version: 66.04
glider: 5
mission: 7
dive: 396
start: 10 29 109 17 45 31
data:
$ID,5
$MISSION,7
$DIVE,396
$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,-107812.05
$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,34
$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
$GPS1,173807,6239.174,-1040.719,33,1.3,33,-10.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-59.6
$GPS2,174440,6239.297,-1040.653,13,2.0,13,-10.6
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.157,-0.211
$KALMAN_X,-191220.1,1035.5,1081.2,303564.2,-11489.7
$KALMAN_Y,65992.8,-862.8,153.3,-156006.5,10083.0
$MHEAD_RNG_PITCHd_Wd,153.9,19480,-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,19,-1.44,-146.6,0.0,0.0,0,62,0.00,0.00,-41.62,0.000,2,0.000,0.000,418,2153,2439
$GC,66,-1.44,-146.6,2.2,-2.8,2,130,11.02,2.55,-44.10,0.000,4,0.160,0.077,2423,3517,3429
$GC,148,-1.34,-146.6,7.8,-14.6,5,156,0.15,2.50,0.00,0.000,6,0.104,0.049,2452,2117,3430
$GC,467,-1.28,-146.6,52.6,-14.8,21,471,0.00,2.60,0.00,0.000,4,0.000,0.065,2452,3520,3429
$GC,518,-1.22,-146.6,60.8,-15.6,23,523,0.12,2.45,0.00,0.000,6,0.101,0.048,2477,2147,3430
$GC,836,-1.22,-146.6,101.1,-12.0,38,840,0.00,2.53,0.00,0.000,4,0.000,0.057,2477,719,3429
$GC,880,-1.22,-146.6,106.9,-12.4,40,884,0.00,2.50,0.00,0.000,6,0.000,0.047,2477,2132,3430
$GC,1202,-1.22,-146.6,144.5,-11.7,56,1207,0.00,2.55,0.00,0.000,4,0.000,0.058,2477,719,3430
$GC,1250,-1.26,-146.6,150.2,-12.0,58,1257,0.00,2.50,0.00,0.000,6,0.000,0.047,2477,2134,3430
$GC,1569,-1.26,-146.6,187.7,-11.7,79,1573,0.00,2.55,0.00,0.000,4,0.000,0.059,2477,722,3430
$GC,1599,-1.26,-146.6,191.3,-12.2,81,1603,0.00,2.47,0.00,0.000,6,0.000,0.048,2477,2122,3430
$GC,1923,-1.26,-146.6,228.6,-11.8,102,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2122,3430
$GC,2236,-1.26,-146.6,265.8,-11.9,122,2240,0.00,2.53,0.00,0.000,4,0.000,0.060,2477,723,3430
$GC,2304,-1.31,-146.6,273.9,-11.8,126,2309,0.00,2.47,0.00,0.000,6,0.000,0.048,2477,2119,3430
$GC,2624,-1.31,-146.6,310.1,-11.3,146,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2118,3430
$GC,2937,-1.31,-146.6,347.3,-12.4,166,2941,0.00,2.55,0.00,0.000,4,0.000,0.063,2477,715,3430
$GC,2966,-1.34,-146.6,351.1,-12.5,168,2971,0.12,2.47,0.00,0.000,6,0.062,0.049,2444,2108,3430
$GC,3296,-1.29,-146.6,397.1,-14.5,189,3300,0.00,2.53,0.00,0.000,4,0.000,0.066,2444,723,3430
$GC,3325,-1.26,-146.6,402.1,-14.7,191,3330,0.12,2.42,0.00,0.000,6,0.100,0.051,2468,2088,3430
$GC,3652,-1.26,-146.6,439.4,-9.8,212,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2088,3430
$GC,3963,-1.26,-146.6,469.7,-9.9,232,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2087,3430
$GC,4274,-1.26,-146.6,505.4,-11.7,252,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2087,3430
$GC,4587,-1.26,-146.6,540.8,-11.4,272,4591,0.00,2.50,0.00,0.000,4,0.000,0.066,2468,719,3430
$GC,4637,-1.33,-146.6,546.7,-11.5,275,4642,0.00,2.42,0.00,0.000,6,0.000,0.052,2468,2079,3430
$STATE,4893,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4893,begin apogee
$GC,4901,-0.33,0.0,574.7,9.9,291,5037,0.95,0.00,131.85,1.179,6,0.078,0.000,2673,1841,2831
$STATE,5038,end apogee,CONTROL_FINISHED_OK
$STATE,5038,begin climb
$GC,5041,1.44,146.6,580.3,0.0,300,5182,1.75,2.62,131.50,1.138,4,0.058,0.072,3058,443,2233
$GC,5282,1.34,157.5,564.9,9.5,314,5298,0.00,2.55,11.05,0.996,6,0.000,0.054,3058,1850,2188
$GC,5615,1.35,195.3,537.8,8.3,335,5655,0.00,2.67,34.20,1.104,4,0.000,0.071,3058,3251,2034
