version: 66.04
glider: 5
mission: 7
dive: 381
start: 10 27 109 17 25 43
data:
$ID,5
$MISSION,7
$DIVE,381
$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,-107518.64
$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,32
$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
$GPS1,171900,6240.196,-1106.864,39,1.4,39,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-58.0
$GPS2,172453,6240.230,-1106.927,14,3.9,33,-10.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,DE
$TGT_LATLONG,6237.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.241,-0.108
$KALMAN_X,-159109.2,941.5,824.1,250074.1,-11629.0
$KALMAN_Y,47996.8,50.1,261.2,-137322.2,1824.0
$MHEAD_RNG_PITCHd_Wd,124.9,8402,-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,-146.6,0.0,0.0,0,61,0.00,0.00,-40.97,0.000,2,0.000,0.000,423,2141,2435
$GC,65,-1.44,-146.6,2.3,-3.0,2,130,11.10,2.58,-47.00,0.000,4,0.160,0.066,2425,716,3429
$GC,244,-1.37,-146.6,22.9,-17.5,10,249,0.10,2.50,0.00,0.000,6,0.109,0.048,2444,2123,3429
$GC,571,-1.30,-146.6,74.1,-17.3,26,576,0.00,2.58,0.00,0.000,4,0.000,0.066,2444,705,3429
$GC,623,-1.27,-146.6,83.4,-17.2,28,628,0.12,2.53,0.00,0.000,6,0.100,0.048,2468,2129,3429
$GC,939,-1.27,-146.6,126.8,-13.3,43,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2130,3429
$GC,1250,-1.27,-146.6,168.3,-13.7,60,1254,0.00,2.58,0.00,0.000,4,0.000,0.061,2468,706,3429
$GC,1289,-1.27,-146.6,173.7,-13.6,62,1295,0.00,2.47,0.00,0.000,6,0.000,0.048,2468,2101,3429
$GC,1608,-1.27,-146.6,217.5,-13.6,83,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2102,3430
$GC,1921,-1.27,-146.6,260.8,-13.8,103,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2101,3429
$GC,2233,-1.27,-146.6,300.6,-12.3,123,2237,0.00,2.55,0.00,0.000,4,0.000,0.068,2468,702,3429
$GC,2266,-1.27,-146.6,304.9,-12.4,125,2270,0.00,2.47,0.00,0.000,6,0.000,0.050,2468,2098,3429
$GC,2586,-1.27,-146.6,342.0,-11.0,145,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2098,3429
$GC,2897,-1.27,-146.6,377.5,-11.1,165,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2098,3430
$GC,3211,-1.27,-146.6,413.9,-11.7,185,3215,0.00,2.53,0.00,0.000,4,0.000,0.064,2468,715,3429
$GC,3264,-1.31,-146.6,420.4,-12.9,188,3268,0.00,2.45,0.00,0.000,6,0.000,0.051,2468,2094,3429
$GC,3583,-1.31,-146.6,459.3,-11.6,208,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2094,3429
$GC,3896,-1.31,-146.6,494.0,-10.8,228,3900,0.00,2.53,0.00,0.000,4,0.000,0.064,2468,705,3429
$GC,3980,-1.36,-146.6,503.0,-10.5,233,3984,0.00,2.45,0.00,0.000,6,0.000,0.051,2468,2084,3429
$GC,4299,-1.36,-146.6,538.8,-11.7,253,4304,0.00,2.53,0.00,0.000,4,0.000,0.067,2468,700,3429
$GC,4373,-1.42,-146.6,547.9,-12.2,257,4379,0.15,2.42,0.00,0.000,6,0.061,0.053,2430,2058,3429
$GC,4694,-1.37,-146.6,588.1,-12.0,278,4699,0.00,2.72,0.00,0.000,4,0.000,0.079,2430,3528,3429
$GC,4791,-1.31,-146.6,600.5,-12.6,284,4797,0.15,2.67,0.00,0.000,6,0.099,0.071,2458,2077,3429
$STATE,4957,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4957,begin apogee
$GC,4965,-0.33,0.0,620.5,11.9,295,5100,1.00,0.00,131.77,1.233,6,0.081,0.000,2673,1833,2831
$STATE,5101,end apogee,CONTROL_FINISHED_OK
$STATE,5101,begin climb
$GC,5105,1.44,146.6,626.1,0.0,304,5247,1.75,2.62,132.12,1.193,4,0.058,0.079,3056,448,2232
$GC,5295,1.31,147.4,616.5,10.0,315,5303,0.15,2.58,0.00,0.000,6,0.102,0.064,3029,1860,2232
$GC,5617,1.42,216.9,592.7,6.8,336,5689,0.12,2.65,63.30,1.170,4,0.064,0.071,3059,3254,1946
