version: 66.04
glider: 5
mission: 7
dive: 455
start: 11 6 109 10 49 15
data:
$ID,5
$MISSION,7
$DIVE,455
$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,-108975.63
$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,21
$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
$GPS1,104236,6212.948,-941.941,67,1.1,67,-9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-57.2
$GPS2,104825,6213.044,-941.913,19,2.0,19,-9.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.168,-0.204
$KALMAN_X,-294263.2,655.7,952.1,455717.2,-9429.0
$KALMAN_Y,120819.0,-1320.3,364.9,-259201.3,1414.4
$MHEAD_RNG_PITCHd_Wd,150.4,43929,-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,-146.6,0.0,0.0,0,82,0.00,0.00,-61.40,0.000,2,0.000,0.000,417,2149,2635
$GC,86,-1.44,-146.6,2.3,-2.6,3,137,11.18,2.62,-33.92,0.000,4,0.160,0.071,2424,690,3429
$GC,300,-1.36,-146.6,26.6,-13.4,12,307,0.12,2.58,0.00,0.000,6,0.109,0.049,2448,2140,3430
$GC,618,-1.29,-146.6,71.0,-16.3,28,623,0.00,2.58,0.00,0.000,4,0.000,0.073,2448,3537,3430
$GC,642,-1.22,-146.6,74.5,-13.7,29,647,0.15,2.60,0.00,0.000,6,0.108,0.066,2476,2132,3430
$GC,966,-1.22,-146.6,113.0,-9.3,45,970,0.00,2.65,0.00,0.000,4,0.000,0.073,2476,3540,3430
$GC,993,-1.22,-146.6,115.8,-9.4,46,998,0.00,2.58,0.00,0.000,6,0.000,0.066,2476,2143,3430
$GC,1321,-1.22,-146.6,154.7,-11.6,62,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2141,3430
$GC,1632,-1.22,-146.6,197.2,-13.8,82,1636,0.00,2.55,0.00,0.000,4,0.000,0.061,2476,716,3430
$GC,1682,-1.28,-146.6,204.3,-13.8,85,1687,0.00,2.58,0.00,0.000,6,0.000,0.048,2476,2163,3430
$GC,2005,-1.28,-146.6,245.2,-12.6,105,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2163,3431
$GC,2314,-1.28,-146.6,282.6,-11.7,125,2318,0.00,2.62,0.00,0.000,4,0.000,0.061,2476,716,3431
$GC,2398,-1.34,-146.6,292.6,-11.8,130,2403,0.00,2.58,0.00,0.000,6,0.000,0.048,2476,2164,3431
$GC,2718,-1.34,-146.6,327.0,-10.3,150,2722,0.00,2.65,0.00,0.000,4,0.000,0.064,2476,714,3431
$GC,2770,-1.40,-146.6,332.1,-10.4,153,2775,0.17,2.55,0.00,0.000,6,0.054,0.050,2431,2146,3430
$GC,3093,-1.34,-146.6,371.6,-12.9,173,3098,0.12,2.60,0.00,0.000,4,0.102,0.064,2455,723,3430
$GC,3126,-1.34,-146.6,376.3,-12.2,175,3130,0.00,2.53,0.00,0.000,6,0.000,0.051,2455,2138,3430
$GC,3446,-1.34,-146.6,414.4,-12.2,195,3450,0.00,2.58,0.00,0.000,4,0.000,0.064,2454,723,3431
$GC,3507,-1.34,-146.6,422.3,-12.4,198,3513,0.00,2.50,0.00,0.000,6,0.000,0.051,2455,2122,3430
$GC,3827,-1.34,-146.6,460.0,-12.2,219,3831,0.00,2.58,0.00,0.000,4,0.000,0.067,2455,717,3430
$GC,3894,-1.38,-146.6,469.1,-13.6,223,3898,0.00,2.47,0.00,0.000,6,0.000,0.052,2455,2098,3430
$GC,4213,-1.38,-146.6,507.6,-11.5,243,4217,0.00,2.55,0.00,0.000,4,0.000,0.068,2455,717,3430
$GC,4344,-1.42,-146.6,524.1,-12.6,251,4348,0.00,2.40,0.00,0.000,6,0.000,0.054,2455,2053,3430
$GC,4669,-1.42,-146.6,562.2,-11.9,272,4674,0.00,2.78,0.00,0.000,4,0.000,0.087,2455,3533,3430
$GC,4701,-1.42,-146.6,565.8,-13.0,274,4705,0.00,2.83,0.00,0.000,6,0.000,0.091,2455,2059,3430
$GC,5029,-1.42,-146.6,605.0,-12.4,295,5033,0.00,2.85,0.00,0.000,4,0.000,0.090,2455,3534,3428
$GC,5176,-1.42,-146.6,625.6,-11.9,304,5181,0.00,2.78,0.00,0.000,6,0.000,0.091,2455,2091,3428
$STATE,5372,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5372,begin apogee
$GC,5380,-0.33,0.0,650.0,12.5,317,5517,1.02,0.00,132.90,1.270,6,0.086,0.000,2671,1846,2831
$STATE,5517,end apogee,CONTROL_FINISHED_OK
$STATE,5517,begin climb
$GC,5521,1.44,146.6,655.8,0.0,326,5663,1.75,2.72,133.30,1.221,4,0.056,0.077,3056,445,2233
$GC,5796,1.47,242.0,638.5,5.7,342,5888,0.00,2.58,86.55,1.191,6,0.000,0.058,3057,1869,1844
