version: 66.04
glider: 5
mission: 7
dive: 459
start: 11 7 109 0 7 36
data:
$ID,5
$MISSION,7
$DIVE,459
$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,-109053.41
$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,28
$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
$GPS1,235854,6212.272,-927.084,40,1.8,40,-9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-57.3
$GPS2,000643,6212.368,-927.008,31,1.9,31,-9.7
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.249,-0.086
$KALMAN_X,-294958.4,494.9,1342.6,468500.0,-6104.0
$KALMAN_Y,129705.5,169.4,872.1,-271366.4,5881.3
$MHEAD_RNG_PITCHd_Wd,118.6,37369,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.53,0.000,2,0.000,0.000,421,2149,2784
$GC,82,-1.44,-146.6,2.4,-2.6,3,125,11.00,2.65,-22.17,0.000,4,0.156,0.069,2424,713,3430
$GC,205,-1.36,-146.6,17.5,-12.2,8,210,0.12,2.53,0.00,0.000,6,0.107,0.048,2448,2129,3430
$GC,522,-1.30,-146.6,55.2,-12.8,23,526,0.00,2.58,0.00,0.000,4,0.000,0.060,2448,715,3430
$GC,563,-1.27,-146.6,60.9,-15.0,25,568,0.00,2.53,0.00,0.000,6,0.000,0.048,2448,2128,3431
$GC,891,-1.21,-146.6,109.7,-14.5,41,896,0.15,2.58,0.00,0.000,4,0.101,0.060,2477,715,3431
$GC,918,-1.21,-146.6,113.7,-13.3,42,922,0.00,2.50,0.00,0.000,6,0.000,0.048,2477,2118,3431
$GC,1246,-1.21,-146.6,156.1,-12.2,58,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2118,3430
$GC,1558,-1.21,-146.6,196.2,-12.2,78,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2119,3431
$GC,1870,-1.21,-146.6,230.1,-10.7,98,1875,0.00,2.55,0.00,0.000,4,0.000,0.059,2477,713,3431
$GC,1904,-1.25,-146.6,233.8,-10.5,100,1908,0.00,2.50,0.00,0.000,6,0.000,0.048,2478,2121,3431
$GC,2224,-1.25,-146.6,264.3,-10.0,120,2228,0.00,2.60,0.00,0.000,4,0.000,0.071,2478,3540,3431
$GC,2245,-1.25,-146.6,266.5,-9.4,121,2251,0.00,2.60,0.00,0.000,6,0.000,0.066,2478,2126,3431
$GC,2565,-1.25,-146.6,296.7,-10.0,142,2569,0.00,2.53,0.00,0.000,4,0.000,0.062,2477,714,3432
$GC,2644,-1.30,-146.6,304.8,-10.1,147,2649,0.00,2.50,0.00,0.000,6,0.000,0.049,2478,2120,3431
$GC,2970,-1.30,-146.6,341.9,-12.3,168,2974,0.00,2.60,0.00,0.000,4,0.000,0.073,2477,3535,3431
$GC,2999,-1.30,-146.6,345.5,-12.2,170,3004,0.00,2.65,0.00,0.000,6,0.000,0.076,2478,2121,3431
$GC,3326,-1.34,-146.6,384.7,-12.8,191,3331,0.12,2.50,0.00,0.000,4,0.058,0.062,2444,717,3431
$GC,3376,-1.34,-146.6,392.7,-15.5,194,3380,0.00,2.50,0.00,0.000,6,0.000,0.050,2444,2123,3431
$GC,3696,-1.34,-146.6,438.8,-13.4,214,3700,0.00,2.60,0.00,0.000,4,0.000,0.067,2445,710,3431
$GC,3775,-1.34,-146.6,449.8,-14.1,219,3779,0.00,2.42,0.00,0.000,6,0.000,0.052,2445,2068,3431
$GC,4102,-1.34,-146.6,497.0,-14.3,240,4106,0.00,2.72,0.00,0.000,4,0.000,0.077,2444,3542,3431
$GC,4147,-1.34,-146.6,503.5,-13.3,243,4152,0.00,2.75,0.00,0.000,6,0.000,0.080,2444,2081,3431
$GC,4472,-1.31,-146.6,543.4,-10.9,264,4477,0.00,2.78,0.00,0.000,4,0.000,0.081,2444,3539,3431
$GC,4579,-1.31,-146.6,557.0,-14.7,270,4585,0.00,2.70,0.00,0.000,6,0.000,0.083,2445,2110,3430
$GC,4898,-1.31,-146.6,597.8,-13.2,291,4903,0.00,2.53,0.00,0.000,4,0.000,0.071,2444,718,3429
$GC,4954,-1.31,-146.6,604.1,-10.6,294,4960,0.00,2.53,0.00,0.000,6,0.000,0.059,2445,2111,3430
$STATE,5006,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5006,begin apogee
$GC,5015,-0.33,0.0,610.7,12.6,298,5152,1.08,0.00,132.88,1.230,6,0.088,0.000,2669,1839,2831
$STATE,5152,end apogee,CONTROL_FINISHED_OK
$STATE,5152,begin climb
$GC,5156,1.44,146.6,617.5,0.0,307,5297,1.77,2.75,132.57,1.189,4,0.061,0.076,3056,3258,2232
