version: 66.04
glider: 5
mission: 7
dive: 441
start: 11 4 109 14 59 36
data:
$ID,5
$MISSION,7
$DIVE,441
$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,-108692.22
$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,25
$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
$GPS1,145307,6224.045,-942.748,36,1.3,36,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-62.7
$GPS2,145846,6224.065,-942.869,14,2.5,33,-9.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.171,-0.201
$KALMAN_X,-283247.9,1334.3,-100.5,444282.7,-7485.8
$KALMAN_Y,103687.2,147.4,-1829.5,-220889.7,14217.0
$MHEAD_RNG_PITCHd_Wd,149.5,62463,-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,-60.97,0.000,2,0.000,0.000,421,2148,2789
$GC,83,-1.44,-146.6,2.5,-3.1,3,126,11.32,2.67,-20.98,0.000,4,0.170,0.072,2423,708,3430
$GC,272,-1.36,-146.6,30.9,-14.7,11,277,0.12,2.53,0.00,0.000,6,0.108,0.048,2447,2129,3430
$GC,590,-1.30,-146.6,76.2,-14.2,26,594,0.00,2.58,0.00,0.000,4,0.000,0.061,2448,713,3430
$GC,630,-1.30,-146.6,82.1,-14.3,28,634,0.00,2.50,0.00,0.000,6,0.000,0.048,2447,2118,3430
$GC,958,-1.25,-146.6,127.7,-13.6,44,960,0.12,0.00,0.00,0.000,6,0.106,0.000,2471,2117,3430
$GC,1267,-1.25,-146.6,165.7,-12.2,61,1272,0.00,2.55,0.00,0.000,4,0.000,0.059,2471,708,3430
$GC,1314,-1.28,-146.6,171.8,-12.7,64,1318,0.00,2.47,0.00,0.000,6,0.000,0.048,2472,2106,3430
$GC,1645,-1.28,-146.6,215.9,-13.5,85,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2107,3430
$GC,1957,-1.28,-146.6,259.4,-13.8,105,1961,0.00,2.53,0.00,0.000,4,0.000,0.062,2471,716,3430
$GC,2014,-1.32,-146.6,267.4,-14.4,108,2020,0.00,2.42,0.00,0.000,6,0.000,0.050,2472,2081,3430
$GC,2333,-1.32,-146.6,310.6,-13.3,129,2337,0.00,2.67,0.00,0.000,4,0.000,0.074,2472,3535,3430
$GC,2367,-1.32,-146.6,315.1,-13.2,131,2371,0.00,2.72,0.00,0.000,6,0.000,0.071,2472,2068,3430
$GC,2688,-1.32,-146.6,354.9,-12.2,151,2692,0.00,2.42,0.00,0.000,4,0.000,0.064,2472,710,3430
$GC,2716,-1.32,-146.6,358.6,-12.3,153,2720,0.00,2.45,0.00,0.000,6,0.000,0.050,2472,2090,3430
$GC,3048,-1.32,-146.6,397.4,-11.8,174,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2089,3431
$GC,3359,-1.32,-146.6,433.4,-11.3,194,3363,0.00,2.65,0.00,0.000,4,0.000,0.074,2471,3535,3430
$GC,3381,-1.32,-146.6,435.9,-10.8,195,3387,0.00,2.72,0.00,0.000,6,0.000,0.071,2472,2064,3430
$GC,3703,-1.32,-146.6,470.7,-10.3,216,3708,0.00,2.75,0.00,0.000,4,0.000,0.075,2471,3533,3430
$GC,3770,-1.32,-146.6,478.4,-10.8,220,3775,0.00,2.70,0.00,0.000,6,0.000,0.072,2472,2081,3430
$GC,4090,-1.35,-146.6,510.9,-10.3,240,4095,0.00,2.45,0.00,0.000,4,0.000,0.067,2472,717,3430
$GC,4130,-1.39,-146.6,515.4,-11.1,242,4137,0.15,2.40,0.00,0.000,6,0.058,0.051,2434,2064,3430
$GC,4452,-1.34,-146.6,557.6,-13.7,263,4456,0.00,2.72,0.00,0.000,4,0.000,0.079,2434,3540,3430
$GC,4520,-1.29,-146.6,567.3,-13.7,267,4525,0.15,2.70,0.00,0.000,6,0.098,0.077,2462,2100,3430
$STATE,4790,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4792,begin apogee
$GC,4800,-0.33,0.0,599.1,10.8,284,4934,0.98,0.00,130.80,1.197,6,0.080,0.000,2672,1840,2831
$STATE,4935,end apogee,CONTROL_FINISHED_OK
$STATE,4935,begin climb
$GC,4939,1.44,146.6,604.6,0.0,293,5080,1.75,2.72,131.48,1.152,4,0.056,0.071,3060,3254,2232
$GC,5135,1.37,146.6,594.5,10.6,305,5140,0.00,2.67,0.00,0.000,6,0.000,0.077,3060,1842,2232
$GC,5464,1.32,165.8,564.8,9.1,326,5489,0.15,2.65,17.80,1.070,4,0.100,0.072,3032,445,2155
$GC,5523,1.32,197.5,559.1,8.6,329,5561,0.00,2.53,29.62,1.104,6,0.000,0.054,3032,1852,2024
