version: 66.04
glider: 5
mission: 7
dive: 391
start: 10 29 109 1 57 46
data:
$ID,5
$MISSION,7
$DIVE,391
$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,-107716.51
$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,19
$R_STBD_OVSHOOT,28
$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
$GPS1,014304,6237.314,-1053.180,42,1.2,54,-10.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-62.1
$GPS2,015655,6237.376,-1053.364,13,1.0,18,-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,-0.111
$KALMAN_X,-183536.6,1435.7,529.7,285522.4,-12012.3
$KALMAN_Y,51589.2,-690.2,113.2,-145286.3,817.2
$MHEAD_RNG_PITCHd_Wd,125.5,24203,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.44,-146.6,0.0,0.0,0,82,0.00,0.00,-61.20,0.000,2,0.000,0.000,416,2148,2843
$GC,86,-1.44,-146.6,3.2,-4.3,3,122,11.18,2.65,-17.52,0.000,4,0.157,0.067,2425,705,3430
$GC,174,-1.36,-146.6,17.1,-16.2,7,180,0.12,2.53,0.00,0.000,6,0.106,0.048,2448,2125,3431
$GC,498,-1.30,-146.6,63.4,-14.1,23,502,0.00,2.58,0.00,0.000,4,0.000,0.058,2448,704,3431
$GC,526,-1.26,-146.6,67.6,-13.4,24,531,0.10,2.53,0.00,0.000,6,0.112,0.048,2467,2124,3432
$GC,843,-1.26,-146.6,109.7,-13.7,39,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2124,3431
$GC,1162,-1.26,-146.6,157.5,-14.9,55,1166,0.00,2.58,0.00,0.000,4,0.000,0.059,2467,699,3431
$GC,1230,-1.29,-146.6,167.3,-13.6,59,1234,0.00,2.53,0.00,0.000,6,0.000,0.048,2467,2125,3432
$GC,1549,-1.29,-146.6,207.3,-12.0,79,1553,0.00,2.58,0.00,0.000,4,0.000,0.060,2467,703,3432
$GC,1604,-1.29,-146.6,214.2,-11.9,82,1610,0.00,2.50,0.00,0.000,6,0.000,0.049,2467,2113,3432
$GC,1924,-1.29,-146.6,250.4,-10.7,103,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2112,3432
$GC,2236,-1.29,-146.6,286.1,-12.1,123,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2112,3432
$GC,2549,-1.29,-146.6,325.9,-13.0,143,2553,0.00,2.55,0.00,0.000,4,0.000,0.060,2467,705,3432
$GC,2616,-1.32,-146.6,334.8,-13.2,147,2620,0.00,2.47,0.00,0.000,6,0.000,0.049,2467,2101,3431
$GC,2935,-1.32,-146.6,373.8,-12.1,167,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2101,3431
$GC,3247,-1.32,-146.6,413.0,-12.6,187,3251,0.00,2.55,0.00,0.000,4,0.000,0.065,2467,705,3431
$GC,3280,-1.32,-146.6,417.4,-13.1,189,3284,0.00,2.45,0.00,0.000,6,0.000,0.051,2467,2080,3432
$GC,3600,-1.32,-146.6,456.9,-11.8,209,3604,0.00,2.67,0.00,0.000,4,0.000,0.074,2467,3540,3431
$GC,3629,-1.32,-146.6,460.3,-11.9,211,3633,0.00,2.67,0.00,0.000,6,0.000,0.061,2467,2071,3431
$GC,3953,-1.32,-146.6,500.2,-12.3,232,3957,0.00,2.72,0.00,0.000,4,0.000,0.072,2467,3533,3431
$GC,3987,-1.32,-146.6,504.3,-10.9,234,3991,0.00,2.65,0.00,0.000,6,0.000,0.060,2467,2073,3431
$GC,4306,-1.32,-146.6,538.8,-9.9,254,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2060,3431
$GC,4618,-1.32,-146.6,572.1,-11.1,274,4622,0.00,2.75,0.00,0.000,4,0.000,0.075,2467,3542,3431
$GC,4702,-1.32,-146.6,581.3,-10.4,279,4707,0.00,2.67,0.00,0.000,6,0.000,0.061,2467,2073,3430
$STATE,5003,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5003,begin apogee
$GC,5010,-0.33,0.0,614.0,11.3,298,5147,0.95,0.00,133.30,1.213,6,0.078,0.000,2671,1843,2831
$STATE,5148,end apogee,CONTROL_FINISHED_OK
$STATE,5148,begin climb
$GC,5152,1.44,146.6,618.8,0.0,307,5295,1.75,2.70,134.30,1.168,4,0.058,0.075,3054,442,2233
$GC,5337,1.33,146.6,608.3,10.8,318,5341,0.00,2.58,0.00,0.000,6,0.000,0.067,3054,1849,2233
$GC,5657,1.26,146.6,577.0,10.1,338,5662,0.17,2.60,0.00,0.000,4,0.097,0.073,3018,3258,2231
$GC,5754,1.35,201.9,568.7,7.5,344,5810,0.00,2.58,49.62,1.152,6,0.000,0.068,3018,1871,2006
