version: 66.04
glider: 5
mission: 7
dive: 425
start: 11 2 109 12 42 52
data:
$ID,5
$MISSION,7
$DIVE,425
$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,-108397.91
$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,23
$R_STBD_OVSHOOT,27
$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
$GPS1,123631,6227.156,-1000.411,40,1.8,40,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-61.6
$GPS2,124201,6227.124,-1000.484,16,1.6,16,-10.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.262,-0.032
$KALMAN_X,-252982.6,949.7,401.9,399320.5,-9861.2
$KALMAN_Y,76236.3,-865.8,-1164.4,-187441.9,7732.8
$MHEAD_RNG_PITCHd_Wd,107.0,15980,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,79,0.00,0.00,-60.45,0.000,2,0.000,0.000,421,2148,2777
$GC,82,-1.44,-146.6,2.5,-3.4,3,126,10.90,2.60,-22.25,0.000,4,0.156,0.065,2425,717,3430
$GC,277,-1.36,-146.6,32.4,-16.4,11,285,0.12,2.50,0.00,0.000,6,0.107,0.047,2449,2128,3430
$GC,594,-1.29,-146.6,77.1,-14.4,27,598,0.00,2.58,0.00,0.000,4,0.000,0.061,2449,714,3430
$GC,645,-1.26,-146.6,84.8,-14.9,29,650,0.10,2.50,0.00,0.000,6,0.106,0.048,2468,2121,3431
$GC,962,-1.26,-146.6,125.1,-12.6,44,966,0.00,2.55,0.00,0.000,4,0.000,0.059,2468,713,3431
$GC,995,-1.26,-146.6,129.2,-11.8,45,1001,0.00,2.50,0.00,0.000,6,0.000,0.048,2468,2123,3431
$GC,1313,-1.26,-146.6,169.1,-13.3,63,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2123,3431
$GC,1624,-1.26,-146.6,210.9,-13.4,83,1628,0.00,2.58,0.00,0.000,4,0.000,0.062,2468,707,3431
$GC,1670,-1.26,-146.6,216.9,-13.4,86,1674,0.00,2.50,0.00,0.000,6,0.000,0.048,2468,2118,3431
$GC,1995,-1.26,-146.6,256.5,-12.0,107,1999,0.00,2.55,0.00,0.000,4,0.000,0.061,2468,713,3431
$GC,2078,-1.26,-146.6,267.1,-12.4,112,2082,0.00,2.47,0.00,0.000,6,0.000,0.048,2468,2108,3431
$GC,2398,-1.26,-146.6,306.5,-12.4,132,2402,0.00,2.53,0.00,0.000,4,0.000,0.062,2468,718,3431
$GC,2448,-1.26,-146.6,313.2,-12.4,135,2452,0.00,2.42,0.00,0.000,6,0.000,0.049,2468,2083,3431
$GC,2767,-1.26,-146.6,352.9,-12.8,155,2771,0.00,2.50,0.00,0.000,4,0.000,0.063,2468,713,3431
$GC,2817,-1.26,-146.6,359.8,-13.6,158,2822,0.00,2.40,0.00,0.000,6,0.000,0.049,2468,2062,3432
$GC,3137,-1.26,-146.6,406.2,-14.5,178,3141,0.00,2.47,0.00,0.000,4,0.000,0.064,2468,712,3431
$GC,3170,-1.26,-146.6,411.1,-14.4,180,3174,0.00,2.40,0.00,0.000,6,0.000,0.050,2468,2060,3431
$GC,3491,-1.26,-146.6,444.8,-8.3,200,3495,0.00,2.47,0.00,0.000,4,0.000,0.065,2468,706,3431
$GC,3597,-1.30,-146.6,454.5,-8.8,206,3602,0.00,2.35,0.00,0.000,6,0.000,0.050,2468,2028,3431
$GC,3918,-1.30,-146.6,486.1,-10.8,226,3922,0.00,2.42,0.00,0.000,4,0.000,0.068,2468,714,3431
$GC,3974,-1.35,-146.6,493.3,-12.2,229,3980,0.00,2.35,0.00,0.000,6,0.000,0.052,2468,2027,3431
$GC,4294,-1.35,-146.6,533.1,-12.4,250,4298,0.00,2.42,0.00,0.000,4,0.000,0.070,2468,714,3431
$GC,4367,-1.40,-146.6,541.9,-11.4,254,4373,0.12,2.30,0.00,0.000,6,0.067,0.054,2435,1998,3431
$GC,4690,-1.35,-146.6,583.2,-13.2,275,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1998,3430
$STATE,4839,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4839,begin apogee
$GC,4847,-0.33,0.0,603.8,13.3,285,4983,1.12,0.00,131.27,1.220,6,0.087,0.000,2674,1832,2831
$STATE,4983,end apogee,CONTROL_FINISHED_OK
$STATE,4983,begin climb
$GC,4987,1.44,146.6,609.3,0.0,294,5128,1.75,2.75,131.38,1.176,4,0.056,0.074,3061,3255,2232
