version: 66.04
glider: 5
mission: 7
dive: 387
start: 10 28 109 12 47 41
data:
$ID,5
$MISSION,7
$DIVE,387
$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,-107628.35
$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,24
$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
$GPS1,124131,6238.911,-1101.384,36,1.8,36,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-64.9
$GPS2,124650,6238.940,-1101.478,13,0.9,13,-10.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.240,-0.110
$KALMAN_X,-176870.6,1392.2,623.9,272089.3,-14978.5
$KALMAN_Y,50516.1,-162.8,-207.9,-141523.9,2314.1
$MHEAD_RNG_PITCHd_Wd,125.5,31603,-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,-40.85,0.000,2,0.000,0.000,415,2144,2414
$GC,63,-1.44,-146.6,2.2,-3.8,2,126,10.85,0.00,-46.25,0.000,6,0.153,0.000,2424,2140,3428
$GC,438,-1.32,-146.6,53.9,-16.9,20,443,0.15,2.60,0.00,0.000,4,0.114,0.059,2453,707,3429
$GC,483,-1.29,-146.6,62.0,-16.2,22,487,0.00,2.53,0.00,0.000,6,0.000,0.048,2453,2132,3429
$GC,805,-1.24,-146.6,106.5,-13.1,38,809,0.00,2.58,0.00,0.000,4,0.000,0.059,2453,709,3429
$GC,839,-1.21,-146.6,110.8,-12.6,39,846,0.12,2.53,0.00,0.000,6,0.102,0.048,2478,2138,3429
$GC,1155,-1.21,-146.6,147.6,-12.4,55,1159,0.00,2.58,0.00,0.000,4,0.000,0.059,2478,715,3429
$GC,1189,-1.24,-146.6,152.0,-13.2,56,1195,0.00,2.53,0.00,0.000,6,0.000,0.048,2479,2140,3429
$GC,1508,-1.24,-146.6,191.1,-12.5,77,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2141,3429
$GC,1821,-1.24,-146.6,230.7,-12.6,97,1826,0.00,2.60,0.00,0.000,4,0.000,0.061,2479,706,3429
$GC,1878,-1.28,-146.6,238.1,-13.2,100,1885,0.00,2.53,0.00,0.000,6,0.000,0.048,2479,2132,3429
$GC,2199,-1.28,-146.6,277.4,-12.3,121,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2132,3429
$GC,2510,-1.28,-146.6,314.9,-11.7,141,2514,0.00,2.58,0.00,0.000,4,0.000,0.063,2479,716,3429
$GC,2578,-1.33,-146.6,323.0,-11.7,145,2583,0.12,2.47,0.00,0.000,6,0.060,0.050,2446,2114,3429
$GC,2899,-1.27,-146.6,367.1,-14.0,165,2901,0.10,0.00,0.00,0.000,6,0.104,0.000,2464,2114,3429
$GC,3210,-1.27,-146.6,405.6,-11.8,185,3214,0.00,2.55,0.00,0.000,4,0.000,0.064,2464,707,3429
$GC,3243,-1.27,-146.6,409.8,-12.0,187,3247,0.00,2.47,0.00,0.000,6,0.000,0.050,2464,2101,3429
$GC,3562,-1.27,-146.6,447.2,-11.9,207,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2101,3429
$GC,3875,-1.27,-146.6,485.1,-11.9,227,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2101,3429
$GC,4186,-1.27,-146.6,522.7,-12.0,247,4191,0.00,2.55,0.00,0.000,4,0.000,0.069,2464,715,3429
$GC,4238,-1.31,-146.6,528.8,-11.8,250,4242,0.00,2.45,0.00,0.000,6,0.000,0.054,2464,2085,3429
$GC,4559,-1.31,-146.6,562.2,-9.7,270,4563,0.00,2.50,0.00,0.000,4,0.000,0.068,2464,718,3429
$GC,4587,-1.31,-146.6,565.5,-11.1,272,4591,0.00,2.45,0.00,0.000,6,0.000,0.055,2465,2086,3429
$GC,4916,-1.31,-146.6,602.7,-11.6,293,4920,0.00,2.53,0.00,0.000,4,0.000,0.071,2464,717,3428
$GC,4937,-1.31,-146.6,606.2,-13.0,294,4943,0.00,2.45,0.00,0.000,6,0.000,0.058,2465,2077,3428
$STATE,5082,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5082,begin apogee
$GC,5090,-0.33,0.0,622.7,11.4,304,5227,0.98,0.00,132.52,1.236,6,0.083,0.000,2673,1839,2831
$STATE,5227,end apogee,CONTROL_FINISHED_OK
$STATE,5227,begin climb
$GC,5231,1.44,146.6,627.9,0.0,313,5375,1.75,2.67,134.05,1.187,4,0.061,0.077,3053,454,2233
$GC,5463,1.33,146.6,615.0,11.6,327,5467,0.00,2.55,0.00,0.000,6,0.000,0.056,3054,1853,2233
$GC,5782,1.28,159.5,585.6,9.4,347,5803,0.15,2.65,12.73,1.074,4,0.099,0.072,3025,3255,2180
