version: 66.04
glider: 5
mission: 7
dive: 370
start: 10 26 109 1 33 41
data:
$ID,5
$MISSION,7
$DIVE,370
$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,412.5
$T_MISSION,440
$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,-107332.34
$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,20
$R_STBD_OVSHOOT,25
$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
$GPS1,012654,6242.164,-1134.283,42,1.7,42,-11.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-63.6
$GPS2,013250,6242.159,-1134.301,15,1.2,15,-11.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,DE
$TGT_LATLONG,6237.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.225,-0.098
$KALMAN_X,-133897.4,928.4,823.3,202232.9,-12343.7
$KALMAN_Y,52725.5,-756.0,-266.8,-137108.9,4701.3
$MHEAD_RNG_PITCHd_Wd,124.6,30741,-14.8,-8.000
$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,16,-1.22,-146.6,0.0,0.0,0,54,0.00,0.00,-35.85,0.000,2,0.000,0.000,417,2153,2333
$GC,58,-1.22,-146.6,2.1,-1.9,2,135,11.27,2.67,-57.35,0.000,4,0.157,0.072,2471,705,3430
$GC,288,-1.14,-146.6,24.4,-14.7,12,293,0.12,2.55,0.00,0.000,6,0.104,0.047,2496,2140,3430
$GC,606,-1.07,-146.6,62.0,-11.1,27,610,0.00,2.58,0.00,0.000,4,0.000,0.057,2496,709,3430
$GC,634,-1.03,-146.6,65.8,-12.5,28,639,0.10,2.50,0.00,0.000,6,0.098,0.048,2517,2121,3431
$GC,950,-1.03,-146.6,97.6,-10.1,43,954,0.00,2.55,0.00,0.000,4,0.000,0.057,2517,702,3431
$GC,972,-1.03,-146.6,100.0,-10.2,44,976,0.00,2.50,0.00,0.000,6,0.000,0.048,2517,2114,3430
$GC,1295,-1.03,-146.6,131.9,-9.6,60,1299,0.00,2.53,0.00,0.000,4,0.000,0.058,2517,711,3431
$GC,1373,-1.03,-146.6,140.1,-10.1,63,1379,0.00,2.42,0.00,0.000,6,0.000,0.048,2517,2083,3431
$GC,1702,-1.03,-146.6,174.5,-10.4,83,1706,0.00,2.62,0.00,0.000,4,0.000,0.068,2517,3528,3431
$GC,1741,-1.03,-146.6,178.8,-10.4,85,1747,0.00,2.62,0.00,0.000,6,0.000,0.054,2517,2064,3431
$GC,2060,-1.03,-146.6,209.7,-9.5,106,2064,0.00,2.40,0.00,0.000,4,0.000,0.061,2517,714,3431
$GC,2089,-1.03,-146.6,212.5,-9.2,108,2093,0.00,2.42,0.00,0.000,6,0.000,0.049,2517,2081,3431
$GC,2413,-1.03,-146.6,242.4,-9.0,129,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2081,3431
$GC,2727,-1.03,-146.6,271.3,-9.2,149,2732,0.00,2.50,0.00,0.000,4,0.000,0.062,2517,703,3431
$GC,2779,-1.03,-146.6,276.5,-9.4,152,2783,0.00,2.42,0.00,0.000,6,0.000,0.050,2517,2069,3431
$GC,3098,-1.03,-146.6,305.7,-9.3,172,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2069,3431
$GC,3411,-1.03,-146.6,335.0,-9.7,192,3415,0.00,2.47,0.00,0.000,4,0.000,0.062,2517,705,3431
$GC,3456,-1.03,-146.6,339.6,-10.4,195,3461,0.00,2.42,0.00,0.000,6,0.000,0.051,2517,2071,3431
$GC,3784,-1.03,-146.6,370.0,-9.0,216,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2071,3431
$GC,4096,-1.03,-146.6,398.4,-9.0,236,4100,0.00,2.47,0.00,0.000,4,0.000,0.063,2517,708,3431
$GC,4141,-1.06,-146.6,403.0,-9.8,239,4146,0.00,2.40,0.00,0.000,6,0.000,0.051,2517,2061,3431
