version: 66.04
glider: 5
mission: 7
dive: 458
start: 11 6 109 20 55 5
data:
$ID,5
$MISSION,7
$DIVE,458
$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,-109021.47
$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,23
$R_STBD_OVSHOOT,27
$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
$GPS1,204900,6211.460,-931.736,45,1.4,45,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-60.4
$GPS2,205414,6211.520,-931.738,14,1.4,14,-9.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.134,-0.227
$KALMAN_X,-296564.1,927.2,257.4,466871.2,-7225.8
$KALMAN_Y,123201.5,756.7,193.6,-266321.2,1502.7
$MHEAD_RNG_PITCHd_Wd,159.3,37280,-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,13,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,79,0.00,0.00,-60.62,0.000,2,0.000,0.000,425,2152,2711
$GC,83,-1.44,-146.6,2.3,-3.2,3,122,11.30,0.00,-25.45,0.000,6,0.166,0.000,2425,2145,3429
$GC,431,-1.33,-146.6,60.3,-17.9,20,436,0.15,2.60,0.00,0.000,4,0.110,0.057,2454,714,3430
$GC,504,-1.33,-146.6,71.2,-12.4,23,508,0.00,2.53,0.00,0.000,6,0.000,0.048,2453,2129,3430
$GC,821,-1.28,-146.6,112.3,-12.7,38,825,0.00,2.58,0.00,0.000,4,0.000,0.059,2453,715,3430
$GC,894,-1.28,-146.6,122.1,-12.7,41,898,0.00,2.50,0.00,0.000,6,0.000,0.048,2454,2118,3430
$GC,1221,-1.24,-146.6,165.0,-13.9,58,1226,0.10,2.55,0.00,0.000,4,0.110,0.058,2472,712,3430
$GC,1263,-1.27,-146.6,170.9,-13.8,60,1269,0.00,2.47,0.00,0.000,6,0.000,0.048,2472,2105,3430
$GC,1582,-1.27,-146.6,213.5,-12.9,81,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2104,3430
$GC,1896,-1.27,-146.6,252.5,-13.1,101,1900,0.00,2.53,0.00,0.000,4,0.000,0.060,2473,713,3430
$GC,1925,-1.27,-146.6,256.6,-12.9,103,1929,0.00,2.47,0.00,0.000,6,0.000,0.049,2472,2104,3430
$GC,2255,-1.27,-146.6,298.3,-12.7,124,2259,0.00,2.65,0.00,0.000,4,0.000,0.076,2472,3542,3430
$GC,2293,-1.27,-146.6,303.6,-13.9,126,2300,0.00,2.72,0.00,0.000,6,0.000,0.076,2472,2086,3430
$GC,2613,-1.27,-146.6,343.6,-12.0,147,2617,0.00,2.45,0.00,0.000,4,0.000,0.064,2472,714,3431
$GC,2641,-1.27,-146.6,347.2,-12.0,148,2648,0.00,2.45,0.00,0.000,6,0.000,0.050,2472,2094,3430
$GC,2961,-1.27,-146.6,383.3,-11.2,169,2966,0.00,2.65,0.00,0.000,4,0.000,0.076,2472,3528,3431
$GC,2984,-1.27,-146.6,386.3,-12.1,170,2990,0.00,2.72,0.00,0.000,6,0.000,0.080,2473,2083,3430
$GC,3304,-1.27,-146.6,422.7,-11.1,191,3308,0.00,2.45,0.00,0.000,4,0.000,0.065,2472,714,3431
$GC,3385,-1.33,-146.6,431.4,-11.1,196,3389,0.00,2.42,0.00,0.000,6,0.000,0.050,2473,2079,3431
$GC,3709,-1.33,-146.6,463.8,-10.0,217,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2080,3431
$GC,4023,-1.36,-146.6,493.4,-9.7,237,4028,0.12,2.50,0.00,0.000,4,0.061,0.067,2440,716,3430
$GC,4146,-1.36,-146.6,507.7,-11.4,244,4152,0.00,2.38,0.00,0.000,6,0.000,0.053,2440,2040,3430
$GC,4466,-1.33,-146.6,546.4,-12.8,265,4470,0.00,2.78,0.00,0.000,4,0.000,0.082,2440,3527,3430
$GC,4499,-1.29,-146.6,551.0,-13.4,267,4505,0.12,2.83,0.00,0.000,6,0.108,0.087,2462,2041,3430
$GC,4818,-1.29,-146.6,585.9,-10.5,287,4823,0.00,2.85,0.00,0.000,4,0.000,0.084,2463,3528,3429
$GC,4864,-1.29,-146.6,591.1,-12.2,290,4869,0.00,2.83,0.00,0.000,6,0.000,0.087,2463,2053,3429
$STATE,4936,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4936,begin apogee
$GC,4943,-0.33,0.0,599.6,11.2,295,5080,0.98,0.00,132.95,1.220,6,0.084,0.000,2669,1832,2831
$STATE,5081,end apogee,CONTROL_FINISHED_OK
$STATE,5081,begin climb
$GC,5084,1.44,146.6,603.4,0.0,304,5223,1.77,0.00,132.82,1.177,6,0.061,0.000,3055,1828,2233
$GC,5536,1.40,163.6,566.6,9.2,333,5560,0.00,2.80,16.73,1.085,4,0.000,0.076,3055,3255,2163
