version: 66.04
glider: 5
mission: 7
dive: 443
start: 11 4 109 21 9 10
data:
$ID,5
$MISSION,7
$DIVE,443
$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,-108717.57
$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,28
$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
$GPS1,210306,6225.953,-938.381,40,1.0,40,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-58.9
$GPS2,210819,6226.027,-938.323,12,1.3,12,-9.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.101,-0.243
$KALMAN_X,-287649.9,1042.3,1342.6,451285.0,-11595.1
$KALMAN_Y,109069.1,-2139.2,35.0,-222234.9,13083.9
$MHEAD_RNG_PITCHd_Wd,167.3,64464,-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,-60.62,0.000,2,0.000,0.000,422,2146,2787
$GC,83,-1.44,-146.6,2.7,-3.7,3,126,10.95,2.58,-21.00,0.000,4,0.156,0.067,2421,715,3428
$GC,272,-1.36,-146.6,31.6,-16.6,11,277,0.12,2.53,0.00,0.000,6,0.109,0.047,2445,2138,3429
$GC,590,-1.30,-146.6,79.6,-15.3,26,594,0.00,2.58,0.00,0.000,4,0.000,0.055,2445,706,3429
$GC,647,-1.27,-146.6,88.2,-14.9,28,654,0.12,2.50,0.00,0.000,6,0.110,0.048,2468,2119,3429
$GC,963,-1.27,-146.6,129.3,-13.4,44,967,0.00,2.53,0.00,0.000,4,0.000,0.055,2468,716,3429
$GC,990,-1.27,-146.6,133.1,-13.7,45,995,0.00,2.50,0.00,0.000,6,0.000,0.048,2468,2124,3429
$GC,1309,-1.27,-146.6,174.1,-12.4,63,1313,0.00,2.55,0.00,0.000,4,0.000,0.058,2468,716,3429
$GC,1388,-1.27,-146.6,184.1,-12.6,68,1392,0.00,2.45,0.00,0.000,6,0.000,0.049,2468,2097,3429
$GC,1712,-1.27,-146.6,224.9,-13.0,89,1716,0.00,2.50,0.00,0.000,4,0.000,0.057,2468,708,3430
$GC,1742,-1.27,-146.6,228.9,-14.5,91,1746,0.00,2.45,0.00,0.000,6,0.000,0.049,2468,2089,3429
$GC,2066,-1.27,-146.6,272.1,-13.4,112,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2089,3429
$GC,2379,-1.27,-146.6,312.8,-12.7,132,2383,0.00,2.50,0.00,0.000,4,0.000,0.060,2469,707,3429
$GC,2418,-1.27,-146.6,318.0,-12.7,134,2424,0.00,2.45,0.00,0.000,6,0.000,0.050,2468,2087,3429
$GC,2737,-1.27,-146.6,357.8,-12.6,155,2742,0.00,2.50,0.00,0.000,4,0.000,0.061,2468,709,3429
$GC,2772,-1.27,-146.6,362.1,-12.7,157,2776,0.00,2.42,0.00,0.000,6,0.000,0.051,2469,2071,3429
$GC,3091,-1.27,-146.6,401.4,-11.9,177,3095,0.00,2.67,0.00,0.000,4,0.000,0.072,2468,3532,3429
$GC,3121,-1.27,-146.6,404.8,-12.1,179,3125,0.00,2.70,0.00,0.000,6,0.000,0.069,2469,2062,3429
$GC,3446,-1.27,-146.6,442.6,-10.9,200,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2047,3429
$GC,3757,-1.27,-146.6,476.1,-10.4,220,3761,0.00,2.78,0.00,0.000,4,0.000,0.075,2469,3538,3429
$GC,3790,-1.27,-146.6,479.9,-11.1,222,3794,0.00,2.75,0.00,0.000,6,0.000,0.075,2469,2065,3429
$GC,4110,-1.27,-146.6,511.9,-10.5,242,4114,0.00,2.75,0.00,0.000,4,0.000,0.075,2468,3531,3429
$GC,4172,-1.27,-146.6,518.9,-10.7,246,4177,0.00,2.65,0.00,0.000,6,0.000,0.071,2469,2098,3429
$GC,4500,-1.27,-146.6,556.7,-12.6,267,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2079,3429
$STATE,4728,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4728,begin apogee
$GC,4736,-0.33,0.0,587.2,12.8,282,4872,0.95,0.00,131.95,1.172,6,0.080,0.000,2672,1845,2831
$STATE,4872,end apogee,CONTROL_FINISHED_OK
$STATE,4872,begin climb
$GC,4876,1.44,146.6,592.8,0.0,291,5017,1.75,2.60,131.68,1.134,4,0.060,0.067,3054,449,2233
$GC,5106,1.33,146.6,578.4,11.1,305,5110,0.00,2.53,0.00,0.000,6,0.000,0.052,3054,1849,2233