$GC,6208,1.43,242.0,596.8,12.0,369,6212,0.00,2.62,0.00,0.000,4,0.000,0.083,3057,3244,1843
$GC,6263,1.43,242.0,590.4,11.9,372,6270,0.00,2.65,0.00,0.000,6,0.000,0.086,3057,1867,1843
$GC,6583,1.43,242.0,552.8,11.2,393,6588,0.00,2.62,0.00,0.000,4,0.000,0.082,3057,3235,1842
$GC,6630,1.44,243.7,548.0,9.9,396,6634,0.00,2.60,0.00,0.000,6,0.000,0.087,3057,1876,1842
$GC,6955,1.44,243.7,509.7,12.4,417,6959,0.00,2.62,0.00,0.000,4,0.000,0.081,3056,3245,1841
$GC,6983,1.44,243.7,506.2,12.0,419,6988,0.00,2.58,0.00,0.000,6,0.000,0.084,3057,1896,1841
$GC,7308,1.44,243.7,469.8,12.1,440,7312,0.00,2.67,0.00,0.000,4,0.000,0.074,3057,436,1841
$GC,7354,1.37,243.7,464.0,12.5,443,7359,0.00,2.60,0.00,0.000,6,0.000,0.058,3057,1870,1840
$GC,7679,1.37,243.7,424.6,11.8,464,7683,0.00,2.58,0.00,0.000,4,0.000,0.080,3057,3253,1840
$GC,7700,1.37,243.7,421.9,12.0,465,7707,0.00,2.62,0.00,0.000,6,0.000,0.083,3057,1870,1840
$GC,8021,1.37,243.7,382.3,13.5,486,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1870,1839
$GC,8332,1.37,243.7,339.7,13.4,506,8336,0.00,2.60,0.00,0.000,4,0.000,0.073,3057,3253,1839
$GC,8387,1.37,243.7,332.1,13.0,509,8393,0.00,2.60,0.00,0.000,6,0.000,0.074,3057,1860,1839
$GC,8707,1.37,243.7,295.3,10.9,530,8711,0.00,2.60,0.00,0.000,4,0.000,0.070,3057,3253,1839
$GC,8740,1.37,243.7,291.4,11.5,532,8744,0.00,2.55,0.00,0.000,6,0.000,0.071,3057,1877,1839
$GC,9059,1.39,255.5,259.8,9.5,552,9077,0.00,2.65,12.20,0.920,4,0.000,0.067,3057,3256,1789
$GC,9117,1.40,259.4,254.4,9.8,555,9129,0.00,2.53,5.32,0.761,6,0.000,0.069,3057,1898,1773
$GC,9442,1.42,274.0,225.1,9.3,576,9462,0.00,2.60,13.90,0.909,4,0.000,0.066,3057,3257,1713
$GC,9486,1.42,274.0,220.5,10.7,578,9492,0.00,2.50,0.00,0.000,6,0.000,0.067,3057,1911,1713
$GC,9805,1.42,274.0,185.5,10.9,599,9810,0.00,2.50,0.00,0.000,4,0.000,0.065,3057,3258,1713
$GC,9845,1.45,274.0,181.1,11.5,601,9851,0.00,2.45,0.00,0.000,6,0.000,0.064,3057,1920,1713
$GC,10166,1.45,274.0,140.5,12.9,621,10170,0.00,2.47,0.00,0.000,4,0.000,0.064,3057,3258,1714
$GC,10199,1.49,274.0,135.8,13.0,622,10206,0.00,2.42,0.00,0.000,6,0.000,0.063,3057,1928,1714
$GC,10517,1.49,274.0,100.1,10.6,638,10521,0.00,2.45,0.00,0.000,4,0.000,0.064,3057,3257,1715
$GC,10552,1.57,296.3,96.6,9.0,639,10581,0.12,2.40,20.08,0.835,6,0.063,0.063,3091,1935,1623
$GC,10894,1.52,296.3,53.2,11.4,656,10895,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1935,1623
$GC,11200,1.48,296.3,17.6,10.8,671,11205,0.12,2.45,0.00,0.000,4,0.101,0.063,3068,3262,1623
$GC,11245,1.52,296.3,11.5,13.3,673,11249,0.00,2.38,0.00,0.000,6,0.000,0.061,3068,1954,1624
$STATE,11316,end climb,SURFACE_DEPTH_REACHED
$STATE,11316,begin surface coast
$FINISH,0.3,1.027157
$STATE,11338,end surface coast,CONTROL_FINISHED_OK
$STATE,11338,begin surface
$SM_CCo,11362,2.75,0.370,0,0,1608,300.00
$SM_GC,2.06,0.00,0.00,2.75,0.000,0.000,0.370,420,2158,1608,-10.70,0.68,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1844
$TCM_TEMP,17.50
$XPDR_PINGS,40
$ALTIM_BOTTOM_PING,595.8,63.7
$24V_AH,23.6,72.589
$10V_AH,10.1,32.598
$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,26.250,134.925,404.250,2.750,0.000,37.763,30.794,144.844,15.250,0.000,0.000,19.563,1240.734,7959.835,511.883,1500.339,503.734,33.363,1300.435,0.000,1453.474,0.000,36.637,0.000
$DEVICE_MAMPS,160.303,90.506,1270.152,370.461,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,464.017,495.732,398.742,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34774,678
$CAP_FILE_SIZE,103155,0
$CFSIZE,254472192,227639296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,061109,140007,6212.291,-937.521,45,1.3,45,-9.8