version: 66.04
glider: 5
mission: 7
dive: 389
start: 10 28 109 19 23 12
data:
$ID,5
$MISSION,7
$DIVE,389
$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,-107682.13
$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,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
$GPS1,191457,6238.598,-1056.357,32,4.6,51,-10.7
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,2
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-66.7
$GPS2,192222,6238.612,-1056.343,17,3.0,36,-10.7
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.239,0.110
$KALMAN_X,-179960.3,1697.6,1163.1,278561.6,-13630.4
$KALMAN_Y,54141.5,18.5,-279.7,-145872.9,4305.3
$MHEAD_RNG_PITCHd_Wd,76.0,27603,-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,-60.92,0.000,2,0.000,0.000,420,2153,2821
$GC,83,-1.44,-146.6,3.1,-3.9,3,119,11.07,2.55,-19.25,0.000,4,0.160,0.077,2424,3535,3430
$GC,236,-1.33,-146.6,25.0,-15.4,9,241,0.15,2.53,0.00,0.000,6,0.104,0.050,2454,2125,3430
$GC,565,-1.28,-146.6,72.5,-14.7,25,569,0.00,2.50,0.00,0.000,4,0.000,0.058,2454,716,3430
$GC,620,-1.28,-146.6,80.9,-14.6,27,627,0.00,2.50,0.00,0.000,6,0.000,0.048,2454,2131,3430
$GC,937,-1.24,-146.6,124.7,-13.6,43,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2131,3431
$GC,1253,-1.21,-146.6,165.5,-12.6,60,1258,0.12,2.58,0.00,0.000,4,0.105,0.058,2479,705,3431
$GC,1310,-1.25,-146.6,172.8,-12.3,63,1316,0.00,2.53,0.00,0.000,6,0.000,0.048,2478,2133,3431
$GC,1630,-1.25,-146.6,210.9,-12.1,84,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2133,3431
$GC,1941,-1.25,-146.6,249.4,-13.1,104,1945,0.00,2.58,0.00,0.000,4,0.000,0.061,2479,712,3431
$GC,2004,-1.31,-146.6,257.7,-13.3,108,2008,0.00,2.47,0.00,0.000,6,0.000,0.049,2479,2110,3431
$GC,2329,-1.31,-146.6,298.2,-12.7,129,2333,0.00,2.53,0.00,0.000,4,0.000,0.061,2479,715,3431
$GC,2362,-1.35,-146.6,302.8,-13.9,131,2367,0.12,2.47,0.00,0.000,6,0.060,0.050,2446,2111,3431
$GC,2686,-1.30,-146.6,348.7,-14.0,151,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2110,3431
$GC,2994,-1.25,-146.6,389.9,-12.6,171,2999,0.12,2.53,0.00,0.000,4,0.104,0.063,2469,717,3431
$GC,3033,-1.29,-146.6,394.8,-11.5,173,3040,0.00,2.47,0.00,0.000,6,0.000,0.051,2469,2111,3431
$GC,3355,-1.29,-146.6,429.8,-11.0,194,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2111,3431
$GC,3664,-1.29,-146.6,465.4,-11.8,214,3669,0.00,2.53,0.00,0.000,4,0.000,0.064,2469,718,3431
$GC,3733,-1.33,-146.6,473.2,-11.5,218,3737,0.00,2.45,0.00,0.000,6,0.000,0.051,2469,2101,3431
$GC,4057,-1.33,-146.6,509.4,-10.9,239,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2101,3431
$GC,4370,-1.33,-146.6,543.1,-10.8,259,4374,0.00,2.55,0.00,0.000,4,0.000,0.072,2469,717,3431
$GC,4433,-1.38,-146.6,550.3,-11.2,263,4438,0.12,2.47,0.00,0.000,6,0.061,0.057,2436,2100,3431
$GC,4760,-1.34,-146.6,591.3,-13.1,284,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2100,3430
$GC,5073,-1.81,-146.6,617.6,0.0,304,5078,0.38,2.58,0.00,0.000,4,0.052,0.078,2344,723,3429
$STATE,5322,end dive,NO_VERTICAL_VELOCITY
$STATE,5322,begin apogee
$GC,5332,-0.33,0.0,617.5,0.0,319,5469,1.45,0.00,132.15,1.242,6,0.056,0.000,2675,1862,2831
$STATE,5469,end apogee,CONTROL_FINISHED_OK
$STATE,5470,begin climb
$GC,5473,1.44,146.6,617.4,0.0,328,5615,1.73,2.72,132.85,1.190,4,0.054,0.100,3057,3262,2233
$GC,5704,1.39,160.7,602.4,9.4,342,5723,0.00,2.65,13.98,1.075,6,0.000,0.072,3057,1849,2175
$GC,6054,1.34,169.3,570.5,9.6,364,6071,0.00,2.70,8.98,1.016,4,0.000,0.074,3057,3259,2140
