version: 66.04
glider: 5
mission: 7
dive: 373
start: 10 26 109 13 59 47
data:
$ID,5
$MISSION,7
$DIVE,373
$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,-107377.66
$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,29
$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
$GPS1,135307,6238.760,-1127.917,30,1.7,30,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-66.9
$GPS2,135856,6238.751,-1127.884,14,1.7,14,-11.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,DE
$TGT_LATLONG,6237.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.242,0.043
$KALMAN_X,-143336.6,1192.8,944.5,216588.9,-14558.1
$KALMAN_Y,49744.1,-427.8,-82.8,-140961.4,142.6
$MHEAD_RNG_PITCHd_Wd,90.9,23972,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.20,0.000,2,0.000,0.000,418,2141,2426
$GC,63,-1.22,-146.6,2.2,-2.7,2,127,11.30,2.60,-43.92,0.000,4,0.160,0.067,2472,716,3430
$GC,312,-1.15,-146.6,29.0,-14.0,13,318,0.10,2.50,0.00,0.000,6,0.107,0.048,2491,2125,3430
$GC,635,-1.08,-146.6,65.6,-10.5,29,640,0.00,2.55,0.00,0.000,4,0.000,0.059,2491,714,3430
$GC,686,-1.04,-146.6,71.0,-10.8,31,691,0.12,2.50,0.00,0.000,6,0.097,0.049,2517,2123,3430
$GC,1002,-1.04,-146.6,100.2,-9.7,46,1007,0.00,2.55,0.00,0.000,4,0.000,0.060,2518,712,3430
$GC,1093,-1.04,-146.6,109.5,-10.2,50,1097,0.00,2.45,0.00,0.000,6,0.000,0.048,2518,2097,3430
$GC,1415,-1.04,-146.6,143.3,-10.5,66,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2097,3431
$GC,1731,-1.04,-146.6,177.7,-10.9,85,1735,0.00,2.50,0.00,0.000,4,0.000,0.059,2518,711,3431
$GC,1812,-1.04,-146.6,186.4,-11.1,90,1816,0.00,2.45,0.00,0.000,6,0.000,0.048,2518,2098,3431
$GC,2137,-1.04,-146.6,221.3,-10.5,111,2141,0.00,2.50,0.00,0.000,4,0.000,0.060,2517,712,3431
$GC,2193,-1.04,-146.6,227.7,-10.6,114,2197,0.00,2.42,0.00,0.000,6,0.000,0.049,2518,2081,3431
$GC,2513,-1.04,-146.6,260.9,-10.1,134,2517,0.00,2.50,0.00,0.000,4,0.000,0.063,2517,705,3431
$GC,2569,-1.07,-146.6,266.8,-10.4,137,2575,0.00,2.40,0.00,0.000,6,0.000,0.050,2518,2056,3431
$GC,2889,-1.07,-146.6,297.6,-9.7,158,2893,0.00,2.45,0.00,0.000,4,0.000,0.064,2518,711,3431
$GC,2917,-1.07,-146.6,300.6,-9.9,160,2922,0.00,2.38,0.00,0.000,6,0.000,0.051,2518,2048,3431
$GC,3242,-1.07,-146.6,332.2,-10.0,181,3247,0.00,2.42,0.00,0.000,4,0.000,0.063,2518,714,3431
$GC,3299,-1.10,-146.6,338.5,-11.1,184,3305,0.00,2.35,0.00,0.000,6,0.000,0.051,2518,2035,3431
$GC,3618,-1.10,-146.6,372.6,-10.6,205,3622,0.00,2.42,0.00,0.000,4,0.000,0.064,2518,706,3431
$GC,3646,-1.10,-146.6,375.7,-11.0,207,3650,0.00,2.35,0.00,0.000,6,0.000,0.051,2518,2027,3431
$GC,3972,-1.10,-146.6,409.2,-9.9,228,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2027,3431
