version: 66.04
glider: 5
mission: 7
dive: 431
start: 11 3 109 7 16 26
data:
$ID,5
$MISSION,7
$DIVE,431
$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,-108510.1
$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
$GPS1,071006,6224.361,-956.349,39,1.9,44,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-67.1
$GPS2,071536,6224.417,-956.413,15,1.3,31,-10.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.213,-0.156
$KALMAN_X,-266652.8,494.1,654.2,416578.9,-13917.1
$KALMAN_Y,83634.5,-1835.6,91.1,-200148.6,5861.9
$MHEAD_RNG_PITCHd_Wd,136.3,9867,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,79,0.00,0.00,-60.85,0.000,2,0.000,0.000,424,2130,2767
$GC,83,-1.44,-146.6,2.3,-2.8,3,126,10.88,2.60,-24.62,0.000,4,0.161,0.071,2423,705,3430
$GC,174,-1.35,-146.6,12.8,-16.5,7,179,0.12,2.53,0.00,0.000,6,0.106,0.047,2447,2125,3430
$GC,504,-1.28,-146.6,63.1,-15.1,23,508,0.00,2.58,0.00,0.000,4,0.000,0.060,2448,710,3430
$GC,554,-1.25,-146.6,71.3,-15.5,25,559,0.12,2.50,0.00,0.000,6,0.102,0.048,2472,2120,3430
$GC,872,-1.25,-146.6,118.3,-15.2,40,877,0.00,2.55,0.00,0.000,4,0.000,0.058,2472,711,3431
$GC,917,-1.25,-146.6,125.9,-15.7,42,921,0.00,2.47,0.00,0.000,6,0.000,0.047,2472,2108,3431
$GC,1236,-1.25,-146.6,173.0,-14.5,60,1240,0.00,2.53,0.00,0.000,4,0.000,0.059,2472,714,3431
$GC,1269,-1.25,-146.6,178.1,-14.5,62,1273,0.00,2.47,0.00,0.000,6,0.000,0.048,2472,2111,3431
$GC,1588,-1.25,-146.6,225.1,-14.7,82,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2114,3431
$GC,1901,-1.25,-146.6,269.0,-13.5,102,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2114,3431
$GC,2213,-1.25,-146.6,307.8,-12.0,122,2218,0.00,2.55,0.00,0.000,4,0.000,0.062,2472,707,3431
$GC,2259,-1.25,-146.6,313.4,-11.7,125,2264,0.00,2.47,0.00,0.000,6,0.000,0.048,2472,2107,3431
$GC,2587,-1.25,-146.6,347.8,-10.4,146,2591,0.00,2.55,0.00,0.000,4,0.000,0.065,2472,714,3431
$GC,2649,-1.28,-146.6,355.6,-12.3,150,2654,0.00,2.45,0.00,0.000,6,0.000,0.049,2472,2091,3431
$GC,2978,-1.28,-146.6,397.6,-13.7,171,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2092,3431
$GC,3287,-1.28,-146.6,441.9,-14.9,191,3291,0.00,2.53,0.00,0.000,4,0.000,0.065,2472,714,3431
$GC,3315,-1.32,-146.6,446.3,-15.1,193,3320,0.00,2.42,0.00,0.000,6,0.000,0.051,2472,2077,3431
$GC,3641,-1.32,-146.6,489.6,-12.5,214,3645,0.00,2.50,0.00,0.000,4,0.000,0.068,2472,717,3431
$GC,3720,-1.37,-146.6,499.6,-12.0,219,3725,0.12,2.40,0.00,0.000,6,0.062,0.053,2440,2062,3431
$GC,4048,-1.32,-146.6,544.3,-14.3,240,4058,0.00,2.47,0.00,0.000,4,0.000,0.068,2439,718,3431
$GC,4090,-1.28,-146.6,550.3,-14.7,242,4095,0.12,2.38,0.00,0.000,6,0.101,0.054,2463,2042,3431
$GC,4415,-1.28,-146.6,592.7,-12.9,263,4420,0.00,2.75,0.00,0.000,4,0.000,0.077,2463,3533,3430
$GC,4477,-1.28,-146.6,601.1,-13.4,267,4482,0.00,2.78,0.00,0.000,6,0.000,0.067,2463,2025,3430
$STATE,4565,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4565,begin apogee
$GC,4572,-0.33,0.0,612.4,12.6,273,4707,0.98,0.00,131.38,1.219,6,0.084,0.000,2671,1837,2831
$STATE,4708,end apogee,CONTROL_FINISHED_OK
$STATE,4708,begin climb
$GC,4712,1.44,146.6,619.1,0.0,282,4854,1.75,2.62,130.88,1.175,4,0.061,0.074,3054,440,2233
$GC,4969,1.32,146.6,599.6,11.2,297,4975,0.00,2.58,0.00,0.000,6,0.000,0.055,3054,1859,2232
$GC,5290,1.28,152.8,569.7,9.7,318,5306,0.15,2.65,6.70,0.927,4,0.097,0.071,3027,3254,2208
