version: 66.04
glider: 5
mission: 7
dive: 429
start: 11 3 109 0 58 17
data:
$ID,5
$MISSION,7
$DIVE,429
$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,-108461.82
$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,24
$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
$GPS1,005207,6226.600,-952.571,30,1.2,30,-10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.2
$GPS2,005726,6226.562,-952.641,14,1.8,14,-10.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.104,-0.242
$KALMAN_X,-257563.0,1238.9,248.8,410249.0,-7746.7
$KALMAN_Y,84243.1,136.6,-1360.7,-197294.1,11088.4
$MHEAD_RNG_PITCHd_Wd,166.8,12363,-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,-60.60,0.000,2,0.000,0.000,425,2162,2771
$GC,83,-1.44,-146.6,2.5,-3.2,3,126,10.80,2.58,-23.00,0.000,4,0.158,0.080,2420,3527,3430
$GC,255,-1.31,-146.6,27.7,-16.6,10,262,0.17,2.53,0.00,0.000,6,0.101,0.051,2455,2124,3431
$GC,572,-1.26,-146.6,73.3,-14.5,26,576,0.00,2.50,0.00,0.000,4,0.000,0.059,2455,716,3431
$GC,622,-1.26,-146.6,81.0,-14.6,28,626,0.00,2.50,0.00,0.000,6,0.000,0.047,2455,2126,3431
$GC,939,-1.22,-146.6,126.5,-14.3,43,941,0.12,0.00,0.00,0.000,6,0.104,0.000,2481,2126,3431
$GC,1248,-1.22,-146.6,165.3,-11.8,60,1252,0.00,2.58,0.00,0.000,4,0.000,0.061,2481,709,3431
$GC,1305,-1.26,-146.6,172.0,-12.0,63,1311,0.00,2.53,0.00,0.000,6,0.000,0.048,2481,2135,3431
$GC,1624,-1.26,-146.6,208.6,-11.5,84,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2135,3431
$GC,1937,-1.26,-146.6,245.2,-12.0,104,1942,0.00,2.58,0.00,0.000,4,0.000,0.061,2481,717,3432
$GC,1985,-1.31,-146.6,251.1,-12.8,107,1989,0.00,2.50,0.00,0.000,6,0.000,0.049,2481,2123,3432
$GC,2315,-1.31,-146.6,293.6,-13.1,128,2319,0.00,2.58,0.00,0.000,4,0.000,0.064,2481,714,3432
$GC,2349,-1.35,-146.6,297.9,-13.4,130,2354,0.15,2.50,0.00,0.000,6,0.057,0.049,2442,2122,3432
$GC,2670,-1.28,-146.6,342.7,-13.3,150,2675,0.12,2.58,0.00,0.000,4,0.101,0.064,2466,714,3432
$GC,2709,-1.28,-146.6,347.9,-12.0,152,2715,0.00,2.47,0.00,0.000,6,0.000,0.050,2466,2107,3432
$GC,3029,-1.28,-146.6,384.9,-12.2,173,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2107,3432
$GC,3341,-1.28,-146.6,422.7,-12.1,193,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2106,3431
$GC,3654,-1.28,-146.6,459.9,-11.1,213,3658,0.00,2.55,0.00,0.000,4,0.000,0.067,2466,716,3432
$GC,3709,-1.28,-146.6,466.4,-11.4,216,3715,0.00,2.45,0.00,0.000,6,0.000,0.051,2466,2090,3431
$GC,4028,-1.28,-146.6,502.2,-11.5,237,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2091,3432
$GC,4342,-1.28,-146.6,533.5,-8.9,257,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2090,3431
$GC,4653,-1.28,-146.6,561.8,-10.2,277,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2090,3432
$GC,4966,-1.28,-146.6,598.0,-11.4,297,4970,0.00,2.55,0.00,0.000,4,0.000,0.075,2465,719,3431
$STATE,4985,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4985,begin apogee
$GC,4994,-0.33,0.0,601.3,14.1,298,5131,0.93,0.00,132.77,1.210,6,0.087,0.000,2666,1870,2831
$STATE,5132,end apogee,CONTROL_FINISHED_OK
$STATE,5132,begin climb
$GC,5135,1.44,146.6,606.9,0.0,307,5276,1.77,2.80,133.25,1.167,4,0.061,0.077,3055,437,2233
$GC,5306,1.32,182.0,598.2,8.4,317,5345,0.12,2.60,32.55,1.121,6,0.102,0.058,3033,1866,2089
$GC,5656,1.39,222.2,568.5,8.2,340,5698,0.00,2.72,36.38,1.140,4,0.000,0.078,3033,446,1924
$GC,5743,1.40,232.9,560.5,9.5,344,5759,0.00,2.58,10.85,1.030,6,0.000,0.061,3033,1847,1881
