version: 66.04
glider: 5
mission: 7
dive: 378
start: 10 27 109 7 25 10
data:
$ID,5
$MISSION,7
$DIVE,378
$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,-107456.27
$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,23
$R_STBD_OVSHOOT,34
$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
$GPS1,071906,6239.371,-1112.657,29,1.2,29,-10.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-61.9
$GPS2,072419,6239.385,-1112.754,14,1.2,14,-10.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,DE
$TGT_LATLONG,6237.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.264,-0.007
$KALMAN_X,-149465.8,539.2,389.3,236451.2,-7994.5
$KALMAN_Y,42442.0,1041.4,389.2,-134461.5,-3881.2
$MHEAD_RNG_PITCHd_Wd,102.5,11727,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.65,0.000,2,0.000,0.000,419,2150,2693
$GC,83,-1.44,-146.6,2.8,-3.2,3,127,11.30,2.65,-26.20,0.000,4,0.165,0.066,2425,702,3430
$GC,164,-1.35,-146.6,12.1,-17.5,7,169,0.12,2.53,0.00,0.000,6,0.107,0.048,2448,2131,3430
$GC,492,-1.28,-146.6,66.4,-19.3,23,496,0.00,2.58,0.00,0.000,4,0.000,0.057,2449,702,3430
$GC,526,-1.24,-146.6,73.5,-19.9,24,533,0.12,2.53,0.00,0.000,6,0.105,0.049,2472,2128,3430
$GC,843,-1.24,-146.6,116.7,-12.5,40,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2129,3431
$GC,1152,-1.24,-146.6,149.6,-9.4,55,1156,0.00,2.58,0.00,0.000,4,0.000,0.060,2472,706,3430
$GC,1236,-1.24,-146.6,159.2,-11.6,60,1240,0.00,2.47,0.00,0.000,6,0.000,0.048,2472,2102,3430
$GC,1558,-1.24,-146.6,196.6,-11.6,80,1562,0.00,2.53,0.00,0.000,4,0.000,0.061,2472,709,3431
$GC,1603,-1.24,-146.6,202.4,-12.6,83,1607,0.00,2.47,0.00,0.000,6,0.000,0.048,2472,2102,3430
$GC,1928,-1.24,-146.6,239.9,-11.0,104,1932,0.00,2.53,0.00,0.000,4,0.000,0.060,2472,704,3430
$GC,1967,-1.24,-146.6,244.5,-11.1,106,1972,0.00,2.45,0.00,0.000,6,0.000,0.049,2473,2082,3430
$GC,2291,-1.24,-146.6,284.2,-13.2,127,2295,0.00,2.50,0.00,0.000,4,0.000,0.062,2472,705,3430
$GC,2320,-1.24,-146.6,288.2,-13.7,129,2324,0.00,2.45,0.00,0.000,6,0.000,0.050,2472,2079,3430
$GC,2646,-1.24,-146.6,332.4,-13.2,150,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2080,3430
$GC,2957,-1.24,-146.6,371.1,-11.8,170,2961,0.00,2.50,0.00,0.000,4,0.000,0.065,2472,707,3430
$GC,3020,-1.27,-146.6,378.6,-12.6,174,3024,0.00,2.42,0.00,0.000,6,0.000,0.052,2473,2069,3430
$GC,3351,-1.27,-146.6,419.4,-13.1,195,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2070,3430
$GC,3664,-1.27,-146.6,458.3,-12.0,215,3668,0.00,2.47,0.00,0.000,4,0.000,0.064,2473,711,3430
$GC,3697,-1.31,-146.6,462.5,-12.2,217,3701,0.00,2.40,0.00,0.000,6,0.000,0.051,2473,2059,3430
$GC,4016,-1.31,-146.6,498.4,-11.4,237,4020,0.00,2.47,0.00,0.000,4,0.000,0.065,2472,705,3430
$GC,4067,-1.36,-146.6,504.4,-11.4,240,4072,0.12,2.40,0.00,0.000,6,0.061,0.051,2440,2051,3430
$GC,4390,-1.32,-146.6,546.0,-12.5,260,4394,0.00,2.70,0.00,0.000,4,0.000,0.076,2439,3530,3430
$GC,4463,-1.28,-146.6,556.3,-12.4,264,4470,0.12,2.70,0.00,0.000,6,0.100,0.064,2463,2052,3430
$GC,4782,-1.28,-146.6,592.7,-11.9,285,4787,0.00,2.78,0.00,0.000,4,0.000,0.077,2463,3528,3430
$GC,4811,-1.28,-146.6,596.2,-12.7,287,4816,0.00,2.67,0.00,0.000,6,0.000,0.067,2463,2065,3430
$GC,5137,-1.28,-146.6,633.7,-11.4,308,5141,0.00,2.45,0.00,0.000,4,0.000,0.072,2463,708,3429
$STATE,5167,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5167,begin apogee
$GC,5176,-0.33,0.0,638.0,12.0,310,5313,0.93,0.00,132.48,1.246,6,0.081,0.000,2665,1871,2831
$STATE,5313,end apogee,CONTROL_FINISHED_OK
$STATE,5313,begin climb
$GC,5317,1.44,146.6,643.6,0.0,319,5462,1.77,2.75,133.80,1.200,4,0.061,0.074,3060,448,2233
