version: 66.04
glider: 5
mission: 7
dive: 444
start: 11 5 109 0 15 17
data:
$ID,5
$MISSION,7
$DIVE,444
$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,-108732.47
$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,33
$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
$GPS1,000607,6226.546,-933.561,41,0.9,41,-9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-63.9
$GPS2,001426,6226.621,-933.516,14,0.9,14,-9.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.058,-0.257
$KALMAN_X,-283144.3,532.9,1091.6,451496.5,-4765.6
$KALMAN_Y,115402.5,-2457.6,-1012.1,-226104.1,19753.5
$MHEAD_RNG_PITCHd_Wd,177.2,64329,-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,-60.62,0.000,2,0.000,0.000,422,2151,2794
$GC,83,-1.44,-146.6,2.5,-3.4,3,126,11.00,2.62,-21.25,0.000,4,0.157,0.071,2421,709,3430
$GC,224,-1.34,-146.6,23.3,-17.0,9,229,0.15,2.53,0.00,0.000,6,0.101,0.047,2450,2130,3430
$GC,549,-1.29,-146.6,68.4,-14.2,25,553,0.00,2.58,0.00,0.000,4,0.000,0.060,2450,711,3430
$GC,571,-1.25,-146.6,72.4,-15.2,26,576,0.12,2.50,0.00,0.000,6,0.101,0.048,2475,2118,3430
$GC,893,-1.25,-146.6,119.1,-14.9,42,901,0.00,2.55,0.00,0.000,4,0.000,0.058,2474,706,3430
$GC,930,-1.25,-146.6,125.0,-15.6,43,934,0.00,2.47,0.00,0.000,6,0.000,0.048,2475,2104,3430
$GC,1248,-1.25,-146.6,172.3,-14.0,61,1252,0.00,2.53,0.00,0.000,4,0.000,0.061,2475,712,3430
$GC,1293,-1.28,-146.6,178.8,-14.0,64,1298,0.00,2.45,0.00,0.000,6,0.000,0.048,2475,2089,3430
$GC,1619,-1.28,-146.6,219.4,-11.9,85,1627,0.00,2.65,0.00,0.000,4,0.000,0.071,2475,3538,3430
$GC,1644,-1.28,-146.6,222.8,-12.2,86,1648,0.00,2.70,0.00,0.000,6,0.000,0.064,2475,2062,3431
$GC,1965,-1.28,-146.6,260.6,-11.8,106,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2063,3431
$GC,2279,-1.28,-146.6,296.6,-11.3,126,2283,0.00,2.78,0.00,0.000,4,0.000,0.075,2475,3538,3430
$GC,2307,-1.28,-146.6,300.2,-12.0,128,2312,0.00,2.67,0.00,0.000,6,0.000,0.074,2475,2091,3430
$GC,2633,-1.28,-146.6,336.1,-10.8,149,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2091,3430
$GC,2945,-1.28,-146.6,368.2,-10.0,169,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2091,3430
$GC,3257,-1.28,-146.6,399.4,-10.0,189,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2091,3430
$GC,3570,-1.28,-146.6,429.9,-9.6,209,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2091,3430
$GC,3881,-1.28,-146.6,462.7,-11.2,229,3886,0.00,2.72,0.00,0.000,4,0.000,0.079,2475,3528,3430
$GC,3914,-1.28,-146.6,466.4,-11.3,231,3919,0.00,2.70,0.00,0.000,6,0.000,0.080,2475,2096,3430
$GC,4238,-1.32,-146.6,499.3,-10.4,251,4242,0.00,2.47,0.00,0.000,4,0.000,0.066,2475,717,3430
$GC,4318,-1.38,-146.6,508.3,-10.7,256,4323,0.15,2.47,0.00,0.000,6,0.056,0.051,2435,2105,3430
$GC,4650,-1.34,-146.6,545.7,-11.1,277,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2104,3429
$GC,4969,-1.29,-146.6,584.7,-12.6,298,4974,0.12,2.65,0.00,0.000,6,0.104,0.081,2460,3531,3429
$STATE,4975,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4975,begin apogee
$GC,4987,-0.33,0.0,585.6,12.8,298,5120,0.95,0.00,129.98,1.180,6,0.081,0.000,2667,1845,2831
$STATE,5121,end apogee,CONTROL_FINISHED_OK
$STATE,5121,begin climb
$GC,5124,1.44,146.6,593.2,0.0,307,5266,1.77,2.67,130.25,1.140,4,0.060,0.074,3056,443,2233
$GC,5365,1.31,146.6,577.9,10.7,321,5372,0.15,2.55,0.00,0.000,6,0.100,0.053,3029,1856,2233
$GC,5685,1.36,178.6,549.1,8.5,342,5720,0.00,2.65,29.02,1.094,4,0.000,0.072,3029,3250,2102
