version: 66.04
glider: 5
mission: 7
dive: 430
start: 11 3 109 4 8 16
data:
$ID,5
$MISSION,7
$DIVE,430
$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,-108477.96
$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,19
$R_STBD_OVSHOOT,24
$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
$GPS1,040206,6223.896,-956.178,39,1.3,45,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.2
$GPS2,040725,6223.885,-956.297,10,1.3,15,-10.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.263,-0.011
$KALMAN_X,-261745.9,1121.2,-151.2,411955.3,-9941.0
$KALMAN_Y,82785.6,-532.3,-837.8,-200637.2,6784.7
$MHEAD_RNG_PITCHd_Wd,102.6,9005,-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,-60.50,0.000,2,0.000,0.000,421,2155,2763
$GC,83,-1.44,-146.6,2.5,-3.8,3,126,10.70,2.58,-23.17,0.000,4,0.152,0.078,2423,3533,3430
$GC,356,-1.32,-146.6,44.5,-16.4,15,361,0.15,2.55,0.00,0.000,6,0.104,0.050,2454,2111,3431
$GC,678,-1.27,-146.6,93.6,-15.7,31,682,0.00,2.47,0.00,0.000,4,0.000,0.059,2454,717,3431
$GC,724,-1.27,-146.6,100.7,-14.8,33,728,0.00,2.53,0.00,0.000,6,0.000,0.047,2454,2141,3431
$GC,1046,-1.22,-146.6,149.6,-15.3,49,1051,0.12,2.58,0.00,0.000,4,0.104,0.058,2480,719,3431
$GC,1096,-1.26,-146.6,156.6,-12.8,52,1100,0.00,2.47,0.00,0.000,6,0.000,0.047,2480,2120,3431
$GC,1417,-1.26,-146.6,196.8,-12.3,72,1421,0.00,2.55,0.00,0.000,4,0.000,0.059,2480,712,3431
$GC,1462,-1.30,-146.6,202.7,-12.7,75,1467,0.00,2.47,0.00,0.000,6,0.000,0.048,2480,2110,3431
$GC,1788,-1.30,-146.6,244.6,-13.3,96,1793,0.00,2.60,0.00,0.000,4,0.000,0.068,2480,3538,3431
$GC,1822,-1.30,-146.6,249.4,-14.0,98,1827,0.00,2.60,0.00,0.000,6,0.000,0.056,2480,2100,3431
$GC,2147,-1.30,-146.6,293.4,-13.8,119,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2100,3431
$GC,2460,-1.30,-146.6,337.0,-13.7,139,2464,0.00,2.47,0.00,0.000,4,0.000,0.063,2480,712,3431
$GC,2490,-1.33,-146.6,341.2,-14.4,141,2495,0.12,2.45,0.00,0.000,6,0.059,0.048,2446,2093,3431
$GC,2818,-1.28,-146.6,390.8,-15.0,162,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2094,3431
$GC,3129,-1.23,-146.6,435.8,-13.7,182,3134,0.15,2.50,0.00,0.000,4,0.098,0.063,2475,719,3431
$GC,3175,-1.28,-146.6,441.7,-12.3,185,3179,0.00,2.42,0.00,0.000,6,0.000,0.050,2475,2086,3430
$GC,3502,-1.28,-146.6,480.8,-11.5,206,3506,0.00,2.50,0.00,0.000,4,0.000,0.064,2475,718,3431
$GC,3557,-1.33,-146.6,487.6,-11.3,209,3563,0.00,2.42,0.00,0.000,6,0.000,0.051,2476,2079,3431
$GC,3877,-1.33,-146.6,525.9,-11.5,230,3882,0.00,2.50,0.00,0.000,4,0.000,0.068,2475,718,3431
$GC,3900,-1.37,-146.6,528.5,-10.6,231,3907,0.15,2.42,0.00,0.000,6,0.056,0.053,2435,2074,3431
$GC,4223,-1.32,-146.6,567.4,-12.4,252,4228,0.10,2.50,0.00,0.000,4,0.104,0.071,2455,720,3431
$GC,4336,-1.32,-146.6,582.0,-12.1,259,4340,0.00,2.40,0.00,0.000,6,0.000,0.055,2455,2057,3430
$GC,4661,-1.32,-146.6,623.1,-12.5,280,4665,0.00,2.72,0.00,0.000,4,0.000,0.081,2455,3534,3430
$STATE,4725,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4725,begin apogee
$GC,4735,-0.33,0.0,632.4,14.7,284,4871,0.95,0.00,131.85,1.236,6,0.081,0.000,2664,1843,2831
$STATE,4872,end apogee,CONTROL_FINISHED_OK
$STATE,4872,begin climb
$GC,4875,1.44,146.6,639.4,0.0,293,5016,1.80,2.65,131.68,1.195,4,0.061,0.080,3056,443,2233
$GC,5065,1.32,157.4,632.0,9.5,304,5082,0.12,2.58,11.02,1.039,6,0.102,0.057,3033,1863,2189
$GC,5398,1.41,216.0,606.2,7.3,325,5461,0.00,2.65,52.85,1.168,4,0.000,0.072,3033,3252,1950
