version: 66.04
glider: 5
mission: 7
dive: 454
start: 11 6 109 7 31 18
data:
$ID,5
$MISSION,7
$DIVE,454
$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,-108955.45
$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,26
$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
$GPS1,072336,6211.893,-945.721,43,1.7,43,-9.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-53.2
$GPS2,073028,6211.896,-945.858,12,5.1,31,-9.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.251,0.079
$KALMAN_X,-292380.8,754.7,-79.2,451529.8,-7819.4
$KALMAN_Y,120889.6,-1127.6,-182.0,-261007.9,2330.8
$MHEAD_RNG_PITCHd_Wd,82.4,44158,-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,-146.6,0.0,0.0,0,81,0.00,0.00,-60.55,0.000,2,0.000,0.000,421,2155,2610
$GC,85,-1.44,-146.6,2.3,-2.6,3,141,11.10,2.60,-38.62,0.000,4,0.161,0.087,2424,3525,3430
$GC,224,-1.30,-146.6,16.6,-15.7,9,229,0.17,2.60,0.00,0.000,6,0.107,0.067,2457,2125,3429
$GC,548,-1.26,-146.6,67.8,-15.9,25,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2107,3430
$GC,856,-1.23,-146.6,112.4,-12.7,40,860,0.00,2.50,0.00,0.000,4,0.000,0.059,2457,721,3430
$GC,890,-1.23,-146.6,117.3,-13.9,41,896,0.00,2.53,0.00,0.000,6,0.000,0.048,2457,2140,3431
$GC,1218,-1.19,-146.6,165.9,-15.5,59,1223,0.15,2.58,0.00,0.000,4,0.104,0.058,2486,719,3430
$GC,1282,-1.24,-146.6,175.0,-13.4,63,1287,0.00,2.50,0.00,0.000,6,0.000,0.048,2487,2129,3430
$GC,1607,-1.24,-146.6,219.7,-14.1,84,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2130,3431
$GC,1920,-1.24,-146.6,264.9,-14.0,104,1924,0.00,2.58,0.00,0.000,4,0.000,0.062,2487,718,3430
$GC,2010,-1.31,-146.6,277.9,-13.9,109,2016,0.12,2.53,0.00,0.000,6,0.058,0.049,2453,2132,3430
$GC,2333,-1.28,-146.6,320.8,-12.8,130,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2132,3430
$GC,2641,-1.24,-146.6,362.0,-13.5,150,2646,0.00,2.58,0.00,0.000,4,0.000,0.062,2453,719,3430
$GC,2714,-1.24,-146.6,372.5,-14.5,154,2720,0.00,2.50,0.00,0.000,6,0.000,0.049,2453,2122,3430
$GC,3034,-1.24,-146.6,412.1,-11.9,175,3038,0.00,2.58,0.00,0.000,4,0.000,0.067,2453,718,3430
$GC,3062,-1.24,-146.6,415.6,-11.3,177,3067,0.00,2.47,0.00,0.000,6,0.000,0.051,2453,2104,3430
$GC,3388,-1.24,-146.6,454.6,-11.6,198,3392,0.00,2.67,0.00,0.000,4,0.000,0.084,2453,3537,3430
$GC,3434,-1.24,-146.6,460.3,-12.6,201,3438,0.00,2.70,0.00,0.000,6,0.000,0.087,2453,2117,3430
$GC,3758,-1.24,-146.6,501.8,-12.7,222,3762,0.00,2.50,0.00,0.000,4,0.000,0.067,2453,717,3430
$GC,3814,-1.24,-146.6,508.8,-12.9,225,3821,0.10,2.50,0.00,0.000,6,0.105,0.051,2471,2117,3430
$GC,4136,-1.28,-146.6,543.1,-10.1,246,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2116,3430
$GC,4448,-1.28,-146.6,573.3,-11.0,266,4452,0.00,2.58,0.00,0.000,4,0.000,0.068,2471,717,3430
$GC,4571,-1.35,-146.6,587.2,-11.8,273,4577,0.00,2.55,0.00,0.000,6,0.000,0.055,2471,2135,3430
$GC,4893,-1.39,-146.6,621.6,-10.6,294,4898,0.12,2.65,0.00,0.000,4,0.064,0.090,2440,3534,3430
$GC,4983,-1.39,-146.6,633.3,-13.4,299,4990,0.00,2.70,0.00,0.000,6,0.000,0.090,2439,2132,3429
$STATE,5050,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5050,begin apogee
$GC,5057,-0.33,0.0,642.2,12.9,304,5194,1.10,0.00,133.05,1.256,6,0.087,0.000,2670,1844,2831
$STATE,5195,end apogee,CONTROL_FINISHED_OK
$STATE,5195,begin climb
$GC,5199,1.44,146.6,649.0,0.0,313,5339,1.77,0.00,133.10,1.212,6,0.061,0.000,3057,1844,2233
$GC,5652,1.42,172.4,616.7,8.8,342,5684,0.00,2.78,24.15,1.157,4,0.000,0.082,3056,3257,2128
$GC,5783,1.41,196.8,604.8,8.9,349,5813,0.00,2.70,22.80,1.155,6,0.000,0.089,3057,1865,2028