$GC,5432,1.38,210.7,552.8,7.1,326,5495,0.00,2.65,57.03,1.114,4,0.000,0.073,3054,3251,1972
$GC,5601,1.41,225.5,538.8,9.3,336,5620,0.00,2.62,14.27,1.032,6,0.000,0.079,3054,1869,1911
$GC,5951,1.41,227.0,505.0,9.9,358,5955,0.00,2.62,0.00,0.000,4,0.000,0.072,3054,3258,1910
$GC,6001,1.41,227.0,498.8,11.2,361,6005,0.00,2.58,0.00,0.000,6,0.000,0.078,3054,1895,1910
$GC,6321,1.41,227.0,463.5,10.9,381,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1895,1909
$GC,6632,1.41,227.0,428.1,11.5,401,6637,0.00,2.55,0.00,0.000,4,0.000,0.070,3054,3257,1909
$GC,6666,1.41,227.0,424.0,11.8,403,6670,0.00,2.53,0.00,0.000,6,0.000,0.073,3054,1901,1909
$GC,6986,1.41,227.0,385.8,12.0,423,6990,0.00,2.53,0.00,0.000,4,0.000,0.068,3054,3255,1909
$GC,7019,1.41,227.0,381.4,13.0,425,7023,0.00,2.47,0.00,0.000,6,0.000,0.067,3054,1912,1908
$GC,7338,1.41,227.0,343.6,12.1,445,7339,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1911,1908
$GC,7651,1.41,227.0,305.9,12.0,465,7655,0.00,2.50,0.00,0.000,4,0.000,0.067,3054,3258,1908
$GC,7684,1.41,227.0,301.8,11.7,467,7688,0.00,2.47,0.00,0.000,6,0.000,0.065,3054,1908,1908
$GC,8003,1.41,227.0,265.3,11.4,487,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1908,1908
$GC,8316,1.41,227.0,231.3,10.4,507,8320,0.00,2.50,0.00,0.000,4,0.000,0.066,3054,3258,1909
$GC,8366,1.41,227.0,225.8,10.3,510,8370,0.00,2.45,0.00,0.000,6,0.000,0.063,3054,1912,1909
$GC,8685,1.41,227.0,192.6,10.8,530,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1912,1909
$GC,8998,1.41,227.0,157.9,11.0,550,9002,0.00,2.47,0.00,0.000,4,0.000,0.064,3053,3255,1909
$GC,9049,1.41,227.0,152.0,11.4,553,9053,0.00,2.40,0.00,0.000,6,0.000,0.059,3054,1926,1909
$GC,9382,1.41,227.0,114.5,11.1,569,9383,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1926,1909
$GC,9690,1.42,235.3,84.2,9.6,584,9702,0.00,0.00,9.77,0.759,6,0.000,0.000,3054,1926,1871
$GC,10000,1.42,235.3,53.2,10.5,599,10004,0.00,2.45,0.00,0.000,4,0.000,0.061,3054,3258,1871
$GC,10034,1.46,235.3,48.9,11.4,600,10041,0.00,2.40,0.00,0.000,6,0.000,0.059,3054,1933,1871
$GC,10352,1.46,235.3,14.8,11.3,616,10355,0.00,2.42,0.00,0.000,4,0.000,0.061,3054,3257,1871
$GC,10368,1.46,235.3,12.5,11.8,616,10374,0.00,2.38,0.00,0.000,6,0.000,0.058,3054,1947,1871
$STATE,10454,end climb,SURFACE_DEPTH_REACHED
$STATE,10454,begin surface coast
$FINISH,0.5,1.027144
$STATE,10476,end surface coast,CONTROL_FINISHED_OK
$STATE,10476,begin surface
$SM_CCo,10501,33.70,0.769,0,0,1607,300.00
$SM_GC,1.74,0.00,0.00,33.70,0.000,0.000,0.769,423,2154,1607,-10.69,0.68,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1835
$TCM_TEMP,17.50
$XPDR_PINGS,49
$ALTIM_BOTTOM_PING,546.9,49.6
$24V_AH,23.7,70.816
$10V_AH,10.1,31.854
$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,25.325,102.200,344.700,33.700,0.000,37.763,29.906,124.438,17.250,0.000,0.000,12.005,1116.622,7517.107,473.268,1300.278,444.635,33.362,1147.251,0.000,1270.573,0.000,39.695,0.000
$DEVICE_MAMPS,155.701,79.001,1171.976,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.029,455.961,376.043,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31688,622
$CAP_FILE_SIZE,87284,0
$CFSIZE,254472192,228245504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,051109,000607,6226.546,-933.561,41,0.9,41,-9.9