$GC,5571,1.45,216.0,589.1,10.8,335,5576,0.12,2.58,0.00,0.000,6,0.063,0.069,3065,1870,1949
$GC,5891,1.39,216.0,552.1,10.7,355,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1870,1948
$GC,6202,1.34,216.0,518.1,10.4,375,6204,0.15,0.00,0.00,0.000,6,0.101,0.000,3036,1870,1947
$GC,6514,1.34,216.0,487.7,10.7,395,6518,0.00,2.58,0.00,0.000,4,0.000,0.071,3036,3243,1946
$GC,6537,1.34,216.0,485.2,10.9,396,6543,0.00,2.50,0.00,0.000,6,0.000,0.065,3036,1882,1946
$GC,6857,1.37,235.2,453.1,9.1,417,6876,0.00,0.00,17.33,1.094,6,0.000,0.000,3036,1882,1872
$GC,7184,1.37,235.2,417.3,11.3,438,7188,0.00,2.55,0.00,0.000,4,0.000,0.069,3036,3252,1872
$GC,7230,1.41,235.2,411.9,11.8,441,7234,0.00,2.50,0.00,0.000,6,0.000,0.062,3036,1887,1872
$GC,7555,1.41,235.2,376.0,11.1,462,7560,0.00,2.53,0.00,0.000,4,0.000,0.067,3036,3247,1872
$GC,7586,1.45,235.2,372.7,11.2,464,7591,0.10,2.42,0.00,0.000,6,0.066,0.059,3064,1907,1872
$GC,7913,1.41,235.2,335.9,11.1,485,7917,0.00,2.45,0.00,0.000,4,0.000,0.065,3063,3243,1872
$GC,7951,1.41,235.2,330.8,12.2,487,7957,0.00,2.40,0.00,0.000,6,0.000,0.056,3064,1917,1871
$GC,8271,1.38,235.2,294.8,11.1,508,8273,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1917,1872
$GC,8583,1.35,235.2,261.4,10.5,528,8588,0.12,2.45,0.00,0.000,4,0.097,0.062,3039,3251,1872
$GC,8606,1.38,251.1,259.2,9.3,529,8628,0.00,2.40,14.90,0.941,6,0.000,0.053,3040,1918,1807
$GC,8944,1.47,286.1,229.5,8.4,551,8980,0.12,2.47,30.65,0.950,4,0.059,0.059,3073,3244,1664
$GC,9032,1.47,286.1,219.5,10.9,556,9038,0.00,2.38,0.00,0.000,6,0.000,0.051,3073,1932,1663
$GC,9351,1.47,286.1,183.4,11.7,577,9355,0.00,2.40,0.00,0.000,4,0.000,0.060,3073,3242,1664
$GC,9373,1.47,286.1,180.7,12.2,578,9379,0.00,2.35,0.00,0.000,6,0.000,0.051,3073,1936,1664
$GC,9692,1.47,286.1,139.8,13.8,598,9696,0.00,2.40,0.00,0.000,4,0.000,0.059,3073,3249,1665
$GC,9715,1.47,286.1,136.2,15.1,599,9719,0.00,2.33,0.00,0.000,6,0.000,0.050,3073,1949,1664
$GC,10037,1.47,286.1,91.2,13.5,615,10038,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1949,1665
$GC,10346,1.47,286.1,52.2,12.3,630,10350,0.00,2.38,0.00,0.000,4,0.000,0.058,3073,3252,1665
$GC,10374,1.47,286.1,48.7,13.2,631,10378,0.00,2.30,0.00,0.000,6,0.000,0.048,3073,1965,1665
$GC,10691,1.47,286.1,10.6,11.6,646,10692,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1965,1666
$STATE,10770,end climb,SURFACE_DEPTH_REACHED
$STATE,10770,begin surface coast
$FINISH,0.2,1.013473
$STATE,10793,end surface coast,CONTROL_FINISHED_OK
$STATE,10793,begin surface
$SM_CCo,10818,7.32,0.669,0,0,1608,300.00
$SM_GC,1.84,0.00,0.00,7.32,0.000,0.000,0.669,424,2143,1608,-10.68,0.37,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1844
$TCM_TEMP,17.60
$XPDR_PINGS,46
$ALTIM_BOTTOM_PING,595.4,46.8
$24V_AH,23.7,68.906
$10V_AH,10.1,31.049
$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,26.500,110.400,390.275,7.325,0.000,37.761,33.432,124.497,16.750,0.000,0.000,15.519,1170.511,7644.536,491.614,1377.730,462.987,33.361,1211.440,0.000,1340.952,0.000,39.920,0.000
$DEVICE_MAMPS,151.866,80.535,1235.637,668.824,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.974,476.365,369.661,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34890,651
$CAP_FILE_SIZE,95414,0
$CFSIZE,254472192,228872192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,031109,071006,6224.361,-956.349,39,1.9,44,-10.1