$GC,5489,1.41,170.4,597.5,8.9,327,5516,0.00,2.70,22.02,1.126,6,0.000,0.081,3055,1846,2136
$GC,5832,1.36,170.4,563.5,11.4,349,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1845,2135
$GC,6141,1.32,181.7,533.0,9.5,369,6159,0.12,2.72,10.95,1.062,4,0.107,0.074,3033,3256,2090
$GC,6194,1.35,196.0,527.8,9.4,372,6214,0.00,2.70,13.95,1.094,6,0.000,0.084,3033,1850,2031
$GC,6545,1.35,201.5,491.6,9.8,394,6561,0.00,2.72,6.68,0.958,4,0.000,0.076,3033,3261,2009
$GC,6617,1.37,209.1,484.2,9.7,398,6632,0.00,2.67,8.40,1.010,6,0.000,0.082,3033,1860,1978
$GC,6962,1.39,224.1,454.1,9.3,420,6977,0.00,0.00,13.80,1.090,6,0.000,0.000,3033,1860,1917
$GC,7286,1.39,224.1,421.1,10.5,441,7290,0.00,2.60,0.00,0.000,4,0.000,0.072,3033,436,1916
$GC,7351,1.36,224.1,414.4,10.7,445,7355,0.00,2.58,0.00,0.000,6,0.000,0.057,3033,1856,1916
$GC,7675,1.47,293.9,388.6,6.8,466,7742,0.15,2.65,60.10,1.119,4,0.062,0.072,3069,3257,1634
$GC,7748,1.44,293.9,381.2,11.0,470,7755,0.00,2.72,0.00,0.000,6,0.000,0.077,3070,1837,1634
$GC,8069,1.40,293.9,338.8,14.3,491,8074,0.00,2.65,0.00,0.000,4,0.000,0.070,3070,3254,1635
$GC,8137,1.40,293.9,328.9,14.5,495,8141,0.00,2.60,0.00,0.000,6,0.000,0.074,3069,1867,1635
$GC,8457,1.36,293.9,290.5,11.4,515,8462,0.15,2.60,0.00,0.000,4,0.100,0.067,3040,3258,1635
$GC,8487,1.40,297.8,287.4,9.8,517,8497,0.00,2.55,5.75,0.815,6,0.000,0.072,3040,1888,1616
$GC,8815,1.44,300.6,256.9,9.9,537,8824,0.00,2.55,4.25,0.693,4,0.000,0.066,3040,3254,1605
$GC,8842,1.50,300.6,253.5,11.5,538,8849,0.15,2.53,0.00,0.000,6,0.059,0.069,3077,1892,1605
$GC,9164,1.46,300.6,212.4,14.0,559,9165,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1892,1605
$GC,9475,1.43,300.6,168.2,14.7,579,9480,0.12,2.53,0.00,0.000,4,0.098,0.062,3054,3260,1606
$GC,9508,1.47,300.6,163.2,14.1,581,9513,0.00,2.47,0.00,0.000,6,0.000,0.062,3053,1901,1606
$GC,9832,1.47,300.6,121.7,13.1,598,9836,0.00,2.50,0.00,0.000,4,0.000,0.061,3053,3260,1606
$GC,9873,1.53,300.6,116.4,13.3,600,9878,0.12,2.45,0.00,0.000,6,0.063,0.061,3086,1898,1607
$GC,10201,1.49,300.6,70.8,14.0,616,10205,0.00,2.50,0.00,0.000,4,0.000,0.061,3085,3261,1607
$GC,10246,1.49,300.6,64.4,14.0,618,10250,0.00,2.42,0.00,0.000,6,0.000,0.058,3086,1915,1607
$GC,10568,1.45,300.6,23.8,13.6,634,10573,0.12,2.45,0.00,0.000,4,0.096,0.059,3060,3255,1608
$GC,10596,1.45,300.6,20.0,13.6,635,10600,0.00,2.40,0.00,0.000,6,0.000,0.058,3060,1924,1608
$STATE,10764,end climb,SURFACE_DEPTH_REACHED
$STATE,10764,begin surface coast
$FINISH,0.3,1.027167
$STATE,10788,end surface coast,CONTROL_FINISHED_OK
$STATE,10788,begin surface
$SM_CCo,10873,0.00,0.000,0,0,1608,300.25
$SM_GC,1.12,11.48,0.00,0.00,0.038,0.000,0.000,417,2176,1608,-10.61,0.93,300.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1846
$TCM_TEMP,17.50
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,571.6,48.0
$24V_AH,23.6,73.220
$10V_AH,10.1,32.862
$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,26.675,124.825,411.350,0.000,0.000,75.519,56.454,130.409,13.000,0.000,0.000,31.313,1176.778,7705.914,505.355,1415.680,539.506,33.362,1243.412,0.000,1360.460,0.000,37.330,0.000
$DEVICE_MAMPS,156.468,83.603,1230.268,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.831,469.063,374.966,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31755,644
$CAP_FILE_SIZE,100273,0
$CFSIZE,254472192,227442688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,071109,031006,6212.346,-921.711,40,1.2,40,-9.7