$GC,6132,1.40,208.3,534.8,9.7,368,6149,0.15,2.67,7.07,0.952,4,0.059,0.071,3056,3257,1981
$GC,6211,1.40,208.3,525.8,12.1,372,6217,0.00,2.58,0.00,0.000,6,0.000,0.066,3056,1873,1980
$GC,6531,1.39,218.0,493.1,9.6,393,6548,0.00,2.62,9.30,1.016,4,0.000,0.069,3056,3258,1942
$GC,6566,1.41,229.8,489.8,9.5,395,6584,0.00,2.58,11.73,1.047,6,0.000,0.064,3056,1869,1894
$GC,6897,1.41,229.8,454.0,12.2,416,6901,0.00,2.60,0.00,0.000,4,0.000,0.067,3056,3262,1893
$GC,6942,1.41,229.8,448.2,12.5,419,6946,0.00,2.53,0.00,0.000,6,0.000,0.060,3056,1882,1893
$GC,7266,1.41,229.8,410.9,10.8,440,7270,0.00,2.53,0.00,0.000,4,0.000,0.066,3056,3254,1893
$GC,7306,1.41,229.8,406.6,10.3,442,7310,0.00,2.47,0.00,0.000,6,0.000,0.058,3056,1897,1893
$GC,7625,1.41,229.8,374.3,10.4,462,7629,0.00,2.53,0.00,0.000,4,0.000,0.064,3056,3262,1893
$GC,7663,1.41,229.8,370.1,11.0,464,7670,0.00,2.47,0.00,0.000,6,0.000,0.057,3056,1898,1893
$GC,7983,1.41,229.8,336.8,10.3,485,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1898,1893
$GC,8295,1.41,229.8,304.4,10.4,505,8299,0.00,2.50,0.00,0.000,4,0.000,0.064,3056,3257,1893
$GC,8333,1.41,229.8,300.2,11.3,507,8339,0.00,2.42,0.00,0.000,6,0.000,0.054,3056,1910,1893
$GC,8653,1.41,229.8,267.5,10.2,528,8657,0.00,2.47,0.00,0.000,4,0.000,0.062,3056,3259,1893
$GC,8686,1.41,229.8,263.7,10.8,530,8690,0.00,2.40,0.00,0.000,6,0.000,0.052,3056,1922,1893
$GC,9005,1.41,229.8,230.6,10.4,550,9009,0.00,2.45,0.00,0.000,4,0.000,0.061,3057,3260,1894
$GC,9027,1.41,229.8,228.1,11.2,551,9033,0.00,2.40,0.00,0.000,6,0.000,0.052,3056,1922,1894
$GC,9346,1.41,229.8,195.1,10.5,572,9351,0.00,2.45,0.00,0.000,4,0.000,0.061,3056,3264,1894
$GC,9363,1.41,229.8,193.2,10.0,573,9367,0.00,2.38,0.00,0.000,6,0.000,0.051,3056,1936,1894
$GC,9683,1.41,229.8,160.2,10.3,593,9684,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1936,1894
$GC,9999,1.42,240.1,130.1,9.5,610,10015,0.00,2.45,10.57,0.808,4,0.000,0.059,3056,3260,1852
$GC,10078,1.46,240.1,121.8,10.2,612,10084,0.00,2.38,0.00,0.000,6,0.000,0.049,3056,1931,1852
$GC,10397,1.47,249.9,91.3,9.6,628,10413,0.00,0.00,9.57,0.781,6,0.000,0.000,3056,1931,1812
$GC,10725,1.47,249.9,58.3,10.1,644,10729,0.00,2.42,0.00,0.000,4,0.000,0.058,3056,3261,1812
$GC,10748,1.47,249.9,55.8,10.1,645,10752,0.00,2.35,0.00,0.000,6,0.000,0.047,3056,1939,1812
$GC,11070,1.47,249.9,22.4,10.7,661,11074,0.00,2.40,0.00,0.000,4,0.000,0.058,3056,3260,1812
$GC,11086,1.47,249.9,20.5,10.5,661,11092,0.00,2.30,0.00,0.000,6,0.000,0.047,3056,1962,1812
$STATE,11255,end climb,SURFACE_DEPTH_REACHED
$STATE,11255,begin surface coast
$FINISH,0.6,1.027201
$STATE,11279,end surface coast,CONTROL_FINISHED_OK
$STATE,11279,begin surface
$SM_CCo,11303,26.02,0.778,0,0,1608,300.00
$SM_GC,1.36,0.00,0.00,26.02,0.000,0.000,0.778,424,2158,1608,-10.68,0.79,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1822
$TCM_TEMP,17.50
$XPDR_PINGS,50
$ALTIM_BOTTOM_PING,570.4,52.4
$24V_AH,23.7,63.288
$10V_AH,10.1,28.664
$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,25.900,117.150,365.475,26.025,0.000,151.044,119.838,243.675,17.500,0.000,0.000,18.605,1198.283,8297.728,499.167,1384.227,785.020,33.365,1216.525,0.000,1344.891,0.000,40.430,0.000
$DEVICE_MAMPS,157.235,75.166,1212.627,777.738,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,458.574,489.670,400.866,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34889,671
$CAP_FILE_SIZE,99648,0
$CFSIZE,254472192,230727680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,291009,050800,6237.603,-1050.967,39,1.1,44,-10.6