version: 66.04
glider: 5
mission: 7
dive: 371
start: 10 26 109 5 46 29
data:
$ID,5
$MISSION,7
$DIVE,371
$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,412.5
$T_MISSION,440
$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,-107347.46
$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,21
$R_STBD_OVSHOOT,35
$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
$GPS1,053936,6240.991,-1131.560,42,1.1,42,-11.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-63.8
$GPS2,054538,6240.984,-1131.594,14,1.1,14,-11.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,DE
$TGT_LATLONG,6237.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.225,-0.098
$KALMAN_X,-135862.4,833.6,622.2,206727.5,-11035.9
$KALMAN_Y,52397.7,-487.7,-495.9,-138995.1,3964.2
$MHEAD_RNG_PITCHd_Wd,124.6,27906,-14.8,-8.000
$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,12,begin dive
$GC,16,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.15,0.000,2,0.000,0.000,421,2151,2428
$GC,63,-1.22,-146.6,2.3,-3.6,2,127,11.27,2.60,-45.75,0.000,4,0.160,0.071,2471,709,3428
$GC,380,-1.14,-146.6,37.8,-14.6,16,385,0.12,2.50,0.00,0.000,6,0.102,0.048,2496,2122,3428
$GC,705,-1.07,-146.6,78.7,-12.5,32,709,0.00,2.55,0.00,0.000,4,0.000,0.058,2496,708,3428
$GC,754,-1.07,-146.6,85.8,-13.5,34,759,0.00,2.53,0.00,0.000,6,0.000,0.048,2496,2134,3429
$GC,1071,-1.01,-146.6,124.2,-12.3,49,1073,0.12,0.00,0.00,0.000,6,0.095,0.000,2522,2134,3428
$GC,1381,-1.01,-146.6,157.8,-10.9,65,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2134,3428
$GC,1692,-1.01,-146.6,191.3,-10.6,85,1697,0.00,2.58,0.00,0.000,4,0.000,0.060,2522,709,3429
$GC,1766,-1.05,-146.6,199.3,-10.9,89,1772,0.00,2.47,0.00,0.000,6,0.000,0.048,2522,2112,3428
$GC,2085,-1.05,-146.6,233.5,-10.4,110,2090,0.00,2.53,0.00,0.000,4,0.000,0.060,2522,714,3429
$GC,2125,-1.09,-146.6,237.6,-10.0,112,2131,0.00,2.45,0.00,0.000,6,0.000,0.048,2522,2099,3429
$GC,2446,-1.09,-146.6,269.4,-9.8,133,2451,0.00,2.50,0.00,0.000,4,0.000,0.061,2522,716,3429
$GC,2474,-1.09,-146.6,272.5,-10.4,134,2480,0.00,2.42,0.00,0.000,6,0.000,0.049,2522,2084,3429
$GC,2793,-1.09,-146.6,303.8,-9.9,155,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2084,3429
$GC,3106,-1.09,-146.6,335.3,-10.1,175,3110,0.00,2.50,0.00,0.000,4,0.000,0.063,2521,707,3429
$GC,3145,-1.13,-146.6,339.3,-10.2,177,3151,0.12,2.45,0.00,0.000,6,0.059,0.050,2489,2089,3429
$GC,3467,-1.07,-146.6,374.5,-10.9,198,3469,0.10,0.00,0.00,0.000,6,0.097,0.000,2510,2090,3428
$GC,3776,-1.07,-146.6,405.2,-9.7,218,3780,0.00,2.50,0.00,0.000,4,0.000,0.064,2510,716,3428
$GC,3809,-1.07,-146.6,408.6,-9.8,220,3813,0.00,2.42,0.00,0.000,6,0.000,0.051,2510,2077,3428
$GC,4129,-1.07,-146.6,438.6,-9.4,240,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2078,3428
$GC,4440,-1.07,-146.6,469.4,-10.1,260,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2078,3428
