version: 66.04
glider: 5
mission: 7
dive: 385
start: 10 28 109 6 23 45
data:
$ID,5
$MISSION,7
$DIVE,385
$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,-107598.68
$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,23
$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
$GPS1,061657,6239.308,-1102.178,32,2.1,51,-10.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-53.3
$GPS2,062255,6239.323,-1102.265,36,1.9,36,-10.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.249,0.087
$KALMAN_X,-170313.0,1048.8,1044.7,264793.6,-13856.7
$KALMAN_Y,51570.3,-590.8,-34.6,-141616.5,4043.7
$MHEAD_RNG_PITCHd_Wd,81.5,32549,-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,15,begin dive
$GC,18,-1.44,-146.6,0.0,0.0,0,79,0.00,0.00,-58.28,0.000,2,0.000,0.000,419,2152,2728
$GC,83,-1.44,-146.6,2.6,-3.2,3,127,11.07,2.60,-25.27,0.000,4,0.154,0.064,2428,702,3429
$GC,202,-1.35,-146.6,16.5,-14.3,8,209,0.12,2.55,0.00,0.000,6,0.106,0.048,2452,2139,3429
$GC,519,-1.28,-146.6,58.8,-16.1,24,523,0.00,2.60,0.00,0.000,4,0.000,0.058,2453,703,3429
$GC,585,-1.28,-146.6,69.0,-13.0,27,590,0.00,2.53,0.00,0.000,6,0.000,0.048,2452,2124,3429
$GC,908,-1.22,-146.6,115.1,-13.2,43,913,0.12,2.58,0.00,0.000,4,0.109,0.058,2475,704,3429
$GC,949,-1.22,-146.6,120.5,-13.1,45,953,0.00,2.50,0.00,0.000,6,0.000,0.048,2476,2111,3430
$GC,1278,-1.22,-146.6,161.2,-12.7,62,1282,0.00,2.53,0.00,0.000,4,0.000,0.058,2476,709,3430
$GC,1306,-1.22,-146.6,165.1,-13.4,64,1311,0.00,2.47,0.00,0.000,6,0.000,0.048,2476,2108,3430
$GC,1633,-1.22,-146.6,206.8,-12.5,85,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2109,3430
$GC,1945,-1.22,-146.6,245.8,-12.6,105,1949,0.00,2.53,0.00,0.000,4,0.000,0.060,2476,709,3430
$GC,1991,-1.26,-146.6,251.8,-13.1,108,1995,0.00,2.47,0.00,0.000,6,0.000,0.049,2476,2108,3430
$GC,2315,-1.26,-146.6,291.8,-12.6,129,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2108,3430
$GC,2628,-1.26,-146.6,333.4,-13.3,149,2632,0.00,2.53,0.00,0.000,4,0.000,0.061,2476,713,3430
$GC,2690,-1.30,-146.6,342.0,-13.4,153,2695,0.00,2.47,0.00,0.000,6,0.000,0.051,2476,2108,3430
$GC,3016,-1.30,-146.6,387.7,-14.0,174,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2108,3430
$GC,3327,-1.30,-146.6,427.0,-11.5,194,3331,0.00,2.55,0.00,0.000,4,0.000,0.064,2476,706,3430
$GC,3429,-1.34,-146.6,438.2,-10.8,200,3434,0.12,2.45,0.00,0.000,6,0.063,0.051,2443,2089,3430
$GC,3751,-1.29,-146.6,472.5,-10.9,220,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2090,3430
$GC,4062,-1.24,-146.6,509.7,-12.8,240,4067,0.15,2.53,0.00,0.000,4,0.097,0.064,2471,700,3430
$GC,4188,-1.30,-146.6,525.1,-12.0,247,4194,0.00,2.45,0.00,0.000,6,0.000,0.052,2471,2077,3430
$GC,4507,-1.30,-146.6,562.1,-11.1,268,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2077,3430
$GC,4819,-1.30,-146.6,596.5,-11.8,288,4823,0.00,2.55,0.00,0.000,4,0.000,0.074,2471,703,3429
$GC,4848,-1.34,-146.6,599.7,-12.0,290,4852,0.00,2.47,0.00,0.000,6,0.000,0.060,2471,2071,3429
$STATE,4997,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4998,begin apogee
$GC,5006,-0.33,0.0,616.4,11.0,300,5141,0.93,0.00,131.55,1.233,6,0.081,0.000,2668,1834,2831
$STATE,5142,end apogee,CONTROL_FINISHED_OK
$STATE,5142,begin climb
$GC,5145,1.44,146.6,621.9,0.0,309,5288,1.80,2.67,133.70,1.187,4,0.064,0.074,3058,449,2233
$GC,5348,1.31,146.7,610.4,10.0,321,5353,0.15,2.55,0.00,0.000,6,0.101,0.056,3031,1846,2233
$GC,5667,1.35,168.6,583.7,9.0,341,5693,0.00,2.67,20.80,1.123,4,0.000,0.073,3031,3262,2142
