version: 66.04
glider: 5
mission: 7
dive: 427
start: 11 2 109 18 52 16
data:
$ID,5
$MISSION,7
$DIVE,427
$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,-108434.02
$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,33
$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
$GPS1,184607,6227.259,-958.022,28,1.6,28,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.4
$GPS2,185125,6227.337,-957.991,13,1.5,18,-10.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.200,-0.172
$KALMAN_X,-259733.9,1574.3,1211.3,406695.2,-14521.5
$KALMAN_Y,77196.5,-425.4,677.3,-190327.5,4666.0
$MHEAD_RNG_PITCHd_Wd,140.9,15228,-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,-60.47,0.000,2,0.000,0.000,421,2136,2715
$GC,83,-1.44,-146.6,2.3,-3.0,3,127,10.98,2.62,-27.38,0.000,4,0.158,0.069,2425,708,3430
$GC,286,-1.35,-146.6,30.5,-15.8,12,291,0.12,2.53,0.00,0.000,6,0.110,0.047,2448,2133,3430
$GC,613,-1.29,-146.6,79.8,-14.6,28,618,0.00,2.58,0.00,0.000,4,0.000,0.058,2449,706,3430
$GC,648,-1.25,-146.6,84.9,-13.9,29,655,0.12,2.50,0.00,0.000,6,0.102,0.048,2472,2120,3430
$GC,965,-1.25,-146.6,128.6,-13.2,45,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2120,3430
$GC,1285,-1.25,-146.6,169.7,-12.0,63,1290,0.00,2.55,0.00,0.000,4,0.000,0.060,2472,711,3430
$GC,1325,-1.25,-146.6,174.6,-11.4,65,1330,0.00,2.47,0.00,0.000,6,0.000,0.048,2472,2107,3430
$GC,1644,-1.25,-146.6,214.6,-13.3,85,1649,0.00,2.55,0.00,0.000,4,0.000,0.062,2472,706,3430
$GC,1678,-1.25,-146.6,219.2,-13.0,87,1682,0.00,2.47,0.00,0.000,6,0.000,0.048,2473,2100,3431
$GC,1998,-1.25,-146.6,261.1,-12.4,107,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2100,3431
$GC,2309,-1.25,-146.6,301.0,-12.8,127,2314,0.00,2.53,0.00,0.000,4,0.000,0.064,2473,717,3431
$GC,2343,-1.25,-146.6,305.4,-12.9,129,2347,0.00,2.42,0.00,0.000,6,0.000,0.050,2473,2079,3431
$GC,2663,-1.25,-146.6,348.2,-13.7,149,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2080,3431
$GC,2974,-1.25,-146.6,390.6,-13.4,169,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2079,3431
$GC,3289,-1.25,-146.6,431.8,-13.2,189,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2080,3431
$GC,3599,-1.25,-146.6,472.6,-12.6,209,3603,0.00,2.50,0.00,0.000,4,0.000,0.067,2473,717,3431
$GC,3713,-1.29,-146.6,486.1,-12.0,216,3717,0.00,2.42,0.00,0.000,6,0.000,0.051,2473,2079,3431
$GC,4044,-1.29,-146.6,521.3,-10.1,237,4049,0.00,2.67,0.00,0.000,4,0.000,0.076,2473,3531,3431
$GC,4101,-1.29,-146.6,526.5,-9.1,240,4107,0.00,2.65,0.00,0.000,6,0.000,0.065,2473,2084,3430
$GC,4421,-1.29,-146.6,552.0,-9.1,261,4426,0.00,2.47,0.00,0.000,4,0.000,0.070,2473,714,3430
$GC,4495,-1.35,-146.6,559.5,-10.4,265,4501,0.00,2.42,0.00,0.000,6,0.000,0.054,2473,2069,3430
$STATE,4811,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4812,begin apogee
$GC,4820,-0.33,0.0,593.2,12.0,286,4955,0.93,0.00,131.52,1.204,6,0.079,0.000,2672,1832,2832
$STATE,4956,end apogee,CONTROL_FINISHED_OK
$STATE,4956,begin climb
$GC,4959,1.44,146.6,598.9,0.0,295,5101,1.73,2.62,130.62,1.169,4,0.049,0.077,3060,453,2233
$GC,5284,1.31,146.6,572.8,10.6,314,5291,0.17,2.55,0.00,0.000,6,0.100,0.058,3029,1853,2232
$GC,5604,1.43,224.2,550.1,6.5,335,5683,0.12,2.70,69.25,1.157,4,0.066,0.076,3059,3257,1916
