version: 66.04
glider: 5
mission: 7
dive: 433
start: 11 3 109 13 31 53
data:
$ID,5
$MISSION,7
$DIVE,433
$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,-108557.43
$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,20
$R_STBD_OVSHOOT,53
$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
$GPS1,132536,6223.396,-953.395,28,1.1,28,-10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-61.0
$GPS2,133102,6223.371,-953.505,14,1.4,14,-10.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.171,-0.200
$KALMAN_X,-269176.0,865.7,533.9,421234.5,-11094.4
$KALMAN_Y,87778.2,-880.9,-1197.6,-205878.2,10130.7
$MHEAD_RNG_PITCHd_Wd,149.5,6933,-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,13,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,79,0.00,0.00,-60.60,0.000,2,0.000,0.000,419,2156,2762
$GC,83,-1.44,-146.6,2.4,-3.1,3,126,10.98,2.65,-23.90,0.000,4,0.164,0.067,2423,706,3430
$GC,225,-1.36,-146.6,22.7,-16.8,9,230,0.12,2.50,0.00,0.000,6,0.105,0.048,2448,2115,3430
$GC,548,-1.29,-146.6,70.0,-14.6,25,552,0.00,2.55,0.00,0.000,4,0.000,0.057,2448,703,3430
$GC,593,-1.25,-146.6,76.9,-14.5,27,598,0.12,2.53,0.00,0.000,6,0.108,0.047,2471,2128,3430
$GC,915,-1.25,-146.6,118.7,-12.2,43,919,0.00,2.58,0.00,0.000,4,0.000,0.059,2471,704,3430
$GC,987,-1.25,-146.6,127.8,-12.3,46,991,0.00,2.50,0.00,0.000,6,0.000,0.048,2471,2114,3430
$GC,1305,-1.25,-146.6,167.5,-13.2,63,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2114,3430
$GC,1618,-1.25,-146.6,209.7,-14.0,83,1622,0.00,2.53,0.00,0.000,4,0.000,0.058,2471,712,3431
$GC,1664,-1.25,-146.6,216.6,-14.5,86,1668,0.00,2.47,0.00,0.000,6,0.000,0.048,2472,2107,3431
$GC,1990,-1.25,-146.6,261.5,-13.5,107,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2106,3431
$GC,2300,-1.25,-146.6,302.6,-12.6,127,2305,0.00,2.53,0.00,0.000,4,0.000,0.061,2472,713,3431
$GC,2351,-1.25,-146.6,309.2,-12.8,130,2355,0.00,2.45,0.00,0.000,6,0.000,0.050,2471,2091,3431
$GC,2671,-1.25,-146.6,346.1,-10.3,150,2676,0.00,2.62,0.00,0.000,4,0.000,0.069,2472,3533,3431
$GC,2705,-1.25,-146.6,350.1,-11.3,152,2709,0.00,2.62,0.00,0.000,6,0.000,0.059,2471,2085,3431
$GC,3025,-1.25,-146.6,383.3,-10.8,172,3029,0.00,2.70,0.00,0.000,4,0.000,0.071,2472,3537,3431
$GC,3058,-1.25,-146.6,387.5,-12.0,174,3062,0.00,2.60,0.00,0.000,6,0.000,0.060,2472,2108,3431
$GC,3377,-1.25,-146.6,426.4,-13.2,194,3381,0.00,2.47,0.00,0.000,4,0.000,0.063,2472,719,3431
$GC,3410,-1.25,-146.6,430.8,-13.1,196,3415,0.00,2.53,0.00,0.000,6,0.000,0.050,2471,2142,3431
$GC,3732,-1.25,-146.6,470.7,-12.2,216,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2140,3431
$GC,4045,-1.25,-146.6,505.0,-10.6,236,4049,0.00,2.60,0.00,0.000,4,0.000,0.065,2471,717,3431
$GC,4101,-1.30,-146.6,511.5,-11.3,239,4107,0.00,2.50,0.00,0.000,6,0.000,0.052,2472,2118,3431
$GC,4420,-1.30,-146.6,550.5,-12.8,260,4424,0.00,2.58,0.00,0.000,4,0.000,0.067,2471,714,3431
$GC,4466,-1.35,-146.6,556.4,-12.9,263,4471,0.00,2.50,0.00,0.000,6,0.000,0.054,2472,2114,3431
$GC,4792,-1.35,-146.6,598.4,-13.5,284,4797,0.00,2.55,0.00,0.000,4,0.000,0.068,2471,719,3430
$GC,4900,-1.41,-146.6,612.8,-13.1,290,4907,0.15,2.42,0.00,0.000,6,0.059,0.055,2432,2077,3430
$STATE,5013,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5013,begin apogee
$GC,5021,-0.33,0.0,630.1,14.5,298,5157,1.12,0.00,131.70,1.227,6,0.086,0.000,2671,1843,2831
$STATE,5157,end apogee,CONTROL_FINISHED_OK
$STATE,5157,begin climb
$GC,5161,1.44,146.6,636.4,0.0,307,5301,1.75,2.62,132.32,1.183,4,0.058,0.071,3063,445,2233
