version: 66.04
glider: 5
mission: 7
dive: 461
start: 11 7 109 6 13 40
data:
$ID,5
$MISSION,7
$DIVE,461
$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,-109085.16
$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
$GPS1,060736,6210.313,-921.119,42,1.1,42,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.5
$GPS2,061249,6210.285,-921.138,11,1.5,16,-9.7
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.022,-0.262
$KALMAN_X,-293983.0,540.0,-409.9,474120.7,-1445.8
$KALMAN_Y,134410.5,-1074.4,-1271.0,-276480.6,11539.5
$MHEAD_RNG_PITCHd_Wd,184.9,32457,-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,-146.1,0.0,0.0,0,79,0.00,0.00,-60.58,0.000,2,0.000,0.000,415,2134,2728
$GC,83,-1.44,-146.6,2.6,-3.2,3,126,11.40,2.58,-24.25,0.000,4,0.168,0.069,2422,706,3430
$GC,379,-1.36,-146.6,46.4,-15.5,16,384,0.12,2.55,0.00,0.000,6,0.105,0.047,2446,2141,3431
$GC,703,-1.31,-146.6,90.8,-13.6,32,707,0.00,2.55,0.00,0.000,4,0.000,0.071,2446,3535,3431
$GC,956,-1.25,-146.6,128.1,-14.8,43,961,0.12,2.60,0.00,0.000,6,0.106,0.063,2470,2117,3431
$GC,1274,-1.25,-146.6,167.5,-12.1,60,1278,0.00,2.50,0.00,0.000,4,0.000,0.061,2470,716,3431
$GC,1363,-1.29,-146.6,179.1,-12.0,65,1370,0.00,2.47,0.00,0.000,6,0.000,0.047,2470,2109,3431
$GC,1683,-1.29,-146.6,218.8,-12.4,86,1687,0.00,2.53,0.00,0.000,4,0.000,0.059,2470,718,3431
$GC,1734,-1.34,-146.6,225.4,-12.9,89,1738,0.00,2.45,0.00,0.000,6,0.000,0.048,2470,2093,3431
$GC,2053,-1.34,-146.6,265.1,-12.3,109,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2093,3432
$GC,2366,-1.34,-146.6,302.5,-11.4,129,2370,0.00,2.65,0.00,0.000,4,0.000,0.074,2471,3535,3432
$GC,2449,-1.34,-146.6,312.6,-11.6,134,2454,0.00,2.72,0.00,0.000,6,0.000,0.072,2470,2071,3432
$GC,2769,-1.34,-146.6,346.0,-9.9,154,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2071,3432
$GC,3082,-1.34,-146.6,380.6,-11.6,174,3086,0.00,2.75,0.00,0.000,4,0.000,0.076,2470,3534,3432
$GC,3116,-1.34,-146.6,384.7,-12.1,176,3121,0.00,2.75,0.00,0.000,6,0.000,0.080,2470,2077,3431
$GC,3436,-1.34,-146.6,420.0,-10.8,196,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2077,3432
$GC,3748,-1.34,-146.6,454.7,-12.7,216,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2076,3432
$GC,4061,-1.37,-146.6,494.0,-12.3,236,4065,0.12,2.45,0.00,0.000,4,0.061,0.067,2436,717,3432
$GC,4194,-1.37,-146.6,512.5,-13.7,244,4198,0.00,2.50,0.00,0.000,6,0.000,0.054,2437,2108,3432
$GC,4519,-1.33,-146.6,554.0,-12.3,265,4523,0.00,2.58,0.00,0.000,4,0.000,0.070,2436,714,3431
$GC,4553,-1.33,-146.6,558.6,-13.2,267,4557,0.00,2.50,0.00,0.000,6,0.000,0.058,2436,2099,3431
$STATE,4572,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4572,begin apogee
$GC,4580,-0.33,0.0,561.5,12.9,268,4716,1.10,0.00,132.20,1.190,6,0.085,0.000,2669,1844,2832
$STATE,4717,end apogee,CONTROL_FINISHED_OK
$STATE,4717,begin climb
$GC,4720,1.44,146.6,567.9,0.0,277,4862,1.77,2.62,131.02,1.152,4,0.059,0.071,3058,444,2233
$GC,4928,1.33,153.4,556.7,9.7,289,4943,0.12,2.58,7.70,0.933,6,0.103,0.055,3035,1858,2205
$GC,5268,1.34,159.9,525.9,9.7,311,5284,0.00,2.70,7.12,0.926,4,0.000,0.077,3036,3258,2179
