version: 66.04
glider: 5
mission: 7
dive: 398
start: 10 29 109 23 54 52
data:
$ID,5
$MISSION,7
$DIVE,398
$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,-107847
$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,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
$GPS1,234831,6238.241,-1035.785,38,1.3,38,-10.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-65.0
$GPS2,235401,6238.210,-1035.826,16,1.0,16,-10.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.208,-0.162
$KALMAN_X,-191442.0,1078.2,17.9,308814.7,-7613.2
$KALMAN_Y,71114.9,-1372.1,-1550.0,-160873.1,14201.8
$MHEAD_RNG_PITCHd_Wd,138.3,16001,-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,-40.95,0.000,2,0.000,0.000,417,2161,2417
$GC,63,-1.44,-146.6,2.1,-2.8,2,128,11.12,2.53,-47.03,0.000,4,0.160,0.084,2425,3524,3428
$GC,168,-1.31,-146.6,9.7,-14.5,6,176,0.17,2.53,0.00,0.000,6,0.100,0.051,2459,2117,3428
$GC,485,-1.28,-146.6,53.0,-13.4,22,489,0.00,2.47,0.00,0.000,4,0.000,0.059,2459,718,3428
$GC,575,-1.28,-146.6,65.0,-13.0,26,579,0.00,2.47,0.00,0.000,6,0.000,0.046,2459,2120,3429
$GC,897,-1.28,-146.6,107.6,-13.3,42,901,0.00,2.53,0.00,0.000,4,0.000,0.058,2458,715,3429
$GC,930,-1.28,-146.6,112.3,-13.0,43,934,0.00,2.47,0.00,0.000,6,0.000,0.048,2459,2120,3428
$GC,1246,-1.28,-146.6,153.0,-12.7,59,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2119,3429
$GC,1560,-1.28,-146.6,191.5,-12.1,79,1565,0.00,2.53,0.00,0.000,4,0.000,0.060,2459,719,3429
$GC,1639,-1.28,-146.6,201.6,-12.7,84,1644,0.00,2.45,0.00,0.000,6,0.000,0.048,2459,2106,3429
$GC,1965,-1.28,-146.6,241.8,-12.1,105,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2105,3429
$GC,2276,-1.28,-146.6,278.5,-11.8,125,2281,0.00,2.53,0.00,0.000,4,0.000,0.063,2459,716,3429
$GC,2328,-1.28,-146.6,284.7,-11.6,128,2332,0.00,2.45,0.00,0.000,6,0.000,0.049,2459,2099,3429
$GC,2648,-1.28,-146.6,324.7,-13.1,148,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2098,3429
$GC,2960,-1.28,-146.6,366.4,-13.7,168,2964,0.00,2.50,0.00,0.000,4,0.000,0.062,2459,717,3429
$GC,3016,-1.28,-146.6,374.4,-14.4,171,3022,0.00,2.42,0.00,0.000,6,0.000,0.049,2459,2086,3429
$GC,3335,-1.28,-146.6,417.2,-13.6,192,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2086,3429
$GC,3648,-1.28,-146.6,459.7,-13.7,212,3652,0.00,2.47,0.00,0.000,4,0.000,0.063,2459,729,3429
$GC,3687,-1.28,-146.6,465.4,-14.1,214,3694,0.00,2.40,0.00,0.000,6,0.000,0.051,2459,2073,3428
$GC,4007,-1.28,-146.6,516.7,-16.7,235,4011,0.00,2.45,0.00,0.000,4,0.000,0.064,2459,726,3429
$GC,4058,-1.31,-146.6,525.2,-15.2,238,4062,0.00,2.38,0.00,0.000,6,0.000,0.051,2459,2055,3429
$STATE,4375,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4375,begin apogee
$GC,4382,-0.33,0.0,568.6,11.8,258,4518,0.98,0.00,132.27,1.166,6,0.077,0.000,2669,1837,2831
$STATE,4519,end apogee,CONTROL_FINISHED_OK
$STATE,4519,begin climb
$GC,4522,1.44,146.6,574.4,0.0,267,4664,1.77,2.60,132.90,1.126,4,0.058,0.070,3058,449,2233
$GC,4754,1.33,151.9,560.8,9.8,281,4770,0.12,2.53,6.45,0.865,6,0.100,0.054,3036,1850,2211
