version: 66.04
glider: 5
mission: 7
dive: 386
start: 10 28 109 9 37 32
data:
$ID,5
$MISSION,7
$DIVE,386
$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,-107614.35
$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,18
$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
$GPS1,093036,6239.809,-1101.039,64,1.2,64,-10.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-55.6
$GPS2,093638,6239.803,-1101.234,15,1.2,15,-10.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.233,-0.123
$KALMAN_X,-172956.6,1164.3,671.7,268551.2,-13538.4
$KALMAN_Y,50415.5,-363.5,-508.0,-139310.3,2626.9
$MHEAD_RNG_PITCHd_Wd,128.6,32296,-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,12,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,79,0.00,0.00,-61.08,0.000,2,0.000,0.000,418,2139,2843
$GC,83,-1.44,-146.6,2.9,-2.8,3,118,11.12,2.60,-17.67,0.000,4,0.160,0.063,2424,712,3430
$GC,196,-1.34,-146.6,17.6,-11.4,8,201,0.15,2.55,0.00,0.000,6,0.107,0.048,2452,2146,3430
$GC,525,-1.28,-146.6,69.8,-14.6,24,529,0.00,2.53,0.00,0.000,4,0.000,0.066,2452,3535,3430
$GC,544,-1.25,-146.6,72.3,-13.8,25,548,0.00,2.53,0.00,0.000,6,0.000,0.051,2452,2121,3430
$GC,871,-1.20,-146.6,116.0,-13.0,41,873,0.15,0.00,0.00,0.000,6,0.103,0.000,2482,2104,3431
$GC,1190,-1.20,-146.6,155.3,-12.3,57,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2104,3431
$GC,1504,-1.20,-146.6,195.4,-13.1,77,1508,0.00,2.62,0.00,0.000,4,0.000,0.068,2482,3544,3431
$GC,1532,-1.20,-146.6,199.3,-13.0,79,1537,0.00,2.58,0.00,0.000,6,0.000,0.054,2482,2116,3431
$GC,1857,-1.20,-146.6,236.4,-11.2,100,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2116,3431
$GC,2170,-1.20,-146.6,272.9,-12.0,120,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2114,3431
$GC,2484,-1.24,-146.6,311.2,-12.0,140,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2114,3431
$GC,2795,-1.27,-146.6,348.9,-12.2,160,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2116,3431
$GC,3107,-1.30,-146.6,387.2,-12.3,180,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2115,3431
$GC,3420,-1.33,-146.6,426.6,-12.5,200,3422,0.12,0.00,0.00,0.000,6,0.061,0.000,2449,2114,3431
$GC,3731,-1.33,-146.6,468.6,-13.4,220,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2106,3431
$GC,4044,-1.33,-146.6,512.3,-14.3,240,4048,0.00,2.50,0.00,0.000,4,0.000,0.065,2449,716,3431
$GC,4108,-1.33,-146.6,521.2,-14.0,244,4113,0.00,2.50,0.00,0.000,6,0.000,0.052,2448,2120,3431
$GC,4433,-1.33,-146.6,558.6,-10.3,265,4437,0.00,2.62,0.00,0.000,4,0.000,0.078,2449,3540,3431
$GC,4462,-1.33,-146.6,561.7,-10.6,267,4467,0.00,2.67,0.00,0.000,6,0.000,0.067,2449,2085,3431
$GC,4789,-1.33,-146.6,598.4,-11.7,288,4793,0.00,2.47,0.00,0.000,4,0.000,0.071,2449,716,3430
$GC,4851,-1.33,-146.6,606.5,-12.7,292,4855,0.00,2.47,0.00,0.000,6,0.000,0.055,2449,2095,3431
$STATE,4944,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4944,begin apogee
$GC,4952,-0.33,0.0,617.5,11.3,298,5087,1.05,0.00,131.57,1.237,6,0.081,0.000,2672,1835,2831
$STATE,5088,end apogee,CONTROL_FINISHED_OK
$STATE,5088,begin climb
$GC,5091,1.44,146.6,623.4,0.0,307,5236,1.75,2.67,132.43,1.193,4,0.061,0.074,3059,455,2233
$GC,5264,1.30,146.6,614.9,10.4,318,5271,0.17,2.55,0.00,0.000,6,0.098,0.055,3027,1853,2233
$GC,5584,1.40,204.3,589.9,7.4,339,5641,0.00,2.65,52.30,1.163,4,0.000,0.071,3027,3256,1998
$GC,5665,1.45,215.8,583.1,9.5,343,5685,0.15,2.60,11.70,1.049,6,0.059,0.068,3064,1868,1951
