version: 66.04
glider: 5
mission: 7
dive: 428
start: 11 2 109 21 59 17
data:
$ID,5
$MISSION,7
$DIVE,428
$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,-108446.94
$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,18
$R_STBD_OVSHOOT,26
$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
$GPS1,215307,6228.246,-953.641,35,1.7,35,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.5
$GPS2,215826,6228.289,-953.573,12,1.5,12,-10.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.130,-0.229
$KALMAN_X,-258132.8,1251.3,1411.5,408853.1,-11212.6
$KALMAN_Y,82798.2,-80.8,-33.1,-193799.3,9659.2
$MHEAD_RNG_PITCHd_Wd,160.5,15656,-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,-60.58,0.000,2,0.000,0.000,419,2150,2766
$GC,83,-1.44,-146.6,2.7,-3.9,3,126,10.95,2.60,-22.52,0.000,4,0.163,0.068,2424,714,3430
$GC,236,-1.35,-146.6,24.5,-16.2,9,243,0.12,2.53,0.00,0.000,6,0.104,0.047,2448,2139,3431
$GC,555,-1.29,-146.6,73.8,-15.6,25,559,0.00,2.60,0.00,0.000,4,0.000,0.058,2448,704,3431
$GC,595,-1.25,-146.6,80.4,-16.5,27,600,0.10,2.50,0.00,0.000,6,0.107,0.047,2469,2115,3431
$GC,923,-1.25,-146.6,127.8,-14.0,43,928,0.00,2.58,0.00,0.000,4,0.000,0.067,2469,3530,3431
$GC,945,-1.25,-146.6,131.1,-13.9,44,950,0.00,2.60,0.00,0.000,6,0.000,0.053,2469,2087,3431
$GC,1275,-1.25,-146.6,173.6,-13.2,63,1279,0.00,2.42,0.00,0.000,4,0.000,0.061,2469,720,3431
$GC,1314,-1.25,-146.6,179.3,-13.7,65,1318,0.00,2.45,0.00,0.000,6,0.000,0.048,2469,2107,3432
$GC,1639,-1.25,-146.6,223.9,-13.9,86,1643,0.00,2.60,0.00,0.000,4,0.000,0.068,2469,3533,3432
$GC,1672,-1.25,-146.6,228.9,-14.5,88,1677,0.00,2.60,0.00,0.000,6,0.000,0.055,2468,2096,3432
$GC,1994,-1.25,-146.6,271.7,-12.7,108,1998,0.00,2.47,0.00,0.000,4,0.000,0.063,2469,709,3432
$GC,2022,-1.25,-146.6,275.8,-12.7,110,2027,0.00,2.47,0.00,0.000,6,0.000,0.048,2469,2106,3432
$GC,2348,-1.25,-146.6,316.5,-12.7,131,2353,0.00,2.62,0.00,0.000,4,0.000,0.071,2469,3537,3432
$GC,2371,-1.25,-146.6,320.0,-13.7,132,2378,0.00,2.62,0.00,0.000,6,0.000,0.059,2469,2093,3431
$GC,2690,-1.25,-146.6,357.7,-11.5,153,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2092,3432
$GC,3003,-1.25,-146.6,392.5,-11.3,173,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2092,3432
$GC,3314,-1.25,-146.6,425.3,-10.0,193,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2091,3432
$GC,3628,-1.25,-146.6,458.4,-11.2,213,3632,0.00,2.45,0.00,0.000,4,0.000,0.065,2469,718,3432
$GC,3695,-1.29,-146.6,466.5,-11.7,217,3700,0.00,2.47,0.00,0.000,6,0.000,0.050,2469,2114,3431
$GC,4014,-1.29,-146.6,506.2,-12.3,237,4019,0.00,2.62,0.00,0.000,4,0.000,0.074,2469,3537,3431
$GC,4061,-1.29,-146.6,511.7,-12.1,240,4065,0.00,2.62,0.00,0.000,6,0.000,0.063,2469,2103,3431
$GC,4387,-1.29,-146.6,547.6,-10.6,261,4392,0.00,2.50,0.00,0.000,4,0.000,0.068,2469,716,3431
$GC,4428,-1.35,-146.6,552.6,-12.6,263,4434,0.00,2.50,0.00,0.000,6,0.000,0.054,2469,2115,3431
$STATE,4728,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4728,begin apogee
$GC,4736,-0.33,0.0,586.4,9.9,283,4872,0.95,0.00,132.45,1.197,6,0.082,0.000,2674,1833,2831
$STATE,4873,end apogee,CONTROL_FINISHED_OK
$STATE,4873,begin climb
$GC,4876,1.44,146.6,589.6,0.0,292,5018,1.75,2.62,131.57,1.158,4,0.058,0.077,3058,449,2233
$GC,5112,1.40,199.6,579.2,7.6,306,5170,0.00,2.55,47.90,1.126,6,0.000,0.057,3059,1863,2017
