version: 66.04
glider: 5
mission: 7
dive: 372
start: 10 26 109 9 59 14
data:
$ID,5
$MISSION,7
$DIVE,372
$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,-107362.29
$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,51
$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
$GPS1,095137,6239.286,-1130.896,38,1.3,38,-11.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-66.1
$GPS2,095825,6239.252,-1130.949,14,1.0,14,-11.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,DE
$TGT_LATLONG,6237.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.245,-0.014
$KALMAN_X,-140117.2,1016.0,390.7,211578.0,-12415.6
$KALMAN_Y,50765.0,-391.7,-314.1,-140845.7,1390.1
$MHEAD_RNG_PITCHd_Wd,104.3,26691,-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,-41.55,0.000,2,0.000,0.000,420,2152,2441
$GC,64,-1.22,-146.6,2.3,-2.9,2,128,11.12,2.60,-44.53,0.000,4,0.157,0.070,2470,708,3430
$GC,297,-1.13,-146.6,26.6,-14.0,12,302,0.12,2.47,0.00,0.000,6,0.106,0.046,2494,2108,3430
$GC,614,-1.06,-146.6,66.0,-13.3,27,619,0.00,2.53,0.00,0.000,4,0.000,0.058,2494,708,3431
$GC,648,-1.02,-146.6,70.2,-11.8,28,655,0.12,2.50,0.00,0.000,6,0.097,0.048,2520,2123,3430
$GC,966,-1.02,-146.6,105.2,-10.8,44,970,0.00,2.55,0.00,0.000,4,0.000,0.059,2520,711,3431
$GC,1045,-1.05,-146.6,114.4,-11.1,47,1051,0.00,2.45,0.00,0.000,6,0.000,0.047,2520,2100,3430
$GC,1363,-1.05,-146.6,146.3,-9.8,63,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2100,3431
$GC,1683,-1.05,-146.6,178.6,-10.3,83,1687,0.00,2.53,0.00,0.000,4,0.000,0.061,2520,705,3431
$GC,1736,-1.09,-146.6,183.7,-9.5,86,1740,0.00,2.45,0.00,0.000,6,0.000,0.048,2520,2086,3430
$GC,2056,-1.09,-146.6,216.1,-9.9,106,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2086,3431
$GC,2369,-1.09,-146.6,246.7,-9.6,126,2373,0.00,2.50,0.00,0.000,4,0.000,0.061,2520,706,3431
$GC,2436,-1.12,-146.6,253.5,-9.4,130,2440,0.00,2.42,0.00,0.000,6,0.000,0.049,2520,2074,3431
$GC,2755,-1.12,-146.6,284.7,-10.0,150,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2074,3431
$GC,3068,-1.12,-146.6,319.0,-11.1,170,3072,0.00,2.47,0.00,0.000,4,0.000,0.063,2520,716,3431
$GC,3123,-1.12,-146.6,325.4,-11.8,173,3129,0.00,2.40,0.00,0.000,6,0.000,0.051,2520,2066,3431
$GC,3443,-1.12,-146.6,360.9,-11.2,194,3447,0.00,2.47,0.00,0.000,4,0.000,0.063,2520,706,3431
$GC,3476,-1.12,-146.6,364.9,-12.0,196,3480,0.00,2.40,0.00,0.000,6,0.000,0.051,2520,2056,3431
$GC,3797,-1.12,-146.6,400.0,-10.7,216,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2056,3431
$GC,4109,-1.12,-146.6,431.6,-9.9,236,4114,0.00,2.45,0.00,0.000,4,0.000,0.064,2521,713,3430
$GC,4160,-1.16,-146.6,437.1,-9.9,239,4165,0.15,2.38,0.00,0.000,6,0.058,0.051,2481,2047,3430
$GC,4483,-1.09,-146.6,476.1,-12.5,259,4485,0.12,0.00,0.00,0.000,6,0.099,0.000,2507,2047,3430
$GC,4791,-1.09,-146.6,509.0,-9.9,279,4796,0.00,2.42,0.00,0.000,4,0.000,0.063,2507,715,3430
$GC,4847,-1.09,-146.6,514.5,-10.0,282,4853,0.00,2.38,0.00,0.000,6,0.000,0.051,2507,2048,3430
$GC,5168,-1.09,-146.6,545.1,-9.6,303,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2049,3430
$GC,5479,-1.09,-146.6,572.8,-9.3,323,5483,0.00,2.42,0.00,0.000,4,0.000,0.064,2507,717,3429
$GC,5576,-1.12,-146.6,582.4,-10.7,329,5580,0.00,2.33,0.00,0.000,6,0.000,0.052,2507,2020,3429
$GC,5900,-1.12,-146.6,614.8,-10.1,350,5904,0.00,2.40,0.00,0.000,4,0.000,0.068,2507,716,3429
$GC,5939,-1.12,-146.6,618.9,-10.6,352,5945,0.00,2.35,0.00,0.000,6,0.000,0.054,2507,2027,3429
$GC,6259,-1.12,-146.6,648.0,-9.7,373,6264,0.00,2.80,0.00,0.000,4,0.000,0.080,2507,3539,3429
$GC,6315,-1.12,-146.6,653.7,-10.1,376,6321,0.00,2.80,0.00,0.000,6,0.000,0.069,2507,2021,3428