$GC,5832,1.40,178.6,535.5,10.5,350,5838,0.00,2.62,0.00,0.000,6,0.000,0.077,3029,1860,2101
$GC,6151,1.48,228.1,507.7,7.7,371,6202,0.17,2.70,43.22,1.110,4,0.058,0.071,3072,3248,1901
$GC,6234,1.44,237.8,500.4,9.6,376,6251,0.00,2.60,10.32,0.983,6,0.000,0.077,3071,1882,1861
$GC,6566,1.39,237.8,467.5,11.0,397,6571,0.12,2.58,0.00,0.000,4,0.105,0.071,3048,3249,1860
$GC,6605,1.39,237.8,462.7,10.9,399,6611,0.00,2.55,0.00,0.000,6,0.000,0.075,3048,1891,1860
$GC,6925,1.39,237.8,425.5,12.4,420,6930,0.00,2.55,0.00,0.000,4,0.000,0.071,3048,3250,1860
$GC,6948,1.39,237.8,422.2,13.6,421,6954,0.00,2.50,0.00,0.000,6,0.000,0.073,3048,1906,1860
$GC,7268,1.39,237.8,383.1,11.4,442,7272,0.00,2.53,0.00,0.000,4,0.000,0.069,3048,3258,1860
$GC,7306,1.39,237.8,378.5,11.8,444,7312,0.00,2.50,0.00,0.000,6,0.000,0.071,3048,1911,1860
$GC,7625,1.39,237.8,342.0,11.8,465,7629,0.00,2.47,0.00,0.000,4,0.000,0.068,3048,3250,1859
$GC,7642,1.39,237.8,339.9,11.8,466,7646,0.00,2.47,0.00,0.000,6,0.000,0.070,3048,1909,1860
$GC,7961,1.39,237.8,303.4,11.3,486,7966,0.00,2.50,0.00,0.000,4,0.000,0.067,3048,3255,1859
$GC,7990,1.39,237.8,299.9,11.8,488,7995,0.00,2.42,0.00,0.000,6,0.000,0.067,3048,1933,1860
$GC,8316,1.39,237.8,264.1,10.7,509,8320,0.00,2.45,0.00,0.000,4,0.000,0.067,3048,3254,1860
$GC,8345,1.39,237.8,260.9,11.1,511,8349,0.00,2.40,0.00,0.000,6,0.000,0.067,3048,1945,1860
$GC,8669,1.39,237.8,227.1,10.2,532,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1944,1860
$GC,8982,1.39,237.8,194.3,10.5,552,8986,0.00,2.42,0.00,0.000,4,0.000,0.064,3048,3256,1860
$GC,8998,1.39,237.8,192.3,11.3,553,9002,0.00,2.40,0.00,0.000,6,0.000,0.063,3048,1936,1860
$GC,9317,1.39,237.8,158.7,10.7,573,9321,0.00,2.42,0.00,0.000,4,0.000,0.064,3048,3254,1860
$GC,9334,1.39,237.8,156.9,11.3,574,9338,0.00,2.38,0.00,0.000,6,0.000,0.061,3048,1947,1861
$GC,9657,1.40,242.7,124.6,9.8,591,9664,0.00,0.00,5.85,0.700,6,0.000,0.000,3048,1947,1841
$GC,9968,1.49,278.5,96.0,8.4,606,10004,0.00,0.00,30.40,0.838,6,0.000,0.000,3048,1947,1695
$GC,10318,1.54,280.9,62.3,9.9,623,10327,0.15,2.42,4.00,0.559,4,0.057,0.063,3088,3260,1685
$GC,10367,1.54,280.9,56.2,12.2,625,10371,0.00,2.38,0.00,0.000,6,0.000,0.059,3088,1951,1685
$GC,10690,1.50,280.9,16.5,13.1,641,10694,0.00,2.40,0.00,0.000,4,0.000,0.063,3088,3255,1685
$GC,10714,1.47,280.9,13.1,14.1,642,10718,0.12,2.35,0.00,0.000,6,0.103,0.058,3065,1963,1685
$STATE,10790,end climb,SURFACE_DEPTH_REACHED
$STATE,10790,begin surface coast
$FINISH,0.8,1.027143
$STATE,10812,end surface coast,CONTROL_FINISHED_OK
$STATE,10812,begin surface
$SM_CCo,10836,10.00,0.706,0,0,1607,300.00
$SM_GC,2.11,0.00,0.00,10.00,0.000,0.000,0.706,415,2141,1607,-10.72,0.31,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1863
$TCM_TEMP,17.50
$XPDR_PINGS,40
$ALTIM_BOTTOM_PING,545.7,49.1
$24V_AH,23.7,70.956
$10V_AH,10.1,31.916
$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,26.550,112.425,383.050,10.000,0.000,75.523,61.477,175.900,14.750,0.000,0.000,14.274,1152.640,7788.174,499.011,1328.135,581.774,33.360,1197.085,0.000,1291.712,0.000,37.896,0.000
$DEVICE_MAMPS,157.235,80.535,1180.413,705.640,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.784,469.521,386.302,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31603,647
$CAP_FILE_SIZE,95046,0
$CFSIZE,254472192,228192256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,051109,031724,6224.635,-932.948,39,1.0,39,-9.8