$GC,5740,1.41,204.6,577.8,8.4,344,5778,0.00,2.62,32.78,1.151,6,0.000,0.070,3031,1858,1997
$GC,6094,1.41,204.6,543.9,10.1,367,6098,0.00,2.65,0.00,0.000,4,0.000,0.074,3031,3258,1996
$GC,6156,1.41,204.6,537.2,10.2,371,6161,0.00,2.60,0.00,0.000,6,0.000,0.071,3031,1860,1996
$GC,6482,1.45,232.8,507.4,8.7,392,6511,0.15,0.00,26.05,1.144,6,0.062,0.000,3068,1860,1881
$GC,6824,1.40,232.8,468.3,11.5,414,6828,0.00,2.62,0.00,0.000,4,0.000,0.071,3067,3257,1880
$GC,6863,1.37,232.8,463.4,12.7,416,6871,0.10,2.58,0.00,0.000,6,0.097,0.067,3045,1865,1879
$GC,7184,1.37,232.8,429.5,10.3,437,7188,0.00,2.60,0.00,0.000,4,0.000,0.070,3045,3255,1880
$GC,7234,1.37,232.8,423.8,11.0,440,7238,0.00,2.50,0.00,0.000,6,0.000,0.064,3045,1888,1879
$GC,7554,1.37,236.3,390.8,9.8,460,7563,0.00,2.55,4.43,0.770,4,0.000,0.067,3045,3256,1867
$GC,7598,1.37,236.3,386.1,10.0,462,7604,0.00,2.50,0.00,0.000,6,0.000,0.061,3045,1894,1867
$GC,7918,1.37,236.3,352.9,10.5,483,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1894,1867
$GC,8229,1.38,240.3,321.8,9.8,503,8240,0.00,2.55,5.38,0.802,4,0.000,0.064,3045,3261,1851
$GC,8279,1.41,240.3,316.6,10.2,505,8284,0.00,2.47,0.00,0.000,6,0.000,0.057,3045,1902,1850
$GC,8599,1.41,240.3,283.7,11.0,525,8603,0.00,2.50,0.00,0.000,4,0.000,0.064,3045,3256,1851
$GC,8621,1.41,240.3,281.0,11.7,526,8627,0.00,2.45,0.00,0.000,6,0.000,0.055,3045,1904,1851
$GC,8940,1.41,240.3,244.5,11.6,547,8945,0.00,2.50,0.00,0.000,4,0.000,0.064,3045,3261,1851
$GC,8975,1.44,240.3,240.5,11.0,549,8979,0.00,2.40,0.00,0.000,6,0.000,0.054,3045,1919,1851
$GC,9294,1.44,240.3,204.5,11.2,569,9298,0.00,2.45,0.00,0.000,4,0.000,0.062,3045,3257,1852
$GC,9333,1.48,240.3,200.0,11.3,571,9339,0.00,2.40,0.00,0.000,6,0.000,0.052,3045,1919,1852
$GC,9653,1.48,240.3,164.7,11.1,592,9657,0.00,2.45,0.00,0.000,4,0.000,0.062,3045,3258,1852
$GC,9686,1.52,240.3,160.7,11.6,594,9691,0.12,2.38,0.00,0.000,6,0.061,0.051,3078,1933,1852
$GC,10022,1.47,240.3,116.2,13.5,611,10023,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1932,1852
$GC,10329,1.43,240.3,76.3,12.2,626,10330,0.12,0.00,0.00,0.000,6,0.098,0.000,3055,1932,1853
$GC,10637,1.43,240.3,41.6,10.5,641,10641,0.00,2.42,0.00,0.000,4,0.000,0.058,3055,3267,1853
$GC,10689,1.47,240.3,35.4,11.8,643,10693,0.00,2.38,0.00,0.000,6,0.000,0.048,3055,1930,1853
$GC,11005,1.47,240.3,3.7,11.8,658,11010,0.00,2.20,0.00,0.000,3,0.000,0.060,3055,682,1853
$STATE,11010,end climb,SURFACE_DEPTH_REACHED
$STATE,11010,begin surface coast
$FINISH,0.4,1.027107
$STATE,11048,end surface coast,CONTROL_FINISHED_OK
$STATE,11048,begin surface
$SM_CCo,11074,31.48,0.782,0,0,1607,300.00
$SM_GC,1.33,0.00,0.00,31.48,0.000,0.000,0.782,418,2136,1607,-10.70,0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1830
$TCM_TEMP,17.30
$XPDR_PINGS,34
$ALTIM_BOTTOM_PING,546.1,79.8
$24V_AH,23.7,62.392
$10V_AH,10.1,28.280
$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,26.450,111.100,354.675,31.475,0.000,37.759,30.906,143.398,13.250,0.000,0.000,36.086,1186.307,7922.990,489.252,1394.495,472.365,33.358,1197.304,0.000,1339.304,0.000,36.734,0.000
$DEVICE_MAMPS,154.167,74.399,1233.336,781.573,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.707,482.326,388.681,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34804,660
$CAP_FILE_SIZE,94773,0
$CFSIZE,254472192,231026688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,281009,093036,6239.809,-1101.039,64,1.2,64,-10.8