version: 66.04
glider: 5
mission: 7
dive: 374
start: 10 26 109 17 57 23
data:
$ID,5
$MISSION,7
$DIVE,374
$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,-107392.84
$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,21
$R_STBD_OVSHOOT,27
$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
$GPS1,175054,6238.397,-1123.379,38,1.8,38,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-64.7
$GPS2,175632,6238.388,-1123.408,14,1.6,14,-11.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,DE
$TGT_LATLONG,6237.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.248,0.090
$KALMAN_X,-144400.9,1525.4,852.7,221100.7,-10502.8
$KALMAN_Y,47770.3,-235.1,-265.7,-139671.4,-1044.4
$MHEAD_RNG_PITCHd_Wd,81.0,20105,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.44,-146.6,0.0,0.0,0,82,0.00,0.00,-61.28,0.000,2,0.000,0.000,422,2149,2665
$GC,86,-1.44,-146.6,2.8,-3.3,3,128,11.15,0.00,-28.48,0.000,6,0.160,0.000,2425,2144,3430
$GC,434,-1.34,-146.6,54.2,-15.4,20,439,0.15,2.60,0.00,0.000,4,0.106,0.059,2454,705,3430
$GC,462,-1.29,-146.6,58.9,-14.8,21,467,0.00,2.53,0.00,0.000,6,0.000,0.049,2454,2127,3430
$GC,779,-1.25,-146.6,105.3,-15.3,36,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2127,3430
$GC,1089,-1.22,-146.6,148.6,-13.9,51,1094,0.12,2.58,0.00,0.000,4,0.107,0.061,2478,706,3430
$GC,1128,-1.26,-146.6,154.2,-13.1,53,1135,0.00,2.53,0.00,0.000,6,0.000,0.050,2479,2128,3430
$GC,1448,-1.26,-146.6,194.1,-12.9,74,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2128,3430
$GC,1760,-1.26,-146.6,232.9,-12.1,94,1764,0.00,2.58,0.00,0.000,4,0.000,0.064,2478,709,3430
$GC,1793,-1.30,-146.6,237.1,-12.6,96,1797,0.00,2.50,0.00,0.000,6,0.000,0.050,2478,2118,3430
$GC,2113,-1.30,-146.6,273.7,-11.4,116,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2118,3430
$GC,2425,-1.30,-146.6,309.4,-11.2,136,2429,0.00,2.55,0.00,0.000,4,0.000,0.062,2478,709,3430
$GC,2475,-1.36,-146.6,315.2,-11.4,139,2480,0.15,2.50,0.00,0.000,6,0.058,0.051,2440,2118,3430
$GC,2798,-1.30,-146.6,356.0,-12.9,159,2802,0.12,2.55,0.00,0.000,4,0.100,0.062,2463,711,3430
$GC,2827,-1.30,-146.6,360.1,-13.2,161,2831,0.00,2.50,0.00,0.000,6,0.000,0.051,2463,2116,3430
$GC,3152,-1.30,-146.6,398.4,-11.5,182,3156,0.00,2.55,0.00,0.000,4,0.000,0.063,2464,706,3430
$GC,3180,-1.30,-146.6,401.9,-11.7,184,3185,0.00,2.47,0.00,0.000,6,0.000,0.051,2463,2100,3430
$GC,3506,-1.30,-146.6,439.0,-11.1,205,3510,0.00,2.53,0.00,0.000,4,0.000,0.064,2463,715,3430
$GC,3558,-1.30,-146.6,445.2,-12.3,208,3562,0.00,2.45,0.00,0.000,6,0.000,0.052,2464,2090,3430
$GC,3877,-1.30,-146.6,485.3,-13.1,228,3881,0.00,2.50,0.00,0.000,4,0.000,0.063,2463,711,3430
$GC,3906,-1.30,-146.6,489.0,-13.4,230,3910,0.00,2.42,0.00,0.000,6,0.000,0.052,2464,2073,3430
$GC,4230,-1.30,-146.6,528.4,-10.8,251,4235,0.00,2.67,0.00,0.000,4,0.000,0.074,2464,3534,3430
$GC,4259,-1.30,-146.6,531.7,-11.2,253,4264,0.00,2.67,0.00,0.000,6,0.000,0.064,2463,2068,3430
$GC,4585,-1.30,-146.6,566.8,-10.6,274,4589,0.00,2.45,0.00,0.000,4,0.000,0.067,2463,698,3430
$GC,4652,-1.35,-146.6,574.7,-11.7,278,4656,0.00,2.45,0.00,0.000,6,0.000,0.053,2463,2080,3430
$GC,4977,-1.35,-146.6,609.4,-11.8,299,4981,0.00,2.53,0.00,0.000,4,0.000,0.071,2463,709,3430
$GC,5023,-1.39,-146.6,615.2,-12.1,302,5027,0.00,2.42,0.00,0.000,6,0.000,0.056,2464,2062,3430
$GC,5347,-1.39,-146.6,654.7,-11.7,323,5351,0.00,2.72,0.00,0.000,4,0.000,0.079,2464,3535,3430
$STATE,5390,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5390,begin apogee
$GC,5401,-0.33,0.0,660.1,11.0,326,5542,0.95,0.00,133.25,1.250,6,0.082,0.000,2669,1849,2831
$STATE,5543,end apogee,CONTROL_FINISHED_OK
$STATE,5543,begin climb