$GC,4753,-1.07,-146.6,504.0,-11.4,280,4757,0.00,2.50,0.00,0.000,4,0.000,0.066,2510,709,3428
$GC,4820,-1.07,-146.6,511.9,-11.9,284,4825,0.00,2.42,0.00,0.000,6,0.000,0.052,2510,2073,3428
$GC,5140,-1.07,-146.6,545.0,-10.1,304,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2073,3427
$GC,5452,-1.07,-146.6,575.9,-10.7,324,5457,0.00,2.67,0.00,0.000,4,0.000,0.072,2510,3535,3427
$GC,5515,-1.07,-146.6,582.8,-11.1,328,5519,0.00,2.67,0.00,0.000,6,0.000,0.062,2510,2056,3427
$GC,5840,-1.07,-146.6,615.4,-9.8,349,5844,0.00,2.42,0.00,0.000,4,0.000,0.069,2510,706,3428
$GC,5890,-1.11,-146.6,620.8,-9.7,352,5894,0.00,2.40,0.00,0.000,6,0.000,0.054,2511,2053,3428
$GC,6215,-1.11,-146.6,652.0,-10.0,373,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2054,3427
$STATE,6321,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6322,begin apogee
$GC,6330,-0.33,0.0,662.7,9.6,380,6465,0.75,0.00,132.15,1.253,6,0.075,0.000,2672,1832,2831
$STATE,6466,end apogee,CONTROL_FINISHED_OK
$STATE,6466,begin climb
$GC,6469,1.22,146.6,668.9,0.0,389,6612,1.55,2.65,133.90,1.210,4,0.058,0.072,3012,454,2233
$GC,6752,1.08,146.6,655.1,8.5,406,6757,0.17,2.55,0.00,0.000,6,0.092,0.056,2979,1856,2232
$GC,7076,1.08,146.6,633.3,8.0,427,7081,0.00,2.58,0.00,0.000,4,0.000,0.072,2979,3257,2231
$GC,7140,1.08,146.6,628.3,8.4,431,7145,0.00,2.62,0.00,0.000,6,0.000,0.070,2979,1852,2231
$GC,7464,1.12,169.0,604.5,7.2,452,7491,0.00,2.70,21.17,1.159,4,0.000,0.071,2979,3255,2140
$GC,7514,1.12,169.0,600.6,8.0,454,7519,0.00,2.62,0.00,0.000,6,0.000,0.067,2978,1855,2139
$GC,7833,1.13,178.2,576.3,7.7,474,7847,0.00,0.00,9.43,1.059,6,0.000,0.000,2979,1855,2104
$GC,8161,1.21,226.5,554.1,6.2,495,8210,0.12,2.70,42.90,1.188,4,0.061,0.070,3012,3259,1907
$GC,8298,1.21,226.5,543.1,8.5,503,8303,0.00,2.60,0.00,0.000,6,0.000,0.065,3012,1855,1907
$GC,8623,1.18,226.5,515.2,8.7,524,8627,0.00,2.62,0.00,0.000,4,0.000,0.069,3012,3261,1906
$GC,8645,1.18,226.5,513.2,8.5,525,8652,0.00,2.55,0.00,0.000,6,0.000,0.064,3012,1875,1906
$GC,8965,1.18,226.5,486.4,8.0,546,8969,0.00,2.55,0.00,0.000,4,0.000,0.067,3012,3256,1906
$GC,9010,1.18,226.5,482.3,8.8,549,9014,0.00,2.47,0.00,0.000,6,0.000,0.062,3012,1903,1906
$GC,9335,1.18,226.5,453.9,8.9,570,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1904,1906
$GC,9646,1.18,226.5,427.3,8.0,590,9650,0.00,2.50,0.00,0.000,4,0.000,0.066,3012,3255,1906
$GC,9702,1.20,239.6,422.8,7.5,593,9724,0.00,2.45,12.98,1.022,6,0.000,0.059,3012,1909,1854
$GC,10037,1.20,239.6,396.5,8.2,615,10041,0.00,2.47,0.00,0.000,4,0.000,0.064,3012,3255,1854
$GC,10055,1.20,239.6,394.9,8.3,616,10060,0.00,2.45,0.00,0.000,6,0.000,0.058,3012,1908,1854
$GC,10381,1.20,239.6,366.6,8.7,637,10385,0.00,2.47,0.00,0.000,4,0.000,0.064,3012,3255,1854
$GC,10415,1.20,239.6,363.3,9.1,639,10420,0.00,2.42,0.00,0.000,6,0.000,0.058,3012,1916,1854