$GC,5636,1.37,173.4,557.2,9.6,339,5652,0.00,2.70,10.07,1.022,6,0.000,0.085,3055,1859,2124
$GC,5969,1.35,180.5,525.9,9.7,360,5987,0.00,2.70,7.93,0.980,4,0.000,0.076,3055,3244,2095
$GC,6005,1.31,180.5,521.9,10.6,362,6010,0.15,2.65,0.00,0.000,6,0.101,0.085,3028,1869,2095
$GC,6333,1.31,184.6,490.7,9.8,383,6344,0.00,2.67,5.35,0.874,4,0.000,0.077,3028,3244,2078
$GC,6429,1.31,184.6,480.3,10.8,388,6434,0.00,2.58,0.00,0.000,6,0.000,0.083,3028,1909,2077
$GC,6754,1.32,189.3,448.5,9.8,409,6765,0.00,2.72,5.72,0.897,4,0.000,0.071,3028,433,2058
$GC,6844,1.32,189.3,438.7,11.0,413,6850,0.00,2.62,0.00,0.000,6,0.000,0.057,3028,1877,2058
$GC,7164,1.38,227.9,410.6,8.2,434,7205,0.00,2.65,34.20,1.111,4,0.000,0.074,3028,3253,1902
$GC,7235,1.49,253.6,404.1,8.8,438,7265,0.17,2.62,23.98,1.077,6,0.061,0.079,3070,1875,1797
$GC,7592,1.43,253.6,362.1,11.6,461,7596,0.00,2.60,0.00,0.000,4,0.000,0.071,3070,3254,1797
$GC,7614,1.39,253.6,359.1,11.8,462,7621,0.12,2.55,0.00,0.000,6,0.104,0.075,3047,1898,1797
$GC,7933,1.40,257.4,326.6,9.8,483,7944,0.00,2.58,5.20,0.796,4,0.000,0.068,3046,3260,1781
$GC,7962,1.40,257.4,323.6,11.5,484,7967,0.00,2.55,0.00,0.000,6,0.000,0.071,3046,1894,1781
$GC,8287,1.44,284.9,293.0,8.7,505,8320,0.00,2.60,24.65,0.998,4,0.000,0.067,3046,3260,1668
$GC,8356,1.48,285.0,286.5,10.0,509,8361,0.00,2.50,0.00,0.000,6,0.000,0.070,3046,1921,1669
$GC,8681,1.48,285.0,253.2,11.0,530,8685,0.00,2.50,0.00,0.000,4,0.000,0.066,3047,3261,1670
$GC,8699,1.48,285.0,251.2,11.1,531,8703,0.00,2.47,0.00,0.000,6,0.000,0.068,3046,1923,1670
$GC,9024,1.48,285.0,216.3,10.1,552,9028,0.00,2.47,0.00,0.000,4,0.000,0.064,3046,3258,1670
$GC,9046,1.52,285.0,213.9,10.3,553,9051,0.12,2.42,0.00,0.000,6,0.061,0.066,3078,1939,1670
$GC,9368,1.48,285.0,176.4,11.4,573,9372,0.00,2.45,0.00,0.000,4,0.000,0.064,3078,3261,1671
$GC,9391,1.45,285.0,173.2,12.6,574,9396,0.00,2.38,0.00,0.000,6,0.000,0.064,3078,1964,1671
$GC,9710,1.41,285.0,134.6,12.3,592,9715,0.15,2.40,0.00,0.000,4,0.092,0.062,3049,3262,1671
$GC,9732,1.41,285.0,131.7,12.2,593,9736,0.00,2.35,0.00,0.000,6,0.000,0.062,3049,1971,1672
$GC,10056,1.45,285.0,95.8,11.5,609,10061,0.00,2.72,0.00,0.000,4,0.000,0.061,3049,442,1672
$GC,10074,1.45,285.0,93.4,11.4,610,10078,0.00,2.72,0.00,0.000,6,0.000,0.046,3048,1987,1672
$GC,10401,1.49,285.0,58.9,10.8,626,10406,0.00,2.83,0.00,0.000,4,0.000,0.059,3048,430,1673
$GC,10413,1.49,285.0,57.4,11.0,626,10419,0.00,2.72,0.00,0.000,6,0.000,0.046,3048,1978,1673
$GC,10729,1.53,285.0,21.6,12.3,642,10731,0.12,0.00,0.00,0.000,6,0.059,0.000,3083,1997,1673
$STATE,10892,end climb,SURFACE_DEPTH_REACHED
$STATE,10892,begin surface coast
$FINISH,0.3,1.027174
$STATE,10914,end surface coast,CONTROL_FINISHED_OK
$STATE,10914,begin surface
$SM_CCo,10939,8.50,0.686,0,0,1608,300.00
$SM_GC,1.31,0.00,0.00,8.50,0.000,0.000,0.686,421,2142,1608,-10.69,0.34,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1845
$TCM_TEMP,17.50
$XPDR_PINGS,48
$ALTIM_BOTTOM_PING,520.8,87.5
$24V_AH,23.6,73.071
$10V_AH,10.1,32.799
$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,27.025,130.050,399.600,8.500,0.000,37.760,26.637,124.958,16.500,0.000,0.000,14.888,1180.894,7731.507,526.110,1362.013,463.278,33.359,1249.343,0.000,1325.173,0.000,35.329,0.000
$DEVICE_MAMPS,166.439,87.438,1219.530,686.465,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,445.262,477.205,385.228,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34818,651
$CAP_FILE_SIZE,99441,0
$CFSIZE,254472192,227491840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,061109,235854,6212.272,-927.084,40,1.8,40,-9.7