$GC,5086,1.47,240.3,539.2,6.0,302,5173,0.15,2.70,78.72,1.112,4,0.058,0.071,3073,3253,1851
$GC,5210,1.44,244.6,528.6,9.8,309,5221,0.00,2.60,5.60,0.824,6,0.000,0.067,3073,1856,1833
$GC,5546,1.38,246.3,495.0,9.9,331,5548,0.15,0.00,0.00,0.000,6,0.104,0.000,3045,1856,1833
$GC,5853,1.43,278.1,467.1,8.5,351,5888,0.00,2.65,30.10,1.085,4,0.000,0.067,3045,3252,1697
$GC,5937,1.52,301.4,459.7,8.9,356,5970,0.15,2.60,21.88,1.058,6,0.060,0.062,3082,1844,1602
$GC,6283,1.47,301.4,419.3,12.9,378,6288,0.00,2.62,0.00,0.000,4,0.000,0.065,3082,3257,1603
$GC,6318,1.47,301.4,414.3,13.4,380,6322,0.00,2.55,0.00,0.000,6,0.000,0.060,3082,1863,1603
$GC,6639,1.41,301.4,371.1,13.3,400,6644,0.15,2.58,0.00,0.000,4,0.099,0.063,3053,3255,1603
$GC,6684,1.45,301.4,365.2,11.8,403,6689,0.00,2.50,0.00,0.000,6,0.000,0.058,3053,1882,1603
$GC,7010,1.45,301.4,328.5,11.3,424,7014,0.00,2.53,0.00,0.000,4,0.000,0.064,3054,3251,1603
$GC,7049,1.49,301.4,323.7,12.0,426,7053,0.00,2.45,0.00,0.000,6,0.000,0.056,3053,1900,1603
$GC,7369,1.49,301.4,287.2,11.2,446,7374,0.00,2.50,0.00,0.000,4,0.000,0.063,3053,3258,1603
$GC,7416,1.54,301.4,281.7,11.8,449,7420,0.12,2.42,0.00,0.000,6,0.061,0.054,3086,1914,1603
$GC,7742,1.48,301.4,238.5,13.7,470,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1914,1603
$GC,8053,1.43,301.4,194.9,14.0,490,8058,0.15,2.45,0.00,0.000,4,0.097,0.061,3057,3252,1603
$GC,8105,1.47,301.4,187.7,13.2,493,8109,0.00,2.38,0.00,0.000,6,0.000,0.051,3057,1928,1603
$GC,8431,1.47,301.4,146.5,12.4,513,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1928,1603
$GC,8739,1.47,301.4,107.7,12.3,528,8743,0.00,2.42,0.00,0.000,4,0.000,0.060,3057,3258,1604
$GC,8772,1.52,301.4,103.5,12.4,529,8778,0.00,2.35,0.00,0.000,6,0.000,0.050,3057,1942,1604
$GC,9091,1.52,301.4,69.1,10.1,545,9095,0.00,2.67,0.00,0.000,4,0.000,0.062,3057,441,1604
$GC,9118,1.52,301.4,65.7,10.8,546,9122,0.00,2.65,0.00,0.000,6,0.000,0.048,3057,1938,1604
$GC,9435,1.55,301.4,32.1,10.8,561,9437,0.12,0.00,0.00,0.000,6,0.060,0.000,3091,1955,1604
$STATE,9658,end climb,SURFACE_DEPTH_REACHED
$STATE,9658,begin surface coast
$FINISH,0.6,1.025459
$STATE,9680,end surface coast,CONTROL_FINISHED_OK
$STATE,9680,begin surface
$SM_CCo,9765,0.00,0.000,0,0,1604,300.98
$SM_GC,1.51,11.57,0.00,0.00,0.037,0.000,0.000,421,2152,1604,-10.59,0.59,300.98
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1838
$TCM_TEMP,17.30
$XPDR_PINGS,47
$ALTIM_BOTTOM_PING,520.7,57.5
$24V_AH,23.7,64.257
$10V_AH,10.1,29.086
$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,26.750,91.025,407.925,0.000,0.000,37.762,28.765,138.344,16.250,0.000,0.000,16.908,1026.652,6929.876,473.257,1225.882,440.431,33.358,1125.104,0.000,1189.942,0.000,35.125,0.000
$DEVICE_MAMPS,159.536,83.603,1165.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,390.745,414.648,360.825,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28491,573
$CAP_FILE_SIZE,83408,0
$CFSIZE,254472192,230424576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,301009,023855,6237.242,-1035.863,40,1.2,40,-10.5