version: 66.04
glider: 5
mission: 7
dive: 453
start: 11 6 109 4 17 34
data:
$ID,5
$MISSION,7
$DIVE,453
$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,-108922.69
$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,19
$R_STBD_OVSHOOT,25
$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
$GPS1,041130,6215.132,-942.940,42,2.0,42,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-56.3
$GPS2,041643,6215.081,-943.004,12,2.0,17,-9.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.082,-0.250
$KALMAN_X,-287939.9,370.9,-178.7,449926.3,-4213.2
$KALMAN_Y,124724.6,-1046.9,-1754.7,-257425.4,9518.9
$MHEAD_RNG_PITCHd_Wd,171.7,47641,-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,-60.60,0.000,2,0.000,0.000,419,2134,2764
$GC,83,-1.44,-146.6,2.8,-3.1,3,120,11.30,2.58,-20.55,0.000,4,0.169,0.068,2424,700,3427
$GC,161,-1.37,-146.6,14.2,-14.7,5,168,0.10,2.55,0.00,0.000,6,0.114,0.048,2443,2131,3427
$GC,478,-1.31,-146.6,58.6,-12.7,21,482,0.00,2.58,0.00,0.000,4,0.000,0.058,2443,709,3427
$GC,500,-1.26,-146.6,61.4,-12.2,22,505,0.12,2.50,0.00,0.000,6,0.104,0.048,2467,2114,3427
$GC,823,-1.26,-146.6,97.2,-11.4,38,827,0.00,2.55,0.00,0.000,4,0.000,0.059,2468,706,3428
$GC,885,-1.26,-146.6,104.3,-10.8,41,890,0.00,2.47,0.00,0.000,6,0.000,0.048,2467,2097,3427
$GC,1213,-1.26,-146.6,140.8,-11.0,57,1218,0.00,2.65,0.00,0.000,4,0.000,0.074,2468,3537,3427
$GC,1264,-1.26,-146.6,146.4,-11.2,59,1269,0.00,2.67,0.00,0.000,6,0.000,0.071,2468,2095,3427
$GC,1593,-1.26,-146.6,179.2,-10.0,79,1598,0.00,2.70,0.00,0.000,4,0.000,0.074,2467,3531,3428
$GC,1626,-1.26,-146.6,182.8,-11.1,81,1631,0.00,2.65,0.00,0.000,6,0.000,0.073,2468,2110,3428
$GC,1947,-1.26,-146.6,217.7,-11.3,101,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2109,3427
$GC,2260,-1.26,-146.6,255.0,-12.6,121,2264,0.00,2.70,0.00,0.000,4,0.000,0.077,2468,3537,3428
$GC,2306,-1.26,-146.6,261.1,-13.1,124,2310,0.00,2.67,0.00,0.000,6,0.000,0.075,2468,2108,3428
$GC,2630,-1.26,-146.6,303.9,-13.6,145,2634,0.00,2.47,0.00,0.000,4,0.000,0.063,2468,717,3428
$GC,2669,-1.30,-146.6,309.6,-14.5,147,2675,0.00,2.50,0.00,0.000,6,0.000,0.049,2468,2124,3428
$GC,2989,-1.30,-146.6,353.3,-13.3,168,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2124,3428
$GC,3300,-1.30,-146.6,397.9,-15.3,188,3304,0.00,2.58,0.00,0.000,4,0.000,0.067,2468,717,3428
$GC,3322,-1.30,-146.6,401.5,-15.8,189,3328,0.00,2.47,0.00,0.000,6,0.000,0.050,2468,2104,3428
$GC,3642,-1.30,-146.6,450.7,-13.8,210,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2104,3428
$GC,3953,-1.30,-146.6,486.2,-11.6,230,3957,0.00,2.53,0.00,0.000,4,0.000,0.064,2468,720,3427
$GC,4051,-1.35,-146.6,497.9,-11.6,236,4055,0.00,2.47,0.00,0.000,6,0.000,0.050,2468,2105,3428
$GC,4375,-1.35,-146.6,537.7,-10.5,257,4379,0.00,2.55,0.00,0.000,4,0.000,0.066,2468,716,3428
$GC,4422,-1.40,-146.6,542.2,-9.9,260,4427,0.12,2.45,0.00,0.000,6,0.064,0.054,2434,2078,3427
$GC,4749,-1.37,-146.6,582.0,-13.2,281,4754,0.00,2.75,0.00,0.000,4,0.000,0.090,2434,3534,3427
$GC,4805,-1.37,-146.6,590.7,-14.5,284,4811,0.00,2.85,0.00,0.000,6,0.000,0.091,2434,2052,3428
$GC,5127,-1.33,-146.6,632.5,-13.2,305,5132,0.10,2.42,0.00,0.000,6,0.111,0.072,2453,717,3427
$STATE,5133,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5133,begin apogee
$GC,5143,-0.33,0.0,634.0,13.2,305,5278,1.00,0.00,131.62,1.240,6,0.087,0.000,2668,1873,2831
$STATE,5279,end apogee,CONTROL_FINISHED_OK
$STATE,5279,begin climb
$GC,5283,1.44,146.6,641.7,0.0,314,5423,1.77,2.70,131.40,1.206,4,0.059,0.083,3059,3256,2233
