version: 66.04
glider: 5
mission: 7
dive: 392
start: 10 29 109 5 14 5
data:
$ID,5
$MISSION,7
$DIVE,392
$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,-107731.51
$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,23
$R_STBD_OVSHOOT,37
$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
$GPS1,050800,6237.603,-1050.967,39,1.1,44,-10.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-65.7
$GPS2,051314,6237.654,-1050.950,14,1.1,14,-10.6
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.229,-0.131
$KALMAN_X,-185006.2,861.1,933.7,289151.4,-11598.5
$KALMAN_Y,54024.7,-672.7,569.3,-147698.3,2389.4
$MHEAD_RNG_PITCHd_Wd,130.3,22846,-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,-40.95,0.000,2,0.000,0.000,424,2157,2415
$GC,63,-1.44,-146.6,2.1,-3.4,2,127,10.88,2.53,-45.67,0.000,4,0.153,0.081,2421,3528,3429
$GC,232,-1.32,-146.6,21.2,-15.1,9,237,0.17,2.53,0.00,0.000,6,0.098,0.047,2456,2114,3430
$GC,549,-1.27,-146.6,63.9,-13.3,24,553,0.00,2.47,0.00,0.000,4,0.000,0.058,2456,716,3430
$GC,634,-1.27,-146.6,75.8,-13.8,28,638,0.00,2.45,0.00,0.000,6,0.000,0.047,2456,2101,3430
$GC,964,-1.23,-146.6,117.7,-12.6,44,969,0.10,2.50,0.00,0.000,4,0.104,0.058,2475,717,3430
$GC,997,-1.23,-146.6,122.3,-11.7,45,1003,0.00,2.45,0.00,0.000,6,0.000,0.054,2475,2101,3430
$GC,1319,-1.23,-146.6,156.5,-10.4,62,1324,0.00,2.60,0.00,0.000,4,0.000,0.068,2475,3533,3430
$GC,1365,-1.23,-146.6,161.6,-11.3,65,1370,0.00,2.58,0.00,0.000,6,0.000,0.052,2475,2098,3430
$GC,1691,-1.23,-146.6,198.6,-12.3,86,1695,0.00,2.45,0.00,0.000,4,0.000,0.060,2475,716,3430
$GC,1759,-1.26,-146.6,207.5,-12.3,90,1763,0.00,2.47,0.00,0.000,6,0.000,0.048,2475,2112,3430
$GC,2080,-1.26,-146.6,246.5,-12.0,110,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2111,3430
$GC,2391,-1.26,-146.6,283.5,-11.7,130,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2111,3430
$GC,2703,-1.26,-146.6,321.4,-12.7,150,2708,0.00,2.53,0.00,0.000,4,0.000,0.061,2475,714,3430
$GC,2760,-1.30,-146.6,329.0,-13.5,153,2766,0.00,2.47,0.00,0.000,6,0.000,0.049,2475,2113,3430
$GC,3081,-1.30,-146.6,370.5,-12.8,174,3085,0.00,2.53,0.00,0.000,4,0.000,0.061,2475,715,3430
$GC,3114,-1.33,-146.6,375.0,-12.6,176,3118,0.00,2.45,0.00,0.000,6,0.000,0.050,2475,2099,3430
$GC,3436,-1.33,-146.6,413.8,-12.4,196,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2099,3430
$GC,3746,-1.33,-146.6,453.2,-12.1,216,3750,0.00,2.53,0.00,0.000,4,0.000,0.066,2475,709,3430
$GC,3801,-1.38,-146.6,460.3,-12.3,219,3808,0.15,2.42,0.00,0.000,6,0.058,0.050,2436,2077,3430
$GC,4124,-1.32,-146.6,505.9,-14.6,240,4128,0.00,2.47,0.00,0.000,4,0.000,0.065,2436,716,3430
$GC,4191,-1.32,-146.6,516.3,-14.4,244,4195,0.00,2.40,0.00,0.000,6,0.000,0.051,2436,2068,3430
$GC,4519,-1.27,-146.6,558.9,-12.4,265,4521,0.15,0.00,0.00,0.000,6,0.094,0.000,2466,2068,3430
$GC,4828,-1.30,-146.6,592.1,-9.9,285,4833,0.00,2.67,0.00,0.000,4,0.000,0.073,2466,3532,3430
$GC,4850,-1.30,-146.6,595.0,-11.9,286,4862,0.00,2.72,0.00,0.000,6,0.000,0.062,2466,2031,3430
$STATE,4901,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4901,begin apogee
$GC,4910,-0.33,0.0,599.7,9.0,290,5044,0.95,0.00,130.55,1.200,6,0.080,0.000,2669,1837,2831
$STATE,5044,end apogee,CONTROL_FINISHED_OK
$STATE,5044,begin climb
$GC,5048,1.44,146.6,605.4,0.0,299,5189,1.77,2.62,130.60,1.159,4,0.057,0.070,3060,453,2233
$GC,5211,1.33,146.6,596.2,10.1,309,5216,0.15,2.55,0.00,0.000,6,0.100,0.054,3033,1856,2232
$GC,5538,1.40,191.9,567.1,7.9,330,5586,0.00,2.62,40.75,1.125,4,0.000,0.070,3032,3264,2048
