version: 66.04
glider: 5
mission: 7
dive: 399
start: 10 30 109 2 44 59
data:
$ID,5
$MISSION,7
$DIVE,399
$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,-107864.21
$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,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
$GPS1,023855,6237.242,-1035.863,40,1.2,40,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-63.8
$GPS2,024408,6237.247,-1035.975,16,1.2,16,-10.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.144,-0.221
$KALMAN_X,-195223.7,934.4,146.5,312498.0,-10967.2
$KALMAN_Y,70169.0,-1443.6,-783.7,-162409.8,10894.1
$MHEAD_RNG_PITCHd_Wd,157.3,14361,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,79,0.00,0.00,-60.60,0.000,2,0.000,0.000,420,2163,2808
$GC,83,-1.44,-146.6,3.1,-4.1,3,120,11.00,2.50,-20.12,0.000,4,0.156,0.079,2420,3520,3429
$GC,161,-1.32,-146.6,12.9,-14.6,5,168,0.17,2.50,0.00,0.000,6,0.095,0.049,2455,2122,3429
$GC,478,-1.28,-146.6,57.8,-14.5,21,482,0.00,2.50,0.00,0.000,4,0.000,0.058,2455,714,3429
$GC,505,-1.28,-146.6,62.3,-14.6,22,510,0.00,2.50,0.00,0.000,6,0.000,0.048,2455,2123,3429
$GC,824,-1.25,-146.6,109.0,-14.5,37,829,0.00,2.55,0.00,0.000,4,0.000,0.058,2455,709,3429
$GC,875,-1.25,-146.6,117.0,-14.7,39,879,0.00,2.50,0.00,0.000,6,0.000,0.048,2455,2123,3429
$GC,1203,-1.22,-146.6,163.4,-14.3,56,1208,0.12,2.55,0.00,0.000,4,0.104,0.058,2480,708,3429
$GC,1267,-1.27,-146.6,171.9,-12.7,60,1271,0.00,2.50,0.00,0.000,6,0.000,0.048,2480,2115,3429
$GC,1597,-1.27,-146.6,212.4,-11.8,81,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2117,3429
$GC,1910,-1.27,-146.6,248.3,-11.6,101,1914,0.00,2.53,0.00,0.000,4,0.000,0.060,2480,714,3429
$GC,1950,-1.32,-146.6,253.2,-12.0,103,1955,0.12,2.45,0.00,0.000,6,0.060,0.050,2446,2099,3430
$GC,2271,-1.28,-146.6,292.7,-12.2,123,2276,0.00,2.62,0.00,0.000,4,0.000,0.069,2446,3536,3430
$GC,2302,-1.22,-146.6,296.6,-12.3,125,2307,0.15,2.60,0.00,0.000,6,0.097,0.058,2475,2091,3429
$GC,2626,-1.22,-146.6,330.6,-10.5,146,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2092,3429
$GC,2940,-1.22,-146.6,366.0,-11.9,166,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2092,3429
$GC,3251,-1.22,-146.6,405.3,-12.9,186,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2091,3430
$GC,3563,-1.22,-146.6,442.5,-10.5,206,3568,0.00,2.70,0.00,0.000,4,0.000,0.071,2475,3539,3430
$GC,3593,-1.22,-146.6,445.4,-10.2,208,3598,0.00,2.62,0.00,0.000,6,0.000,0.060,2475,2090,3429
$GC,3918,-1.22,-146.6,477.6,-10.2,229,3922,0.00,2.45,0.00,0.000,4,0.000,0.063,2475,713,3430
$GC,4002,-1.28,-146.6,486.8,-11.1,234,4007,0.00,2.42,0.00,0.000,6,0.000,0.050,2475,2083,3429
$GC,4324,-1.32,-146.6,527.4,-14.1,254,4329,0.00,2.67,0.00,0.000,4,0.000,0.075,2475,3535,3430
$GC,4381,-1.35,-146.6,536.4,-14.9,257,4388,0.12,2.67,0.00,0.000,6,0.058,0.063,2440,2070,3429
$STATE,4666,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4666,begin apogee
$GC,4675,-0.33,0.0,578.5,14.2,276,4812,1.08,0.00,133.30,1.176,6,0.079,0.000,2670,1831,2831
$STATE,4813,end apogee,CONTROL_FINISHED_OK
$STATE,4813,begin climb
$GC,4816,1.44,146.6,584.7,0.0,285,4957,1.77,2.72,131.07,1.144,4,0.060,0.070,3058,3257,2233
$GC,5006,1.44,179.0,574.4,8.5,296,5044,0.00,2.60,29.90,1.089,6,0.000,0.066,3058,1855,2101
$GC,5361,1.39,179.0,539.6,11.2,319,5366,0.00,2.62,0.00,0.000,4,0.000,0.072,3057,3250,2100
$GC,5384,1.35,179.0,536.1,12.4,320,5390,0.00,2.62,0.00,0.000,6,0.000,0.067,3058,1838,2100