$GC,5748,1.44,229.4,537.7,9.8,343,5759,0.00,2.58,6.40,0.909,6,0.000,0.072,3059,1886,1895
$GC,6083,1.40,229.4,502.8,12.3,365,6087,0.00,2.60,0.00,0.000,4,0.000,0.077,3059,3254,1893
$GC,6149,1.40,229.4,493.7,12.6,369,6154,0.00,2.50,0.00,0.000,6,0.000,0.071,3059,1907,1893
$GC,6469,1.36,229.4,456.4,10.8,389,6473,0.00,2.55,0.00,0.000,4,0.000,0.074,3059,3258,1892
$GC,6570,1.36,229.4,446.0,10.0,395,6574,0.00,2.45,0.00,0.000,6,0.000,0.066,3059,1926,1892
$GC,6890,1.33,232.2,415.0,9.9,415,6892,0.12,0.00,0.00,0.000,6,0.104,0.000,3036,1926,1891
$GC,7203,1.35,244.4,385.4,9.4,435,7218,0.00,0.00,13.98,1.024,6,0.000,0.000,3035,1926,1834
$GC,7529,1.35,244.4,353.6,10.3,456,7533,0.00,2.47,0.00,0.000,4,0.000,0.067,3036,3255,1834
$GC,7559,1.40,244.4,350.3,12.1,458,7563,0.00,2.42,0.00,0.000,6,0.000,0.060,3036,1927,1834
$GC,7885,1.43,244.4,313.4,11.8,479,7889,0.00,2.47,0.00,0.000,4,0.000,0.066,3036,3261,1834
$GC,7931,1.48,244.4,307.5,12.3,482,7936,0.15,2.38,0.00,0.000,6,0.058,0.058,3074,1944,1834
$GC,8259,1.44,244.4,265.2,12.3,503,8263,0.00,2.42,0.00,0.000,4,0.000,0.064,3074,3257,1834
$GC,8276,1.40,244.4,262.5,12.6,504,8280,0.12,2.35,0.00,0.000,6,0.100,0.056,3050,1956,1835
$GC,8601,1.40,244.9,228.6,10.0,525,8605,0.00,2.40,0.00,0.000,4,0.000,0.064,3050,3255,1835
$GC,8618,1.40,244.9,226.7,10.4,526,8622,0.00,2.35,0.00,0.000,6,0.000,0.054,3050,1956,1835
$GC,8938,1.42,257.7,194.5,9.4,546,8953,0.00,0.00,13.23,0.877,6,0.000,0.000,3050,1956,1780
$GC,9265,1.42,257.7,161.6,10.2,567,9270,0.00,2.40,0.00,0.000,4,0.000,0.062,3050,3258,1780
$GC,9288,1.42,257.7,159.0,10.5,568,9294,0.00,2.35,0.00,0.000,6,0.000,0.052,3050,1956,1780
$GC,9615,1.42,259.1,125.5,9.9,586,9620,0.00,2.40,0.00,0.000,4,0.000,0.061,3050,3263,1780
$GC,9634,1.42,259.1,123.5,10.6,587,9638,0.00,2.33,0.00,0.000,6,0.000,0.051,3050,1966,1780
$GC,9963,1.44,269.3,92.7,9.5,603,9979,0.00,2.40,11.27,0.797,4,0.000,0.059,3050,3257,1732
$GC,10013,1.52,283.1,87.6,9.4,604,10033,0.12,2.30,12.75,0.802,6,0.058,0.050,3084,1981,1676
$GC,10356,1.52,283.1,46.8,12.0,621,10358,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1981,1676
$GC,10665,1.52,283.1,9.4,12.2,636,10669,0.00,2.35,0.00,0.000,4,0.000,0.060,3084,3264,1676
$GC,10683,1.52,283.1,7.1,12.6,637,10687,0.00,2.30,0.00,0.000,6,0.000,0.051,3084,1981,1676
$STATE,10718,end climb,SURFACE_DEPTH_REACHED
$STATE,10719,begin surface coast
$FINISH,0.3,1.010747
$STATE,10741,end surface coast,CONTROL_FINISHED_OK
$STATE,10741,begin surface
$SM_CCo,10765,9.15,0.703,0,0,1608,300.00
$SM_GC,1.41,0.00,0.00,9.15,0.000,0.000,0.703,419,2146,1608,-10.70,0.45,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1846
$TCM_TEMP,17.50
$XPDR_PINGS,38
$ALTIM_BOTTOM_PING,545.1,56.7
$24V_AH,23.7,68.485
$10V_AH,10.1,30.869
$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,26.275,99.725,389.025,9.150,0.000,37.760,27.694,125.531,14.250,0.000,0.000,18.320,1148.126,7648.957,484.036,1370.335,444.042,33.360,1193.235,0.000,1333.204,0.000,36.773,0.000
$DEVICE_MAMPS,158.002,76.700,1204.190,702.572,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.605,464.959,381.415,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31765,640
$CAP_FILE_SIZE,92258,0
$CFSIZE,254472192,229015552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,021109,215307,6228.246,-953.641,35,1.7,35,-10.1