$GC,5546,1.44,146.6,665.7,0.0,336,5690,1.77,2.70,133.85,1.206,4,0.060,0.075,3057,442,2233
$GC,5801,1.32,147.7,650.0,10.0,351,5808,0.15,2.55,0.00,0.000,6,0.100,0.055,3031,1846,2233
$GC,6120,1.40,197.4,626.3,7.7,372,6168,0.00,0.00,45.58,1.193,6,0.000,0.000,3030,1862,2026
$GC,6480,1.40,197.4,590.4,10.8,395,6485,0.00,2.60,0.00,0.000,4,0.000,0.074,3030,3255,2026
$GC,6548,1.43,197.4,582.7,10.8,399,6553,0.12,2.62,0.00,0.000,6,0.064,0.069,3061,1846,2025
$GC,6868,1.39,197.4,548.0,11.1,419,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1846,2025
$GC,7180,1.34,197.4,510.8,12.1,439,7182,0.12,0.00,0.00,0.000,6,0.104,0.000,3039,1846,2024
$GC,7493,1.36,210.0,480.6,9.4,459,7510,0.00,2.70,12.10,1.070,4,0.000,0.067,3039,3255,1973
$GC,7550,1.40,212.3,475.0,9.9,462,7555,0.00,2.60,0.00,0.000,6,0.000,0.063,3038,1846,1973
$GC,7869,1.42,227.1,445.6,9.3,482,7890,0.00,2.67,15.77,1.079,4,0.000,0.065,3039,3258,1905
$GC,7920,1.49,242.8,440.8,9.3,485,7941,0.15,2.60,15.10,1.065,6,0.059,0.061,3075,1850,1841
$GC,8265,1.43,242.8,400.8,12.1,507,8270,0.00,2.60,0.00,0.000,4,0.000,0.065,3075,3258,1841
$GC,8305,1.43,242.8,395.0,13.7,509,8311,0.00,2.55,0.00,0.000,6,0.000,0.059,3075,1859,1841
$GC,8625,1.38,242.8,354.0,12.7,530,8630,0.15,2.58,0.00,0.000,4,0.097,0.064,3046,3255,1841
$GC,8664,1.41,242.8,349.1,11.4,532,8670,0.00,2.50,0.00,0.000,6,0.000,0.058,3046,1879,1841
$GC,8984,1.42,245.6,316.0,9.9,553,8994,0.00,2.55,4.47,0.726,4,0.000,0.064,3047,3264,1829
$GC,9029,1.45,245.6,311.3,10.4,555,9035,0.00,2.47,0.00,0.000,6,0.000,0.056,3046,1899,1829
$GC,9349,1.45,245.6,279.4,10.2,576,9350,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1898,1829
$GC,9660,1.45,245.6,245.2,11.2,596,9665,0.00,2.50,0.00,0.000,4,0.000,0.063,3046,3261,1829
$GC,9717,1.50,245.6,238.3,11.9,599,9724,0.08,2.45,0.00,0.000,6,0.051,0.054,3074,1898,1829
$GC,10037,1.46,245.6,195.8,13.6,620,10041,0.00,2.50,0.00,0.000,4,0.000,0.063,3074,3262,1830
$GC,10059,1.46,245.6,192.3,13.8,621,10065,0.00,2.42,0.00,0.000,6,0.000,0.052,3074,1911,1830
$GC,10378,1.43,245.6,150.2,13.5,642,10383,0.00,2.47,0.00,0.000,4,0.000,0.061,3074,3265,1830
$GC,10424,1.43,245.6,143.6,14.9,645,10428,0.00,2.40,0.00,0.000,6,0.000,0.050,3073,1917,1830
$GC,10751,1.43,245.6,100.3,11.7,661,10756,0.00,2.45,0.00,0.000,4,0.000,0.060,3074,3262,1830
$GC,10785,1.43,245.6,96.1,12.2,662,10791,0.00,2.38,0.00,0.000,6,0.000,0.050,3074,1927,1830
$GC,11103,1.43,245.6,60.3,11.5,678,11105,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1927,1830
$GC,11411,1.43,250.9,24.7,9.8,693,11422,0.00,2.45,6.32,0.683,4,0.000,0.059,3074,3263,1808
$GC,11452,1.43,250.9,20.1,11.8,695,11456,0.00,2.38,0.00,0.000,6,0.000,0.049,3074,1933,1808
$STATE,11618,end climb,SURFACE_DEPTH_REACHED
$STATE,11618,begin surface coast
$FINISH,0.8,1.003674
$STATE,11639,end surface coast,CONTROL_FINISHED_OK
$STATE,11639,begin surface
$SM_CCo,11664,26.52,0.783,0,0,1607,300.00
$SM_GC,1.60,0.00,0.00,26.52,0.000,0.000,0.783,418,2136,1607,-10.70,0.20,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1831
$TCM_TEMP,17.30
$XPDR_PINGS,56
$ALTIM_BOTTOM_PING,620.4,49.4
$24V_AH,23.7,60.767
$10V_AH,10.1,27.575
$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,26.750,122.450,366.450,26.525,0.000,37.761,26.475,142.937,19.500,0.000,0.000,14.538,1255.711,8358.462,510.495,1422.712,481.550,33.359,1253.122,0.000,1388.104,0.000,38.182,0.000
$DEVICE_MAMPS,160.303,79.001,1250.210,783.107,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,481.192,517.623,397.363,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34898,704
$CAP_FILE_SIZE,101243,0
$CFSIZE,254472192,231579648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,261009,211336,6237.920,-1120.803,37,0.9,42,-10.9