$GC,6101,1.30,177.6,565.6,9.6,366,6116,0.15,2.65,9.10,1.019,6,0.108,0.071,3030,1843,2106
$GC,6440,1.32,185.1,534.9,9.7,388,6456,0.00,2.72,7.88,1.003,4,0.000,0.074,3030,3255,2076
$GC,6475,1.32,185.1,531.0,10.6,390,6479,0.00,2.62,0.00,0.000,6,0.000,0.069,3030,1850,2076
$GC,6800,1.40,238.5,502.3,7.6,411,6854,0.00,2.75,47.17,1.172,4,0.000,0.072,3030,3255,1858
$GC,6881,1.51,277.5,496.1,8.2,416,6921,0.20,2.60,34.62,1.147,6,0.060,0.068,3076,1869,1699
$GC,7243,1.45,277.5,458.6,11.0,439,7247,0.00,2.62,0.00,0.000,4,0.000,0.071,3076,3264,1699
$GC,7272,1.41,277.5,455.1,12.0,441,7278,0.12,2.58,0.00,0.000,6,0.104,0.064,3054,1874,1699
$GC,7598,1.41,277.5,418.9,11.9,462,7602,0.00,2.60,0.00,0.000,4,0.000,0.069,3054,3265,1699
$GC,7647,1.41,277.5,412.7,12.2,465,7652,0.00,2.50,0.00,0.000,6,0.000,0.062,3054,1898,1699
$GC,7967,1.41,277.5,376.0,11.6,485,7971,0.00,2.53,0.00,0.000,4,0.000,0.067,3054,3257,1699
$GC,8006,1.41,277.5,371.3,11.7,487,8012,0.00,2.47,0.00,0.000,6,0.000,0.059,3054,1901,1699
$GC,8325,1.41,277.5,334.0,11.9,508,8330,0.00,2.53,0.00,0.000,4,0.000,0.066,3054,3265,1699
$GC,8365,1.41,277.5,329.2,11.5,510,8371,0.00,2.45,0.00,0.000,6,0.000,0.058,3054,1918,1699
$GC,8685,1.41,277.5,292.3,11.2,531,8689,0.00,2.47,0.00,0.000,4,0.000,0.065,3054,3260,1699
$GC,8713,1.41,277.5,288.9,11.9,533,8718,0.00,2.42,0.00,0.000,6,0.000,0.055,3054,1918,1699
$GC,9039,1.41,277.5,251.7,11.7,554,9043,0.00,2.47,0.00,0.000,4,0.000,0.063,3054,3264,1699
$GC,9072,1.44,277.5,247.6,12.4,556,9076,0.00,2.40,0.00,0.000,6,0.000,0.054,3054,1930,1700
$GC,9392,1.44,277.5,210.2,11.7,576,9396,0.00,2.45,0.00,0.000,4,0.000,0.063,3054,3264,1700
$GC,9426,1.47,277.5,205.9,12.7,578,9430,0.00,2.38,0.00,0.000,6,0.000,0.053,3054,1943,1700
$GC,9745,1.47,277.5,170.2,11.1,598,9749,0.00,2.42,0.00,0.000,4,0.000,0.062,3054,3266,1700
$GC,9767,1.47,277.5,167.6,11.6,599,9773,0.00,2.38,0.00,0.000,6,0.000,0.051,3054,1941,1701
$GC,10096,1.47,277.5,130.9,11.6,618,10097,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1941,1701
$GC,10404,1.47,277.5,92.8,12.2,633,10408,0.00,2.40,0.00,0.000,4,0.000,0.061,3054,3255,1701
$GC,10445,1.53,277.5,87.9,12.2,635,10450,0.10,2.33,0.00,0.000,6,0.061,0.050,3081,1957,1702
$GC,10780,1.49,277.5,45.4,12.7,651,10781,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1956,1702
$GC,11089,1.49,277.5,7.5,12.1,666,11093,0.00,2.38,0.00,0.000,4,0.000,0.058,3082,3262,1703
$GC,11107,1.46,277.5,5.1,12.6,667,11111,0.00,2.33,0.00,0.000,6,0.000,0.054,3081,1956,1702
$STATE,11127,end climb,SURFACE_DEPTH_REACHED
$STATE,11127,begin surface coast
$FINISH,0.6,1.003387
$STATE,11150,end surface coast,CONTROL_FINISHED_OK
$STATE,11150,begin surface
$SM_CCo,11174,12.15,0.733,0,0,1608,300.00
$SM_GC,1.80,0.00,0.00,12.15,0.000,0.000,0.733,424,2159,1608,-10.68,0.90,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1828
$TCM_TEMP,17.40
$XPDR_PINGS,44
$24V_AH,23.7,62.997
$10V_AH,10.1,28.535
$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,27.400,115.775,386.725,12.150,0.000,37.762,28.550,225.569,16.000,0.000,0.000,36.948,1208.672,7912.670,487.109,1455.463,569.022,33.358,1236.230,0.000,1396.458,0.000,33.641,0.000
$DEVICE_MAMPS,160.303,100.477,1241.773,733.252,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,457.878,485.363,383.560,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34870,669
$CAP_FILE_SIZE,100636,0
$CFSIZE,254472192,230825984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,281009,223106,6238.695,-1053.815,42,1.7,47,-10.7