version: 66.04
glider: 5
mission: 7
dive: 445
start: 11 5 109 3 23 35
data:
$ID,5
$MISSION,7
$DIVE,445
$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,-108748.18
$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,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
$GPS1,031724,6224.635,-932.948,39,1.0,39,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-63.1
$GPS2,032244,6224.626,-933.035,15,1.1,15,-9.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.088,-0.248
$KALMAN_X,-282156.7,742.6,-282.0,452111.4,-1359.3
$KALMAN_Y,114576.1,-1718.2,-1882.0,-228793.7,17073.6
$MHEAD_RNG_PITCHd_Wd,209.2,60649,-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,-146.5,0.0,0.0,0,79,0.00,0.00,-60.60,0.000,2,0.000,0.000,415,2141,2798
$GC,83,-1.44,-146.6,2.9,-4.1,3,119,11.05,2.58,-19.58,0.000,4,0.160,0.068,2423,709,3430
$GC,182,-1.35,-146.6,18.3,-19.0,6,190,0.12,2.53,0.00,0.000,6,0.107,0.048,2448,2129,3430
$GC,501,-1.29,-146.6,65.5,-14.9,22,505,0.00,2.58,0.00,0.000,4,0.000,0.058,2448,703,3431
$GC,550,-1.29,-146.6,73.4,-15.4,24,555,0.00,2.53,0.00,0.000,6,0.000,0.048,2448,2125,3430
$GC,870,-1.24,-146.6,119.3,-14.5,39,871,0.12,0.00,0.00,0.000,6,0.106,0.000,2472,2125,3431
$GC,1181,-1.24,-146.6,158.0,-12.1,55,1185,0.00,2.58,0.00,0.000,4,0.000,0.061,2472,706,3431
$GC,1266,-1.28,-146.6,168.4,-12.3,60,1270,0.00,2.50,0.00,0.000,6,0.000,0.048,2472,2115,3431
$GC,1586,-1.28,-146.6,206.7,-11.6,80,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2116,3431
$GC,1897,-1.28,-146.6,242.4,-11.3,100,1901,0.00,2.55,0.00,0.000,4,0.000,0.061,2472,709,3431
$GC,1943,-1.32,-146.6,247.7,-11.9,103,1948,0.00,2.50,0.00,0.000,6,0.000,0.050,2472,2113,3431
$GC,2268,-1.32,-146.6,285.2,-11.3,124,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2114,3431
$GC,2582,-1.32,-146.6,320.3,-11.2,144,2586,0.00,2.58,0.00,0.000,4,0.000,0.064,2472,703,3431
$GC,2615,-1.35,-146.6,324.3,-11.5,146,2620,0.00,2.50,0.00,0.000,6,0.000,0.051,2472,2104,3430
$GC,2935,-1.35,-146.6,360.8,-11.4,166,2939,0.00,2.55,0.00,0.000,4,0.000,0.065,2472,714,3430
$GC,2964,-1.35,-146.6,364.3,-12.0,168,2968,0.00,2.47,0.00,0.000,6,0.000,0.052,2472,2095,3431
$GC,3288,-1.35,-146.6,402.1,-11.3,189,3292,0.00,2.55,0.00,0.000,4,0.000,0.067,2472,709,3430
$GC,3321,-1.39,-146.6,406.0,-11.1,191,3326,0.15,2.45,0.00,0.000,6,0.057,0.052,2433,2079,3431
$GC,3647,-1.33,-146.6,446.5,-12.7,211,3652,0.10,2.67,0.00,0.000,4,0.110,0.078,2451,3535,3430
$GC,3670,-1.29,-146.6,450.0,-11.7,212,3676,0.00,2.78,0.00,0.000,6,0.000,0.079,2451,2061,3430
$GC,3989,-1.29,-146.6,485.0,-10.7,233,3994,0.00,2.42,0.00,0.000,4,0.000,0.067,2451,708,3430
$GC,4023,-1.29,-146.6,488.9,-11.4,235,4027,0.00,2.42,0.00,0.000,6,0.000,0.051,2451,2063,3430
$GC,4342,-1.29,-146.6,525.8,-12.0,255,4346,0.00,2.72,0.00,0.000,4,0.000,0.080,2451,3536,3430
$GC,4381,-1.29,-146.6,530.6,-13.2,257,4388,0.00,2.78,0.00,0.000,6,0.000,0.084,2451,2074,3430
$GC,4701,-1.29,-146.6,569.1,-12.7,278,4705,0.00,2.78,0.00,0.000,4,0.000,0.082,2451,3530,3430
$GC,4820,-1.29,-146.6,583.8,-12.8,285,4825,0.00,2.72,0.00,0.000,6,0.000,0.082,2451,2088,3430
$GC,5142,-1.77,-146.6,598.0,-0.0,305,5147,0.40,2.50,0.00,0.000,4,0.054,0.071,2354,711,3430
$STATE,5300,end dive,NO_VERTICAL_VELOCITY
$STATE,5300,begin apogee
$GC,5309,-0.33,0.0,598.0,0.0,314,5444,1.40,0.00,130.98,1.195,6,0.052,0.000,2677,1866,2831
$STATE,5445,end apogee,CONTROL_FINISHED_OK
$STATE,5445,begin climb
$GC,5448,1.44,146.6,598.0,0.0,323,5589,1.73,2.70,130.70,1.153,4,0.056,0.071,3057,443,2233