$GC,5174,1.35,146.6,596.7,11.3,305,5180,0.00,2.62,0.00,0.000,6,0.000,0.071,3061,1853,2232
$GC,5494,1.28,146.6,564.0,10.1,326,5496,0.20,0.00,0.00,0.000,6,0.096,0.000,3022,1853,2231
$GC,5807,1.38,207.5,539.0,7.2,346,5870,0.10,2.72,54.30,1.164,4,0.069,0.076,3047,3258,1985
$GC,5932,1.38,207.5,527.1,10.4,353,5938,0.00,2.67,0.00,0.000,6,0.000,0.071,3048,1831,1985
$GC,6252,1.49,273.5,499.8,7.0,374,6316,0.00,2.80,58.47,1.157,4,0.000,0.074,3048,3255,1716
$GC,6372,1.55,313.9,490.2,8.2,381,6415,0.15,2.62,36.60,1.124,6,0.063,0.069,3085,1852,1552
$GC,6728,1.48,316.3,455.4,9.9,404,6737,0.00,2.65,4.15,0.741,4,0.000,0.071,3085,3257,1541
$GC,6796,1.45,318.2,448.4,9.9,408,6801,0.12,2.55,0.00,0.000,6,0.109,0.065,3062,1875,1541
$GC,7121,1.45,318.2,412.5,12.5,429,7125,0.00,2.58,0.00,0.000,4,0.000,0.068,3061,3254,1541
$GC,7177,1.45,318.2,405.1,12.6,432,7183,0.00,2.50,0.00,0.000,6,0.000,0.064,3061,1898,1541
$GC,7496,1.45,318.2,368.5,12.3,453,7500,0.00,2.53,0.00,0.000,4,0.000,0.067,3061,3256,1541
$GC,7563,1.45,318.2,360.0,12.8,457,7574,0.00,2.42,3.78,0.669,6,0.000,0.061,3061,1916,1532
$GC,7887,1.45,318.2,318.4,12.3,478,7891,0.00,2.47,0.00,0.000,4,0.000,0.065,3062,3256,1533
$GC,7940,1.48,318.2,311.7,13.0,481,7944,0.00,2.42,0.00,0.000,6,0.000,0.058,3061,1922,1533
$GC,8260,1.48,318.2,270.3,13.4,501,8264,0.00,2.45,0.00,0.000,4,0.000,0.064,3061,3251,1533
$GC,8299,1.51,318.2,264.7,14.0,503,8305,0.00,2.38,0.00,0.000,6,0.000,0.055,3061,1941,1533
$GC,8619,1.51,318.2,221.9,12.9,524,8623,0.00,2.42,0.00,0.000,4,0.000,0.063,3061,3258,1534
$GC,8658,1.55,318.2,216.7,12.9,526,8664,0.00,2.35,0.00,0.000,6,0.000,0.054,3061,1959,1534
$GC,8977,1.55,318.2,175.4,13.2,547,8981,0.00,2.38,0.00,0.000,4,0.000,0.062,3062,3251,1534
$GC,9000,1.55,318.2,172.1,13.9,548,9006,0.00,2.30,0.00,0.000,6,0.000,0.053,3062,1974,1535
$GC,9323,1.55,318.2,131.3,11.4,567,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1975,1534
$GC,9632,1.55,318.2,95.7,11.7,582,9636,0.00,2.35,0.00,0.000,4,0.000,0.061,3062,3258,1535
$GC,9683,1.59,318.2,89.3,12.2,584,9688,0.15,2.30,0.00,0.000,6,0.057,0.051,3103,1973,1534
$GC,10006,1.53,318.2,44.5,14.3,600,10010,0.12,2.35,0.00,0.000,4,0.100,0.059,3078,3259,1536
$GC,10050,1.53,318.2,38.2,13.2,602,10054,0.00,2.28,0.00,0.000,6,0.000,0.049,3078,1987,1536
$STATE,10347,end climb,SURFACE_DEPTH_REACHED
$STATE,10348,begin surface coast
$FINISH,0.2,1.013424
$STATE,10370,end surface coast,CONTROL_FINISHED_OK
$STATE,10370,begin surface
$SM_CCo,10454,0.00,0.000,0,0,1536,317.66
$SM_GC,1.06,11.50,0.00,0.00,0.036,0.000,0.000,419,2145,1536,-10.59,0.42,317.66
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1844
$TCM_TEMP,17.50
$XPDR_PINGS,39
$ALTIM_BOTTOM_PING,546.6,65.3
$24V_AH,23.7,68.200
$10V_AH,10.1,30.747
$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,26.475,114.825,419.950,0.000,0.000,37.758,40.801,125.936,14.750,0.000,0.000,16.900,1113.234,7337.191,513.780,1364.225,454.616,33.361,1233.086,0.000,1324.233,0.000,39.741,0.000
$DEVICE_MAMPS,156.468,75.933,1220.297,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.796,452.150,367.788,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31679,618
$CAP_FILE_SIZE,92413,0
$CFSIZE,254472192,229105664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,021109,153826,6226.578,-959.795,23,4.6,42,-10.1