$GC,6076,1.43,247.1,530.3,9.4,365,6097,0.10,2.70,13.65,1.081,4,0.067,0.077,3058,3255,1823
$GC,6160,1.43,247.1,521.4,10.3,370,6165,0.00,2.60,0.00,0.000,6,0.000,0.071,3058,1867,1823
$GC,6488,1.40,250.0,488.4,9.9,391,6497,0.00,2.62,4.15,0.762,4,0.000,0.074,3058,3252,1811
$GC,6543,1.40,250.0,482.2,10.4,394,6548,0.00,2.53,0.00,0.000,6,0.000,0.069,3058,1891,1811
$GC,6863,1.36,250.3,452.5,10.0,414,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1890,1811
$GC,7175,1.36,250.3,418.4,11.2,434,7180,0.00,2.55,0.00,0.000,4,0.000,0.069,3058,3256,1810
$GC,7198,1.36,250.3,415.6,11.8,435,7204,0.00,2.47,0.00,0.000,6,0.000,0.063,3058,1901,1810
$GC,7517,1.36,250.3,381.1,11.0,456,7521,0.00,2.53,0.00,0.000,4,0.000,0.067,3058,3258,1810
$GC,7556,1.36,250.3,376.9,10.5,458,7562,0.00,2.45,0.00,0.000,6,0.000,0.061,3058,1909,1810
$GC,7875,1.36,250.3,341.5,12.1,479,7877,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1908,1810
$GC,8188,1.36,250.3,301.5,13.2,499,8192,0.00,2.50,0.00,0.000,4,0.000,0.065,3058,3261,1810
$GC,8234,1.36,250.3,295.5,13.1,502,8238,0.00,2.40,0.00,0.000,6,0.000,0.056,3058,1933,1810
$GC,8564,1.36,250.3,255.3,11.4,523,8568,0.00,2.45,0.00,0.000,4,0.000,0.064,3058,3261,1811
$GC,8580,1.36,250.3,253.2,11.8,524,8584,0.00,2.40,0.00,0.000,6,0.000,0.055,3058,1933,1811
$GC,8900,1.36,250.3,217.8,11.1,544,8904,0.00,2.42,0.00,0.000,4,0.000,0.063,3058,3255,1811
$GC,8933,1.36,250.3,213.8,11.2,546,8937,0.00,2.35,0.00,0.000,6,0.000,0.054,3058,1952,1811
$GC,9252,1.36,250.3,178.4,11.7,566,9256,0.00,2.40,0.00,0.000,4,0.000,0.062,3058,3258,1812
$GC,9287,1.36,250.3,174.2,11.9,568,9291,0.00,2.30,0.00,0.000,6,0.000,0.053,3058,1981,1812
$GC,9611,1.36,250.3,139.9,10.3,587,9615,0.00,2.33,0.00,0.000,4,0.000,0.060,3058,3255,1812
$GC,9634,1.36,250.3,137.5,10.9,588,9638,0.00,2.25,0.00,0.000,6,0.000,0.051,3058,2001,1812
$GC,9957,1.36,250.3,104.3,11.0,604,9961,0.00,2.80,0.00,0.000,4,0.000,0.062,3058,429,1813
$GC,10024,1.33,250.3,96.0,12.2,607,10029,0.12,2.78,0.00,0.000,6,0.094,0.047,3034,2000,1812
$GC,10348,1.39,250.3,63.0,10.3,623,10352,0.00,2.25,0.00,0.000,4,0.000,0.060,3034,3259,1813
$GC,10366,1.46,250.3,60.9,10.6,624,10371,0.15,2.30,0.00,0.000,6,0.054,0.049,3075,1971,1813
$GC,10694,1.46,250.3,22.8,11.1,640,10698,0.00,2.35,0.00,0.000,4,0.000,0.058,3074,3261,1814
$GC,10717,1.46,250.3,20.1,11.8,641,10721,0.00,2.28,0.00,0.000,6,0.000,0.049,3074,1986,1814
$STATE,10870,end climb,SURFACE_DEPTH_REACHED
$STATE,10871,begin surface coast
$FINISH,0.7,1.027126
$STATE,10892,end surface coast,CONTROL_FINISHED_OK
$STATE,10892,begin surface
$SM_CCo,10917,26.23,0.763,0,0,1607,300.00
$SM_GC,1.06,0.00,0.00,26.23,0.000,0.000,0.763,421,2146,1607,-10.69,0.45,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1829
$TCM_TEMP,17.50
$XPDR_PINGS,41
$ALTIM_BOTTOM_PING,570.3,41.0
$24V_AH,23.7,68.764
$10V_AH,10.1,30.988
$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,26.075,110.050,363.600,26.225,0.000,37.759,31.665,128.660,15.500,0.000,0.000,14.258,1161.757,7813.749,484.943,1345.521,460.653,33.359,1184.222,0.000,1309.138,0.000,41.238,0.000
$DEVICE_MAMPS,158.002,79.768,1210.326,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.683,469.135,386.730,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31683,650
$CAP_FILE_SIZE,93143,0
$CFSIZE,254472192,228925440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,031109,040206,6223.896,-956.178,39,1.3,45,-10.1