$GC,5483,1.35,199.6,545.7,10.0,330,5487,0.00,2.60,0.00,0.000,4,0.000,0.077,3058,3242,2016
$GC,5567,1.35,200.3,537.0,10.0,335,5571,0.00,2.55,0.00,0.000,6,0.000,0.070,3058,1871,2016
$GC,5887,1.35,228.8,507.9,8.7,355,5921,0.00,2.70,26.27,1.125,4,0.000,0.077,3058,436,1898
$GC,5927,1.32,240.2,504.0,9.5,357,5947,0.15,2.60,12.00,1.042,6,0.101,0.059,3032,1853,1851
$GC,6272,1.35,262.5,474.9,9.0,379,6298,0.00,2.65,20.92,1.106,4,0.000,0.073,3031,3248,1759
$GC,6372,1.43,274.6,464.7,9.4,384,6391,0.12,2.55,11.70,1.044,6,0.064,0.066,3062,1872,1711
$GC,6715,1.43,274.6,423.0,13.0,406,6720,0.00,2.62,0.00,0.000,4,0.000,0.071,3062,436,1710
$GC,6745,1.37,274.6,418.5,14.1,408,6749,0.00,2.58,0.00,0.000,6,0.000,0.054,3062,1862,1710
$GC,7069,1.37,274.6,373.4,14.8,429,7073,0.00,2.55,0.00,0.000,4,0.000,0.067,3062,3261,1710
$GC,7099,1.37,274.6,369.2,14.5,431,7103,0.00,2.53,0.00,0.000,6,0.000,0.059,3062,1871,1710
$GC,7423,1.37,274.6,324.2,12.9,452,7427,0.00,2.58,0.00,0.000,4,0.000,0.065,3062,3261,1711
$GC,7468,1.37,274.6,318.2,13.6,455,7473,0.00,2.53,0.00,0.000,6,0.000,0.057,3062,1871,1710
$GC,7793,1.37,274.6,276.8,12.5,476,7797,0.00,2.55,0.00,0.000,4,0.000,0.064,3062,3255,1710
$GC,7849,1.37,274.6,269.6,12.3,479,7853,0.00,2.45,0.00,0.000,6,0.000,0.054,3062,1901,1711
$GC,8169,1.37,274.6,231.5,11.9,499,8173,0.00,2.50,0.00,0.000,4,0.000,0.062,3062,3261,1711
$GC,8191,1.37,274.6,228.6,12.0,500,8197,0.00,2.42,0.00,0.000,6,0.000,0.054,3062,1916,1711
$GC,8511,1.37,274.6,192.6,10.9,521,8515,0.00,2.47,0.00,0.000,4,0.000,0.061,3062,3264,1712
$GC,8544,1.37,274.6,188.3,12.7,523,8548,0.00,2.40,0.00,0.000,6,0.000,0.052,3062,1929,1711
$GC,8864,1.37,274.6,152.5,11.3,543,8868,0.00,2.42,0.00,0.000,4,0.000,0.061,3062,3256,1712
$GC,8904,1.37,274.6,147.7,12.0,546,8908,0.00,2.35,0.00,0.000,6,0.000,0.051,3062,1939,1712
$GC,9238,1.37,274.6,108.5,11.3,562,9242,0.00,2.40,0.00,0.000,4,0.000,0.060,3062,3255,1712
$GC,9260,1.37,274.6,105.8,11.0,563,9264,0.00,2.33,0.00,0.000,6,0.000,0.050,3062,1957,1712
$GC,9582,1.37,275.7,74.2,10.0,579,9586,0.00,2.38,0.00,0.000,4,0.000,0.059,3062,3257,1713
$GC,9600,1.37,275.7,72.2,10.1,580,9604,0.00,2.33,0.00,0.000,6,0.000,0.050,3061,1955,1713
$GC,9934,1.37,275.7,36.7,10.9,596,9935,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1956,1713
$STATE,10239,end climb,SURFACE_DEPTH_REACHED
$STATE,10239,begin surface coast
$FINISH,0.4,1.027148
$STATE,10261,end surface coast,CONTROL_FINISHED_OK
$STATE,10261,begin surface
$SM_CCo,10285,13.45,0.732,0,0,1608,300.00
$SM_GC,1.13,0.00,0.00,13.45,0.000,0.000,0.732,425,2157,1608,-10.67,0.76,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1858
$TCM_TEMP,16.40
$XPDR_PINGS,43
$ALTIM_BOTTOM_PING,545.8,50.4
$24V_AH,23.7,68.626
$10V_AH,10.1,30.927
$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,25.650,116.900,382.825,13.450,0.000,37.762,35.750,124.294,15.500,0.000,0.000,12.290,1103.851,7279.582,484.690,1299.586,453.863,33.358,1181.643,0.000,1268.533,0.000,36.767,0.000
$DEVICE_MAMPS,162.604,77.467,1197.287,732.485,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.451,448.393,372.834,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31670,612
$CAP_FILE_SIZE,90340,0
$CFSIZE,254472192,228970496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,031109,005207,6226.600,-952.571,30,1.2,30,-10.0