5,678,11276,0.12,0.00,0.00,0.000,6,0.058,0.000,3104,1977,1528
$STATE,11435,end climb,SURFACE_DEPTH_REACHED
$STATE,11435,begin surface coast
$FINISH,0.5,1.027168
$STATE,11458,end surface coast,CONTROL_FINISHED_OK
$STATE,11459,begin surface
$SM_CCo,11543,0.00,0.000,0,0,1527,319.87
$SM_GC,1.32,11.62,0.00,0.00,0.036,0.000,0.000,418,2162,1527,-10.61,0.90,319.87
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1847
$TCM_TEMP,17.50
$XPDR_PINGS,47
$ALTIM_BOTTOM_PING,621.6,25.5
$24V_AH,23.7,67.000
$10V_AH,10.1,30.254
$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,26.525,111.475,428.050,0.000,0.000,37.761,25.254,151.729,17.500,0.000,0.000,32.837,1227.379,8223.190,538.839,1427.828,491.469,33.360,1265.235,0.000,1374.125,0.000,40.997,0.000
$DEVICE_MAMPS,160.303,76.700,1235.637,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,468.997,503.457,397.112,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34885,687
$CAP_FILE_SIZE,97699,0
$CFSIZE,254472192,229490688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,011109,141736,6226.165,-1019.149,30,1.1,30,-10.3