$GC,10740,1.20,239.6,334.9,8.9,660,10743,0.00,2.47,0.00,0.000,4,0.000,0.064,3012,3262,1854
$GC,10762,1.20,239.6,332.7,9.4,661,10767,0.00,2.40,0.00,0.000,6,0.000,0.055,3012,1930,1854
$GC,11082,1.20,239.6,303.9,9.2,681,11086,0.00,2.45,0.00,0.000,4,0.000,0.064,3012,3264,1854
$GC,11120,1.20,239.6,300.0,9.7,683,11126,0.00,2.38,0.00,0.000,6,0.000,0.054,3012,1945,1855
$GC,11440,1.20,239.6,270.8,9.2,704,11444,0.00,2.42,0.00,0.000,4,0.000,0.063,3012,3265,1855
$GC,11462,1.20,239.6,268.6,9.7,705,11469,0.00,2.38,0.00,0.000,6,0.000,0.054,3012,1944,1855
$GC,11782,1.20,239.6,239.2,9.5,726,11783,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1944,1855
$GC,12095,1.20,239.6,210.8,9.0,746,12099,0.00,2.40,0.00,0.000,4,0.000,0.062,3012,3257,1855
$GC,12123,1.20,239.6,208.1,9.3,748,12127,0.00,2.33,0.00,0.000,6,0.000,0.052,3012,1960,1855
$GC,12448,1.20,239.6,179.0,8.8,769,12449,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1960,1855
$GC,12761,1.20,239.6,151.7,8.4,789,12765,0.00,2.38,0.00,0.000,4,0.000,0.061,3012,3258,1855
$GC,12794,1.20,239.6,148.7,8.3,791,12800,0.00,2.33,0.00,0.000,6,0.000,0.051,3012,1954,1856
$GC,13110,1.20,239.6,122.3,8.4,807,13114,0.00,2.38,0.00,0.000,4,0.000,0.061,3012,3256,1856
$GC,13138,1.20,239.6,119.9,9.1,808,13142,0.00,2.30,0.00,0.000,6,0.000,0.050,3012,1967,1856
$GC,13454,1.20,239.6,94.0,8.3,823,13455,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1967,1856
$GC,13764,1.21,247.7,70.0,7.7,838,13774,0.00,0.00,8.80,0.752,6,0.000,0.000,3012,1967,1821
$GC,14075,1.21,247.7,43.4,9.0,853,14079,0.00,2.35,0.00,0.000,4,0.000,0.059,3012,3258,1821
$GC,14102,1.21,247.7,40.6,9.3,854,14106,0.00,2.33,0.00,0.000,6,0.000,0.048,3012,1950,1821
$GC,14419,1.21,247.7,13.9,8.3,869,14423,0.00,2.38,0.00,0.000,4,0.000,0.059,3012,3257,1821
$GC,14438,1.25,247.7,12.3,8.9,870,14442,0.00,2.30,0.00,0.000,6,0.000,0.048,3012,1964,1821
$STATE,14556,end climb,SURFACE_DEPTH_REACHED
$STATE,14556,begin surface coast
$FINISH,0.7,1.027214
$STATE,14578,end surface coast,CONTROL_FINISHED_OK
$STATE,14578,begin surface
$SM_CCo,14602,27.15,0.765,0,0,1608,300.00
$SM_GC,1.80,0.00,0.00,27.15,0.000,0.000,0.765,420,2166,1608,-10.70,0.99,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1841
$TCM_TEMP,16.40
$XPDR_PINGS,64
$ALTIM_BOTTOM_PING,620.3,52.2
$24V_AH,23.7,60.306
$10V_AH,10.1,27.359
$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,25.625,134.775,361.325,27.150,0.000,37.764,32.452,154.028,21.750,0.000,0.000,14.488,1536.376,10610.930,507.483,1790.657,544.545,33.387,1412.239,0.000,1749.484,0.000,41.113,0.000
$DEVICE_MAMPS,160.303,72.098,1253.278,764.699,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,600.177,639.450,503.761,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44324,877
$CAP_FILE_SIZE,118499,0
$CFSIZE,254472192,231735296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,261009,095137,6239.286,-1130.896,38,1.3,38,-11.0