version: 66.04
glider: 5
mission: 7
dive: 419
start: 11 1 109 17 45 23
data:
$ID,5
$MISSION,7
$DIVE,419
$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,-108269.62
$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,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
$GPS1,173901,6226.264,-1017.328,38,1.3,38,-10.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-62.4
$GPS2,174432,6226.303,-1017.313,13,1.1,13,-10.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.255,-0.065
$KALMAN_X,-243607.0,1351.8,529.9,375507.1,-10879.5
$KALMAN_Y,64263.8,461.4,913.0,-180448.7,-3100.5
$MHEAD_RNG_PITCHd_Wd,114.6,26228,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.44,-146.6,0.0,0.0,0,82,0.00,0.00,-61.28,0.000,2,0.000,0.000,419,2163,2816
$GC,86,-1.44,-146.6,3.0,-4.3,3,122,10.93,2.62,-19.62,0.000,4,0.162,0.067,2422,701,3430
$GC,291,-1.36,-146.6,34.3,-16.5,11,296,0.12,2.53,0.00,0.000,6,0.108,0.047,2446,2124,3431
$GC,607,-1.30,-146.6,79.7,-14.4,26,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2124,3431
$GC,917,-1.24,-146.6,124.9,-14.9,41,922,0.15,2.58,0.00,0.000,4,0.104,0.061,2475,704,3431
$GC,973,-1.24,-146.6,133.1,-14.1,43,980,0.00,2.53,0.00,0.000,6,0.000,0.048,2475,2129,3431
$GC,1291,-1.24,-146.6,176.0,-13.3,62,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2128,3431
$GC,1604,-1.24,-146.6,215.4,-12.2,82,1608,0.00,2.58,0.00,0.000,4,0.000,0.061,2475,709,3431
$GC,1656,-1.27,-146.6,221.4,-11.4,85,1660,0.00,2.50,0.00,0.000,6,0.000,0.049,2475,2120,3431
$GC,1976,-1.27,-146.6,255.8,-11.0,105,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2120,3431
$GC,2287,-1.27,-146.6,292.6,-12.8,125,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2119,3431
$GC,2599,-1.27,-146.6,334.1,-13.1,145,2604,0.00,2.55,0.00,0.000,4,0.000,0.062,2475,716,3431
$GC,2646,-1.32,-146.6,339.9,-12.7,148,2650,0.00,2.47,0.00,0.000,6,0.000,0.050,2475,2115,3431
$GC,2979,-1.32,-146.6,375.1,-9.2,169,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2115,3431
$GC,3290,-1.32,-146.6,406.8,-11.9,189,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2115,3431
$GC,3603,-1.32,-146.6,447.2,-12.5,209,3608,0.00,2.55,0.00,0.000,4,0.000,0.064,2475,716,3431
$GC,3637,-1.37,-146.6,452.1,-13.4,211,3642,0.12,2.47,0.00,0.000,6,0.061,0.051,2442,2107,3431
$GC,3961,-1.33,-146.6,496.8,-13.4,231,3965,0.00,2.55,0.00,0.000,4,0.000,0.067,2441,711,3431
$GC,4006,-1.33,-146.6,503.7,-13.9,233,4012,0.00,2.42,0.00,0.000,6,0.000,0.052,2442,2071,3431
$GC,4326,-1.29,-146.6,544.6,-12.3,254,4332,0.10,2.67,0.00,0.000,4,0.110,0.074,2460,3533,3431
$GC,4378,-1.29,-146.6,550.7,-11.3,257,4382,0.00,2.65,0.00,0.000,6,0.000,0.065,2461,2085,3431
$GC,4702,-1.29,-146.6,585.9,-11.0,278,4706,0.00,2.47,0.00,0.000,4,0.000,0.070,2461,716,3430
$GC,4731,-1.33,-146.6,589.7,-13.8,280,4736,0.00,2.47,0.00,0.000,6,0.000,0.055,2461,2094,3430
$GC,5060,-1.33,-146.6,626.3,-12.2,301,5065,0.00,2.70,0.00,0.000,4,0.000,0.081,2461,3544,3430
$STATE,5091,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5091,begin apogee
$GC,5103,-0.33,0.0,630.7,12.5,303,5239,0.95,0.00,132.65,1.243,6,0.087,0.000,2666,1844,2831
$STATE,5240,end apogee,CONTROL_FINISHED_OK
$STATE,5240,begin climb
$GC,5243,1.44,146.6,635.5,0.0,312,5384,1.77,2.70,133.02,1.194,4,0.061,0.074,3055,442,2233
$GC,5408,1.31,146.6,628.1,10.1,322,5413,0.12,2.58,0.00,0.000,6,0.107,0.055,3033,1855,2233