$GC,5432,1.32,146.6,635.6,10.3,323,5437,0.15,2.78,0.00,0.000,6,0.104,0.091,3031,1850,2233
$GC,5755,1.40,197.7,612.6,7.7,343,5806,0.00,2.70,46.05,1.182,4,0.000,0.078,3031,433,2025
$GC,5870,1.37,197.7,600.9,11.9,350,5875,0.00,2.62,0.00,0.000,6,0.000,0.060,3031,1858,2025
$GC,6196,1.37,197.7,561.6,11.2,371,6200,0.00,2.65,0.00,0.000,4,0.000,0.086,3031,3256,2024
$GC,6212,1.37,197.7,559.6,10.7,372,6216,0.00,2.75,0.00,0.000,6,0.000,0.091,3032,1840,2023
$GC,6531,1.48,270.6,538.2,6.7,392,6603,0.17,2.80,64.00,1.198,4,0.064,0.081,3076,3250,1727
$GC,6674,1.45,270.6,523.4,12.6,400,6681,0.00,2.70,0.00,0.000,6,0.000,0.088,3076,1858,1727
$GC,6994,1.39,270.6,482.3,14.0,421,6999,0.15,2.67,0.00,0.000,4,0.106,0.078,3048,3255,1727
$GC,7068,1.39,270.6,472.9,11.9,425,7074,0.00,2.62,0.00,0.000,6,0.000,0.084,3048,1878,1728
$GC,7387,1.44,302.9,437.8,8.5,446,7418,0.00,0.00,28.85,1.114,6,0.000,0.000,3048,1879,1596
$GC,7730,1.44,302.9,404.7,11.5,468,7734,0.00,2.62,0.00,0.000,4,0.000,0.075,3048,3261,1596
$GC,7763,1.49,302.9,400.3,12.2,470,7768,0.00,2.60,0.00,0.000,6,0.000,0.079,3048,1887,1597
$GC,8083,1.55,337.3,365.2,8.4,490,8120,0.15,2.65,31.12,1.056,4,0.061,0.073,3085,3262,1455
$GC,8144,1.55,337.3,359.0,10.4,494,8149,0.00,2.60,0.00,0.000,6,0.000,0.077,3085,1901,1455
$GC,8469,1.50,337.3,321.7,12.1,515,8474,0.00,2.55,0.00,0.000,4,0.000,0.073,3085,3254,1456
$GC,8498,1.50,337.3,317.9,13.1,517,8503,0.00,2.53,0.00,0.000,6,0.000,0.076,3085,1909,1456
$GC,8824,1.46,337.3,274.6,13.6,538,8829,0.12,2.53,0.00,0.000,4,0.100,0.071,3062,3254,1456
$GC,8853,1.46,337.3,270.6,13.3,540,8857,0.00,2.47,0.00,0.000,6,0.000,0.072,3062,1922,1456
$GC,9178,1.46,337.3,229.9,12.8,561,9183,0.00,2.50,0.00,0.000,4,0.000,0.069,3062,3258,1457
$GC,9212,1.51,337.3,225.4,12.6,563,9216,0.00,2.42,0.00,0.000,6,0.000,0.070,3062,1948,1457
$GC,9531,1.51,337.3,186.0,11.8,583,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1948,1457
$GC,9844,1.51,337.3,149.6,11.4,603,9846,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1948,1457
$GC,10155,1.51,337.3,115.0,10.8,618,10156,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1948,1458
$GC,10463,1.54,337.3,79.2,12.7,633,10467,0.00,2.42,0.00,0.000,4,0.000,0.066,3062,3257,1458
$GC,10497,1.60,337.3,74.6,12.7,634,10504,0.15,2.38,0.00,0.000,6,0.058,0.063,3101,1950,1458
$GC,10815,1.56,337.3,29.0,14.2,650,10817,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1949,1458
$STATE,10977,end climb,SURFACE_DEPTH_REACHED
$STATE,10977,begin surface coast
$FINISH,1.2,1.027171
$STATE,10997,end surface coast,CONTROL_FINISHED_OK
$STATE,10997,begin surface
$SM_CCo,11082,0.00,0.000,0,0,1458,336.80
$SM_GC,1.18,11.70,0.00,0.00,0.040,0.000,0.000,421,2162,1458,-10.60,0.96,336.80
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1842
$TCM_TEMP,17.40
$XPDR_PINGS,45
$ALTIM_BOTTOM_PING,595.9,47.1
$24V_AH,23.6,72.282
$10V_AH,10.1,32.466
$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,27.125,119.100,433.050,0.000,0.000,37.763,26.320,122.283,16.500,0.000,0.000,17.366,1175.215,7896.363,521.065,1348.847,452.352,33.363,1234.821,0.000,1312.013,0.000,39.965,0.000
$DEVICE_MAMPS,168.740,91.273,1240.239,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.625,484.305,386.710,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34908,659
$CAP_FILE_SIZE,95381,0
$CFSIZE,254472192,227749888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,061109,072336,6211.893,-945.721,43,1.7,43,-9.9