$GC,5704,1.30,179.0,498.5,12.0,341,5709,0.15,2.65,0.00,0.000,4,0.099,0.071,3030,3248,2099
$GC,5811,1.30,179.0,486.8,10.7,347,5817,0.00,2.55,0.00,0.000,6,0.000,0.064,3030,1867,2098
$GC,6130,1.35,209.0,458.6,8.6,368,6160,0.00,0.00,27.45,1.097,6,0.000,0.000,3030,1867,1978
$GC,6473,1.35,210.6,424.8,9.9,390,6478,0.00,2.58,0.00,0.000,4,0.000,0.067,3030,3250,1976
$GC,6526,1.40,212.6,419.5,9.9,393,6537,0.00,2.55,4.50,0.766,6,0.000,0.059,3030,1855,1964
$GC,6854,1.46,232.0,389.1,9.1,414,6879,0.15,2.65,17.77,1.035,4,0.059,0.064,3068,3246,1885
$GC,6896,1.43,232.0,383.9,12.0,416,6902,0.00,2.55,0.00,0.000,6,0.000,0.058,3069,1860,1885
$GC,7216,1.39,232.0,347.8,11.5,437,7221,0.12,2.58,0.00,0.000,4,0.102,0.064,3045,3252,1885
$GC,7262,1.42,232.0,342.6,10.7,440,7267,0.00,2.47,0.00,0.000,6,0.000,0.057,3045,1881,1885
$GC,7587,1.42,232.0,308.9,10.1,461,7591,0.00,2.53,0.00,0.000,4,0.000,0.064,3045,3251,1884
$GC,7627,1.45,232.0,304.8,10.4,463,7631,0.00,2.45,0.00,0.000,6,0.000,0.055,3045,1897,1885
$GC,7953,1.46,238.1,273.0,9.7,484,7969,0.00,2.55,7.10,0.835,4,0.000,0.062,3045,3249,1860
$GC,8004,1.50,238.1,267.7,10.3,487,8009,0.12,2.42,0.00,0.000,6,0.058,0.054,3076,1908,1860
$GC,8332,1.44,238.1,230.7,11.5,508,8336,0.00,2.47,0.00,0.000,4,0.000,0.062,3077,3257,1860
$GC,8354,1.40,238.1,227.4,12.4,509,8359,0.15,2.42,0.00,0.000,6,0.096,0.052,3048,1909,1860
$GC,8674,1.40,238.1,194.8,10.5,529,8678,0.00,2.47,0.00,0.000,4,0.000,0.061,3049,3261,1860
$GC,8696,1.40,238.1,192.2,11.2,530,8703,0.00,2.40,0.00,0.000,6,0.000,0.052,3048,1923,1860
$GC,9016,1.42,252.0,160.9,9.4,551,9036,0.00,2.47,13.32,0.862,4,0.000,0.061,3048,3244,1803
$GC,9054,1.46,252.0,157.0,10.0,553,9059,0.00,2.35,0.00,0.000,6,0.000,0.051,3048,1943,1803
$GC,9388,1.47,261.4,125.4,9.6,570,9399,0.00,0.00,9.50,0.798,6,0.000,0.000,3048,1942,1765
$GC,9698,1.53,273.8,96.1,9.4,585,9720,0.12,2.47,11.80,0.808,4,0.058,0.059,3083,3257,1714
$GC,9738,1.53,273.8,91.3,12.0,586,9744,0.00,2.33,0.00,0.000,6,0.000,0.050,3083,1967,1714
$GC,10056,1.53,273.8,52.7,13.0,602,10060,0.00,2.72,0.00,0.000,4,0.000,0.061,3083,439,1714
$GC,10089,1.47,273.8,47.8,14.1,603,10096,0.00,2.70,0.00,0.000,6,0.000,0.047,3083,1968,1714
$GC,10406,1.47,273.8,8.0,13.0,619,10411,0.00,2.78,0.00,0.000,4,0.000,0.060,3083,438,1714
$GC,10425,1.42,273.8,5.3,13.6,620,10430,0.15,2.70,0.00,0.000,6,0.094,0.046,3054,1965,1715
$STATE,10440,end climb,SURFACE_DEPTH_REACHED
$STATE,10440,begin surface coast
$FINISH,0.5,1.027201
$STATE,10462,end surface coast,CONTROL_FINISHED_OK
$STATE,10462,begin surface
$SM_CCo,10486,13.77,0.752,0,0,1607,300.00
$SM_GC,1.57,0.00,0.00,13.77,0.000,0.000,0.752,416,2149,1607,-10.71,0.74,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1850
$TCM_TEMP,17.30
$XPDR_PINGS,55
$ALTIM_BOTTOM_PING,520.8,67.5
$24V_AH,23.7,64.393
$10V_AH,10.1,29.145
$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,26.925,117.900,385.725,13.775,0.000,37.758,33.774,118.571,18.250,0.000,0.000,16.577,1130.755,7438.643,507.377,1291.603,450.359,33.359,1196.303,0.000,1256.006,0.000,35.155,0.000
$DEVICE_MAMPS,156.468,79.001,1175.811,752.427,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.325,456.215,371.241,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31684,622
$CAP_FILE_SIZE,95007,0
$CFSIZE,254472192,230363136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,301009,054107,6236.825,-1035.913,26,1.4,26,-10.5