version: 66.04
glider: 5
mission: 7
dive: 434
start: 11 3 109 16 44 23
data:
$ID,5
$MISSION,7
$DIVE,434
$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,-108569.89
$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,21
$R_STBD_OVSHOOT,22
$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
$GPS1,163806,6221.602,-955.872,31,1.4,31,-10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-64.4
$GPS2,164332,6221.602,-956.036,11,1.4,11,-10.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.262,-0.029
$KALMAN_X,-274401.1,1826.7,47.0,423909.1,-13741.2
$KALMAN_Y,85880.1,111.3,-805.3,-208641.8,5711.3
$MHEAD_RNG_PITCHd_Wd,106.4,5979,-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,-60.58,0.000,2,0.000,0.000,421,2160,2677
$GC,83,-1.44,-146.6,2.3,-3.1,3,129,10.98,2.60,-29.42,0.000,4,0.164,0.066,2421,713,3430
$GC,264,-1.36,-146.6,25.7,-15.0,11,269,0.15,2.53,0.00,0.000,6,0.105,0.047,2450,2136,3430
$GC,586,-1.30,-146.6,72.0,-14.7,27,590,0.00,2.58,0.00,0.000,4,0.000,0.058,2450,712,3430
$GC,631,-1.30,-146.6,79.0,-14.8,29,635,0.00,2.53,0.00,0.000,6,0.000,0.048,2450,2136,3431
$GC,954,-1.26,-146.6,126.0,-14.5,45,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2135,3431
$GC,1263,-1.21,-146.6,167.5,-13.0,62,1268,0.15,2.58,0.00,0.000,4,0.102,0.059,2481,714,3431
$GC,1344,-1.26,-146.6,177.2,-11.9,67,1348,0.00,2.45,0.00,0.000,6,0.000,0.048,2481,2102,3430
$GC,1668,-1.26,-146.6,214.8,-11.3,88,1672,0.00,2.53,0.00,0.000,4,0.000,0.063,2481,717,3431
$GC,1702,-1.29,-146.6,218.6,-11.1,90,1706,0.00,2.45,0.00,0.000,6,0.000,0.048,2481,2098,3431
$GC,2022,-1.29,-146.6,255.3,-12.2,110,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2098,3431
$GC,2333,-1.29,-146.6,294.6,-12.7,130,2341,0.00,2.53,0.00,0.000,4,0.000,0.061,2481,705,3431
$GC,2405,-1.35,-146.6,303.7,-12.6,134,2410,0.15,2.45,0.00,0.000,6,0.054,0.048,2441,2087,3431
$GC,2732,-1.29,-146.6,347.0,-12.2,155,2734,0.10,0.00,0.00,0.000,6,0.105,0.000,2459,2086,3431
$GC,3043,-1.29,-146.6,386.1,-13.1,175,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2086,3431
$GC,3354,-1.29,-146.6,425.7,-12.1,195,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2086,3431
$GC,3667,-1.29,-146.6,463.8,-12.5,215,3672,0.00,2.50,0.00,0.000,4,0.000,0.064,2459,713,3431
$GC,3747,-1.33,-146.6,474.7,-13.8,220,3752,0.00,2.42,0.00,0.000,6,0.000,0.051,2459,2077,3431
$GC,4072,-1.33,-146.6,517.6,-12.7,241,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2077,3431
$GC,4386,-1.33,-146.6,551.4,-9.1,261,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2077,3431
$GC,4697,-1.33,-146.6,581.1,-10.4,281,4701,0.00,2.53,0.00,0.000,4,0.000,0.073,2458,717,3431
$GC,4754,-1.36,-146.6,587.3,-11.0,284,4760,0.00,2.40,0.00,0.000,6,0.000,0.057,2459,2050,3431
$STATE,4960,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4961,begin apogee
$GC,4968,-0.33,0.0,611.9,12.7,298,5104,1.00,0.00,132.52,1.210,6,0.082,0.000,2674,1837,2831
$STATE,5105,end apogee,CONTROL_FINISHED_OK
$STATE,5105,begin climb
$GC,5108,1.44,146.6,619.4,0.0,307,5249,1.75,2.75,132.43,1.164,4,0.058,0.068,3059,3256,2233
$GC,5281,1.42,174.5,612.8,8.7,317,5313,0.00,2.60,26.40,1.102,6,0.000,0.067,3058,1862,2119
$GC,5630,1.36,174.5,576.9,10.4,339,5634,0.00,2.62,0.00,0.000,4,0.000,0.077,3059,435,2118