$GC,4283,-1.10,-146.6,440.2,-9.9,248,4287,0.00,2.40,0.00,0.000,4,0.000,0.066,2518,710,3431
$GC,4323,-1.14,-146.6,444.1,-9.2,250,4327,0.00,2.33,0.00,0.000,6,0.000,0.051,2518,2018,3430
$GC,4648,-1.14,-146.6,473.6,-8.8,271,4652,0.00,2.38,0.00,0.000,4,0.000,0.063,2518,711,3431
$GC,4704,-1.18,-146.6,478.6,-8.6,274,4710,0.15,2.33,0.00,0.000,6,0.057,0.051,2478,2019,3431
$GC,5026,-1.10,-146.6,512.5,-11.1,295,5031,0.12,2.78,0.00,0.000,4,0.097,0.071,2504,3540,3430
$GC,5059,-1.10,-146.6,516.5,-10.7,297,5064,0.00,2.80,0.00,0.000,6,0.000,0.061,2504,1998,3430
$GC,5379,-1.10,-146.6,547.3,-9.8,317,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1998,3430
$GC,5691,-1.10,-146.6,579.8,-10.7,337,5695,0.00,2.85,0.00,0.000,4,0.000,0.073,2504,3537,3430
$GC,5753,-1.10,-146.6,586.6,-10.7,341,5758,0.00,2.80,0.00,0.000,6,0.000,0.062,2504,1995,3430
$GC,6079,-1.10,-146.6,619.4,-10.2,362,6083,0.00,2.88,0.00,0.000,4,0.000,0.075,2504,3538,3430
$GC,6230,-1.10,-146.6,634.6,-9.4,371,6234,0.00,2.70,0.00,0.000,6,0.000,0.064,2504,2055,3430
$STATE,6530,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6530,begin apogee
$GC,6539,-0.33,0.0,663.9,9.2,390,6674,0.77,0.00,132.25,1.255,6,0.079,0.000,2669,1839,2832
$STATE,6675,end apogee,CONTROL_FINISHED_OK
$STATE,6675,begin climb
$GC,6678,1.22,146.6,670.9,0.0,399,6820,1.55,2.62,132.73,1.215,4,0.058,0.077,3009,454,2232
$GC,6948,1.12,162.2,657.1,7.4,415,6968,0.00,2.55,15.12,1.108,6,0.000,0.054,3009,1858,2170
$GC,7288,1.06,162.2,629.9,8.5,436,7293,0.17,2.58,0.00,0.000,4,0.089,0.072,2973,3255,2169
$GC,7334,1.17,207.4,626.5,6.4,439,7383,0.12,2.60,41.12,1.190,6,0.061,0.069,3004,1858,1985
$GC,7695,1.14,207.4,595.3,9.1,462,7699,0.00,2.62,0.00,0.000,4,0.000,0.072,3004,3254,1984
$GC,7767,1.14,207.4,588.7,9.4,466,7773,0.00,2.60,0.00,0.000,6,0.000,0.070,3004,1863,1984
$GC,8086,1.14,207.4,554.0,9.9,487,8091,0.00,2.62,0.00,0.000,4,0.000,0.072,3004,3264,1983
$GC,8133,1.14,207.4,549.7,10.4,490,8137,0.00,2.55,0.00,0.000,6,0.000,0.069,3005,1884,1983
$GC,8458,1.25,278.2,526.6,5.4,511,8526,0.00,2.65,62.05,1.187,4,0.000,0.072,3005,3255,1696
$GC,8551,1.31,318.9,520.9,6.5,517,8598,0.12,2.53,37.20,1.146,6,0.061,0.065,3036,1898,1530
$GC,8911,1.26,318.9,486.1,9.9,540,8916,0.00,2.55,0.00,0.000,4,0.000,0.071,3036,3264,1531
$GC,8934,1.23,318.9,483.8,10.1,541,8941,0.12,2.50,0.00,0.000,6,0.097,0.063,3012,1908,1531
$GC,9254,1.23,318.9,456.8,8.4,562,9255,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1908,1532
$GC,9565,1.23,318.9,431.5,8.2,582,9569,0.00,2.50,0.00,0.000,4,0.000,0.066,3012,3258,1532
$GC,9611,1.27,318.9,427.5,9.0,585,9616,0.00,2.45,0.00,0.000,6,0.000,0.061,3013,1916,1532
$GC,9938,1.27,318.9,397.6,9.4,606,9939,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1916,1533
