version: 66.04
glider: 5
mission: 7
dive: 452
start: 11 6 109 1 10 6
data:
$ID,5
$MISSION,7
$DIVE,452
$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,-108904.7
$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,39
$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
$GPS1,010006,6218.841,-939.938,27,1.5,27,-9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-60.1
$GPS2,010913,6218.839,-940.069,15,1.5,32,-9.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.006,-0.263
$KALMAN_X,-286103.8,-125.1,547.2,450280.7,-4071.7
$KALMAN_Y,128667.3,-1657.9,-1249.4,-254331.5,14908.3
$MHEAD_RNG_PITCHd_Wd,191.3,52619,-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,15,-1.44,-146.6,0.0,0.0,0,79,0.00,0.00,-61.30,0.000,2,0.000,0.000,417,2152,2732
$GC,83,-1.44,-146.6,2.6,-3.4,3,126,11.30,2.60,-25.33,0.000,4,0.169,0.068,2420,708,3427
$GC,144,-1.27,-146.6,8.4,-13.2,5,151,0.22,2.53,0.00,0.000,6,0.099,0.048,2464,2123,3427
$GC,462,-1.27,-146.6,53.5,-13.9,21,467,0.00,2.58,0.00,0.000,4,0.000,0.060,2465,707,3428
$GC,513,-1.27,-146.6,61.6,-15.5,23,517,0.00,2.53,0.00,0.000,6,0.000,0.048,2464,2126,3427
$GC,831,-1.27,-146.6,106.1,-13.8,38,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2128,3428
$GC,1140,-1.27,-146.6,145.3,-13.3,53,1144,0.00,2.58,0.00,0.000,4,0.000,0.061,2465,711,3428
$GC,1196,-1.27,-146.6,153.5,-13.8,56,1202,0.00,2.53,0.00,0.000,6,0.000,0.048,2464,2135,3428
$GC,1516,-1.27,-146.6,194.7,-12.7,77,1521,0.00,2.58,0.00,0.000,4,0.000,0.060,2465,715,3428
$GC,1551,-1.27,-146.6,199.4,-13.2,79,1556,0.00,2.47,0.00,0.000,6,0.000,0.048,2465,2108,3428
$GC,1876,-1.27,-146.6,238.7,-11.5,100,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2109,3428
$GC,2189,-1.27,-146.6,273.6,-11.5,120,2193,0.00,2.55,0.00,0.000,4,0.000,0.061,2465,707,3428
$GC,2223,-1.27,-146.6,278.0,-11.9,122,2227,0.00,2.47,0.00,0.000,6,0.000,0.049,2465,2095,3428
$GC,2542,-1.27,-146.6,319.3,-13.9,142,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2095,3428
$GC,2855,-1.27,-146.6,361.8,-13.3,162,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2095,3428
$GC,3166,-1.27,-146.6,402.2,-13.3,182,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2095,3428
$GC,3480,-1.27,-146.6,444.2,-13.0,202,3484,0.00,2.55,0.00,0.000,4,0.000,0.067,2465,711,3428
$GC,3536,-1.31,-146.6,451.4,-13.5,205,3540,0.00,2.47,0.00,0.000,6,0.000,0.051,2465,2093,3428
$GC,3854,-1.31,-146.6,487.2,-10.5,225,3859,0.00,2.70,0.00,0.000,4,0.000,0.084,2465,3538,3428
$GC,3889,-1.31,-146.6,490.3,-9.4,227,3894,0.00,2.78,0.00,0.000,6,0.000,0.086,2464,2082,3428
$GC,4209,-1.31,-146.6,521.6,-10.8,247,4213,0.00,2.45,0.00,0.000,4,0.000,0.067,2465,715,3428
$GC,4317,-1.36,-146.6,534.5,-12.0,253,4321,0.00,2.45,0.00,0.000,6,0.000,0.053,2465,2082,3428
$GC,4638,-1.36,-146.6,572.8,-12.3,273,4642,0.00,2.72,0.00,0.000,4,0.000,0.088,2465,3527,3428
$GC,4688,-1.39,-146.6,579.1,-11.4,276,4693,0.12,2.80,0.00,0.000,6,0.061,0.092,2432,2066,3428
$STATE,4926,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4927,begin apogee
$GC,4935,-0.33,0.0,609.4,12.2,291,5069,1.12,0.00,130.18,1.220,6,0.089,0.000,2667,1837,2831
$STATE,5070,end apogee,CONTROL_FINISHED_OK
$STATE,5070,begin climb
$GC,5073,1.44,146.6,614.9,0.0,300,5214,1.75,2.65,129.52,1.185,4,0.053,0.074,3057,454,2233
$GC,5446,1.38,185.7,602.7,8.2,322,5488,0.00,2.55,35.72,1.154,6,0.000,0.058,3057,1866,2073
