version: 66.04
glider: 5
mission: 7
dive: 449
start: 11 5 109 15 55 46
data:
$ID,5
$MISSION,7
$DIVE,449
$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,-108822.19
$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,21
$R_STBD_OVSHOOT,29
$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
$GPS1,154937,6221.754,-936.787,40,1.0,40,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-66.1
$GPS2,155455,6221.739,-936.920,14,1.1,14,-9.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.060,-0.257
$KALMAN_X,-280092.6,-152.5,-378.5,447841.8,2168.0
$KALMAN_Y,122403.6,-996.0,-1957.3,-242624.2,15258.8
$MHEAD_RNG_PITCHd_Wd,176.8,56558,-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,-60.60,0.000,2,0.000,0.000,418,2149,2669
$GC,83,-1.44,-146.6,2.6,-3.2,3,129,11.23,2.58,-28.62,0.000,4,0.163,0.069,2425,720,3429
$GC,170,-1.34,-146.6,12.5,-16.9,7,175,0.12,2.53,0.00,0.000,6,0.109,0.048,2448,2129,3429
$GC,487,-1.29,-146.6,58.1,-14.0,22,491,0.00,2.58,0.00,0.000,4,0.000,0.058,2448,711,3429
$GC,537,-1.29,-146.6,65.1,-13.4,24,541,0.00,2.50,0.00,0.000,6,0.000,0.048,2448,2112,3429
$GC,854,-1.25,-146.6,106.1,-14.3,39,859,0.12,2.62,0.00,0.000,4,0.107,0.071,2473,3543,3429
$GC,876,-1.25,-146.6,109.7,-14.5,40,881,0.00,2.65,0.00,0.000,6,0.000,0.069,2473,2111,3429
$GC,1193,-1.25,-146.6,152.4,-12.9,56,1198,0.00,2.47,0.00,0.000,4,0.000,0.061,2472,722,3429
$GC,1216,-1.25,-146.6,155.2,-11.8,57,1223,0.00,2.50,0.00,0.000,6,0.000,0.048,2473,2129,3429
$GC,1536,-1.25,-146.6,185.2,-8.1,78,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2129,3429
$GC,1848,-1.25,-146.6,213.6,-10.3,98,1852,0.00,2.55,0.00,0.000,4,0.000,0.061,2472,723,3430
$GC,1901,-1.29,-146.6,219.2,-11.3,101,1906,0.00,2.50,0.00,0.000,6,0.000,0.049,2473,2129,3430
$GC,2231,-1.29,-146.6,254.6,-10.9,122,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2130,3430
$GC,2544,-1.29,-146.6,287.1,-9.8,142,2549,0.00,2.58,0.00,0.000,4,0.000,0.063,2473,713,3430
$GC,2575,-1.32,-146.6,290.1,-10.0,144,2580,0.00,2.50,0.00,0.000,6,0.000,0.051,2473,2117,3429
$GC,2900,-1.32,-146.6,323.5,-10.8,165,2904,0.00,2.55,0.00,0.000,4,0.000,0.063,2473,715,3430
$GC,2957,-1.37,-146.6,329.9,-11.3,168,2964,0.12,2.47,0.00,0.000,6,0.058,0.051,2440,2104,3430
$GC,3279,-1.33,-146.6,374.2,-14.1,189,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2104,3429
$GC,3590,-1.28,-146.6,417.2,-13.1,209,3594,0.12,2.53,0.00,0.000,4,0.102,0.064,2464,720,3429
$GC,3623,-1.28,-146.6,421.4,-11.6,211,3627,0.00,2.47,0.00,0.000,6,0.000,0.051,2464,2112,3430
$GC,3948,-1.28,-146.6,458.3,-11.2,232,3953,0.00,2.55,0.00,0.000,4,0.000,0.066,2464,719,3430
$GC,3971,-1.28,-146.6,461.1,-11.8,233,3977,0.00,2.45,0.00,0.000,6,0.000,0.051,2464,2088,3429
$GC,4289,-1.28,-146.6,503.6,-13.4,254,4294,0.00,2.67,0.00,0.000,4,0.000,0.080,2464,3534,3430
$GC,4328,-1.28,-146.6,508.9,-13.4,256,4334,0.00,2.78,0.00,0.000,6,0.000,0.085,2464,2076,3429
$GC,4648,-1.28,-146.6,540.1,-8.4,277,4653,0.00,2.45,0.00,0.000,4,0.000,0.069,2464,716,3429
$GC,4716,-1.32,-146.6,546.4,-9.3,281,4720,0.00,2.45,0.00,0.000,6,0.000,0.052,2463,2086,3429
$GC,5042,-1.32,-146.6,575.0,-11.8,302,5046,0.00,2.53,0.00,0.000,4,0.000,0.068,2464,716,3429
$STATE,5210,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5210,begin apogee
$GC,5219,-0.33,0.0,597.3,12.9,312,5357,0.93,0.00,133.70,1.186,6,0.082,0.000,2665,1868,2831