$GC,10249,1.27,318.9,366.7,10.4,626,10253,0.00,2.45,0.00,0.000,4,0.000,0.065,3012,3253,1533
$GC,10283,1.31,318.9,363.1,10.3,628,10287,0.00,2.40,0.00,0.000,6,0.000,0.058,3012,1924,1533
$GC,10608,1.31,318.9,329.5,10.3,649,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1924,1533
$GC,10920,1.31,318.9,298.5,9.6,669,10924,0.00,2.45,0.00,0.000,4,0.000,0.064,3012,3258,1533
$GC,10950,1.36,318.9,295.5,10.4,671,10955,0.12,2.40,0.00,0.000,6,0.056,0.057,3046,1930,1533
$GC,11277,1.29,318.9,258.5,11.2,692,11278,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1930,1534
$GC,11588,1.23,318.9,223.7,10.7,712,11593,0.17,2.45,0.00,0.000,4,0.086,0.062,3009,3265,1534
$GC,11610,1.23,318.9,221.5,9.1,713,11616,0.00,2.40,0.00,0.000,6,0.000,0.054,3009,1931,1534
$GC,11929,1.25,332.4,197.2,7.5,734,11948,0.00,2.47,13.70,0.873,4,0.000,0.061,3009,3249,1475
$GC,11964,1.30,332.4,194.5,8.4,736,11968,0.00,2.35,0.00,0.000,6,0.000,0.053,3009,1952,1475
$GC,12289,1.34,332.4,168.5,8.5,757,12294,0.12,2.72,0.00,0.000,4,0.054,0.064,3044,437,1475
$GC,12306,1.34,332.4,166.6,9.7,758,12310,0.00,2.72,0.00,0.000,6,0.000,0.049,3044,1969,1475
$GC,12639,1.30,332.4,122.7,13.8,776,12643,0.00,2.30,0.00,0.000,4,0.000,0.061,3044,3258,1475
$GC,12673,1.30,332.4,118.0,12.5,777,12680,0.00,2.33,0.00,0.000,6,0.000,0.051,3043,1951,1475
$GC,12992,1.27,332.4,77.3,13.0,793,12994,0.12,0.00,0.00,0.000,6,0.089,0.000,3018,1951,1475
$GC,13299,1.30,332.4,42.7,9.8,808,13303,0.00,2.38,0.00,0.000,4,0.000,0.061,3018,3255,1475
$GC,13322,1.37,342.0,40.9,7.7,809,13339,0.12,2.33,9.70,0.746,6,0.054,0.051,3053,1953,1436
$GC,13653,1.31,342.0,5.7,12.1,825,13655,0.12,0.00,0.00,0.000,6,0.088,0.000,3028,1952,1436
$STATE,13686,end climb,SURFACE_DEPTH_REACHED
$STATE,13686,begin surface coast
$FINISH,0.7,1.015725
$STATE,13708,end surface coast,CONTROL_FINISHED_OK
$STATE,13708,begin surface
$SM_CCo,13792,0.00,0.000,0,0,1436,342.19
$SM_GC,1.44,11.32,0.00,0.00,0.037,0.000,0.000,422,2144,1436,-10.59,0.40,342.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1831
$TCM_TEMP,17.30
$XPDR_PINGS,68
$ALTIM_BOTTOM_PING,595.9,77.5
$24V_AH,23.7,60.624
$10V_AH,10.1,27.510
$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,26.800,141.300,443.875,0.000,0.000,37.759,28.500,145.953,22.250,0.000,0.000,14.751,1470.480,9855.836,539.547,1741.394,530.205,33.383,1445.008,0.000,1702.458,0.000,36.672,0.000
$DEVICE_MAMPS,160.303,77.467,1254.812,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,566.116,606.502,466.056,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41131,828
$CAP_FILE_SIZE,118312,0
$CFSIZE,254472192,231612416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,261009,175054,6238.397,-1123.379,38,1.8,38,-11.0