version: 66.04
glider: 5
mission: 7
dive: 440
start: 11 4 109 11 51 36
data:
$ID,5
$MISSION,7
$DIVE,440
$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,-108657.5
$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,23
$R_STBD_OVSHOOT,27
$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
$GPS1,114507,6224.153,-945.149,29,1.6,29,-10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-63.3
$GPS2,115044,6224.198,-945.147,10,1.1,10,-10.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.242,-0.104
$KALMAN_X,-282200.9,735.8,1466.2,440349.9,-9871.2
$KALMAN_Y,102200.6,-344.0,-244.8,-220290.2,13807.4
$MHEAD_RNG_PITCHd_Wd,123.3,63488,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.44,-146.6,0.0,0.0,0,61,0.00,0.00,-41.53,0.000,2,0.000,0.000,420,2150,2411
$GC,65,-1.44,-146.6,2.1,-3.6,2,129,10.90,2.60,-46.35,0.000,4,0.153,0.074,2421,716,3427
$GC,276,-1.36,-146.6,27.2,-16.0,11,281,0.12,2.53,0.00,0.000,6,0.107,0.048,2446,2136,3428
$GC,594,-1.30,-146.6,74.3,-14.1,26,598,0.00,2.58,0.00,0.000,4,0.000,0.058,2446,712,3428
$GC,628,-1.26,-146.6,79.5,-13.9,27,635,0.12,2.50,0.00,0.000,6,0.101,0.048,2470,2122,3428
$GC,944,-1.26,-146.6,118.5,-11.9,43,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2122,3428
$GC,1259,-1.26,-146.6,158.8,-13.2,59,1263,0.00,2.55,0.00,0.000,4,0.000,0.060,2470,711,3428
$GC,1322,-1.26,-146.6,167.3,-13.8,63,1326,0.00,2.50,0.00,0.000,6,0.000,0.048,2470,2123,3428
$GC,1647,-1.26,-146.6,210.6,-12.9,84,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2124,3428
$GC,1960,-1.26,-146.6,248.8,-11.4,104,1964,0.00,2.58,0.00,0.000,4,0.000,0.063,2470,706,3428
$GC,2056,-1.29,-146.6,259.8,-11.3,110,2061,0.00,2.47,0.00,0.000,6,0.000,0.049,2470,2104,3428
$GC,2385,-1.29,-146.6,296.4,-10.9,131,2389,0.00,2.53,0.00,0.000,4,0.000,0.064,2470,714,3428
$GC,2424,-1.29,-146.6,301.2,-11.2,133,2430,0.00,2.45,0.00,0.000,6,0.000,0.050,2470,2094,3428
$GC,2743,-1.29,-146.6,334.9,-10.3,154,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2095,3428
$GC,3056,-1.29,-146.6,367.9,-10.7,174,3060,0.00,2.50,0.00,0.000,4,0.000,0.062,2470,718,3428
$GC,3112,-1.34,-146.6,374.1,-11.4,177,3116,0.00,2.45,0.00,0.000,6,0.000,0.051,2470,2090,3428
$GC,3431,-1.34,-146.6,408.8,-11.2,197,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2089,3428
$GC,3744,-1.34,-146.6,447.3,-13.3,217,3749,0.00,2.53,0.00,0.000,4,0.000,0.064,2470,708,3428
$GC,3818,-1.38,-146.6,457.2,-13.6,221,3824,0.12,2.45,0.00,0.000,6,0.060,0.051,2437,2080,3428
$GC,4140,-1.33,-146.6,503.5,-14.7,242,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2081,3428
$GC,4450,-1.29,-146.6,545.6,-12.7,262,4455,0.12,2.50,0.00,0.000,4,0.103,0.066,2462,716,3428
$GC,4575,-1.34,-146.6,560.4,-11.7,269,4581,0.00,2.38,0.00,0.000,6,0.000,0.054,2461,2039,3427
$STATE,4875,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4875,begin apogee
$GC,4883,-0.33,0.0,596.4,11.8,289,5018,0.98,0.00,132.07,1.183,6,0.080,0.000,2671,1825,2831
$STATE,5019,end apogee,CONTROL_FINISHED_OK
$STATE,5019,begin climb
$GC,5023,1.44,146.6,601.7,0.0,298,5165,1.75,2.60,131.60,1.149,4,0.059,0.072,3055,449,2233
$GC,5349,1.32,148.2,577.7,9.9,317,5355,0.12,2.55,0.00,0.000,6,0.103,0.055,3033,1858,2232
$GC,5668,1.35,168.7,550.2,9.1,338,5694,0.00,2.65,20.35,1.083,4,0.000,0.076,3033,3254,2142