$STATE,5358,end apogee,CONTROL_FINISHED_OK
$STATE,5358,begin climb
$GC,5362,1.44,146.6,604.0,0.0,321,5503,1.80,2.72,131.32,1.147,4,0.061,0.071,3058,436,2232
$GC,5517,1.41,189.6,598.1,8.0,330,5563,0.00,2.58,37.65,1.119,6,0.000,0.054,3058,1856,2058
$GC,5883,1.37,194.4,564.3,9.8,354,5894,0.00,2.67,5.93,0.872,4,0.000,0.074,3058,442,2038
$GC,6001,1.28,194.4,550.5,13.6,360,6006,0.17,2.50,0.00,0.000,6,0.101,0.058,3026,1814,2038
$GC,6326,1.48,317.3,527.7,4.4,381,6436,0.17,2.67,104.10,1.151,4,0.058,0.070,3072,446,1537
$GC,6463,1.41,317.3,517.0,10.9,389,6467,0.00,2.53,0.00,0.000,6,0.000,0.055,3072,1825,1537
$GC,6782,1.41,317.3,473.5,14.6,409,6786,0.00,2.65,0.00,0.000,4,0.000,0.072,3072,3257,1537
$GC,6815,1.41,317.3,468.3,14.8,411,6819,0.00,2.72,0.00,0.000,6,0.000,0.084,3072,1832,1538
$GC,7135,1.41,317.3,423.7,15.1,431,7139,0.00,2.67,0.00,0.000,4,0.000,0.071,3072,3258,1537
$GC,7182,1.41,317.3,416.5,15.6,434,7186,0.00,2.67,0.00,0.000,6,0.000,0.080,3072,1843,1538
$GC,7506,1.41,317.3,365.9,15.6,455,7510,0.00,2.62,0.00,0.000,4,0.000,0.070,3072,3253,1539
$GC,7545,1.41,317.3,359.6,15.8,457,7551,0.00,2.60,0.00,0.000,6,0.000,0.077,3072,1869,1539
$GC,7864,1.41,317.3,311.2,14.3,478,7869,0.00,2.58,0.00,0.000,4,0.000,0.068,3072,3257,1539
$GC,7887,1.41,317.3,307.9,14.1,479,7893,0.00,2.58,0.00,0.000,6,0.000,0.074,3072,1877,1539
$GC,8207,1.41,317.3,266.4,12.8,500,8211,0.00,2.58,0.00,0.000,4,0.000,0.067,3072,3261,1539
$GC,8245,1.41,317.3,261.4,12.6,502,8251,0.00,2.53,0.00,0.000,6,0.000,0.072,3072,1900,1539
$GC,8565,1.41,317.3,219.0,13.9,523,8569,0.00,2.53,0.00,0.000,4,0.000,0.066,3073,3259,1539
$GC,8598,1.41,317.3,213.7,15.0,525,8602,0.00,2.50,0.00,0.000,6,0.000,0.071,3072,1910,1539
$GC,8917,1.41,317.3,168.6,14.4,545,8921,0.00,2.47,0.00,0.000,4,0.000,0.064,3072,3254,1539
$GC,8945,1.41,317.3,164.9,13.0,547,8950,0.00,2.45,0.00,0.000,6,0.000,0.067,3073,1917,1539
$GC,9274,1.41,317.3,120.7,12.9,565,9276,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1916,1540
$GC,9584,1.41,317.3,83.3,11.7,580,9588,0.00,2.47,0.00,0.000,4,0.000,0.063,3072,3261,1540
$GC,9608,1.41,317.3,80.3,12.5,581,9612,0.00,2.42,0.00,0.000,6,0.000,0.062,3072,1925,1540
$GC,9930,1.41,317.3,41.1,12.1,597,9934,0.00,2.45,0.00,0.000,4,0.000,0.062,3072,3258,1540
$GC,9971,1.45,317.3,36.1,11.9,598,9977,0.00,2.40,0.00,0.000,6,0.000,0.062,3072,1934,1540
$STATE,10243,end climb,SURFACE_DEPTH_REACHED
$STATE,10243,begin surface coast
$FINISH,0.5,1.027173
$STATE,10265,end surface coast,CONTROL_FINISHED_OK
$STATE,10265,begin surface
$SM_CCo,10350,0.00,0.000,0,0,1540,316.68
$SM_GC,1.28,11.50,0.00,0.00,0.036,0.000,0.000,418,2146,1540,-10.60,0.45,316.68
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1846
$TCM_TEMP,17.40
$XPDR_PINGS,62
$ALTIM_BOTTOM_PING,521.5,85.5
$24V_AH,23.7,71.676
$10V_AH,10.1,32.220
$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,26.300,122.500,412.700,0.000,0.000,37.761,36.129,122.380,20.000,0.000,0.000,14.351,1102.340,7299.995,504.931,1307.000,454.110,33.366,1204.484,0.000,1274.740,0.000,35.315,0.000
$DEVICE_MAMPS,163.371,85.137,1185.782,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.064,444.953,365.835,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31704,613
$CAP_FILE_SIZE,91291,0
$CFSIZE,254472192,227950592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,051109,184930,6220.268,-939.415,37,1.4,37,-9.9