version: 66.04
glider: 5
mission: 7
dive: 460
start: 11 7 109 3 16 30
data:
$ID,5
$MISSION,7
$DIVE,460
$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,-109067.9
$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,24
$R_STBD_OVSHOOT,54
$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
$GPS1,031006,6212.346,-921.711,40,1.2,40,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-63.8
$GPS2,031538,6212.338,-921.639,13,1.3,13,-9.7
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.076,-0.253
$KALMAN_X,-293435.5,367.2,132.3,472770.1,-2330.1
$KALMAN_Y,133401.3,-483.7,-992.3,-272560.2,10397.8
$MHEAD_RNG_PITCHd_Wd,173.0,36280,-18.0,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.44,-146.6,0.0,0.0,0,81,0.00,0.00,-61.25,0.000,2,0.000,0.000,415,2170,2786
$GC,85,-1.44,-146.6,2.5,-3.1,3,128,10.98,2.50,-22.58,0.000,4,0.156,0.082,2425,3499,3429
$GC,216,-1.30,-146.6,21.5,-17.4,8,223,0.17,2.53,0.00,0.000,6,0.102,0.060,2458,2116,3430
$GC,533,-1.26,-146.6,65.1,-12.9,24,537,0.00,2.50,0.00,0.000,4,0.000,0.060,2458,711,3430
$GC,577,-1.26,-146.6,72.0,-16.9,26,581,0.00,2.45,0.00,0.000,6,0.000,0.047,2459,2093,3430
$GC,900,-1.23,-146.6,117.1,-13.7,42,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2093,3430
$GC,1208,-1.19,-146.6,159.6,-13.5,58,1213,0.12,2.62,0.00,0.000,4,0.106,0.069,2483,3538,3430
$GC,1243,-1.19,-146.6,164.1,-12.5,60,1248,0.00,2.65,0.00,0.000,6,0.000,0.067,2483,2106,3430
$GC,1562,-1.19,-146.6,205.3,-12.5,80,1567,0.00,2.47,0.00,0.000,4,0.000,0.060,2483,718,3431
$GC,1596,-1.25,-146.6,209.7,-12.8,82,1601,0.00,2.50,0.00,0.000,6,0.000,0.047,2483,2123,3431
$GC,1916,-1.25,-146.6,250.2,-13.2,102,1921,0.00,2.58,0.00,0.000,4,0.000,0.063,2484,717,3431
$GC,1980,-1.30,-146.6,257.7,-11.0,106,1984,0.00,2.47,0.00,0.000,6,0.000,0.048,2483,2110,3431
$GC,2308,-1.30,-146.6,290.8,-8.9,127,2312,0.00,2.53,0.00,0.000,4,0.000,0.061,2484,719,3431
$GC,2355,-1.36,-146.6,295.2,-9.3,130,2360,0.17,2.45,0.00,0.000,6,0.051,0.049,2436,2099,3431
$GC,2685,-1.29,-146.6,332.1,-11.5,151,2690,0.12,2.62,0.00,0.000,4,0.104,0.076,2460,3530,3431
$GC,2752,-1.29,-146.6,340.2,-10.0,155,2757,0.00,2.70,0.00,0.000,6,0.000,0.077,2460,2091,3432
$GC,3074,-1.29,-146.6,372.2,-9.2,175,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2091,3431
$GC,3385,-1.29,-146.6,401.1,-8.9,195,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2091,3431
$GC,3696,-1.29,-146.6,427.9,-9.3,215,3700,0.00,2.47,0.00,0.000,4,0.000,0.064,2460,707,3431
$GC,3731,-1.29,-146.6,431.5,-10.7,217,3735,0.00,2.45,0.00,0.000,6,0.000,0.051,2460,2084,3431
$GC,4051,-1.29,-146.6,467.3,-12.0,237,4055,0.00,2.50,0.00,0.000,4,0.000,0.067,2460,720,3431
$GC,4235,-1.29,-146.6,490.5,-12.6,248,4239,0.00,2.38,0.00,0.000,6,0.000,0.053,2460,2041,3431
$GC,4555,-1.29,-146.6,531.0,-12.5,268,4560,0.00,2.75,0.00,0.000,4,0.000,0.084,2460,3525,3430
$GC,4589,-1.29,-146.6,535.9,-13.2,270,4594,0.00,2.83,0.00,0.000,6,0.000,0.088,2460,2043,3430
$STATE,4860,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4860,begin apogee
$GC,4868,-0.33,0.0,570.4,12.1,287,5002,1.00,0.00,130.23,1.206,6,0.084,0.000,2673,1840,2831
$STATE,5003,end apogee,CONTROL_FINISHED_OK
$STATE,5003,begin climb
$GC,5006,1.44,146.6,576.6,0.0,296,5147,1.73,2.65,129.20,1.168,4,0.044,0.072,3065,448,2233
