version: 66.04
glider: 5
mission: 7
dive: 390
start: 10 28 109 22 37 12
data:
$ID,5
$MISSION,7
$DIVE,390
$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,-107697.27
$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,18
$R_STBD_OVSHOOT,30
$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
$GPS1,223106,6238.695,-1053.815,42,1.7,47,-10.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-64.9
$GPS2,223621,6238.692,-1053.884,13,1.7,14,-10.7
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.227,-0.134
$KALMAN_X,-180841.8,1767.8,627.5,281952.2,-11668.6
$KALMAN_Y,52161.4,-212.5,-858.8,-142908.3,2364.8
$MHEAD_RNG_PITCHd_Wd,131.1,26005,-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,-40.95,0.000,2,0.000,0.000,424,2152,2410
$GC,63,-1.44,-146.6,2.0,-3.0,2,127,11.20,0.00,-48.38,0.000,6,0.160,0.000,2427,2147,3429
$GC,451,-1.34,-146.6,54.0,-15.8,21,456,0.12,2.60,0.00,0.000,4,0.111,0.057,2451,708,3430
$GC,524,-1.34,-146.6,65.2,-14.1,24,528,0.00,2.53,0.00,0.000,6,0.000,0.049,2451,2133,3430
$GC,842,-1.29,-146.6,110.2,-14.1,39,846,0.00,2.58,0.00,0.000,4,0.000,0.060,2451,706,3430
$GC,887,-1.29,-146.6,116.8,-14.3,41,891,0.00,2.50,0.00,0.000,6,0.000,0.050,2451,2117,3430
$GC,1209,-1.25,-146.6,158.9,-12.9,58,1211,0.10,0.00,0.00,0.000,6,0.110,0.000,2470,2116,3430
$GC,1521,-1.25,-146.6,197.9,-12.5,78,1526,0.00,2.55,0.00,0.000,4,0.000,0.059,2470,703,3431
$GC,1560,-1.25,-146.6,203.0,-12.7,80,1567,0.00,2.47,0.00,0.000,6,0.000,0.048,2470,2098,3431
$GC,1880,-1.25,-146.6,240.6,-11.9,101,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2097,3431
$GC,2194,-1.25,-146.6,278.0,-11.8,121,2199,0.00,2.53,0.00,0.000,4,0.000,0.064,2470,703,3431
$GC,2224,-1.25,-146.6,281.8,-12.7,123,2229,0.00,2.50,0.00,0.000,6,0.000,0.050,2470,2115,3431
$GC,2552,-1.25,-146.6,320.5,-12.0,144,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2114,3431
$GC,2862,-1.25,-146.6,358.7,-12.3,164,2866,0.00,2.55,0.00,0.000,4,0.000,0.063,2470,705,3431
$GC,2918,-1.29,-146.6,366.0,-12.7,167,2924,0.00,2.47,0.00,0.000,6,0.000,0.057,2470,2089,3431
$GC,3238,-1.29,-146.6,403.4,-11.5,188,3242,0.00,2.67,0.00,0.000,4,0.000,0.075,2470,3546,3431
$GC,3271,-1.29,-146.6,407.4,-11.5,190,3275,0.00,2.67,0.00,0.000,6,0.000,0.061,2470,2080,3431
$GC,3590,-1.29,-146.6,443.8,-13.1,210,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2079,3431
$GC,3903,-1.29,-146.6,482.0,-13.1,230,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2064,3431
$GC,4214,-1.29,-146.6,519.0,-10.5,250,4219,0.00,2.75,0.00,0.000,4,0.000,0.074,2470,3544,3431
$GC,4304,-1.29,-146.6,529.4,-12.0,255,4311,0.00,2.65,0.00,0.000,6,0.000,0.063,2470,2090,3431
$GC,4627,-1.32,-146.6,561.9,-8.6,276,4631,0.00,2.75,0.00,0.000,4,0.000,0.077,2470,3549,3431
$GC,4700,-1.35,-146.6,569.9,-11.1,280,4706,0.00,2.62,0.00,0.000,6,0.000,0.065,2470,2116,3431
$GC,5021,-1.40,-146.6,604.8,-11.0,301,5026,0.15,2.55,0.00,0.000,4,0.064,0.074,2432,716,3431
$STATE,5047,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5047,begin apogee
$GC,5056,-0.33,0.0,608.6,13.8,303,5192,1.12,0.00,131.45,1.225,6,0.087,0.000,2669,1879,2831
$STATE,5192,end apogee,CONTROL_FINISHED_OK
$STATE,5192,begin climb
$GC,5196,1.44,146.6,615.8,0.0,312,5338,1.77,2.78,131.45,1.183,4,0.058,0.081,3058,438,2232
$GC,5369,1.30,146.6,605.9,10.5,322,5376,0.15,2.60,0.00,0.000,6,0.096,0.058,3031,1858,2232
$GC,5689,1.40,205.8,580.8,7.3,343,5752,0.00,2.80,53.45,1.160,4,0.000,0.077,3030,445,1992
$GC,5771,1.48,256.7,574.7,7.7,348,5823,0.17,2.60,45.90,1.147,6,0.058,0.059,3072,1857,1784