$GC,5772,1.35,168.7,539.4,10.7,343,5779,0.00,2.58,0.00,0.000,6,0.000,0.071,3033,1875,2143
$GC,6093,1.38,181.9,509.2,9.4,364,6112,0.00,2.70,12.90,1.042,4,0.000,0.071,3033,442,2089
$GC,6211,1.34,181.9,496.6,11.7,371,6216,0.00,2.53,0.00,0.000,6,0.000,0.056,3033,1834,2089
$GC,6537,1.34,181.9,462.4,10.6,392,6541,0.00,2.62,0.00,0.000,4,0.000,0.074,3033,3258,2088
$GC,6626,1.34,181.9,452.7,10.1,397,6632,0.00,2.60,0.00,0.000,6,0.000,0.064,3033,1850,2087
$GC,6945,1.34,181.9,418.6,11.2,418,6949,0.00,2.62,0.00,0.000,4,0.000,0.071,3033,3254,2087
$GC,7034,1.34,181.9,408.4,11.6,423,7040,0.00,2.55,0.00,0.000,6,0.000,0.061,3033,1860,2087
$GC,7353,1.36,193.1,376.4,9.5,444,7370,0.00,2.65,10.90,0.966,4,0.000,0.067,3033,3257,2043
$GC,7417,1.40,198.1,370.5,9.8,447,7428,0.00,2.55,6.10,0.842,6,0.000,0.061,3033,1864,2024
$GC,7752,1.42,208.8,339.2,9.5,469,7769,0.00,2.62,11.18,0.943,4,0.000,0.066,3033,3254,1977
$GC,7809,1.47,208.8,333.2,10.1,472,7814,0.15,2.50,0.00,0.000,6,0.058,0.060,3071,1882,1978
$GC,8133,1.41,208.8,297.9,11.0,492,8137,0.00,2.55,0.00,0.000,4,0.000,0.067,3072,3255,1978
$GC,8166,1.37,208.8,293.7,10.9,494,8171,0.15,2.47,0.00,0.000,6,0.100,0.060,3044,1892,1977
$GC,8486,1.42,237.5,264.8,8.7,514,8519,0.00,2.58,24.90,0.956,4,0.000,0.065,3044,3254,1861
$GC,8538,1.47,250.1,260.1,9.4,517,8555,0.10,2.47,12.10,0.890,6,0.064,0.057,3070,1895,1811
$GC,8870,1.47,250.1,223.0,11.5,538,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1895,1811
$GC,9179,1.47,250.1,187.4,11.5,558,9183,0.00,2.53,0.00,0.000,4,0.000,0.064,3070,3260,1811
$GC,9252,1.47,250.1,178.7,12.6,562,9258,0.00,2.40,0.00,0.000,6,0.000,0.053,3070,1919,1812
$GC,9577,1.47,250.1,139.5,12.7,582,9579,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1919,1812
$GC,9885,1.47,250.1,100.2,12.3,597,9889,0.00,2.45,0.00,0.000,4,0.000,0.062,3070,3255,1812
$GC,9926,1.47,250.1,95.2,12.6,599,9930,0.00,2.38,0.00,0.000,6,0.000,0.052,3070,1926,1812
$GC,10253,1.47,250.1,57.8,10.6,615,10254,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1925,1812
$GC,10562,1.47,250.1,23.3,11.1,630,10566,0.00,2.45,0.00,0.000,4,0.000,0.062,3070,3261,1812
$GC,10608,1.47,250.1,17.6,12.5,632,10612,0.00,2.38,0.00,0.000,6,0.000,0.057,3070,1937,1813
$STATE,10741,end climb,SURFACE_DEPTH_REACHED
$STATE,10741,begin surface coast
$FINISH,0.4,1.013755
$STATE,10763,end surface coast,CONTROL_FINISHED_OK
$STATE,10764,begin surface
$SM_CCo,10787,26.17,0.762,0,0,1608,300.00
$SM_GC,1.08,0.00,0.00,26.17,0.000,0.000,0.762,422,2151,1608,-10.69,0.62,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1833
$TCM_TEMP,16.60
$XPDR_PINGS,49
$ALTIM_BOTTOM_PING,570.2,35.2
$24V_AH,23.7,70.410
$10V_AH,10.1,31.675
$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,26.100,101.800,362.100,26.175,0.000,37.758,28.680,141.742,17.250,0.000,0.000,10.450,1156.360,7622.075,486.179,1413.195,476.036,33.363,1211.776,0.000,1381.745,0.000,34.978,0.000
$DEVICE_MAMPS,153.400,75.933,1183.481,761.631,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.738,466.018,381.470,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31701,640
$CAP_FILE_SIZE,93404,0
$CFSIZE,254472192,228384768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,041109,145307,6224.045,-942.748,36,1.3,36,-9.9