$GC,5850,1.33,189.7,579.7,8.6,351,5885,0.00,2.60,27.98,1.147,6,0.000,0.070,3025,1867,2058
$GC,6214,1.39,225.1,547.7,8.4,374,6251,0.00,2.67,31.98,1.154,4,0.000,0.071,3025,3254,1913
$GC,6263,1.47,252.8,543.3,8.7,377,6294,0.20,2.60,25.45,1.132,6,0.056,0.070,3073,1870,1800
$GC,6616,1.41,252.8,498.5,13.8,400,6620,0.00,2.60,0.00,0.000,4,0.000,0.072,3073,3253,1800
$GC,6661,1.38,252.8,492.0,13.5,403,6666,0.15,2.53,0.00,0.000,6,0.105,0.067,3045,1895,1800
$GC,6986,1.38,252.8,456.0,10.6,424,6991,0.00,2.55,0.00,0.000,4,0.000,0.071,3045,3263,1799
$GC,7049,1.38,252.8,449.2,10.3,428,7053,0.00,2.47,0.00,0.000,6,0.000,0.063,3045,1917,1799
$GC,7374,1.38,252.8,413.8,10.5,449,7378,0.00,2.50,0.00,0.000,4,0.000,0.069,3045,3259,1799
$GC,7419,1.41,252.8,408.8,10.7,452,7424,0.00,2.42,0.00,0.000,6,0.000,0.061,3045,1933,1798
$GC,7744,1.41,252.8,373.9,10.2,473,7745,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1933,1798
$GC,8057,1.41,252.8,343.9,10.1,493,8061,0.00,2.45,0.00,0.000,4,0.000,0.066,3045,3258,1799
$GC,8103,1.45,252.8,339.1,10.6,496,8107,0.00,2.38,0.00,0.000,6,0.000,0.058,3045,1938,1799
$GC,8436,1.45,252.8,300.4,12.5,517,8440,0.00,2.42,0.00,0.000,4,0.000,0.064,3045,3255,1799
$GC,8457,1.45,252.8,297.2,12.5,518,8463,0.00,2.35,0.00,0.000,6,0.000,0.055,3045,1955,1799
$GC,8776,1.45,252.8,259.9,11.1,539,8780,0.00,2.40,0.00,0.000,4,0.000,0.063,3045,3258,1799
$GC,8799,1.48,252.8,257.2,11.3,540,8805,0.00,2.35,0.00,0.000,6,0.000,0.054,3045,1953,1799
$GC,9119,1.49,264.5,225.7,9.5,561,9133,0.10,0.00,11.62,0.886,6,0.063,0.000,3073,1952,1752
$GC,9446,1.46,264.5,191.8,10.3,582,9450,0.00,2.40,0.00,0.000,4,0.000,0.061,3073,3258,1752
$GC,9468,1.46,264.5,189.3,10.7,583,9474,0.00,2.33,0.00,0.000,6,0.000,0.051,3073,1966,1752
$GC,9787,1.46,264.5,155.7,10.3,604,9788,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1966,1752
$GC,10097,1.46,264.5,124.9,10.1,620,10102,0.00,2.38,0.00,0.000,4,0.000,0.061,3074,3263,1752
$GC,10126,1.46,264.5,121.7,11.3,621,10130,0.00,2.30,0.00,0.000,6,0.000,0.050,3073,1977,1753
$GC,10444,1.46,264.5,87.3,11.1,636,10448,0.00,2.35,0.00,0.000,4,0.000,0.059,3073,3264,1753
$GC,10462,1.46,264.5,85.0,11.3,637,10466,0.00,2.30,0.00,0.000,6,0.000,0.048,3073,1973,1753
$GC,10796,1.46,264.5,45.0,12.1,653,10800,0.00,2.35,0.00,0.000,4,0.000,0.059,3073,3262,1754
$GC,10814,1.46,264.5,42.7,12.5,654,10818,0.00,2.28,0.00,0.000,6,0.000,0.048,3073,1984,1754
$GC,11142,1.46,264.5,3.4,11.4,670,11146,0.00,2.20,0.00,0.000,3,0.000,0.058,3073,3199,1754
$STATE,11147,end climb,SURFACE_DEPTH_REACHED
$STATE,11147,begin surface coast
$FINISH,0.5,1.017345
$STATE,11185,end surface coast,CONTROL_FINISHED_OK
$STATE,11185,begin surface
$SM_CCo,11211,18.62,0.761,0,0,1607,300.00
$SM_GC,1.16,0.00,0.00,18.62,0.000,0.000,0.761,418,2101,1607,-10.70,-0.82,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1836
$TCM_TEMP,17.40
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,595.4,35.8
$24V_AH,23.7,62.680
$10V_AH,10.1,28.404
$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,26.200,113.925,376.325,18.625,0.000,37.761,29.441,131.151,16.250,0.000,0.000,13.371,1205.833,8030.854,494.175,1358.979,463.469,33.361,1210.586,0.000,1326.379,0.000,39.799,0.000
$DEVICE_MAMPS,152.633,77.467,1236.404,760.864,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.321,494.112,397.450,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34816,672
$CAP_FILE_SIZE,95785,0
$CFSIZE,254472192,230928384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,281009,155606,6238.812,-1059.757,34,1.4,34,-10.7