$GC,6142,1.42,256.7,529.8,12.9,372,6147,0.00,2.60,0.00,0.000,4,0.000,0.074,3072,3264,1784
$GC,6199,1.39,256.7,522.7,12.4,375,6206,0.12,2.58,0.00,0.000,6,0.110,0.069,3050,1874,1783
$GC,6519,1.39,256.7,492.8,10.8,396,6523,0.00,2.60,0.00,0.000,4,0.000,0.072,3050,3258,1783
$GC,6564,1.39,256.7,487.6,11.3,399,6569,0.00,2.50,0.00,0.000,6,0.000,0.066,3050,1905,1783
$GC,6889,1.39,256.7,453.6,10.2,420,6893,0.00,2.53,0.00,0.000,4,0.000,0.070,3050,3260,1782
$GC,6924,1.39,256.7,449.8,11.3,422,6928,0.00,2.45,0.00,0.000,6,0.000,0.061,3050,1919,1782
$GC,7255,1.39,256.7,415.9,10.9,443,7259,0.00,2.47,0.00,0.000,4,0.000,0.067,3050,3257,1782
$GC,7294,1.39,256.7,411.7,10.1,445,7300,0.00,2.42,0.00,0.000,6,0.000,0.058,3050,1924,1782
$GC,7614,1.39,256.7,377.3,11.1,466,7618,0.00,2.47,0.00,0.000,4,0.000,0.065,3050,3262,1782
$GC,7635,1.39,256.7,374.5,11.6,467,7641,0.00,2.40,0.00,0.000,6,0.000,0.057,3049,1939,1782
$GC,7955,1.39,256.7,339.1,11.0,488,7959,0.00,2.42,0.00,0.000,4,0.000,0.064,3050,3257,1782
$GC,7978,1.39,256.7,336.4,11.4,489,7984,0.00,2.35,0.00,0.000,6,0.000,0.054,3050,1956,1782
$GC,8297,1.39,256.7,301.0,11.2,510,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1956,1782
$GC,8609,1.39,256.7,266.7,11.1,530,8613,0.00,2.40,0.00,0.000,4,0.000,0.062,3050,3262,1782
$GC,8638,1.39,256.7,263.5,11.9,532,8642,0.00,2.35,0.00,0.000,6,0.000,0.052,3050,1955,1782
$GC,8962,1.39,256.7,226.8,11.1,553,8966,0.00,2.40,0.00,0.000,4,0.000,0.061,3050,3264,1782
$GC,8984,1.42,256.7,224.3,11.3,554,8990,0.00,2.33,0.00,0.000,6,0.000,0.051,3050,1966,1782
$GC,9304,1.42,256.7,189.2,10.8,575,9305,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1966,1783
$GC,9615,1.42,256.7,155.1,10.5,595,9616,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1966,1783
$GC,9927,1.43,262.5,123.1,9.7,611,9941,0.00,2.83,6.72,0.733,4,0.000,0.062,3050,432,1759
$GC,9959,1.43,262.5,119.7,10.5,612,9963,0.00,2.72,0.00,0.000,6,0.000,0.047,3050,1965,1759
$GC,10277,1.47,262.5,88.5,10.3,627,10281,0.00,2.30,0.00,0.000,4,0.000,0.059,3050,3258,1760
$GC,10301,1.52,262.5,85.7,10.9,628,10305,0.12,2.35,0.00,0.000,6,0.058,0.047,3084,1935,1760
$GC,10623,1.49,262.5,46.2,12.0,644,10627,0.00,2.40,0.00,0.000,4,0.000,0.058,3084,3258,1760
$GC,10647,1.49,262.5,42.8,13.2,645,10651,0.00,2.33,0.00,0.000,6,0.000,0.048,3084,1951,1760
$GC,10975,1.45,262.5,4.9,11.7,661,10977,0.12,0.00,0.00,0.000,6,0.100,0.000,3060,1951,1761
$STATE,10993,end climb,SURFACE_DEPTH_REACHED
$STATE,10993,begin surface coast
$FINISH,0.6,1.027195
$STATE,11014,end surface coast,CONTROL_FINISHED_OK
$STATE,11014,begin surface
$SM_CCo,11037,19.70,0.756,0,0,1608,300.00
$SM_GC,1.06,0.00,0.00,19.70,0.000,0.000,0.756,416,2158,1608,-10.71,0.71,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1833
$TCM_TEMP,17.40
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,545.7,72.9
$24V_AH,23.7,63.136
$10V_AH,10.1,28.597
$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,26.625,111.400,368.975,19.700,0.000,37.760,28.808,124.102,12.750,0.000,0.000,14.506,1174.701,7913.243,496.236,1340.530,450.973,33.363,1203.588,0.000,1309.053,0.000,36.750,0.000
$DEVICE_MAMPS,159.536,80.535,1224.899,756.262,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.016,481.589,390.393,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34776,663
$CAP_FILE_SIZE,93371,0
$CFSIZE,254472192,230780928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,291009,014304,6237.314,-1053.180,42,1.2,54,-10.7