version: 66.04
glider: 5
mission: 7
dive: 448
start: 11 5 109 13 4 12
data:
$ID,5
$MISSION,7
$DIVE,448
$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,-108807.21
$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,53
$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
$GPS1,125746,6223.725,-933.170,40,1.5,49,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-65.3
$GPS2,130322,6223.737,-933.212,13,1.5,27,-9.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.167,-0.204
$KALMAN_X,-280865.0,-194.1,162.7,451165.5,129.7
$KALMAN_Y,122997.1,-1042.3,-890.4,-240575.3,16038.9
$MHEAD_RNG_PITCHd_Wd,229.1,59103,-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,-60.85,0.000,2,0.000,0.000,422,2151,2812
$GC,83,-1.44,-146.6,3.1,-4.1,3,119,11.18,2.58,-19.15,0.000,4,0.166,0.070,2423,720,3430
$GC,288,-1.37,-146.6,34.2,-16.3,11,293,0.12,2.47,0.00,0.000,6,0.110,0.047,2447,2108,3431
$GC,605,-1.32,-146.6,79.4,-14.1,26,609,0.00,2.53,0.00,0.000,4,0.000,0.058,2447,717,3431
$GC,661,-1.32,-146.6,87.2,-13.3,28,668,0.00,2.50,0.00,0.000,6,0.000,0.048,2448,2126,3431
$GC,978,-1.27,-146.6,126.5,-11.8,44,983,0.00,2.58,0.00,0.000,4,0.000,0.060,2447,707,3431
$GC,1042,-1.27,-146.6,133.6,-10.7,47,1046,0.00,2.50,0.00,0.000,6,0.000,0.048,2447,2119,3431
$GC,1362,-1.23,-146.6,170.0,-12.1,65,1367,0.15,2.55,0.00,0.000,4,0.103,0.059,2477,710,3431
$GC,1384,-1.23,-146.6,173.0,-12.2,66,1390,0.00,2.47,0.00,0.000,6,0.000,0.048,2477,2105,3431
$GC,1703,-1.23,-146.6,210.7,-12.1,87,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2105,3432
$GC,2016,-1.23,-146.6,247.8,-12.6,107,2021,0.00,2.55,0.00,0.000,4,0.000,0.064,2477,705,3432
$GC,2047,-1.26,-146.6,251.6,-12.9,109,2052,0.00,2.50,0.00,0.000,6,0.000,0.050,2477,2102,3431
$GC,2373,-1.26,-146.6,294.6,-13.1,130,2381,0.00,2.55,0.00,0.000,4,0.000,0.064,2477,706,3431
$GC,2412,-1.31,-146.6,299.9,-14.3,132,2416,0.00,2.47,0.00,0.000,6,0.000,0.049,2477,2093,3432
$GC,2736,-1.31,-146.6,340.2,-11.3,153,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2093,3432
$GC,3050,-1.31,-146.6,371.4,-10.1,173,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2093,3431
$GC,3361,-1.31,-146.6,407.9,-12.9,193,3365,0.00,2.53,0.00,0.000,4,0.000,0.068,2477,718,3431
$GC,3400,-1.36,-146.6,412.7,-11.6,195,3405,0.15,2.45,0.00,0.000,6,0.056,0.052,2436,2087,3431
$GC,3723,-1.31,-146.6,447.8,-8.0,215,3725,0.10,0.00,0.00,0.000,6,0.108,0.000,2456,2088,3431
$GC,4034,-1.31,-146.6,470.7,-8.9,235,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2088,3431
$GC,4344,-1.31,-146.6,515.0,-18.3,255,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2088,3430
$GC,4656,-1.31,-146.6,568.4,-15.3,275,4661,0.00,2.67,0.00,0.000,4,0.000,0.081,2456,3529,3430
$GC,4725,-1.31,-146.6,578.1,-13.6,279,4729,0.00,2.75,0.00,0.000,6,0.000,0.081,2456,2074,3430
$STATE,4807,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4807,begin apogee
$GC,4814,-0.33,0.0,589.4,13.6,284,4949,1.00,0.00,131.23,1.175,6,0.081,0.000,2670,1820,2831
$STATE,4950,end apogee,CONTROL_FINISHED_OK
$STATE,4950,begin climb
$GC,4953,1.44,146.6,597.0,0.0,293,5094,1.75,2.58,131.90,1.134,4,0.057,0.073,3056,461,2232