$GC,5401,1.30,146.6,622.1,10.9,321,5407,0.20,2.55,0.00,0.000,6,0.097,0.054,3026,1853,2232
$GC,5721,1.41,215.4,597.5,6.9,342,5789,0.12,2.70,61.90,1.158,4,0.063,0.071,3057,442,1952
$GC,5851,1.31,215.4,585.1,11.7,350,5856,0.15,2.55,0.00,0.000,6,0.098,0.056,3029,1841,1952
$GC,6179,1.32,220.3,553.5,9.8,371,6190,0.00,2.62,5.72,0.881,4,0.000,0.071,3029,3255,1933
$GC,6225,1.36,220.3,548.5,10.2,373,6230,0.00,2.60,0.00,0.000,6,0.000,0.067,3029,1857,1933
$GC,6550,1.36,220.3,514.4,10.7,394,6555,0.00,2.62,0.00,0.000,4,0.000,0.071,3029,3259,1932
$GC,6580,1.40,220.3,511.2,10.7,396,6585,0.00,2.60,0.00,0.000,6,0.000,0.066,3029,1850,1932
$GC,6907,1.44,241.7,479.2,9.0,417,6929,0.12,0.00,20.23,1.094,6,0.064,0.000,3061,1849,1845
$GC,7234,1.51,290.7,447.3,7.8,438,7285,0.00,2.72,43.70,1.110,4,0.000,0.067,3061,3255,1645
$GC,7325,1.51,290.8,439.0,10.0,443,7332,0.00,2.58,0.00,0.000,6,0.000,0.064,3061,1861,1645
$GC,7645,1.51,290.8,409.0,10.2,464,7650,0.00,2.60,0.00,0.000,4,0.000,0.067,3061,3255,1646
$GC,7708,1.51,290.8,402.5,10.1,468,7712,0.00,2.50,0.00,0.000,6,0.000,0.061,3061,1884,1646
$GC,8032,1.51,290.8,366.9,11.3,489,8036,0.00,2.55,0.00,0.000,4,0.000,0.066,3061,3258,1645
$GC,8139,1.51,290.8,354.2,12.4,495,8145,0.00,2.42,0.00,0.000,6,0.000,0.058,3061,1918,1646
$GC,8458,1.51,290.8,318.8,11.7,516,8463,0.00,2.47,0.00,0.000,4,0.000,0.064,3061,3257,1646
$GC,8487,1.51,290.8,315.3,12.2,518,8492,0.00,2.38,0.00,0.000,6,0.000,0.057,3061,1943,1646
$GC,8813,1.51,290.8,277.0,13.0,539,8817,0.00,2.42,0.00,0.000,4,0.000,0.064,3061,3257,1646
$GC,8834,1.51,290.8,273.8,14.5,540,8841,0.00,2.38,0.00,0.000,6,0.000,0.055,3061,1945,1646
$GC,9154,1.51,290.8,233.3,11.9,561,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1944,1646
$GC,9467,1.51,290.8,194.2,12.3,581,9471,0.00,2.42,0.00,0.000,4,0.000,0.062,3061,3263,1646
$GC,9489,1.51,290.8,190.9,13.6,582,9495,0.00,2.35,0.00,0.000,6,0.000,0.052,3061,1958,1646
$GC,9809,1.51,290.8,150.1,12.1,603,9814,0.00,2.72,0.00,0.000,4,0.000,0.062,3061,432,1646
$GC,9837,1.51,290.8,146.2,13.8,605,9842,0.00,2.72,0.00,0.000,6,0.000,0.046,3060,1972,1646
$GC,10155,1.52,295.6,112.3,9.8,620,10169,0.00,2.80,6.30,0.712,4,0.000,0.058,3061,439,1626
$GC,10211,1.56,318.3,106.8,9.0,622,10237,0.10,2.67,20.02,0.836,6,0.064,0.047,3090,1946,1533
$GC,10552,1.56,318.3,63.3,13.9,638,10553,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1946,1532
$GC,10857,1.56,318.3,20.6,12.9,653,10858,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1964,1533
$STATE,10998,end climb,SURFACE_DEPTH_REACHED
$STATE,10998,begin surface coast
$FINISH,0.2,1.026851
$STATE,11021,end surface coast,CONTROL_FINISHED_OK
$STATE,11021,begin surface
$SM_CCo,11105,0.00,0.000,0,0,1533,318.40
$SM_GC,1.06,11.52,0.00,0.00,0.034,0.000,0.000,422,2162,1533,-10.58,0.93,318.40
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1838
$TCM_TEMP,16.70
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,570.2,69.4
$24V_AH,23.7,69.344
$10V_AH,10.1,31.234
$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,26.475,118.325,421.900,0.000,0.000,37.762,27.744,130.441,15.500,0.000,0.000,14.268,1185.447,7859.658,507.489,1407.260,469.968,33.360,1250.375,0.000,1368.991,0.000,38.421,0.000
$DEVICE_MAMPS,164.138,71.331,1227.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.730,482.048,381.584,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34795,661
$CAP_FILE_SIZE,96046,0
$CFSIZE,254472192,228720640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,031109,163806,6221.602,-955.872,31,1.4,31,-10.0