$GC,5726,1.25,177.5,566.8,9.9,345,5736,0.22,2.58,4.00,0.713,6,0.094,0.056,3016,1857,2107
$GC,6061,1.40,243.7,540.9,7.0,366,6127,0.15,2.65,58.85,1.145,4,0.060,0.070,3052,3257,1837
$GC,6145,1.44,267.6,533.3,8.9,371,6172,0.00,2.62,22.38,1.090,6,0.000,0.066,3052,1850,1740
$GC,6484,1.44,267.6,496.7,10.9,393,6489,0.00,2.62,0.00,0.000,4,0.000,0.071,3053,3257,1740
$GC,6541,1.44,267.6,490.1,11.4,396,6547,0.00,2.58,0.00,0.000,6,0.000,0.064,3052,1857,1740
$GC,6861,1.48,296.1,459.8,8.7,417,6893,0.00,2.67,26.12,1.091,4,0.000,0.067,3053,3255,1622
$GC,6917,1.48,296.1,454.2,10.7,420,6921,0.00,2.58,0.00,0.000,6,0.000,0.063,3053,1864,1622
$GC,7236,1.48,296.1,417.5,12.4,440,7240,0.00,2.58,0.00,0.000,4,0.000,0.067,3053,3255,1622
$GC,7264,1.48,296.1,413.9,13.2,442,7268,0.00,2.53,0.00,0.000,6,0.000,0.061,3052,1874,1622
$GC,7589,1.48,296.1,373.9,12.1,463,7593,0.00,2.58,0.00,0.000,4,0.000,0.066,3053,3259,1622
$GC,7622,1.51,296.1,369.4,11.9,465,7627,0.10,2.47,0.00,0.000,6,0.069,0.058,3078,1894,1622
$GC,7944,1.47,296.1,326.0,13.2,485,7948,0.00,2.50,0.00,0.000,4,0.000,0.064,3078,3255,1622
$GC,7984,1.47,296.1,320.5,12.7,487,7988,0.00,2.45,0.00,0.000,6,0.000,0.055,3078,1904,1622
$GC,8303,1.43,296.1,280.3,13.2,507,8305,0.12,0.00,0.00,0.000,6,0.100,0.000,3055,1904,1622
$GC,8617,1.43,296.1,242.1,12.0,527,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1904,1622
$GC,8927,1.43,296.1,203.8,12.0,547,8931,0.00,2.47,0.00,0.000,4,0.000,0.061,3054,3255,1623
$GC,8989,1.49,296.1,196.6,10.6,550,8996,0.00,2.38,0.00,0.000,6,0.000,0.050,3055,1916,1623
$GC,9310,1.49,296.1,163.6,10.0,571,9314,0.00,2.45,0.00,0.000,4,0.000,0.060,3055,3258,1623
$GC,9356,1.55,296.6,159.0,10.0,574,9360,0.12,2.38,0.00,0.000,6,0.060,0.049,3087,1927,1624
$GC,9673,1.52,296.6,120.5,12.1,591,9677,0.00,2.42,0.00,0.000,4,0.000,0.059,3087,3258,1624
$GC,9708,1.52,296.6,116.2,12.3,592,9712,0.00,2.35,0.00,0.000,6,0.000,0.048,3087,1942,1624
$GC,10030,1.48,296.6,77.8,12.3,608,10031,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1941,1625
$GC,10339,1.45,296.6,37.2,13.8,623,10344,0.12,2.40,0.00,0.000,4,0.096,0.058,3062,3257,1625
$GC,10368,1.49,296.6,33.1,13.5,624,10372,0.00,2.35,0.00,0.000,6,0.000,0.048,3061,1938,1625
$STATE,10640,end climb,SURFACE_DEPTH_REACHED
$STATE,10640,begin surface coast
$FINISH,0.3,1.027146
$STATE,10662,end surface coast,CONTROL_FINISHED_OK
$STATE,10662,begin surface
$SM_CCo,10686,2.20,0.225,0,0,1608,300.00
$SM_GC,1.94,0.00,0.00,2.20,0.000,0.000,0.225,420,2153,1608,-10.70,0.65,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1838
$TCM_TEMP,17.60
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,570.1,51.6
$24V_AH,23.7,69.489
$10V_AH,10.1,31.294
$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,26.550,96.350,402.700,2.200,0.000,37.762,38.265,130.259,15.750,0.000,0.000,11.838,1142.209,7605.781,487.299,1323.200,459.711,33.363,1174.927,0.000,1289.738,0.000,41.301,0.000
$DEVICE_MAMPS,164.138,76.700,1210.326,225.498,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.112,463.537,373.063,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31585,638
$CAP_FILE_SIZE,90535,0
$CFSIZE,254472192,228679680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,031109,194355,6222.642,-954.431,42,1.0,42,-10.0