$GC,5191,1.34,155.7,581.6,9.6,307,5205,0.00,2.53,9.40,0.962,6,0.000,0.052,3056,1859,2196
$GC,5529,1.28,155.7,548.6,11.6,329,5534,0.17,2.60,0.00,0.000,4,0.094,0.075,3019,3261,2195
$GC,5619,1.31,155.7,536.7,13.4,334,5625,0.00,2.62,0.00,0.000,6,0.000,0.079,3019,1872,2195
$GC,5939,1.35,155.7,489.0,13.6,355,5944,0.00,2.60,0.00,0.000,4,0.000,0.073,3019,3251,2194
$GC,5986,1.39,155.7,483.2,12.1,358,5991,0.12,2.60,0.00,0.000,6,0.061,0.078,3051,1865,2194
$GC,6313,1.63,330.0,463.7,2.1,379,6472,0.22,2.67,151.82,1.093,4,0.056,0.070,3107,3255,1485
$GC,6500,1.56,330.0,449.1,11.4,391,6505,0.10,2.65,0.00,0.000,6,0.115,0.079,3088,1869,1485
$GC,6828,1.50,330.0,406.5,14.0,412,6832,0.00,2.60,0.00,0.000,4,0.000,0.069,3087,3257,1487
$GC,6883,1.50,330.0,398.2,13.2,415,6891,0.00,2.58,0.00,0.000,6,0.000,0.077,3087,1890,1487
$GC,7203,1.45,330.0,352.8,14.8,436,7208,0.12,2.55,0.00,0.000,4,0.104,0.067,3063,3255,1487
$GC,7226,1.45,330.0,349.2,14.7,437,7232,0.00,2.53,0.00,0.000,6,0.000,0.074,3063,1901,1488
$GC,7545,1.45,330.0,309.8,12.1,458,7549,0.00,2.53,0.00,0.000,4,0.000,0.067,3063,3258,1487
$GC,7578,1.49,330.0,305.6,12.9,460,7583,0.00,2.47,0.00,0.000,6,0.000,0.072,3063,1925,1488
$GC,7898,1.49,330.0,265.2,14.0,480,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1925,1488
$GC,8210,1.49,330.0,217.4,16.2,500,8214,0.00,2.47,0.00,0.000,4,0.000,0.066,3063,3261,1488
$GC,8243,1.53,330.0,211.9,16.1,502,8247,0.00,2.45,0.00,0.000,6,0.000,0.068,3063,1928,1488
$GC,8563,1.53,330.0,162.7,14.9,522,8567,0.00,2.45,0.00,0.000,4,0.000,0.064,3063,3255,1488
$GC,8585,1.56,330.0,159.0,15.4,523,8591,0.00,2.40,0.00,0.000,6,0.000,0.064,3063,1938,1488
$GC,8903,1.56,330.0,114.6,13.1,540,8904,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1938,1488
$GC,9211,1.56,330.0,76.1,11.6,555,9215,0.00,2.42,0.00,0.000,4,0.000,0.063,3063,3255,1488
$GC,9252,1.63,330.0,71.7,11.3,557,9257,0.17,2.40,0.00,0.000,6,0.058,0.063,3107,1935,1488
$GC,9581,1.57,330.0,24.8,14.7,573,9582,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1934,1488
$STATE,9741,end climb,SURFACE_DEPTH_REACHED
$STATE,9741,begin surface coast
$FINISH,0.4,1.013133
$STATE,9763,end surface coast,CONTROL_FINISHED_OK
$STATE,9763,begin surface
$SM_CCo,9847,0.00,0.000,0,0,1488,329.44
$SM_GC,1.26,11.68,0.00,0.00,0.038,0.000,0.000,419,2153,1488,-10.60,0.68,329.44
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1846
$TCM_TEMP,17.40
$XPDR_PINGS,43
$ALTIM_BOTTOM_PING,570.2,27.9
$24V_AH,23.7,71.529
$10V_AH,10.1,32.161
$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,27.050,92.100,424.350,0.000,0.000,37.761,37.420,125.119,15.750,0.000,0.000,27.506,1036.174,6966.154,495.628,1240.644,442.663,33.370,1144.897,0.000,1194.935,0.000,38.353,0.000
$DEVICE_MAMPS,165.672,81.302,1175.044,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.709,425.102,350.357,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28521,582
$CAP_FILE_SIZE,84859,0
$CFSIZE,254472192,228007936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,051109,154937,6221.754,-936.787,40,1.0,40,-9.9