version: 66.04
glider: 5
mission: 7
dive: 383
start: 10 27 109 23 55 53
data:
$ID,5
$MISSION,7
$DIVE,383
$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,-107547.73
$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,19
$R_STBD_OVSHOOT,31
$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
$GPS1,234807,6238.575,-1104.659,67,1.1,67,-10.8
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-57.3
$GPS2,235502,6238.606,-1104.910,13,1.2,13,-10.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,DE
$TGT_LATLONG,6237.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.254,0.069
$KALMAN_X,-164890.0,1428.7,528.8,257333.7,-12943.4
$KALMAN_Y,50499.1,-508.2,-424.5,-141554.8,4411.0
$MHEAD_RNG_PITCHd_Wd,85.6,5132,-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,13,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,-60.50,0.000,2,0.000,0.000,421,2144,2801
$GC,83,-1.44,-146.6,2.8,-2.8,3,118,11.10,0.00,-21.40,0.000,6,0.160,0.000,2423,2147,3430
$GC,416,-1.32,-146.6,57.4,-16.9,19,421,0.15,2.60,0.00,0.000,4,0.110,0.057,2452,707,3431
$GC,471,-1.32,-146.6,67.8,-19.9,21,478,0.00,2.53,0.00,0.000,6,0.000,0.049,2453,2131,3431
$GC,789,-1.27,-146.6,116.1,-15.4,37,793,0.00,2.60,0.00,0.000,4,0.000,0.061,2453,703,3431
$GC,822,-1.27,-146.6,121.0,-13.2,38,828,0.00,2.55,0.00,0.000,6,0.000,0.048,2453,2137,3431
$GC,1151,-1.21,-146.6,164.2,-14.0,56,1153,0.12,0.00,0.00,0.000,6,0.107,0.000,2477,2137,3431
$GC,1462,-1.21,-146.6,202.3,-11.8,76,1467,0.00,2.60,0.00,0.000,4,0.000,0.061,2477,704,3431
$GC,1496,-1.25,-146.6,206.7,-12.4,78,1501,0.00,2.53,0.00,0.000,6,0.000,0.049,2477,2125,3431
$GC,1816,-1.25,-146.6,244.7,-11.7,98,1824,0.00,2.58,0.00,0.000,4,0.000,0.064,2477,710,3432
$GC,1853,-1.30,-146.6,249.3,-12.8,100,1858,0.00,2.50,0.00,0.000,6,0.000,0.050,2477,2120,3431
$GC,2184,-1.30,-146.6,288.2,-12.0,121,2188,0.00,2.58,0.00,0.000,4,0.000,0.063,2478,700,3431
$GC,2218,-1.34,-146.6,292.5,-12.3,123,2223,0.12,2.50,0.00,0.000,6,0.057,0.050,2445,2109,3431
$GC,2540,-1.29,-146.6,335.5,-13.3,143,2544,0.00,2.55,0.00,0.000,4,0.000,0.063,2445,703,3431
$GC,2579,-1.29,-146.6,341.3,-13.6,145,2585,0.00,2.47,0.00,0.000,6,0.000,0.050,2444,2099,3431
$GC,2901,-1.25,-146.6,383.4,-13.1,166,2902,0.15,0.00,0.00,0.000,6,0.104,0.000,2473,2099,3431
$GC,3213,-1.25,-146.6,421.4,-12.5,186,3217,0.00,2.53,0.00,0.000,4,0.000,0.064,2473,708,3431
$GC,3253,-1.29,-146.6,426.9,-13.0,188,3259,0.00,2.45,0.00,0.000,6,0.000,0.051,2473,2089,3432
$GC,3572,-1.29,-146.6,466.2,-12.3,209,3576,0.00,2.65,0.00,0.000,4,0.000,0.072,2473,3538,3431
$GC,3610,-1.29,-146.6,471.4,-13.1,211,3616,0.00,2.67,0.00,0.000,6,0.000,0.062,2473,2070,3431
$GC,3930,-1.29,-146.6,513.5,-12.9,232,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2069,3431
$GC,4241,-1.29,-146.6,553.4,-12.2,252,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2065,3431
$GC,4555,-1.32,-146.6,589.5,-11.4,272,4559,0.00,2.45,0.00,0.000,4,0.000,0.071,2473,715,3431
$GC,4594,-1.38,-146.6,594.1,-11.3,274,4601,0.15,2.47,0.00,0.000,6,0.060,0.055,2435,2098,3431
$STATE,4879,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4879,begin apogee
$GC,4887,-0.33,0.0,630.7,12.8,293,5023,1.12,0.00,132.00,1.244,6,0.086,0.000,2672,1831,2831
$STATE,5024,end apogee,CONTROL_FINISHED_OK
$STATE,5024,begin climb
$GC,5027,1.44,146.6,636.7,0.0,302,5167,1.75,2.75,131.85,1.201,4,0.061,0.072,3059,3255,2232
$GC,5236,1.40,167.2,625.0,9.1,315,5261,0.00,2.62,19.67,1.116,6,0.000,0.070,3058,1851,2148
$GC,5586,1.34,172.4,589.9,9.8,337,5602,0.12,2.67,6.15,0.919,4,0.106,0.074,3037,3249,2128
