version: 66.04
glider: 5
mission: 7
dive: 451
start: 11 5 109 22 2 18
data:
$ID,5
$MISSION,7
$DIVE,451
$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,-108871.4
$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
$GPS1,215536,6220.134,-940.572,25,1.9,25,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-60.3
$GPS2,220128,6220.190,-940.587,16,3.2,35,-9.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.051,-0.259
$KALMAN_X,-285689.6,-170.4,318.1,449721.9,-4160.5
$KALMAN_Y,126216.6,-1961.6,131.1,-250472.5,12618.0
$MHEAD_RNG_PITCHd_Wd,178.7,55086,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.44,-146.6,0.0,0.0,0,79,0.00,0.00,-58.62,0.000,2,0.000,0.000,421,2148,2641
$GC,83,-1.44,-146.6,2.5,-2.9,3,129,11.23,2.60,-28.42,0.000,4,0.166,0.085,2422,3520,3430
$GC,181,-1.30,-146.6,14.8,-17.0,7,187,0.20,2.58,0.00,0.000,6,0.101,0.063,2461,2123,3430
$GC,498,-1.26,-146.6,55.1,-11.6,22,502,0.00,2.50,0.00,0.000,4,0.000,0.060,2461,722,3430
$GC,542,-1.26,-146.6,60.6,-11.9,24,547,0.00,2.50,0.00,0.000,6,0.000,0.048,2461,2125,3430
$GC,865,-1.26,-146.6,96.4,-11.7,40,870,0.00,2.55,0.00,0.000,4,0.000,0.061,2461,718,3430
$GC,906,-1.26,-146.6,100.8,-10.5,42,911,0.00,2.47,0.00,0.000,6,0.000,0.048,2461,2114,3430
$GC,1234,-1.26,-146.6,134.2,-10.0,58,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2114,3430
$GC,1556,-1.26,-146.6,169.0,-11.4,76,1561,0.00,2.53,0.00,0.000,4,0.000,0.060,2462,714,3430
$GC,1583,-1.26,-146.6,172.5,-11.4,77,1589,0.00,2.47,0.00,0.000,6,0.000,0.048,2461,2110,3430
$GC,1903,-1.26,-146.6,212.7,-13.1,98,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2110,3431
$GC,2215,-1.26,-146.6,252.6,-12.1,118,2219,0.00,2.53,0.00,0.000,4,0.000,0.061,2462,717,3431
$GC,2262,-1.26,-146.6,258.3,-12.5,121,2266,0.00,2.47,0.00,0.000,6,0.000,0.050,2462,2106,3431
$GC,2592,-1.26,-146.6,295.5,-11.9,142,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2106,3431
$GC,2898,-1.26,-146.6,335.1,-13.1,162,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2105,3431
$GC,3212,-1.26,-146.6,373.3,-12.7,182,3216,0.00,2.55,0.00,0.000,4,0.000,0.064,2461,709,3431
$GC,3242,-1.26,-146.6,377.0,-12.8,184,3246,0.00,2.47,0.00,0.000,6,0.000,0.051,2462,2091,3430
$GC,3566,-1.26,-146.6,415.6,-12.0,205,3570,0.00,2.70,0.00,0.000,4,0.000,0.082,2462,3542,3431
$GC,3587,-1.26,-146.6,418.2,-11.5,206,3594,0.00,2.78,0.00,0.000,6,0.000,0.081,2462,2072,3430
$GC,3909,-1.26,-146.6,456.2,-11.7,227,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2073,3430
$GC,4219,-1.26,-146.6,494.3,-12.0,247,4223,0.00,2.78,0.00,0.000,4,0.000,0.081,2462,3532,3430
$GC,4265,-1.26,-146.6,499.6,-11.8,250,4269,0.00,2.78,0.00,0.000,6,0.000,0.085,2462,2072,3430
$GC,4589,-1.26,-146.6,541.6,-11.0,271,4594,0.00,2.45,0.00,0.000,4,0.000,0.068,2462,712,3430
$GC,4628,-1.26,-146.6,546.5,-13.4,273,4635,0.00,2.40,0.00,0.000,6,0.000,0.054,2462,2052,3430
$GC,4948,-1.26,-146.6,582.4,-11.1,294,4953,0.00,2.47,0.00,0.000,4,0.000,0.071,2462,717,3430
$GC,4999,-1.32,-146.6,588.4,-12.1,297,5003,0.00,2.38,0.00,0.000,6,0.000,0.058,2462,2028,3430
$STATE,5097,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5097,begin apogee
$GC,5105,-0.33,0.0,599.1,10.8,303,5238,0.98,0.00,129.23,1.207,6,0.084,0.000,2669,1847,2831
$STATE,5239,end apogee,CONTROL_FINISHED_OK
$STATE,5239,begin climb
$GC,5242,1.44,146.6,603.8,0.0,312,5384,1.77,2.75,128.02,1.168,4,0.059,0.079,3058,436,2233