$GC,6009,1.39,215.8,545.0,11.5,365,6013,0.00,2.62,0.00,0.000,4,0.000,0.072,3064,3261,1950
$GC,6059,1.39,215.8,537.9,12.9,368,6064,0.00,2.60,0.00,0.000,6,0.000,0.067,3064,1864,1950
$GC,6379,1.34,215.8,503.3,10.5,388,6384,0.15,2.62,0.00,0.000,4,0.104,0.071,3035,3259,1948
$GC,6413,1.42,243.6,500.1,8.7,390,6443,0.00,2.58,25.33,1.134,6,0.000,0.066,3035,1863,1837
$GC,6774,1.43,251.7,468.6,9.6,413,6790,0.00,2.65,8.65,1.002,4,0.000,0.070,3035,3249,1804
$GC,6813,1.47,251.7,464.1,10.5,415,6818,0.15,2.55,0.00,0.000,6,0.061,0.064,3072,1869,1804
$GC,7136,1.41,251.7,426.8,11.1,435,7140,0.00,2.60,0.00,0.000,4,0.000,0.067,3072,3261,1804
$GC,7192,1.41,251.7,419.8,12.0,438,7198,0.00,2.50,0.00,0.000,6,0.000,0.061,3072,1892,1804
$GC,7512,1.36,251.7,383.4,11.9,459,7517,0.15,2.53,0.00,0.000,4,0.099,0.066,3043,3254,1804
$GC,7534,1.36,251.7,380.7,11.5,460,7541,0.00,2.50,0.00,0.000,6,0.000,0.059,3043,1884,1803
$GC,7853,1.36,251.7,346.3,10.6,481,7858,0.00,2.55,0.00,0.000,4,0.000,0.065,3042,3264,1804
$GC,7894,1.40,251.7,341.8,11.1,483,7900,0.00,2.47,0.00,0.000,6,0.000,0.057,3043,1900,1804
$GC,8213,1.40,251.7,307.5,10.6,504,8217,0.00,2.50,0.00,0.000,4,0.000,0.063,3043,3258,1803
$GC,8258,1.44,251.7,302.6,10.5,507,8262,0.00,2.42,0.00,0.000,6,0.000,0.054,3042,1914,1803
$GC,8589,1.44,251.7,268.7,10.1,528,8594,0.00,2.47,0.00,0.000,4,0.000,0.062,3043,3261,1803
$GC,8620,1.48,251.7,265.6,11.1,530,8625,0.12,2.40,0.00,0.000,6,0.062,0.053,3074,1927,1804
$GC,8948,1.43,251.7,226.3,12.4,551,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1926,1804
$GC,9258,1.39,251.7,189.4,11.7,571,9262,0.15,2.45,0.00,0.000,4,0.096,0.060,3046,3265,1804
$GC,9308,1.43,251.7,183.9,10.7,574,9312,0.00,2.38,0.00,0.000,6,0.000,0.050,3046,1936,1805
$GC,9628,1.48,282.4,155.7,8.6,594,9662,0.00,2.47,26.85,0.894,4,0.000,0.058,3046,3261,1678
$GC,9691,1.54,282.4,149.6,10.3,597,9697,0.15,2.35,0.00,0.000,6,0.058,0.049,3085,1959,1678
$GC,10010,1.50,282.4,111.8,12.7,613,10014,0.00,2.38,0.00,0.000,4,0.000,0.059,3085,3257,1678
$GC,10043,1.50,282.4,106.7,13.5,614,10049,0.00,2.30,0.00,0.000,6,0.000,0.049,3085,1967,1678
$GC,10360,1.46,282.4,63.9,13.6,630,10365,0.12,2.72,0.00,0.000,4,0.097,0.060,3062,438,1679
$GC,10378,1.42,282.4,61.3,13.8,631,10383,0.00,2.75,0.00,0.000,6,0.000,0.046,3062,1991,1679
$GC,10707,1.42,282.4,25.5,10.2,647,10712,0.00,2.83,0.00,0.000,4,0.000,0.061,3062,439,1679
$GC,10751,1.42,282.4,19.9,12.1,649,10756,0.00,2.67,0.00,0.000,6,0.000,0.046,3062,1953,1679
$STATE,10904,end climb,SURFACE_DEPTH_REACHED
$STATE,10904,begin surface coast
$FINISH,0.5,1.013929
$STATE,10928,end surface coast,CONTROL_FINISHED_OK
$STATE,10928,begin surface
$SM_CCo,10953,9.20,0.709,0,0,1608,300.00
$SM_GC,1.98,0.00,0.00,9.20,0.000,0.000,0.709,415,2141,1608,-10.71,0.31,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1832
$TCM_TEMP,17.40
$XPDR_PINGS,46
$ALTIM_BOTTOM_PING,596.6,30.8
$24V_AH,23.7,62.538
$10V_AH,10.1,28.342
$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,27.150,107.750,388.825,9.200,0.000,37.760,28.840,171.998,16.750,0.000,0.000,15.035,1182.189,7825.381,488.993,1330.662,503.794,33.360,1188.346,0.000,1295.462,0.000,39.772,0.000
$DEVICE_MAMPS,159.536,78.234,1237.171,709.475,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.800,478.414,385.400,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34788,658
$CAP_FILE_SIZE,95959,0
$CFSIZE,254472192,230977536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,281009,124131,6238.911,-1101.384,36,1.8,36,-10.8