version: 66.04
glider: 5
mission: 7
dive: 384
start: 10 28 109 3 6 35
data:
$ID,5
$MISSION,7
$DIVE,384
$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,-107561.96
$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,24
$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
$GPS1,025630,6239.354,-1103.577,51,1.3,56,-10.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-51.1
$GPS2,030544,6239.400,-1103.792,13,1.3,13,-10.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,DE
$TGT_LATLONG,6237.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.241,-0.106
$KALMAN_X,-168094.0,1240.8,848.0,261324.8,-14431.9
$KALMAN_Y,50102.5,-667.8,-271.3,-139679.3,3252.5
$MHEAD_RNG_PITCHd_Wd,124.5,5495,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-40.90,0.000,2,0.000,0.000,418,2151,2407
$GC,63,-1.44,-146.6,2.0,-3.2,2,128,10.88,2.62,-48.03,0.000,4,0.151,0.064,2423,712,3429
$GC,319,-1.36,-146.6,35.2,-14.4,13,324,0.12,2.53,0.00,0.000,6,0.110,0.047,2446,2137,3430
$GC,637,-1.29,-146.6,85.1,-14.5,28,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2138,3429
$GC,946,-1.23,-146.6,128.6,-13.2,43,951,0.15,2.58,0.00,0.000,4,0.104,0.057,2475,709,3430
$GC,990,-1.27,-146.6,134.4,-12.4,45,995,0.00,2.50,0.00,0.000,6,0.000,0.047,2475,2127,3430
$GC,1313,-1.27,-146.6,176.5,-12.8,64,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2125,3430
$GC,1626,-1.27,-146.6,214.1,-11.5,84,1631,0.00,2.58,0.00,0.000,4,0.000,0.061,2475,706,3430
$GC,1689,-1.30,-146.6,221.7,-11.8,88,1694,0.00,2.50,0.00,0.000,6,0.000,0.048,2476,2120,3430
$GC,2015,-1.30,-146.6,262.9,-13.2,109,2019,0.00,2.55,0.00,0.000,4,0.000,0.061,2476,708,3430
$GC,2044,-1.30,-146.6,266.8,-13.8,111,2048,0.00,2.47,0.00,0.000,6,0.000,0.048,2476,2108,3430
$GC,2368,-1.30,-146.6,310.0,-12.8,132,2373,0.00,2.55,0.00,0.000,4,0.000,0.063,2476,703,3430
$GC,2403,-1.34,-146.6,314.5,-12.7,134,2408,0.00,2.47,0.00,0.000,6,0.000,0.049,2476,2100,3430
$GC,2722,-1.34,-146.6,353.8,-12.6,154,2724,0.12,0.00,0.00,0.000,6,0.063,0.000,2444,2099,3430
$GC,3036,-1.28,-146.6,398.0,-14.3,174,3041,0.10,2.53,0.00,0.000,4,0.108,0.061,2461,707,3430
$GC,3069,-1.28,-146.6,402.9,-13.6,176,3073,0.00,2.45,0.00,0.000,6,0.000,0.050,2461,2088,3430
$GC,3388,-1.28,-146.6,442.3,-11.5,196,3393,0.00,2.65,0.00,0.000,4,0.000,0.072,2461,3534,3430
$GC,3424,-1.28,-146.6,446.4,-12.1,198,3429,0.00,2.65,0.00,0.000,6,0.000,0.061,2461,2081,3430
$GC,3744,-1.28,-146.6,478.5,-9.8,218,3748,0.00,2.45,0.00,0.000,4,0.000,0.064,2461,709,3430
$GC,3834,-1.28,-146.6,487.8,-10.4,223,3840,0.00,2.45,0.00,0.000,6,0.000,0.050,2461,2091,3430
$GC,4156,-1.28,-146.6,522.4,-11.5,244,4160,0.00,2.65,0.00,0.000,4,0.000,0.073,2461,3534,3430
$GC,4185,-1.28,-146.6,526.2,-12.3,246,4189,0.00,2.62,0.00,0.000,6,0.000,0.064,2461,2101,3430
$GC,4509,-1.28,-146.6,561.5,-10.6,267,4514,0.00,2.50,0.00,0.000,4,0.000,0.067,2461,705,3430
$GC,4549,-1.28,-146.6,565.6,-9.7,269,4555,0.00,2.50,0.00,0.000,6,0.000,0.053,2461,2104,3430
$GC,4868,-1.28,-146.6,598.0,-10.1,290,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2104,3429
$STATE,5084,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5084,begin apogee
$GC,5093,-0.33,0.0,620.3,10.3,304,5228,1.00,0.00,131.60,1.239,6,0.087,0.000,2672,1835,2831
$STATE,5229,end apogee,CONTROL_FINISHED_OK
$STATE,5229,begin climb
$GC,5232,1.44,146.6,624.8,0.0,313,5374,1.77,2.70,133.30,1.192,4,0.061,0.077,3058,443,2233
$GC,5459,1.30,146.6,610.3,11.3,327,5465,0.17,2.58,0.00,0.000,6,0.101,0.058,3026,1855,2233
$GC,5787,1.40,207.3,583.2,7.2,348,5851,0.10,2.62,55.30,1.167,4,0.071,0.073,3050,3254,1984