$GC,4467,-1.06,-146.6,436.2,-10.7,260,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2061,3431
$GC,4778,-1.06,-146.6,469.8,-10.7,280,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2061,3431
$GC,5091,-1.06,-146.6,501.9,-9.8,300,5095,0.00,2.45,0.00,0.000,4,0.000,0.063,2518,713,3430
$GC,5130,-1.09,-146.6,505.8,-10.4,302,5136,0.00,2.38,0.00,0.000,6,0.000,0.051,2517,2047,3430
$GC,5449,-1.09,-146.6,532.7,-8.3,323,5454,0.00,2.70,0.00,0.000,4,0.000,0.071,2517,3530,3430
$GC,5500,-1.09,-146.6,537.1,-8.3,326,5504,0.00,2.70,0.00,0.000,6,0.000,0.061,2517,2041,3430
$GC,5820,-1.09,-146.6,564.0,-9.9,346,5824,0.00,2.78,0.00,0.000,4,0.000,0.072,2517,3536,3429
$GC,5853,-1.09,-146.6,567.6,-10.2,348,5857,0.00,2.67,0.00,0.000,6,0.000,0.061,2517,2061,3429
$GC,6175,-1.09,-146.6,600.9,-10.5,368,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2047,3430
$GC,6484,-1.09,-146.6,632.8,-10.0,388,6489,0.00,2.75,0.00,0.000,4,0.000,0.076,2517,3530,3429
$GC,6523,-1.09,-146.6,637.0,-10.9,390,6529,0.00,2.67,0.00,0.000,6,0.000,0.065,2517,2062,3429
$STATE,6778,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6778,begin apogee
$GC,6786,-0.33,0.0,660.9,9.2,407,6921,0.73,0.00,131.70,1.255,6,0.075,0.000,2675,1836,2831
$STATE,6922,end apogee,CONTROL_FINISHED_OK
$STATE,6922,begin climb
$GC,6925,1.22,146.6,666.2,0.0,416,7066,1.52,2.62,132.18,1.215,4,0.059,0.074,3009,438,2233
$GC,7098,1.10,146.6,658.9,8.1,426,7105,0.15,2.58,0.00,0.000,6,0.093,0.054,2981,1853,2234
$GC,7417,1.18,201.0,639.0,6.0,447,7473,0.00,2.62,49.50,1.187,4,0.000,0.071,2981,3255,2011
$GC,7482,1.25,243.0,635.1,6.5,451,7530,0.17,2.65,39.03,1.167,6,0.054,0.067,3024,1851,1839
$GC,7842,1.19,243.0,600.3,10.1,474,7847,0.00,2.62,0.00,0.000,4,0.000,0.071,3024,3249,1839
$GC,7889,1.16,243.0,595.4,10.3,477,7894,0.15,2.58,0.00,0.000,6,0.091,0.067,2996,1859,1839
$GC,8214,1.16,243.0,565.3,9.1,498,8218,0.00,2.62,0.00,0.000,4,0.000,0.071,2996,3259,1838
$GC,8246,1.16,243.0,562.3,9.0,500,8251,0.00,2.58,0.00,0.000,6,0.000,0.066,2996,1870,1838
$GC,8566,1.16,243.0,536.2,8.5,520,8571,0.00,2.58,0.00,0.000,4,0.000,0.069,2996,3251,1837
$GC,8634,1.19,243.0,530.2,8.6,524,8638,0.00,2.50,0.00,0.000,6,0.000,0.064,2996,1893,1837
$GC,8954,1.19,243.0,502.8,8.7,544,8955,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1893,1836
$GC,9265,1.19,243.0,476.1,8.3,564,9270,0.00,2.50,0.00,0.000,4,0.000,0.067,2996,3252,1836
$GC,9312,1.22,243.0,472.2,8.2,567,9316,0.00,2.45,0.00,0.000,6,0.000,0.061,2996,1908,1836
$GC,9637,1.22,243.0,446.1,8.2,588,9641,0.00,2.47,0.00,0.000,4,0.000,0.065,2996,3252,1836
$GC,9671,1.27,243.0,443.2,8.2,590,9676,0.12,2.42,0.00,0.000,6,0.059,0.059,3029,1917,1836
$GC,10000,1.21,243.0,409.5,10.6,611,10004,0.00,2.45,0.00,0.000,4,0.000,0.064,3029,3251,1836
$GC,10022,1.17,243.0,406.4,11.2,612,10029,0.15,2.40,0.00,0.000,6,0.090,0.057,2999,1924,1836