$GC,5648,1.37,197.0,583.8,8.9,340,5679,0.00,2.60,23.17,1.140,6,0.000,0.071,3037,1854,2027
$GC,6002,1.43,234.1,553.2,8.3,363,6045,0.00,2.72,33.38,1.170,4,0.000,0.074,3037,3255,1876
$GC,6057,1.48,263.1,548.1,8.7,366,6090,0.15,2.65,26.58,1.143,6,0.064,0.071,3072,1849,1759
$GC,6403,1.42,263.1,509.9,11.6,388,6407,0.00,2.65,0.00,0.000,4,0.000,0.072,3072,3252,1758
$GC,6458,1.42,263.1,502.5,13.0,391,6464,0.00,2.58,0.00,0.000,6,0.000,0.068,3072,1863,1758
$GC,6778,1.37,263.1,461.1,13.4,412,6783,0.15,2.60,0.00,0.000,4,0.104,0.069,3045,3251,1758
$GC,6800,1.37,263.1,457.9,13.6,413,6806,0.00,2.53,0.00,0.000,6,0.000,0.064,3045,1887,1757
$GC,7120,1.37,263.1,419.1,12.1,434,7124,0.00,2.55,0.00,0.000,4,0.000,0.067,3044,3257,1757
$GC,7153,1.37,263.1,414.8,12.7,436,7157,0.00,2.50,0.00,0.000,6,0.000,0.061,3045,1895,1757
$GC,7472,1.37,263.1,378.0,11.4,456,7477,0.00,2.50,0.00,0.000,4,0.000,0.067,3045,3253,1757
$GC,7513,1.40,263.1,373.3,12.1,458,7519,0.00,2.45,0.00,0.000,6,0.000,0.058,3045,1908,1757
$GC,7832,1.40,263.1,336.7,11.6,479,7836,0.00,2.50,0.00,0.000,4,0.000,0.065,3045,3261,1757
$GC,7871,1.44,263.1,332.0,12.3,481,7877,0.00,2.45,0.00,0.000,6,0.000,0.057,3044,1911,1757
$GC,8190,1.44,263.1,295.7,11.1,502,8195,0.00,2.47,0.00,0.000,4,0.000,0.064,3044,3254,1757
$GC,8230,1.48,263.1,291.2,11.5,504,8236,0.10,2.40,0.00,0.000,6,0.067,0.055,3071,1924,1757
$GC,8549,1.45,263.1,252.2,11.7,525,8550,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1924,1757
$GC,8862,1.41,263.1,216.0,11.5,545,8866,0.00,2.45,0.00,0.000,4,0.000,0.062,3071,3261,1758
$GC,8908,1.41,263.1,210.3,12.7,548,8912,0.00,2.38,0.00,0.000,6,0.000,0.052,3071,1933,1758
$GC,9239,1.37,263.1,173.0,11.8,569,9244,0.15,2.42,0.00,0.000,4,0.095,0.061,3042,3258,1758
$GC,9261,1.37,263.1,170.1,11.4,570,9267,0.00,2.35,0.00,0.000,6,0.000,0.051,3042,1946,1759
$GC,9580,1.40,263.1,135.6,11.5,589,9584,0.00,2.40,0.00,0.000,4,0.000,0.061,3042,3260,1759
$GC,9614,1.46,263.1,131.4,11.9,590,9621,0.00,2.35,0.00,0.000,6,0.000,0.051,3042,1942,1759
$GC,9931,1.50,263.1,98.4,11.3,606,9936,0.12,2.40,0.00,0.000,4,0.060,0.059,3074,3258,1759
$GC,9953,1.50,263.1,95.3,13.4,607,9957,0.00,2.33,0.00,0.000,6,0.000,0.050,3075,1958,1759
$GC,10276,1.52,279.1,60.0,9.3,623,10298,0.00,2.38,14.68,0.794,4,0.000,0.058,3075,3252,1693
$GC,10326,1.52,279.1,53.4,12.3,625,10330,0.00,2.30,0.00,0.000,6,0.000,0.049,3074,1974,1693
$GC,10647,1.52,279.1,8.5,13.6,641,10652,0.00,2.75,0.00,0.000,4,0.000,0.064,3074,439,1693
$GC,10659,1.52,279.1,7.1,12.4,641,10665,0.00,2.72,0.00,0.000,6,0.000,0.044,3074,1990,1693
$STATE,10683,end climb,SURFACE_DEPTH_REACHED
$STATE,10684,begin surface coast
$FINISH,0.6,1.027218
$STATE,10706,end surface coast,CONTROL_FINISHED_OK
$STATE,10706,begin surface
$SM_CCo,10730,10.93,0.727,0,0,1608,300.00
$SM_GC,1.81,0.00,0.00,10.93,0.000,0.000,0.727,418,2147,1608,-10.70,0.51,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1843
$TCM_TEMP,16.30
$XPDR_PINGS,46
$ALTIM_BOTTOM_PING,571.6,67.2
$24V_AH,23.7,62.104
$10V_AH,10.1,28.151
$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,27.000,121.950,387.475,10.925,0.000,37.765,35.164,214.464,16.500,0.000,0.000,13.376,1146.658,7632.348,521.373,1305.174,552.986,33.359,1220.839,0.000,1275.861,0.000,35.067,0.000
$DEVICE_MAMPS,159.536,73.632,1244.074,727.116,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.376,470.221,374.809,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31713,644
$CAP_FILE_SIZE,97244,0
$CFSIZE,254472192,231133184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,281009,025630,6239.354,-1103.577,51,1.3,56,-10.8