$GC,5907,1.40,207.3,570.6,11.4,355,5912,0.00,2.62,0.00,0.000,6,0.000,0.070,3050,1851,1983
$GC,6227,1.37,207.3,536.0,10.6,375,6232,0.00,2.65,0.00,0.000,4,0.000,0.074,3050,3254,1983
$GC,6250,1.37,207.3,533.3,11.4,376,6256,0.00,2.60,0.00,0.000,6,0.000,0.069,3050,1863,1983
$GC,6569,1.37,208.3,500.1,10.0,397,6573,0.00,2.60,0.00,0.000,4,0.000,0.073,3050,3254,1982
$GC,6614,1.38,218.0,495.5,9.6,400,6631,0.00,2.58,10.12,1.042,6,0.000,0.067,3050,1868,1942
$GC,6944,1.39,222.4,463.0,9.8,421,6951,0.00,0.00,5.45,0.883,6,0.000,0.000,3050,1868,1924
$GC,7256,1.41,235.2,433.3,9.4,441,7270,0.00,0.00,12.82,1.055,6,0.000,0.000,3050,1868,1872
$GC,7583,1.41,235.2,399.3,10.8,462,7588,0.00,2.58,0.00,0.000,4,0.000,0.067,3050,3254,1872
$GC,7639,1.41,235.2,392.9,10.8,465,7646,0.00,2.50,0.00,0.000,6,0.000,0.060,3050,1887,1872
$GC,7959,1.41,235.2,358.5,10.8,486,7964,0.00,2.53,0.00,0.000,4,0.000,0.065,3050,3259,1872
$GC,7988,1.41,235.2,355.2,11.3,488,7993,0.00,2.47,0.00,0.000,6,0.000,0.058,3050,1898,1872
$GC,8313,1.41,235.2,321.4,10.2,509,8317,0.00,2.50,0.00,0.000,4,0.000,0.064,3050,3256,1872
$GC,8347,1.41,235.2,317.7,10.7,511,8351,0.00,2.45,0.00,0.000,6,0.000,0.056,3051,1905,1872
$GC,8666,1.41,235.2,283.9,10.7,531,8670,0.00,2.50,0.00,0.000,4,0.000,0.063,3050,3262,1873
$GC,8694,1.41,235.2,280.7,10.5,533,8699,0.00,2.42,0.00,0.000,6,0.000,0.054,3050,1914,1872
$GC,9020,1.41,235.2,245.7,10.5,554,9024,0.00,2.47,0.00,0.000,4,0.000,0.062,3050,3263,1873
$GC,9041,1.41,235.2,243.1,11.5,555,9048,0.00,2.42,0.00,0.000,6,0.000,0.053,3050,1915,1873
$GC,9361,1.41,235.2,210.1,10.5,576,9365,0.00,2.47,0.00,0.000,4,0.000,0.061,3050,3265,1873
$GC,9377,1.41,235.2,208.2,10.9,577,9381,0.00,2.40,0.00,0.000,6,0.000,0.051,3050,1925,1874
$GC,9697,1.41,235.2,174.3,10.8,597,9701,0.00,2.45,0.00,0.000,4,0.000,0.061,3050,3264,1874
$GC,9725,1.41,235.2,170.9,12.3,599,9729,0.00,2.38,0.00,0.000,6,0.000,0.051,3050,1935,1874
$GC,10045,1.43,249.7,140.1,9.3,618,10067,0.00,2.47,13.88,0.845,4,0.000,0.059,3050,3256,1813
$GC,10107,1.47,249.7,132.7,12.2,620,10113,0.00,2.33,0.00,0.000,6,0.000,0.050,3050,1964,1813
$GC,10423,1.47,249.7,95.8,10.9,636,10428,0.00,2.72,0.00,0.000,4,0.000,0.061,3050,438,1813
$GC,10442,1.47,249.7,93.8,10.4,637,10446,0.00,2.72,0.00,0.000,6,0.000,0.047,3050,1976,1813
$GC,10771,1.47,249.7,58.4,11.0,653,10776,0.00,2.80,0.00,0.000,4,0.000,0.060,3050,435,1813
$GC,10795,1.50,266.5,56.0,9.2,654,10815,0.00,2.70,15.27,0.799,6,0.000,0.047,3050,1977,1744
$GC,11145,1.55,266.5,17.0,10.4,671,11146,0.12,0.00,0.00,0.000,6,0.059,0.000,3086,1980,1744
$STATE,11264,end climb,SURFACE_DEPTH_REACHED
$STATE,11264,begin surface coast
$FINISH,0.5,1.027237
$STATE,11287,end surface coast,CONTROL_FINISHED_OK
$STATE,11287,begin surface
$SM_CCo,11311,17.48,0.764,0,0,1608,300.00
$SM_GC,1.11,0.00,0.00,17.48,0.000,0.000,0.764,420,2163,1608,-10.70,0.90,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1835
$TCM_TEMP,17.40
$XPDR_PINGS,46
$ALTIM_BOTTOM_PING,596.5,33.0
$24V_AH,23.7,62.253
$10V_AH,10.1,28.217
$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,26.175,122.850,377.750,17.475,0.000,75.526,65.521,218.161,17.000,0.000,0.000,13.590,1216.724,8119.338,499.668,1415.676,634.521,33.354,1242.063,0.000,1377.805,0.000,40.414,0.000
$DEVICE_MAMPS,151.099,77.467,1238.705,763.932,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,463.875,496.945,393.681,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34903,678
$CAP_FILE_SIZE,102242,0
$CFSIZE,254472192,231075840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,281009,061657,6239.308,-1102.178,32,2.1,51,-10.8