$GC,5804,1.34,185.9,569.6,10.0,345,5809,0.00,2.62,0.00,0.000,4,0.000,0.084,3057,3241,2071
$GC,5851,1.30,185.9,564.7,10.4,348,5856,0.15,2.67,0.00,0.000,6,0.106,0.091,3031,1856,2071
$GC,6179,1.36,220.0,537.2,8.4,369,6214,0.00,2.72,30.25,1.174,4,0.000,0.082,3030,3247,1934
$GC,6261,1.40,220.0,529.0,10.3,374,6266,0.00,2.70,0.00,0.000,6,0.000,0.087,3030,1858,1934
$GC,6587,1.40,220.0,494.1,10.1,395,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1859,1932
$GC,6898,1.40,220.0,463.6,10.0,415,6903,0.00,2.62,0.00,0.000,4,0.000,0.077,3030,3237,1931
$GC,6928,1.44,220.0,460.8,10.8,417,6933,0.12,2.60,0.00,0.000,6,0.067,0.081,3060,1866,1931
$GC,7256,1.40,220.0,420.5,13.4,438,7261,0.00,2.60,0.00,0.000,4,0.000,0.075,3060,3241,1931
$GC,7303,1.40,220.0,413.8,13.1,441,7307,0.00,2.55,0.00,0.000,6,0.000,0.078,3061,1885,1931
$GC,7628,1.37,220.0,372.5,12.4,462,7632,0.00,2.55,0.00,0.000,4,0.000,0.073,3060,3238,1931
$GC,7656,1.37,220.0,368.9,12.7,464,7661,0.00,2.50,0.00,0.000,6,0.000,0.075,3060,1906,1930
$GC,7981,1.37,220.0,329.1,12.5,485,7985,0.00,2.50,0.00,0.000,4,0.000,0.071,3061,3238,1931
$GC,8008,1.37,220.0,325.4,12.9,486,8014,0.00,2.47,0.00,0.000,6,0.000,0.073,3060,1904,1931
$GC,8330,1.37,220.0,289.3,10.0,507,8334,0.00,2.50,0.00,0.000,4,0.000,0.069,3060,3242,1931
$GC,8368,1.37,220.0,284.9,10.1,509,8374,0.00,2.45,0.00,0.000,6,0.000,0.069,3060,1915,1931
$GC,8688,1.45,268.9,258.2,7.8,530,8737,0.00,2.55,42.30,0.976,4,0.000,0.067,3060,3248,1734
$GC,8760,1.50,300.6,252.0,8.6,534,8795,0.00,2.47,27.92,0.953,6,0.000,0.067,3060,1918,1605
$GC,9119,1.50,302.9,218.2,9.9,557,9129,0.00,2.47,4.22,0.644,4,0.000,0.067,3060,3243,1595
$GC,9176,1.56,311.6,212.2,9.6,560,9192,0.10,2.40,9.20,0.830,6,0.067,0.066,3088,1938,1559
$GC,9522,1.52,311.6,172.6,11.9,582,9526,0.00,2.42,0.00,0.000,4,0.000,0.065,3088,3244,1559
$GC,9578,1.52,311.6,165.1,13.0,585,9585,0.00,2.35,0.00,0.000,6,0.000,0.064,3088,1962,1560
$GC,9901,1.49,311.6,120.1,14.1,603,9905,0.00,2.38,0.00,0.000,4,0.000,0.064,3087,3243,1560
$GC,9935,1.49,311.6,115.1,13.8,604,9941,0.00,2.30,0.00,0.000,6,0.000,0.061,3087,1976,1560
$GC,10254,1.49,311.6,70.5,15.1,620,10255,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1976,1560
$GC,10560,1.49,311.6,23.7,15.1,635,10564,0.00,2.35,0.00,0.000,4,0.000,0.065,3088,3245,1561
$GC,10605,1.49,311.6,16.7,15.4,637,10609,0.00,2.30,0.00,0.000,6,0.000,0.062,3088,1981,1561
$STATE,10696,end climb,SURFACE_DEPTH_REACHED
$STATE,10696,begin surface coast
$FINISH,0.4,1.027177
$STATE,10720,end surface coast,CONTROL_FINISHED_OK
$STATE,10720,begin surface
$SM_CCo,10805,0.00,0.000,0,0,1560,311.53
$SM_GC,1.42,11.55,0.00,0.00,0.035,0.000,0.000,420,2140,1560,-10.60,0.28,311.53
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1852
$TCM_TEMP,17.50
$XPDR_PINGS,34
$ALTIM_BOTTOM_PING,570.9,47.0
$24V_AH,23.6,72.123
$10V_AH,10.1,32.405
$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,26.450,112.225,409.325,0.000,0.000,75.525,67.577,196.209,13.500,0.000,0.000,32.670,1150.340,7713.361,492.019,1384.259,613.425,33.365,1218.169,0.000,1328.039,0.000,39.602,0.000
$DEVICE_MAMPS,168.740,92.040,1219.530,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.610,471.043,365.994,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31686,643
$CAP_FILE_SIZE,96286,0
$CFSIZE,254472192,227803136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,061109,041130,6215.132,-942.940,42,2.0,42,-9.9