$GC,5321,1.31,146.6,560.1,12.0,315,5326,0.20,2.55,0.00,0.000,6,0.099,0.055,3028,1856,2232
$GC,5647,1.38,192.8,534.4,7.9,336,5694,0.00,2.67,41.50,1.142,4,0.000,0.077,3028,3256,2044
$GC,5723,1.42,214.1,527.2,9.0,340,5749,0.12,2.72,20.20,1.098,6,0.064,0.087,3058,1849,1958
$GC,6075,1.36,214.1,482.9,13.0,363,6079,0.00,2.67,0.00,0.000,4,0.000,0.075,3058,3255,1957
$GC,6137,1.36,214.1,475.3,12.1,367,6141,0.00,2.67,0.00,0.000,6,0.000,0.084,3057,1865,1956
$GC,6461,1.32,214.1,438.2,10.5,388,6466,0.12,2.60,0.00,0.000,4,0.101,0.071,3035,439,1956
$GC,6496,1.29,214.1,434.4,10.6,390,6500,0.00,2.55,0.00,0.000,6,0.000,0.058,3035,1843,1956
$GC,6815,1.33,239.0,404.4,8.9,410,6847,0.00,2.75,22.50,1.088,4,0.000,0.070,3035,433,1855
$GC,6883,1.39,276.7,398.6,8.3,414,6924,0.00,2.55,33.58,1.092,6,0.000,0.057,3035,1841,1702
$GC,7248,1.45,311.6,370.4,8.4,437,7286,0.12,2.67,31.40,1.071,4,0.064,0.071,3065,3240,1560
$GC,7338,1.45,311.6,360.0,11.9,442,7344,0.00,2.67,0.00,0.000,6,0.000,0.077,3066,1832,1560
$GC,7657,1.41,311.6,321.2,13.1,463,7662,0.00,2.62,0.00,0.000,4,0.000,0.069,3066,3237,1561
$GC,7725,1.41,311.6,311.5,14.5,467,7729,0.00,2.55,0.00,0.000,6,0.000,0.073,3066,1872,1561
$GC,8045,1.38,311.6,265.0,14.2,487,8049,0.00,2.55,0.00,0.000,4,0.000,0.067,3066,3239,1561
$GC,8117,1.38,311.6,254.4,13.8,491,8123,0.00,2.47,0.00,0.000,6,0.000,0.071,3066,1902,1562
$GC,8437,1.38,311.6,212.2,13.5,512,8442,0.00,2.50,0.00,0.000,4,0.000,0.065,3066,3249,1562
$GC,8459,1.38,311.6,209.1,13.1,513,8466,0.00,2.47,0.00,0.000,6,0.000,0.068,3066,1908,1562
$GC,8779,1.38,311.6,167.3,13.4,534,8783,0.00,2.62,0.00,0.000,4,0.000,0.062,3066,442,1562
$GC,8795,1.38,311.6,165.0,13.1,535,8799,0.00,2.60,0.00,0.000,6,0.000,0.048,3067,1904,1562
$GC,9118,1.38,311.6,122.9,12.5,552,9123,0.00,2.40,0.00,0.000,4,0.000,0.062,3066,3239,1563
$GC,9174,1.38,311.6,115.3,12.8,554,9181,0.00,2.38,0.00,0.000,6,0.000,0.062,3066,1929,1563
$GC,9492,1.38,311.6,74.1,12.9,570,9496,0.00,2.42,0.00,0.000,4,0.000,0.061,3066,3249,1563
$GC,9519,1.38,311.6,70.4,12.7,571,9523,0.00,2.35,0.00,0.000,6,0.000,0.058,3066,1945,1564
$GC,9837,1.38,311.6,32.0,10.4,586,9838,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1945,1564
$STATE,10080,end climb,SURFACE_DEPTH_REACHED
$STATE,10080,begin surface coast
$FINISH,0.2,1.013866
$STATE,10102,end surface coast,CONTROL_FINISHED_OK
$STATE,10102,begin surface
$SM_CCo,10187,0.00,0.000,0,0,1563,310.80
$SM_GC,1.26,11.48,0.00,0.00,0.035,0.000,0.000,417,2125,1563,-10.61,-0.14,310.80
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1841
$TCM_TEMP,17.50
$XPDR_PINGS,40
$ALTIM_BOTTOM_PING,495.1,84.5
$24V_AH,23.6,73.367
$10V_AH,10.1,32.921
$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,26.350,113.325,408.600,0.000,0.000,37.760,27.608,136.434,14.250,0.000,0.000,13.869,1091.612,7142.073,491.458,1325.163,467.894,33.365,1197.323,0.000,1290.781,0.000,30.349,0.000
$DEVICE_MAMPS,156.468,88.205,1206.491,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.073,437.191,359.454,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31642,599
$CAP_FILE_SIZE,91358,0
$CFSIZE,254472192,227397632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,071109,060736,6210.313,-921.119,42,1.1,42,-9.7