$GC,5346,1.29,155.5,563.9,9.9,321,5358,0.00,2.58,4.25,0.756,6,0.000,0.067,3026,1862,2197
$GC,5672,1.31,167.9,533.2,9.4,342,5686,0.00,0.00,12.38,1.059,6,0.000,0.000,3026,1862,2146
$GC,5998,1.31,167.9,500.6,10.1,363,6002,0.00,2.62,0.00,0.000,4,0.000,0.071,3026,3261,2145
$GC,6054,1.31,167.9,494.8,10.5,366,6060,0.00,2.55,0.00,0.000,6,0.000,0.066,3026,1874,2145
$GC,6374,1.36,202.1,467.2,8.4,387,6407,0.00,0.00,30.98,1.121,6,0.000,0.000,3026,1874,2007
$GC,6716,1.44,233.6,436.9,8.6,409,6753,0.15,2.65,28.45,1.095,4,0.060,0.068,3065,3248,1878
$GC,6810,1.44,233.6,427.4,10.6,414,6817,0.00,2.53,0.00,0.000,6,0.000,0.062,3065,1874,1877
$GC,7130,1.44,251.2,396.7,9.2,435,7151,0.00,2.62,16.50,1.039,4,0.000,0.066,3065,3254,1806
$GC,7193,1.44,254.3,390.6,9.9,439,7202,0.00,2.53,4.50,0.755,6,0.000,0.061,3065,1879,1794
$GC,7522,1.44,254.3,352.5,13.1,460,7526,0.00,2.58,0.00,0.000,4,0.000,0.067,3065,3264,1794
$GC,7550,1.44,254.3,348.5,14.2,462,7554,0.00,2.53,0.00,0.000,6,0.000,0.059,3065,1883,1794
$GC,7875,1.44,254.3,305.8,13.5,483,7879,0.00,2.55,0.00,0.000,4,0.000,0.065,3065,3261,1793
$GC,7903,1.44,254.3,301.5,14.4,485,7908,0.00,2.47,0.00,0.000,6,0.000,0.057,3065,1897,1793
$GC,8229,1.44,254.3,260.6,11.5,506,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1897,1793
$GC,8541,1.46,267.9,229.2,9.4,526,8561,0.00,2.55,13.15,0.901,4,0.000,0.061,3065,3249,1738
$GC,8618,1.46,267.9,221.5,10.4,530,8625,0.00,2.45,0.00,0.000,6,0.000,0.053,3065,1896,1738
$GC,8939,1.47,274.3,190.8,9.7,551,8955,0.00,2.55,6.95,0.786,4,0.000,0.060,3065,3255,1712
$GC,8983,1.49,284.9,186.4,9.5,553,8999,0.00,2.45,10.32,0.838,6,0.000,0.051,3065,1899,1669
$GC,9316,1.49,284.9,151.1,11.3,574,9320,0.00,2.50,0.00,0.000,4,0.000,0.060,3066,3266,1669
$GC,9366,1.53,284.9,145.3,10.9,577,9370,0.00,2.40,0.00,0.000,6,0.000,0.050,3065,1927,1670
$GC,9688,1.53,284.9,110.0,11.3,593,9693,0.00,2.42,0.00,0.000,4,0.000,0.059,3065,3256,1670
$GC,9713,1.53,284.9,107.1,11.6,594,9717,0.00,2.38,0.00,0.000,6,0.000,0.049,3065,1928,1670
$GC,10035,1.53,284.9,70.8,11.3,610,10039,0.00,2.42,0.00,0.000,4,0.000,0.058,3065,3260,1671
$GC,10079,1.57,284.9,65.5,11.6,612,10084,0.10,2.35,0.00,0.000,6,0.062,0.049,3094,1944,1671
$GC,10402,1.53,284.9,24.4,13.2,628,10406,0.00,2.40,0.00,0.000,4,0.000,0.058,3094,3265,1671
$GC,10430,1.53,284.9,20.2,14.4,629,10434,0.00,2.33,0.00,0.000,6,0.000,0.048,3094,1961,1671
$STATE,10583,end climb,SURFACE_DEPTH_REACHED
$STATE,10583,begin surface coast
$FINISH,0.3,1.027122
$STATE,10607,end surface coast,CONTROL_FINISHED_OK
$STATE,10607,begin surface
$SM_CCo,10631,7.97,0.677,0,0,1609,300.00
$SM_GC,2.10,0.00,0.00,7.97,0.000,0.000,0.677,417,2158,1609,-10.71,0.82,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1856
$TCM_TEMP,17.60
$XPDR_PINGS,48
$ALTIM_BOTTOM_PING,595.8,26.3
$24V_AH,23.7,69.047
$10V_AH,10.1,31.110
$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,26.100,116.375,396.425,7.975,0.000,37.762,27.940,125.949,17.500,0.000,0.000,31.512,1152.054,7493.926,505.773,1369.772,451.361,33.360,1222.263,0.000,1314.009,0.000,42.795,0.000
$DEVICE_MAMPS,161.070,77.467,1218.763,677.261,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.103,463.409,374.666,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31705,638
$CAP_FILE_SIZE,95074,0
$CFSIZE,254472192,228827136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,031109,101506,6224.988,-953.628,39,1.5,39,-10.0