version: 66.04
glider: 5
mission: 7
dive: 388
start: 10 28 109 16 12 59
data:
$ID,5
$MISSION,7
$DIVE,388
$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,-107644.55
$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,33
$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
$GPS1,155606,6238.812,-1059.757,34,1.4,34,-10.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-63.2
$GPS2,161208,6238.949,-1059.645,15,1.4,15,-10.7
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.238,-0.112
$KALMAN_X,-179345.7,1528.0,1192.1,275363.2,-14727.7
$KALMAN_Y,51997.8,-73.4,394.1,-143689.0,1940.2
$MHEAD_RNG_PITCHd_Wd,125.9,30288,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.44,-146.6,0.0,0.0,0,79,0.00,0.00,-57.47,0.000,2,0.000,0.000,418,2089,2744
$GC,83,-1.44,-146.6,2.6,-3.1,3,124,11.20,2.45,-24.30,0.000,4,0.160,0.067,2428,735,3429
$GC,131,-1.35,-146.6,7.0,-10.0,5,138,0.12,2.50,0.00,0.000,6,0.103,0.048,2452,2138,3429
$GC,448,-1.29,-146.6,52.4,-14.0,21,452,0.00,2.55,0.00,0.000,4,0.000,0.065,2452,3540,3430
$GC,481,-1.24,-146.6,57.4,-13.6,22,488,0.10,2.53,0.00,0.000,6,0.104,0.051,2471,2132,3430
$GC,798,-1.24,-146.6,98.2,-12.7,38,802,0.00,2.53,0.00,0.000,4,0.000,0.060,2471,711,3430
$GC,847,-1.24,-146.6,104.7,-13.4,40,852,0.00,2.50,0.00,0.000,6,0.000,0.048,2471,2122,3429
$GC,1164,-1.24,-146.6,142.9,-12.9,55,1169,0.00,2.58,0.00,0.000,4,0.000,0.067,2471,3540,3429
$GC,1194,-1.24,-146.6,146.8,-13.6,56,1198,0.00,2.55,0.00,0.000,6,0.000,0.053,2472,2123,3430
$GC,1519,-1.24,-146.6,187.1,-12.3,76,1523,0.00,2.50,0.00,0.000,4,0.000,0.061,2471,716,3430
$GC,1598,-1.24,-146.6,197.5,-12.8,81,1603,0.00,2.50,0.00,0.000,6,0.000,0.048,2472,2130,3430
$GC,1922,-1.24,-146.6,239.6,-13.0,102,1926,0.00,2.58,0.00,0.000,4,0.000,0.061,2472,711,3430
$GC,1957,-1.24,-146.6,244.2,-13.2,104,1962,0.00,2.47,0.00,0.000,6,0.000,0.049,2472,2107,3429
$GC,2281,-1.24,-146.6,285.4,-11.9,125,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2107,3430
$GC,2595,-1.24,-146.6,321.2,-11.3,145,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2106,3430
$GC,2906,-1.24,-146.6,357.2,-11.7,165,2910,0.00,2.53,0.00,0.000,4,0.000,0.065,2471,718,3429
$GC,2973,-1.28,-146.6,365.4,-11.6,169,2977,0.00,2.45,0.00,0.000,6,0.000,0.050,2471,2100,3430
$GC,3293,-1.28,-146.6,402.4,-11.5,189,3297,0.00,2.62,0.00,0.000,4,0.000,0.072,2472,3531,3430
$GC,3322,-1.28,-146.6,405.8,-11.6,191,3326,0.00,2.60,0.00,0.000,6,0.000,0.061,2472,2101,3430
$GC,3648,-1.28,-146.6,442.3,-10.4,212,3652,0.00,2.50,0.00,0.000,4,0.000,0.064,2472,698,3430
$GC,3693,-1.33,-146.6,447.4,-11.0,215,3697,0.00,2.47,0.00,0.000,6,0.000,0.050,2472,2098,3430
$GC,4017,-1.33,-146.6,486.9,-15.1,236,4022,0.00,2.62,0.00,0.000,4,0.000,0.072,2472,3531,3429
$GC,4066,-1.33,-146.6,494.3,-16.6,239,4070,0.00,2.65,0.00,0.000,6,0.000,0.061,2472,2074,3429
$GC,4398,-1.36,-146.6,532.9,-10.1,260,4402,0.00,2.45,0.00,0.000,4,0.000,0.067,2472,707,3429
$GC,4449,-1.43,-146.6,538.0,-8.5,263,4454,0.17,2.45,0.00,0.000,6,0.059,0.052,2427,2084,3429
$GC,4772,-1.37,-146.6,577.5,-14.5,283,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2085,3429
$STATE,5031,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5031,begin apogee
$GC,5039,-0.33,0.0,614.9,14.2,300,5175,1.15,0.00,131.82,1.226,6,0.084,0.000,2671,1831,2831
$STATE,5176,end apogee,CONTROL_FINISHED_OK
$STATE,5176,begin climb
$GC,5179,1.44,146.6,621.0,0.0,309,5321,1.75,2.62,132.00,1.184,4,0.059,0.075,3054,446,2233
$GC,5449,1.32,150.5,604.0,9.8,325,5461,0.00,2.55,5.15,0.832,6,0.000,0.056,3054,1846,2217