$GC,5707,1.35,196.4,528.9,9.9,340,5714,0.00,2.55,0.00,0.000,6,0.000,0.069,3058,1881,2033
$GC,6029,1.35,225.2,499.9,8.7,361,6058,0.00,0.00,27.00,1.093,6,0.000,0.000,3058,1881,1913
$GC,6370,1.32,225.2,466.1,10.7,383,6375,0.15,2.58,0.00,0.000,4,0.101,0.068,3030,3259,1912
$GC,6422,1.37,226.5,461.0,9.9,386,6427,0.00,2.55,0.00,0.000,6,0.000,0.063,3030,1874,1912
$GC,6742,1.37,226.5,430.0,10.2,406,6746,0.00,2.58,0.00,0.000,4,0.000,0.067,3030,3261,1912
$GC,6799,1.42,226.5,423.8,10.8,409,6805,0.10,2.53,0.00,0.000,6,0.067,0.061,3057,1882,1912
$GC,7118,1.42,226.5,387.5,11.5,430,7121,0.00,2.55,0.00,0.000,4,0.000,0.065,3057,3260,1911
$GC,7145,1.42,226.5,383.8,13.0,431,7151,0.00,2.47,0.00,0.000,6,0.000,0.059,3057,1901,1911
$GC,7467,1.42,226.5,347.3,11.7,452,7471,0.00,2.50,0.00,0.000,4,0.000,0.064,3057,3255,1912
$GC,7505,1.42,226.5,342.2,12.3,454,7511,0.00,2.42,0.00,0.000,6,0.000,0.057,3057,1918,1912
$GC,7825,1.42,226.5,306.4,11.2,475,7829,0.00,2.47,0.00,0.000,4,0.000,0.064,3057,3264,1912
$GC,7858,1.42,226.5,302.4,11.5,477,7862,0.00,2.42,0.00,0.000,6,0.000,0.054,3057,1918,1912
$GC,8177,1.42,226.5,266.3,11.3,497,8181,0.00,2.45,0.00,0.000,4,0.000,0.063,3057,3254,1912
$GC,8205,1.42,226.5,262.8,12.3,499,8209,0.00,2.38,0.00,0.000,6,0.000,0.054,3057,1933,1912
$GC,8531,1.42,226.5,224.8,11.6,520,8535,0.00,2.42,0.00,0.000,4,0.000,0.062,3057,3255,1912
$GC,8552,1.42,226.5,221.8,12.7,521,8558,0.00,2.35,0.00,0.000,6,0.000,0.053,3057,1946,1912
$GC,8872,1.42,226.5,184.7,11.3,542,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1946,1912
$GC,9184,1.42,226.5,151.4,10.7,562,9188,0.00,2.40,0.00,0.000,4,0.000,0.061,3057,3259,1912
$GC,9212,1.42,226.5,148.4,11.0,564,9216,0.00,2.30,0.00,0.000,6,0.000,0.050,3057,1960,1912
$GC,9529,1.42,226.5,116.0,10.3,579,9533,0.00,2.38,0.00,0.000,4,0.000,0.060,3057,3263,1912
$GC,9563,1.42,226.5,112.1,10.6,580,9567,0.00,2.30,0.00,0.000,6,0.000,0.048,3057,1967,1912
$GC,9885,1.43,235.8,81.8,9.6,596,9898,0.00,0.00,10.88,0.775,6,0.000,0.000,3057,1967,1869
$GC,10197,1.44,237.5,51.4,9.9,611,10201,0.00,2.35,0.00,0.000,4,0.000,0.059,3057,3257,1869
$GC,10237,1.44,237.5,46.8,11.2,613,10241,0.00,2.28,0.00,0.000,6,0.000,0.048,3057,1969,1869
$GC,10564,1.44,237.5,12.5,10.2,629,10568,0.00,2.35,0.00,0.000,4,0.000,0.058,3057,3259,1869
$GC,10582,1.44,238.2,10.6,10.0,630,10591,0.00,2.28,3.80,0.533,6,0.000,0.048,3057,1981,1859
$STATE,10663,end climb,SURFACE_DEPTH_REACHED
$STATE,10664,begin surface coast
$FINISH,0.8,1.027129
$STATE,10686,end surface coast,CONTROL_FINISHED_OK
$STATE,10686,begin surface
$SM_CCo,10710,32.28,0.779,0,0,1608,300.00
$SM_GC,1.57,0.00,0.00,32.28,0.000,0.000,0.779,423,2164,1608,-10.68,0.96,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1832
$TCM_TEMP,17.30
$XPDR_PINGS,43
$ALTIM_BOTTOM_PING,545.5,38.8
$24V_AH,23.7,63.976
$10V_AH,10.1,28.970
$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,25.975,109.550,350.275,32.275,0.000,37.764,30.941,203.307,15.500,0.000,0.000,13.871,1145.818,7678.580,485.341,1300.183,529.079,33.361,1167.805,0.000,1270.045,0.000,36.662,0.000
$DEVICE_MAMPS,159.536,77.467,1178.879,778.505,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.642,464.629,395.429,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31754,635
$CAP_FILE_SIZE,93263,0
$CFSIZE,254472192,230502400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,291009,204555,6239.230,-1037.609,41,1.4,41,-10.5