$GC,10342,1.17,243.0,378.0,8.7,633,10346,0.00,2.45,0.00,0.000,4,0.000,0.064,3000,3260,1836
$GC,10376,1.21,243.0,374.7,9.4,635,10380,0.00,2.40,0.00,0.000,6,0.000,0.057,3000,1933,1836
$GC,10696,1.21,243.0,347.5,8.5,655,10700,0.00,2.40,0.00,0.000,4,0.000,0.064,3000,3251,1836
$GC,10712,1.21,243.0,346.0,8.5,656,10716,0.00,2.35,0.00,0.000,6,0.000,0.056,3000,1945,1837
$GC,11033,1.22,250.2,320.9,7.7,676,11049,0.00,2.47,7.30,0.860,4,0.000,0.062,3000,3261,1810
$GC,11055,1.22,250.2,318.8,8.5,677,11060,0.00,2.38,0.00,0.000,6,0.000,0.054,2999,1953,1810
$GC,11375,1.24,267.0,295.1,7.4,697,11393,0.00,0.00,16.08,0.955,6,0.000,0.000,2999,1953,1742
$GC,11702,1.24,267.0,269.4,8.1,718,11707,0.00,2.40,0.00,0.000,4,0.000,0.062,3000,3259,1742
$GC,11732,1.29,267.0,266.9,8.6,720,11737,0.12,2.33,0.00,0.000,6,0.057,0.054,3033,1968,1742
$GC,12060,1.25,267.0,234.7,9.5,741,12061,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1968,1742
$GC,12369,1.20,267.0,206.2,8.8,761,12371,0.15,0.00,0.00,0.000,6,0.089,0.000,3003,1968,1742
$GC,12681,1.22,279.5,183.4,7.5,781,12695,0.00,0.00,11.77,0.855,6,0.000,0.000,3003,1968,1691
$GC,13009,1.25,279.5,153.7,10.0,802,13010,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1968,1691
$GC,13324,1.29,279.5,123.0,9.0,818,13328,0.10,2.35,0.00,0.000,4,0.059,0.059,3032,3254,1691
$GC,13357,1.29,279.5,119.3,11.5,819,13364,0.00,2.33,0.00,0.000,6,0.000,0.050,3032,1970,1691
$GC,13674,1.29,279.5,88.3,9.8,835,13675,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1970,1691
$GC,13983,1.29,279.5,59.5,8.1,850,13987,0.00,2.35,0.00,0.000,4,0.000,0.058,3032,3262,1691
$GC,14010,1.29,279.5,57.0,9.1,851,14015,0.00,2.28,0.00,0.000,6,0.000,0.048,3032,1982,1692
$GC,14327,1.29,279.5,30.2,8.9,866,14329,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1983,1692
$STATE,14612,end climb,SURFACE_DEPTH_REACHED
$STATE,14612,begin surface coast
$FINISH,0.7,1.014330
$STATE,14636,end surface coast,CONTROL_FINISHED_OK
$STATE,14636,begin surface
$SM_CCo,14660,11.30,0.726,0,0,1608,300.00
$SM_GC,1.88,0.00,0.00,11.30,0.000,0.000,0.726,420,2152,1608,-10.69,0.62,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1828
$TCM_TEMP,17.40
$XPDR_PINGS,56
$ALTIM_BOTTOM_PING,596.0,74.3
$24V_AH,23.7,60.162
$10V_AH,10.1,27.281
$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,26.175,135.975,387.550,11.300,0.000,37.761,33.704,146.245,19.250,0.000,0.000,15.786,1541.696,10681.887,512.782,1748.793,542.277,33.389,1409.117,0.000,1710.825,0.000,36.661,0.000
$DEVICE_MAMPS,157.235,75.933,1254.812,725.582,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,602.731,641.517,501.960,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44227,881
$CAP_FILE_SIZE,119395,0
$CFSIZE,254472192,231792640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,261009,053936,6240.991,-1131.560,42,1.1,42,-11.1