$GC,5826,1.30,146.6,577.7,11.0,345,5833,0.15,2.55,0.00,0.000,6,0.101,0.055,3029,1855,2233
$GC,6146,1.43,223.5,553.6,6.5,366,6225,0.12,2.72,68.22,1.136,4,0.061,0.070,3060,448,1919
$GC,6237,1.37,232.0,546.1,9.6,371,6251,0.00,2.58,9.32,0.974,6,0.000,0.056,3061,1852,1885
$GC,6576,1.34,237.2,511.6,9.8,393,6592,0.12,2.67,6.38,0.894,4,0.108,0.076,3037,3255,1862
$GC,6666,1.41,263.2,503.2,8.8,398,6696,0.00,2.65,23.98,1.086,6,0.000,0.081,3037,1862,1757
$GC,7028,1.41,263.2,466.8,10.6,421,7032,0.00,2.65,0.00,0.000,4,0.000,0.074,3037,3259,1757
$GC,7095,1.47,263.2,458.7,11.2,425,7100,0.15,2.60,0.00,0.000,6,0.062,0.079,3073,1884,1757
$GC,7417,1.43,263.2,417.9,12.7,445,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1884,1757
$GC,7726,1.38,263.2,378.3,12.5,465,7731,0.15,2.58,0.00,0.000,4,0.100,0.071,3045,3254,1757
$GC,7766,1.42,263.2,373.5,12.1,467,7772,0.00,2.55,0.00,0.000,6,0.000,0.077,3045,1892,1757
$GC,8086,1.42,263.2,339.4,10.8,488,8090,0.00,2.55,0.00,0.000,4,0.000,0.072,3045,3251,1757
$GC,8132,1.47,263.2,334.4,10.7,491,8136,0.00,2.47,0.00,0.000,6,0.000,0.074,3045,1916,1757
$GC,8458,1.48,265.8,301.4,9.9,512,8464,0.00,0.00,3.65,0.617,6,0.000,0.000,3045,1915,1747
$GC,8768,1.49,276.3,271.5,9.5,532,8785,0.12,2.55,10.70,0.896,4,0.062,0.069,3077,3258,1703
$GC,8825,1.49,276.3,265.1,11.0,535,8829,0.00,2.47,0.00,0.000,6,0.000,0.069,3077,1925,1703
$GC,9145,1.45,276.3,231.5,10.2,555,9149,0.00,2.47,0.00,0.000,4,0.000,0.069,3077,3252,1703
$GC,9173,1.45,276.3,228.4,11.2,557,9178,0.00,2.42,0.00,0.000,6,0.000,0.067,3077,1932,1703
$GC,9498,1.42,276.3,195.2,10.7,578,9503,0.12,2.47,0.00,0.000,4,0.100,0.067,3054,3260,1703
$GC,9528,1.42,276.3,192.2,10.3,580,9532,0.00,2.42,0.00,0.000,6,0.000,0.067,3054,1944,1704
$GC,9853,1.44,291.5,162.0,9.3,601,9869,0.00,0.00,14.15,0.851,6,0.000,0.000,3054,1944,1641
$GC,10179,1.44,291.5,130.8,10.5,619,10183,0.00,2.45,0.00,0.000,4,0.000,0.067,3054,3261,1642
$GC,10201,1.49,291.5,128.0,11.4,620,10205,0.00,2.40,0.00,0.000,6,0.000,0.064,3054,1947,1642
$GC,10523,1.52,291.5,92.1,11.7,636,10527,0.00,2.42,0.00,0.000,4,0.000,0.065,3054,3255,1642
$GC,10552,1.58,291.5,88.5,12.3,637,10557,0.15,2.35,0.00,0.000,6,0.058,0.061,3092,1963,1642
$GC,10869,1.54,291.5,46.6,13.2,652,10873,0.00,2.72,0.00,0.000,4,0.000,0.060,3092,431,1642
$GC,10902,1.46,291.5,41.7,14.8,653,10910,0.15,2.75,0.00,0.000,6,0.097,0.047,3064,1989,1642
$GC,11220,1.51,291.5,3.9,11.2,669,11224,0.00,2.22,0.00,0.000,3,0.000,0.054,3064,754,1642
$STATE,11225,end climb,SURFACE_DEPTH_REACHED
$STATE,11225,begin surface coast
$FINISH,0.5,1.008629
$STATE,11262,end surface coast,CONTROL_FINISHED_OK
$STATE,11262,begin surface
$SM_CCo,11288,4.28,0.546,0,0,1608,300.00
$SM_GC,2.01,0.00,0.00,4.28,0.000,0.000,0.546,417,2145,1608,-10.71,0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1847
$TCM_TEMP,17.50
$XPDR_PINGS,64
$24V_AH,23.7,71.097
$10V_AH,10.1,31.980
$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,27.750,127.225,398.075,4.275,0.000,37.762,28.123,128.553,21.500,0.000,0.000,15.086,1227.098,7953.475,503.164,1460.492,471.290,33.364,1265.145,0.000,1419.993,0.000,42.648,0.000
$DEVICE_MAMPS,160.303,84.370,1194.986,546.104,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,458.203,488.747,384.646,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34839,671
$CAP_FILE_SIZE,102323,0
$CFSIZE,254472192,228134912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,051109,063321,6223.133,-936.448,52,1.6,52,-9.9