$GC,5877,1.38,233.2,528.3,8.4,352,5916,0.00,2.65,32.05,1.108,4,0.000,0.073,3032,3239,1879
$GC,5965,1.46,254.0,520.5,9.1,357,5994,0.15,2.65,19.23,1.070,6,0.060,0.078,3069,1848,1795
$GC,6308,1.40,254.0,480.7,11.1,379,6313,0.00,2.62,0.00,0.000,4,0.000,0.073,3069,3237,1795
$GC,6338,1.37,254.0,476.9,12.4,381,6343,0.15,2.53,0.00,0.000,6,0.102,0.071,3041,1876,1795
$GC,6665,1.37,254.0,445.4,10.2,402,6669,0.00,2.55,0.00,0.000,4,0.000,0.071,3040,3234,1794
$GC,6732,1.41,254.0,438.1,10.5,406,6736,0.00,2.50,0.00,0.000,6,0.000,0.074,3041,1892,1794
$GC,7053,1.42,255.6,405.6,9.9,426,7057,0.00,2.53,0.00,0.000,4,0.000,0.071,3041,3244,1794
$GC,7088,1.46,255.6,402.0,10.1,428,7092,0.00,2.45,0.00,0.000,6,0.000,0.069,3040,1915,1794
$GC,7412,1.46,255.6,369.1,10.2,449,7416,0.00,2.47,0.00,0.000,4,0.000,0.069,3041,3240,1794
$GC,7435,1.50,255.6,366.6,11.0,450,7440,0.15,2.45,0.00,0.000,6,0.060,0.068,3077,1913,1794
$GC,7757,1.45,255.6,326.4,12.9,470,7761,0.00,2.47,0.00,0.000,4,0.000,0.067,3077,3243,1794
$GC,7774,1.41,255.6,323.8,12.9,471,7779,0.15,2.42,0.00,0.000,6,0.098,0.066,3049,1921,1794
$GC,8094,1.41,255.6,288.1,11.1,491,8098,0.00,2.45,0.00,0.000,4,0.000,0.067,3048,3241,1794
$GC,8122,1.41,255.6,284.7,11.2,493,8127,0.00,2.40,0.00,0.000,6,0.000,0.066,3048,1927,1794
$GC,8447,1.41,255.6,248.8,11.0,514,8451,0.00,2.42,0.00,0.000,4,0.000,0.066,3048,3237,1794
$GC,8464,1.41,255.6,246.7,11.5,515,8468,0.00,2.35,0.00,0.000,6,0.000,0.065,3048,1952,1794
$GC,8783,1.41,255.6,210.9,11.1,535,8788,0.00,2.70,0.00,0.000,4,0.000,0.064,3049,442,1794
$GC,8799,1.41,255.6,208.9,11.5,536,8804,0.00,2.65,0.00,0.000,6,0.000,0.048,3049,1938,1794
$GC,9119,1.41,255.6,172.8,11.3,556,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1938,1794
$GC,9440,1.41,255.6,138.4,10.0,575,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1939,1795
$GC,9749,1.41,255.6,108.0,10.1,590,9753,0.00,2.35,0.00,0.000,4,0.000,0.063,3048,3249,1795
$GC,9791,1.46,255.7,103.9,10.0,592,9795,0.00,2.35,0.00,0.000,6,0.000,0.054,3048,1946,1795
$GC,10125,1.54,283.0,73.0,8.8,608,10156,0.15,2.78,24.75,0.815,4,0.056,0.061,3089,432,1677
$GC,10174,1.47,283.0,67.4,12.8,610,10179,0.12,2.70,0.00,0.000,6,0.093,0.046,3066,1942,1676
$GC,10496,1.47,283.0,33.6,11.3,626,10500,0.00,2.33,0.00,0.000,4,0.000,0.060,3066,3241,1676
$GC,10514,1.47,283.0,31.4,11.9,627,10518,0.00,2.38,0.00,0.000,6,0.000,0.056,3066,1931,1676
$STATE,10796,end climb,SURFACE_DEPTH_REACHED
$STATE,10796,begin surface coast
$FINISH,0.5,1.027161
$STATE,10818,end surface coast,CONTROL_FINISHED_OK
$STATE,10819,begin surface
$SM_CCo,10843,8.77,0.688,0,0,1607,300.00
$SM_GC,1.88,0.00,0.00,8.77,0.000,0.000,0.688,417,2137,1607,-10.71,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1842
$TCM_TEMP,17.50
$XPDR_PINGS,46
$ALTIM_BOTTOM_PING,570.3,37.8
$24V_AH,23.7,70.548
$10V_AH,10.1,31.736
$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,27.100,123.125,385.725,8.775,0.000,37.758,26.592,132.381,16.500,0.000,0.000,34.094,1163.949,7700.610,483.741,1375.540,469.079,33.360,1204.237,0.000,1319.206,0.000,38.328,0.000
$DEVICE_MAMPS,169.507,79.001,1197.287,687.999,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.741,470.337,391.789,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31723,642
$CAP_FILE_SIZE,96698,0
$CFSIZE,254472192,228335616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,041109,180154,6223.579,-942.952,45,1.3,45,-9.9