$GC,5477,1.35,155.5,637.0,9.6,329,5491,0.00,2.58,9.65,1.018,6,0.000,0.056,3060,1852,2196
$GC,5815,1.28,155.5,603.7,10.2,351,5820,0.20,2.58,0.00,0.000,4,0.099,0.072,3018,3254,2195
$GC,5844,1.31,173.1,600.7,9.2,353,5868,0.00,2.62,16.60,1.111,6,0.000,0.069,3018,1850,2125
$GC,6192,1.36,202.2,570.2,8.7,375,6225,0.00,2.70,27.02,1.160,4,0.000,0.071,3018,3252,2005
$GC,6261,1.45,225.6,563.9,8.9,379,6292,0.20,2.60,21.33,1.137,6,0.061,0.069,3065,1867,1912
$GC,6608,1.39,225.6,525.2,11.6,401,6612,0.00,2.60,0.00,0.000,4,0.000,0.073,3065,3258,1910
$GC,6658,1.39,225.6,518.3,12.5,404,6662,0.00,2.53,0.00,0.000,6,0.000,0.067,3065,1890,1910
$GC,6978,1.35,225.6,481.6,11.4,424,6979,0.15,0.00,0.00,0.000,6,0.108,0.000,3037,1890,1909
$GC,7290,1.35,225.6,449.8,10.4,444,7294,0.00,2.53,0.00,0.000,4,0.000,0.069,3037,3254,1909
$GC,7357,1.38,225.6,442.5,10.7,448,7362,0.00,2.53,0.00,0.000,6,0.000,0.062,3037,1877,1909
$GC,7677,1.41,244.7,412.9,9.1,468,7702,0.00,2.62,17.62,1.066,4,0.000,0.065,3038,3252,1833
$GC,7750,1.46,244.7,405.6,10.2,472,7755,0.12,2.50,0.00,0.000,6,0.065,0.060,3067,1892,1833
$GC,8072,1.43,244.7,367.6,12.2,492,8076,0.00,2.53,0.00,0.000,4,0.000,0.065,3068,3255,1833
$GC,8094,1.40,244.7,364.4,12.3,493,8100,0.00,2.47,0.00,0.000,6,0.000,0.058,3068,1896,1833
$GC,8414,1.37,244.7,326.8,11.9,514,8418,0.12,2.50,0.00,0.000,4,0.102,0.064,3044,3255,1833
$GC,8453,1.40,244.7,322.1,11.3,516,8460,0.00,2.42,0.00,0.000,6,0.000,0.056,3045,1914,1833
$GC,8773,1.41,246.7,289.6,9.9,537,8774,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1914,1833
$GC,9085,1.43,263.8,259.4,9.2,557,9109,0.00,2.53,17.73,0.948,4,0.000,0.062,3045,3249,1755
$GC,9140,1.48,263.8,254.0,10.3,560,9145,0.10,2.40,0.00,0.000,6,0.067,0.053,3071,1926,1755
$GC,9459,1.48,263.8,218.2,11.0,580,9460,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1926,1755
$GC,9772,1.48,263.8,182.5,11.3,600,9776,0.00,2.45,0.00,0.000,4,0.000,0.062,3071,3262,1756
$GC,9811,1.48,263.8,177.8,11.0,602,9817,0.00,2.40,0.00,0.000,6,0.000,0.051,3070,1923,1755
$GC,10146,1.48,263.8,143.1,10.5,623,10147,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1923,1756
$GC,10455,1.48,263.8,108.4,10.1,638,10459,0.00,2.42,0.00,0.000,4,0.000,0.060,3071,3255,1756
$GC,10500,1.49,269.9,103.8,9.7,640,10516,0.00,2.35,6.88,0.737,6,0.000,0.049,3071,1937,1730
$GC,10828,1.49,269.9,68.0,12.1,656,10832,0.00,2.42,0.00,0.000,4,0.000,0.060,3071,3265,1730
$GC,10862,1.49,269.9,64.0,10.1,657,10868,0.00,2.35,0.00,0.000,6,0.000,0.048,3071,1937,1730
$GC,11178,1.49,269.9,27.3,11.8,673,11179,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1937,1730
$STATE,11424,end climb,SURFACE_DEPTH_REACHED
$STATE,11424,begin surface coast
$FINISH,0.7,1.009794
$STATE,11444,end surface coast,CONTROL_FINISHED_OK
$STATE,11444,begin surface
$SM_CCo,11468,16.02,0.755,0,0,1608,300.00
$SM_GC,1.43,0.00,0.00,16.02,0.000,0.000,0.755,423,2145,1608,-10.68,0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1836
$TCM_TEMP,17.30
$XPDR_PINGS,51
$ALTIM_BOTTOM_PING,621.0,26.6
$24V_AH,23.7,61.365
$10V_AH,10.1,27.833
$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,26.925,121.100,383.100,16.025,0.000,37.762,29.396,126.657,18.250,0.000,0.000,14.014,1225.987,8198.501,516.997,1397.954,463.053,33.358,1248.363,0.000,1362.289,0.000,41.343,0.000
$DEVICE_MAMPS,164.905,77.467,1245.608,755.495,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,468.982,502.814,402.600,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34911,686
$CAP_FILE_SIZE,99152,0
$CFSIZE,254472192,231383040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,271009,103754,6239.293,-1111.085,38,1.6,38,-10.8