$GC,5439,1.31,146.6,593.3,11.0,324,5444,0.15,2.60,0.00,0.000,6,0.104,0.058,3031,1860,2233
$GC,5764,1.35,172.4,563.3,8.8,345,5796,0.00,2.72,23.38,1.118,4,0.000,0.082,3031,3254,2128
$GC,5831,1.39,197.2,558.0,8.9,349,5864,0.00,2.78,23.02,1.114,6,0.000,0.090,3031,1837,2026
$GC,6181,1.39,197.2,517.7,12.4,371,6185,0.00,2.58,0.00,0.000,4,0.000,0.077,3031,439,2025
$GC,6271,1.36,197.2,507.2,10.1,376,6277,0.00,2.50,0.00,0.000,6,0.000,0.060,3031,1816,2024
$GC,6591,1.45,254.3,482.3,7.4,397,6647,0.15,2.78,48.78,1.152,4,0.064,0.080,3067,3249,1794
$GC,6675,1.48,270.6,474.3,9.3,402,6696,0.00,2.78,15.82,1.074,6,0.000,0.085,3067,1816,1727
$GC,7014,1.48,296.4,441.8,8.8,423,7045,0.00,2.80,23.45,1.095,4,0.000,0.076,3067,3244,1622
$GC,7097,1.51,315.1,434.2,9.1,428,7122,0.00,2.70,17.40,1.061,6,0.000,0.082,3067,1833,1546
$GC,7447,1.51,315.1,397.0,13.9,450,7451,0.00,2.67,0.00,0.000,4,0.000,0.074,3067,3245,1546
$GC,7475,1.51,315.1,392.0,15.4,452,7480,0.00,2.65,0.00,0.000,6,0.000,0.078,3067,1852,1547
$GC,7800,1.51,315.1,342.3,15.8,473,7804,0.00,2.65,0.00,0.000,4,0.000,0.074,3067,3255,1547
$GC,7855,1.51,315.1,333.5,15.6,476,7861,0.00,2.60,0.00,0.000,6,0.000,0.075,3067,1869,1547
$GC,8174,1.51,315.1,289.3,12.8,497,8178,0.00,2.58,0.00,0.000,4,0.000,0.071,3067,3248,1547
$GC,8207,1.51,315.1,285.0,12.5,499,8211,0.00,2.55,0.00,0.000,6,0.000,0.073,3067,1879,1547
$GC,8527,1.51,315.1,246.3,12.0,519,8531,0.00,2.58,0.00,0.000,4,0.000,0.069,3067,3257,1547
$GC,8578,1.55,315.1,240.1,12.2,522,8583,0.00,2.50,0.00,0.000,6,0.000,0.071,3067,1909,1547
$GC,8898,1.55,315.1,200.2,13.2,542,8903,0.00,2.50,0.00,0.000,4,0.000,0.067,3067,3252,1548
$GC,8921,1.55,315.1,196.9,13.7,543,8927,0.00,2.45,0.00,0.000,6,0.000,0.070,3067,1925,1548
$GC,9240,1.55,315.1,152.9,14.1,564,9244,0.00,2.47,0.00,0.000,4,0.000,0.066,3067,3259,1549
$GC,9263,1.55,315.1,149.7,14.1,565,9269,0.00,2.42,0.00,0.000,6,0.000,0.067,3067,1937,1549
$GC,9579,1.55,315.1,109.2,12.3,581,9580,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1937,1549
$GC,9888,1.55,315.1,72.6,11.6,596,9893,0.00,2.42,0.00,0.000,4,0.000,0.064,3067,3249,1550
$GC,9906,1.55,315.1,70.4,11.7,597,9911,0.00,2.35,0.00,0.000,6,0.000,0.062,3067,1955,1550
$GC,10235,1.55,315.1,32.8,11.1,613,10240,0.00,2.70,0.00,0.000,4,0.000,0.062,3067,440,1550
$GC,10246,1.55,315.1,31.1,10.6,613,10252,0.00,2.70,0.00,0.000,6,0.000,0.047,3067,1974,1550
$STATE,10497,end climb,SURFACE_DEPTH_REACHED
$STATE,10497,begin surface coast
$FINISH,0.4,1.002549
$STATE,10519,end surface coast,CONTROL_FINISHED_OK
$STATE,10519,begin surface
$SM_CCo,10604,0.00,0.000,0,0,1550,314.23
$SM_GC,1.13,11.50,0.00,0.00,0.037,0.000,0.000,418,2154,1550,-10.60,0.68,314.23
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1849
$TCM_TEMP,17.30
$XPDR_PINGS,51
$ALTIM_BOTTOM_PING,570.4,38.3
$24V_AH,23.7,71.972
$10V_AH,10.1,32.342
$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,25.975,119.325,409.100,0.000,0.000,37.761,27.298,132.619,17.750,0.000,0.000,36.099,1113.682,7529.102,506.141,1334.855,469.805,33.363,1211.317,0.000,1277.512,0.000,34.991,0.000
$DEVICE_MAMPS,166.439,89.739,1207.258,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.229,455.341,389.870,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31681,627
$CAP_FILE_SIZE,91275,0
$CFSIZE,254472192,227852288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,061109,010006,6218.841,-939.938,27,1.5,27,-9.9