$GC,5706,1.38,216.9,584.2,10.5,341,5712,0.00,2.62,0.00,0.000,6,0.000,0.069,3059,1855,1946
$GC,6027,1.34,216.9,547.3,11.7,362,6032,0.12,2.65,0.00,0.000,4,0.103,0.072,3036,3259,1945
$GC,6116,1.34,216.9,537.7,10.0,367,6123,0.00,2.58,0.00,0.000,6,0.000,0.068,3036,1869,1944
$GC,6436,1.42,270.1,510.6,7.6,388,6491,0.00,2.67,47.92,1.159,4,0.000,0.072,3036,442,1728
$GC,6504,1.46,292.7,505.0,9.0,392,6532,0.12,2.62,21.25,1.102,6,0.069,0.056,3066,1882,1637
$GC,6847,1.46,292.7,464.3,13.3,414,6851,0.00,2.53,0.00,0.000,4,0.000,0.071,3066,3249,1637
$GC,6869,1.46,292.7,460.6,14.0,415,6873,0.00,2.58,0.00,0.000,6,0.000,0.064,3066,1858,1637
$GC,7188,1.46,292.7,419.7,12.2,435,7192,0.00,2.58,0.00,0.000,4,0.000,0.069,3066,3245,1638
$GC,7227,1.46,292.7,414.9,12.3,437,7234,0.00,2.50,0.00,0.000,6,0.000,0.062,3066,1882,1638
$GC,7546,1.46,292.7,376.7,11.8,458,7551,0.00,2.53,0.00,0.000,4,0.000,0.067,3066,3250,1638
$GC,7575,1.46,292.7,373.1,12.8,460,7579,0.00,2.45,0.00,0.000,6,0.000,0.060,3066,1902,1638
$GC,7907,1.46,292.7,334.4,11.8,481,7911,0.00,2.47,0.00,0.000,4,0.000,0.066,3066,3250,1638
$GC,7945,1.46,292.7,329.3,12.8,483,7951,0.00,2.42,0.00,0.000,6,0.000,0.067,3066,1916,1638
$GC,8264,1.46,292.7,292.3,11.6,504,8268,0.00,2.45,0.00,0.000,4,0.000,0.064,3066,3244,1638
$GC,8298,1.46,292.7,288.2,11.3,506,8303,0.00,2.40,0.00,0.000,6,0.000,0.056,3066,1914,1638
$GC,8618,1.46,292.7,252.2,11.4,526,8622,0.00,2.45,0.00,0.000,4,0.000,0.064,3066,3244,1638
$GC,8651,1.46,292.7,248.2,11.5,528,8655,0.00,2.35,0.00,0.000,6,0.000,0.054,3066,1938,1638
$GC,8971,1.46,292.7,211.5,12.0,548,8975,0.00,2.40,0.00,0.000,4,0.000,0.064,3066,3245,1639
$GC,8987,1.46,292.7,209.2,11.7,549,8991,0.00,2.33,0.00,0.000,6,0.000,0.054,3066,1950,1639
$GC,9306,1.46,292.7,170.1,12.3,569,9307,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1950,1639
$GC,9625,1.46,292.7,131.2,11.6,587,9629,0.00,2.38,0.00,0.000,4,0.000,0.061,3066,3246,1640
$GC,9665,1.46,292.7,126.0,12.6,589,9669,0.00,2.30,0.00,0.000,6,0.000,0.052,3067,1962,1639
$GC,9992,1.46,292.7,87.5,12.2,605,9993,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1962,1640
$GC,10302,1.46,292.7,48.8,12.6,620,10306,0.00,2.35,0.00,0.000,4,0.000,0.061,3066,3247,1640
$GC,10330,1.49,292.7,44.9,13.3,621,10334,0.00,2.28,0.00,0.000,6,0.000,0.050,3067,1964,1640
$GC,10646,1.53,292.7,11.1,14.6,636,10651,0.00,2.72,0.00,0.000,4,0.000,0.064,3067,442,1640
$GC,10665,1.53,292.7,8.7,15.0,637,10670,0.00,2.70,0.00,0.000,6,0.000,0.052,3067,1964,1641
$STATE,10722,end climb,SURFACE_DEPTH_REACHED
$STATE,10722,begin surface coast
$FINISH,0.6,1.004902
$STATE,10744,end surface coast,CONTROL_FINISHED_OK
$STATE,10744,begin surface
$SM_CCo,10768,4.15,0.543,0,0,1607,300.00
$SM_GC,2.21,0.00,0.00,4.15,0.000,0.000,0.543,422,2130,1607,-10.69,-0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1841
$TCM_TEMP,16.20
$XPDR_PINGS,38
$ALTIM_BOTTOM_PING,595.7,33.6
$24V_AH,23.7,61.805
$10V_AH,10.1,28.023
$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,26.425,111.350,396.375,4.150,0.000,37.761,32.107,135.803,15.250,0.000,0.000,34.783,1146.222,7649.761,484.829,1379.042,467.677,33.357,1200.731,0.000,1319.471,0.000,42.364,0.000
$DEVICE_MAMPS,160.303,79.001,1233.336,543.036,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.974,463.555,374.994,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31722,641
$CAP_FILE_SIZE,93494,0
$CFSIZE,254472192,231235584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,271009,202700,6239.670,-1104.644,64,1.5,64,-10.8