$GC,6137,1.41,218.7,572.7,9.0,372,6163,0.00,2.75,20.48,1.157,4,0.000,0.082,3057,3257,1939
$GC,6209,1.41,218.7,564.6,12.1,375,6216,0.00,2.70,0.00,0.000,6,0.000,0.090,3057,1866,1939
$GC,6531,1.39,221.9,531.6,9.9,396,6540,0.00,2.67,4.12,0.787,4,0.000,0.077,3057,433,1926
$GC,6576,1.31,221.9,525.6,13.1,398,6582,0.15,2.62,0.00,0.000,6,0.102,0.061,3030,1861,1926
$GC,6895,1.31,221.9,490.3,11.5,419,6899,0.00,2.67,0.00,0.000,4,0.000,0.073,3030,432,1925
$GC,6933,1.31,221.9,485.5,12.4,421,6939,0.00,2.58,0.00,0.000,6,0.000,0.058,3030,1847,1925
$GC,7253,1.31,221.9,449.1,10.8,442,7258,0.00,2.62,0.00,0.000,4,0.000,0.079,3030,3256,1924
$GC,7293,1.36,221.9,444.7,11.0,444,7299,0.00,2.72,0.00,0.000,6,0.000,0.081,3030,1820,1924
$GC,7613,1.41,231.2,412.8,9.6,465,7630,0.00,2.75,9.43,1.006,4,0.000,0.074,3030,3257,1888
$GC,7659,1.47,235.8,408.2,9.8,467,7671,0.15,2.70,5.97,0.892,6,0.062,0.077,3066,1831,1869
$GC,7996,1.43,235.8,370.5,11.4,489,8000,0.00,2.67,0.00,0.000,4,0.000,0.072,3066,3258,1869
$GC,8051,1.43,235.8,363.9,11.1,492,8057,0.00,2.65,0.00,0.000,6,0.000,0.074,3066,1843,1869
$GC,8371,1.40,235.8,330.1,10.6,513,8375,0.00,2.65,0.00,0.000,4,0.000,0.071,3066,3263,1869
$GC,8433,1.40,235.8,323.0,11.7,517,8438,0.00,2.60,0.00,0.000,6,0.000,0.071,3066,1869,1869
$GC,8758,1.37,235.8,287.6,11.2,538,8763,0.12,2.60,0.00,0.000,4,0.098,0.068,3042,3261,1869
$GC,8804,1.41,235.8,282.6,11.1,541,8809,0.00,2.55,0.00,0.000,6,0.000,0.069,3042,1880,1870
$GC,9131,1.41,235.8,247.7,10.8,562,9136,0.00,2.58,0.00,0.000,4,0.000,0.067,3042,3263,1871
$GC,9171,1.46,235.8,242.9,11.0,564,9177,0.00,2.53,0.00,0.000,6,0.000,0.067,3042,1889,1871
$GC,9491,1.50,260.0,212.8,8.9,585,9523,0.15,2.62,22.00,0.920,4,0.058,0.065,3080,3255,1770
$GC,9575,1.50,260.0,203.3,11.9,590,9579,0.00,2.47,0.00,0.000,6,0.000,0.064,3080,1907,1770
$GC,9900,1.47,260.0,162.2,13.5,611,9901,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1906,1770
$GC,10221,1.43,260.0,121.2,12.0,628,10226,0.12,2.50,0.00,0.000,4,0.099,0.064,3056,3260,1771
$GC,10289,1.46,260.0,112.9,11.3,631,10293,0.00,2.42,0.00,0.000,6,0.000,0.060,3057,1921,1771
$GC,10614,1.46,260.0,77.0,11.9,647,10618,0.00,2.47,0.00,0.000,4,0.000,0.064,3056,3263,1771
$GC,10641,1.46,260.0,73.4,11.0,648,10645,0.00,2.42,0.00,0.000,6,0.000,0.061,3057,1927,1772
$GC,10958,1.60,343.7,43.6,6.2,663,11034,0.17,2.53,68.65,0.812,4,0.057,0.063,3106,3257,1430
$GC,11058,1.60,343.7,32.0,12.6,667,11065,0.00,2.45,0.00,0.000,6,0.000,0.065,3106,1935,1430
$STATE,11268,end climb,SURFACE_DEPTH_REACHED
$STATE,11268,begin surface coast
$FINISH,0.3,1.016942
$STATE,11290,end surface coast,CONTROL_FINISHED_OK
$STATE,11290,begin surface
$SM_CCo,11374,0.00,0.000,0,0,1429,343.91
$SM_GC,1.23,11.75,0.00,0.00,0.038,0.000,0.000,418,2139,1429,-10.60,0.65,343.91
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1852
$TCM_TEMP,17.50
$XPDR_PINGS,46
$ALTIM_BOTTOM_PING,596.5,55.0
$24V_AH,23.6,72.439
$10V_AH,10.1,32.532
$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,27.275,125.275,443.750,0.000,0.000,37.762,37.463,164.737,16.750,0.000,0.000,32.135,1220.628,7975.621,551.797,1486.147,550.480,33.366,1335.369,0.000,1431.784,0.000,39.978,0.000
$DEVICE_MAMPS,161.070,89.739,1255.579,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,463.757,499.053,391.899,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34816,679
$CAP_FILE_SIZE,102036,0
$CFSIZE,254472192,227696640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,061109,104236,6212.948,-941.941,67,1.1,67,-9.9