$GC,5672,1.40,191.9,553.3,10.8,338,5677,0.00,2.55,0.00,0.000,6,0.000,0.065,3032,1887,2048
$GC,5997,1.41,200.5,523.7,9.6,359,6014,0.00,0.00,9.25,0.992,6,0.000,0.000,3032,1886,2013
$GC,6327,1.45,224.5,490.3,8.9,380,6359,0.15,2.62,21.88,1.093,4,0.059,0.067,3070,3262,1915
$GC,6370,1.39,224.5,485.1,12.3,382,6377,0.12,2.58,0.00,0.000,6,0.104,0.063,3048,1867,1915
$GC,6690,1.39,224.5,450.4,11.4,403,6694,0.00,2.58,0.00,0.000,4,0.000,0.067,3047,3255,1914
$GC,6712,1.39,224.5,447.7,11.3,404,6718,0.00,2.53,0.00,0.000,6,0.000,0.061,3047,1869,1914
$GC,7031,1.39,224.5,412.5,11.1,425,7035,0.00,2.58,0.00,0.000,4,0.000,0.065,3047,3261,1913
$GC,7047,1.39,224.5,410.4,11.6,426,7052,0.00,2.53,0.00,0.000,6,0.000,0.058,3047,1876,1913
$GC,7368,1.39,226.6,378.2,9.9,446,7372,0.00,2.55,0.00,0.000,4,0.000,0.064,3048,3258,1913
$GC,7406,1.39,226.6,374.0,10.1,448,7412,0.00,2.47,0.00,0.000,6,0.000,0.056,3048,1892,1913
$GC,7726,1.39,226.6,340.8,10.4,469,7730,0.00,2.53,0.00,0.000,4,0.000,0.064,3047,3264,1913
$GC,7742,1.39,226.6,338.9,10.3,470,7746,0.00,2.47,0.00,0.000,6,0.000,0.054,3048,1893,1913
$GC,8061,1.39,226.6,307.3,10.1,490,8065,0.00,2.50,0.00,0.000,4,0.000,0.063,3047,3255,1913
$GC,8094,1.39,226.6,303.8,10.7,492,8098,0.00,2.42,0.00,0.000,6,0.000,0.054,3047,1909,1913
$GC,8414,1.42,244.2,273.4,9.2,512,8439,0.00,2.55,18.05,0.947,4,0.000,0.061,3048,3258,1835
$GC,8468,1.42,244.2,267.8,10.4,515,8472,0.00,2.45,0.00,0.000,6,0.000,0.053,3047,1910,1835
$GC,8788,1.42,244.2,236.2,10.3,535,8792,0.00,2.47,0.00,0.000,4,0.000,0.061,3047,3258,1835
$GC,8816,1.42,244.2,233.0,11.0,537,8820,0.00,2.40,0.00,0.000,6,0.000,0.052,3048,1922,1835
$GC,9140,1.42,244.2,200.1,10.1,558,9144,0.00,2.45,0.00,0.000,4,0.000,0.061,3048,3259,1835
$GC,9181,1.46,249.6,196.0,9.8,560,9193,0.00,2.38,6.28,0.761,6,0.000,0.051,3048,1931,1813
$GC,9505,1.46,249.6,163.8,10.2,581,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1930,1813
$GC,9832,1.48,257.5,131.0,9.6,599,9843,0.00,0.00,8.40,0.781,6,0.000,0.000,3048,1931,1781
$GC,10142,1.48,259.6,101.3,9.9,614,10151,0.00,2.45,3.67,0.549,4,0.000,0.059,3047,3255,1772
$GC,10181,1.53,259.6,96.9,10.5,615,10189,0.15,2.33,0.00,0.000,6,0.054,0.049,3088,1952,1772
$GC,10499,1.48,259.6,58.9,12.1,631,10503,0.00,2.38,0.00,0.000,4,0.000,0.058,3088,3258,1772
$GC,10527,1.45,259.6,55.3,12.2,632,10532,0.15,2.33,0.00,0.000,6,0.099,0.048,3059,1950,1772
$GC,10843,1.45,259.6,22.2,10.4,647,10847,0.00,2.38,0.00,0.000,4,0.000,0.058,3059,3259,1772
$GC,10866,1.45,259.6,19.7,10.6,648,10870,0.00,2.30,0.00,0.000,6,0.000,0.048,3059,1966,1772
$STATE,11020,end climb,SURFACE_DEPTH_REACHED
$STATE,11021,begin surface coast
$FINISH,0.6,1.027220
$STATE,11042,end surface coast,CONTROL_FINISHED_OK
$STATE,11042,begin surface
$SM_CCo,11065,21.12,0.763,0,0,1608,300.00
$SM_GC,1.13,0.00,0.00,21.12,0.000,0.000,0.763,417,2155,1608,-10.71,0.71,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1845
$TCM_TEMP,17.40
$XPDR_PINGS,47
$ALTIM_BOTTOM_PING,595.4,13.9
$24V_AH,23.7,63.423
$10V_AH,10.1,28.726
$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,26.350,120.400,369.425,21.125,0.000,37.763,25.977,126.788,17.250,0.000,0.000,14.376,1185.498,7882.737,500.498,1375.433,459.804,33.357,1232.684,0.000,1338.212,0.000,42.646,0.000
$DEVICE_MAMPS,152.633,80.535,1200.355,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.353,478.536,399.196,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34826,657
$CAP_FILE_SIZE,97930,0
$CFSIZE,254472192,230682624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,291009,082007,6238.065,-1047.141,35,1.1,35,-10.6