$GC,5302,1.34,159.9,521.9,10.4,313,5307,0.00,2.70,0.00,0.000,6,0.000,0.085,3036,1858,2179
$GC,5626,1.34,159.9,488.1,10.4,334,5631,0.00,2.65,0.00,0.000,4,0.000,0.076,3036,3251,2178
$GC,5644,1.34,159.9,486.2,10.3,335,5648,0.00,2.67,0.00,0.000,6,0.000,0.083,3036,1855,2177
$GC,5963,1.36,174.0,455.0,9.4,355,5983,0.00,2.67,13.65,1.052,4,0.000,0.072,3036,440,2121
$GC,6099,1.32,174.0,441.0,11.2,363,6104,0.00,2.53,0.00,0.000,6,0.000,0.056,3036,1832,2120
$GC,6424,1.43,244.9,411.1,6.8,384,6492,0.00,2.70,62.47,1.109,4,0.000,0.074,3036,3254,1832
$GC,6564,1.57,303.7,401.2,7.3,392,6622,0.22,2.67,51.62,1.079,6,0.059,0.080,3088,1851,1593
$GC,6942,1.49,303.7,357.7,12.1,417,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1851,1594
$GC,7255,1.41,303.7,319.1,12.4,437,7260,0.17,2.62,0.00,0.000,4,0.100,0.068,3051,3252,1594
$GC,7294,1.45,303.7,314.6,10.2,439,7300,0.00,2.60,0.00,0.000,6,0.000,0.073,3051,1859,1594
$GC,7613,1.45,303.7,284.3,10.2,460,7617,0.00,2.60,0.00,0.000,4,0.000,0.066,3051,3255,1594
$GC,7647,1.51,303.7,280.6,11.4,462,7653,0.10,2.58,0.00,0.000,6,0.071,0.069,3076,1864,1594
$GC,7969,1.47,303.7,240.6,12.8,482,7973,0.00,2.58,0.00,0.000,4,0.000,0.065,3076,3252,1594
$GC,8037,1.47,303.7,231.3,13.5,486,8041,0.00,2.50,0.00,0.000,6,0.000,0.067,3077,1895,1594
$GC,8356,1.47,303.7,190.0,13.4,506,8360,0.00,2.53,0.00,0.000,4,0.000,0.064,3077,3260,1595
$GC,8435,1.47,303.7,178.7,13.9,511,8440,0.00,2.45,0.00,0.000,6,0.000,0.064,3076,1916,1595
$GC,8757,1.47,303.7,134.3,13.9,530,8761,0.00,2.65,0.00,0.000,4,0.000,0.063,3076,433,1595
$GC,8779,1.43,303.7,130.5,14.7,531,8785,0.12,2.67,0.00,0.000,6,0.098,0.047,3053,1942,1595
$GC,9103,1.46,303.7,91.9,11.7,547,9107,0.00,2.75,0.00,0.000,4,0.000,0.061,3053,430,1595
$GC,9130,1.46,303.7,88.2,13.4,548,9134,0.00,2.62,0.00,0.000,6,0.000,0.047,3053,1919,1595
$GC,9447,1.50,303.7,50.0,12.5,563,9448,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1935,1596
$GC,9757,1.54,303.7,13.7,12.1,578,9762,0.12,2.70,0.00,0.000,4,0.059,0.062,3088,441,1597
$GC,9768,1.54,303.7,11.9,12.5,578,9774,0.00,2.60,0.00,0.000,6,0.000,0.047,3087,1917,1597
$STATE,9833,end climb,SURFACE_DEPTH_REACHED
$STATE,9834,begin surface coast
$FINISH,0.3,1.021864
$STATE,9856,end surface coast,CONTROL_FINISHED_OK
$STATE,9856,begin surface
$SM_CCo,9940,0.00,0.000,0,0,1596,303.19
$SM_GC,1.20,11.60,0.00,0.00,0.037,0.000,0.000,420,2144,1596,-10.60,0.42,303.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1837
$TCM_TEMP,16.60
$XPDR_PINGS,48
$ALTIM_BOTTOM_PING,495.7,75.3
$24V_AH,23.6,73.509
$10V_AH,10.1,32.979
$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,27.125,104.900,405.800,0.000,0.000,37.760,27.181,123.702,16.250,0.000,0.000,16.632,1074.528,6911.900,481.932,1347.761,437.404,33.362,1188.835,0.000,1309.908,0.000,33.722,0.000
$DEVICE_MAMPS,167.973,85.137,1190.384,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.181,424.089,350.828,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28519,583
$CAP_FILE_SIZE,89653,0
$CFSIZE,254472192,227360768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,071109,090037,6209.700,-921.479,39,1.0,39,-9.6