$GC,5776,1.33,190.7,575.0,8.2,346,5817,0.00,0.00,36.60,1.154,6,0.000,0.000,3054,1861,2053
$GC,6131,1.29,190.7,536.9,11.1,369,6133,0.15,0.00,0.00,0.000,6,0.101,0.000,3027,1861,2052
$GC,6443,1.35,227.3,509.3,8.3,389,6483,0.00,2.70,32.83,1.150,4,0.000,0.073,3027,3257,1904
$GC,6519,1.47,264.4,503.0,8.3,393,6561,0.17,2.60,33.92,1.136,6,0.060,0.067,3069,1869,1754
$GC,6887,1.43,264.4,458.4,11.9,417,6891,0.00,2.60,0.00,0.000,4,0.000,0.071,3069,3262,1753
$GC,6919,1.43,264.4,454.5,11.8,419,6924,0.00,2.55,0.00,0.000,6,0.000,0.064,3069,1882,1752
$GC,7241,1.39,264.4,419.6,12.2,439,7246,0.00,2.55,0.00,0.000,4,0.000,0.069,3069,3257,1752
$GC,7264,1.36,264.4,416.4,12.5,440,7271,0.15,2.53,0.00,0.000,6,0.101,0.062,3040,1882,1751
$GC,7584,1.39,282.5,383.9,9.2,461,7608,0.00,2.60,16.77,1.039,4,0.000,0.065,3040,3258,1679
$GC,7633,1.46,291.5,379.3,9.6,464,7650,0.12,2.47,9.57,0.965,6,0.064,0.060,3072,1910,1642
$GC,7966,1.43,291.5,340.0,12.5,485,7970,0.00,2.47,0.00,0.000,4,0.000,0.064,3072,3257,1643
$GC,7983,1.43,291.5,337.2,12.8,486,7988,0.00,2.45,0.00,0.000,6,0.000,0.058,3071,1912,1643
$GC,8308,1.43,291.5,295.6,12.7,507,8312,0.00,2.47,0.00,0.000,4,0.000,0.063,3072,3255,1643
$GC,8330,1.43,291.5,292.4,13.6,508,8334,0.00,2.42,0.00,0.000,6,0.000,0.056,3072,1918,1643
$GC,8650,1.43,291.5,252.3,12.0,528,8654,0.00,2.47,0.00,0.000,4,0.000,0.062,3072,3264,1644
$GC,8678,1.43,291.5,248.7,12.7,530,8682,0.00,2.40,0.00,0.000,6,0.000,0.053,3072,1930,1644
$GC,9004,1.43,291.5,209.7,11.8,551,9008,0.00,2.45,0.00,0.000,4,0.000,0.061,3072,3266,1644
$GC,9037,1.43,291.5,205.2,12.5,553,9041,0.00,2.38,0.00,0.000,6,0.000,0.051,3072,1942,1644
$GC,9356,1.43,291.5,167.2,11.4,573,9360,0.00,2.70,0.00,0.000,4,0.000,0.063,3072,435,1644
$GC,9378,1.40,291.5,164.5,12.0,574,9385,0.12,2.72,0.00,0.000,6,0.098,0.048,3048,1970,1644
$GC,9713,1.44,291.5,131.0,10.2,593,9717,0.00,2.30,0.00,0.000,4,0.000,0.059,3048,3261,1645
$GC,9746,1.51,291.5,127.4,10.1,594,9753,0.12,2.35,0.00,0.000,6,0.059,0.050,3082,1941,1645
$GC,10063,1.51,291.5,90.1,12.2,610,10067,0.00,2.40,0.00,0.000,4,0.000,0.059,3081,3259,1645
$GC,10082,1.51,291.5,87.9,12.1,611,10086,0.00,2.33,0.00,0.000,6,0.000,0.050,3081,1957,1645
$GC,10409,1.51,291.5,47.4,12.5,627,10410,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1957,1645
$GC,10721,1.51,291.5,9.5,12.3,642,10725,0.00,2.38,0.00,0.000,4,0.000,0.059,3081,3259,1645
$GC,10749,1.51,291.5,5.7,13.2,643,10753,0.00,2.33,0.00,0.000,6,0.000,0.049,3081,1956,1646
$STATE,10773,end climb,SURFACE_DEPTH_REACHED
$STATE,10773,begin surface coast
$FINISH,0.5,1.017702
$STATE,10796,end surface coast,CONTROL_FINISHED_OK
$STATE,10796,begin surface
$SM_CCo,10819,4.85,0.588,0,0,1607,300.00
$SM_GC,2.40,0.00,0.00,4.85,0.000,0.000,0.588,420,2150,1607,-10.70,0.57,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1832
$TCM_TEMP,16.30
$XPDR_PINGS,43
$ALTIM_BOTTOM_PING,545.0,78.9
$24V_AH,23.7,62.846
$10V_AH,10.1,28.471
$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,26.875,121.200,398.675,4.850,0.000,151.043,223.079,272.268,15.500,0.000,0.000,15.569,1162.788,7869.592,499.019,1334.265,925.135,33.362,1210.188,0.000,1296.849,0.000,35.661,0.000
$DEVICE_MAMPS,160.303,75.166,1225.666,587.522,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.782,468.742,383.640,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31716,645
$CAP_FILE_SIZE,102609,0
$CFSIZE,254472192,230875136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,281009,191457,6238.598,-1056.357,32,4.6,51,-10.7