$GC,5727,1.36,178.7,600.5,8.5,342,5762,0.00,2.62,29.83,1.147,4,0.000,0.072,3033,3251,2102
$GC,5827,1.36,178.7,590.6,11.2,348,5832,0.00,2.60,0.00,0.000,6,0.000,0.067,3032,1858,2102
$GC,6152,1.36,178.7,553.5,10.7,369,6156,0.00,2.62,0.00,0.000,4,0.000,0.073,3033,3251,2100
$GC,6197,1.40,203.4,549.1,8.9,372,6229,0.00,2.60,22.98,1.137,6,0.000,0.069,3033,1857,2002
$GC,6545,1.51,272.6,524.1,6.8,394,6613,0.20,2.70,61.85,1.168,4,0.058,0.071,3081,3255,1719
$GC,6632,1.45,272.6,514.7,11.6,399,6636,0.00,2.60,0.00,0.000,6,0.000,0.068,3080,1868,1719
$GC,6956,1.38,272.6,471.3,14.4,420,6961,0.17,2.62,0.00,0.000,4,0.101,0.071,3044,3261,1719
$GC,6985,1.38,272.6,467.2,13.6,422,6989,0.00,2.55,0.00,0.000,6,0.000,0.065,3044,1876,1719
$GC,7309,1.38,272.6,426.5,11.7,443,7313,0.00,2.58,0.00,0.000,4,0.000,0.069,3044,3255,1719
$GC,7349,1.42,272.6,422.0,10.9,445,7355,0.00,2.50,0.00,0.000,6,0.000,0.063,3044,1889,1719
$GC,7669,1.45,293.1,391.6,9.1,466,7693,0.00,2.62,19.02,1.052,4,0.000,0.067,3044,3270,1636
$GC,7740,1.55,310.1,384.7,9.2,470,7762,0.17,2.50,16.40,1.032,6,0.057,0.061,3087,1901,1566
$GC,8078,1.49,310.1,339.6,14.3,491,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1901,1566
$GC,8389,1.43,310.1,292.5,15.6,511,8394,0.17,2.53,0.00,0.000,4,0.097,0.064,3049,3262,1567
$GC,8423,1.48,310.1,287.3,14.1,513,8427,0.00,2.45,0.00,0.000,6,0.000,0.057,3049,1905,1567
$GC,8742,1.48,310.1,250.2,11.1,533,8746,0.00,2.50,0.00,0.000,4,0.000,0.064,3049,3259,1567
$GC,8759,1.52,310.1,248.1,10.9,534,8764,0.12,2.42,0.00,0.000,6,0.061,0.055,3083,1918,1567
$GC,9081,1.48,310.1,207.8,13.5,554,9085,0.00,2.47,0.00,0.000,4,0.000,0.062,3083,3263,1568
$GC,9098,1.44,310.1,204.9,13.5,555,9103,0.12,2.40,0.00,0.000,6,0.100,0.054,3060,1933,1568
$GC,9418,1.44,310.1,160.6,14.4,575,9419,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1932,1569
$GC,9745,1.44,310.1,114.9,13.3,592,9749,0.00,2.42,0.00,0.000,4,0.000,0.061,3059,3257,1569
$GC,9779,1.49,310.1,110.2,13.4,593,9785,0.00,2.38,0.00,0.000,6,0.000,0.051,3059,1931,1569
$GC,10097,1.49,310.1,73.1,10.9,609,10098,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1931,1569
$GC,10404,1.49,310.1,39.6,11.1,624,10408,0.00,2.42,0.00,0.000,4,0.000,0.060,3060,3260,1570
$GC,10444,1.56,310.1,34.9,11.9,626,10449,0.10,2.35,0.00,0.000,6,0.063,0.049,3088,1941,1570
$STATE,10686,end climb,SURFACE_DEPTH_REACHED
$STATE,10686,begin surface coast
$FINISH,0.5,1.013509
$STATE,10708,end surface coast,CONTROL_FINISHED_OK
$STATE,10708,begin surface
$SM_CCo,10793,0.00,0.000,0,0,1570,309.32
$SM_GC,1.26,11.50,0.00,0.00,0.035,0.000,0.000,423,2153,1570,-10.59,0.68,309.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1835
$TCM_TEMP,17.40
$XPDR_PINGS,56
$ALTIM_BOTTOM_PING,595.8,44.5
$24V_AH,23.7,67.296
$10V_AH,10.1,30.377
$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,26.850,107.600,415.750,0.000,0.000,37.760,27.414,143.951,19.250,0.000,0.000,13.775,1143.692,7697.104,494.838,1317.996,468.818,33.362,1188.747,0.000,1283.825,0.000,39.921,0.000
$DEVICE_MAMPS,161.837,80.535,1243.307,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.907,466.684,369.593,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31701,639
$CAP_FILE_SIZE,93036,0
$CFSIZE,254472192,229400576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,011109,204631,6227.514,-1012.090,38,1.6,38,-10.2