$STATE,6490,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6490,begin apogee
$GC,6499,-0.33,0.0,669.7,9.0,388,6634,0.77,0.00,131.35,1.264,6,0.080,0.000,2672,1838,2832
$STATE,6634,end apogee,CONTROL_FINISHED_OK
$STATE,6634,begin climb
$GC,6637,1.22,146.6,674.7,0.0,397,6779,1.52,2.65,131.00,1.224,4,0.061,0.076,3005,445,2233
$GC,6839,1.16,173.0,666.2,7.0,409,6870,0.00,2.55,24.90,1.154,6,0.000,0.056,3005,1862,2125
$GC,7200,1.12,174.0,638.0,8.0,432,7204,0.00,2.58,0.00,0.000,4,0.000,0.073,3005,3244,2124
$GC,7273,1.09,174.0,631.1,9.7,436,7280,0.12,2.58,0.00,0.000,6,0.098,0.067,2983,1859,2124
$GC,7594,1.09,176.1,606.3,7.9,457,7603,0.00,2.60,4.12,0.779,4,0.000,0.071,2982,3244,2112
$GC,7683,1.09,176.1,598.9,8.8,462,7688,0.00,2.55,0.00,0.000,6,0.000,0.067,2982,1871,2112
$GC,8003,1.18,231.5,576.8,6.0,482,8059,0.00,2.75,49.20,1.205,4,0.000,0.077,2983,440,1887
$GC,8077,1.28,293.1,572.3,5.8,486,8138,0.20,2.62,54.75,1.185,6,0.054,0.058,3031,1884,1635
$GC,8460,1.23,293.1,536.5,9.4,511,8461,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1884,1636
$GC,8771,1.18,293.1,507.1,9.7,531,8776,0.15,2.50,0.00,0.000,4,0.094,0.068,3002,3238,1636
$GC,8819,1.24,293.1,503.0,9.0,534,8823,0.00,2.50,0.00,0.000,6,0.000,0.067,3002,1884,1636
$GC,9143,1.24,293.1,475.2,8.8,555,9147,0.00,2.53,0.00,0.000,4,0.000,0.066,3002,3247,1636
$GC,9176,1.29,293.1,472.1,8.6,557,9181,0.12,2.50,0.00,0.000,6,0.060,0.061,3034,1880,1636
$GC,9499,1.24,293.1,437.2,10.8,577,9503,0.00,2.50,0.00,0.000,4,0.000,0.064,3035,3241,1636
$GC,9538,1.24,293.1,432.4,11.4,579,9542,0.00,2.42,0.00,0.000,6,0.000,0.058,3034,1904,1636
$GC,9864,1.19,293.1,397.9,10.7,600,9868,0.15,2.47,0.00,0.000,4,0.091,0.063,3004,3250,1636
$GC,9903,1.24,293.1,393.8,9.7,602,9909,0.00,2.42,0.00,0.000,6,0.000,0.058,3004,1912,1636
$GC,10222,1.24,293.1,364.2,9.5,623,10226,0.00,2.45,0.00,0.000,4,0.000,0.063,3004,3246,1636
$GC,10252,1.29,293.1,361.5,10.3,625,10256,0.00,2.38,0.00,0.000,6,0.000,0.056,3004,1926,1636
$GC,10577,1.29,293.1,331.7,8.9,646,10581,0.00,2.42,0.00,0.000,4,0.000,0.063,3004,3248,1637
$GC,10610,1.35,293.1,328.5,9.7,648,10615,0.17,2.35,0.00,0.000,6,0.052,0.055,3048,1943,1637
$GC,10933,1.28,293.1,293.2,11.8,668,10935,0.15,0.00,0.00,0.000,6,0.088,0.000,3019,1943,1637
$GC,11242,1.28,293.1,261.6,9.8,688,11246,0.00,2.38,0.00,0.000,4,0.000,0.062,3019,3240,1638
$GC,11276,1.28,293.1,258.1,10.7,690,11280,0.00,2.33,0.00,0.000,6,0.000,0.053,3019,1944,1638
$GC,11595,1.28,293.1,226.4,10.0,710,11599,0.00,2.38,0.00,0.000,4,0.000,0.061,3019,3244,1638
$GC,11623,1.28,293.1,223.3,10.7,712,11627,0.00,2.30,0.00,0.000,6,0.000,0.052,3019,1960,1638
$GC,11950,1.28,293.1,191.6,9.8,733,11954,0.00,2.35,0.00,0.000,4,0.000,0.061,3019,3246,1638
$GC,11967,1.28,293.1,189.5,10.1,734,11971,0.00,2.30,0.00,0.000,6,0.000,0.051,3019,1959,1639
$GC,12286,1.28,293.1,157.8,10.3,754,12290,0.00,2.35,0.00,0.000,4,0.000,0.060,3019,3248,1639
$GC,12308,1.28,293.1,155.5,10.1,755,12314,0.00,2.28,0.00,0.000,6,0.000,0.049,3019,1973,1639
$GC,12625,1.28,293.1,125.2,9.2,772,12626,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1973,1639
$GC,12934,1.28,293.1,96.7,9.7,787,12935,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1973,1639
$GC,13246,1.28,293.1,64.8,10.1,802,13250,0.00,2.75,0.00,0.000,4,0.000,0.064,3019,436,1639
$GC,13263,1.28,293.1,62.6,10.2,803,13268,0.00,2.72,0.00,0.000,6,0.000,0.048,3019,1982,1639
$GC,13591,1.28,293.1,30.8,9.2,819,13595,0.00,2.80,0.00,0.000,4,0.000,0.061,3019,440,1640
$GC,13609,1.28,293.1,29.0,9.7,820,13614,0.00,2.72,0.00,0.000,6,0.000,0.048,3019,1983,1640
$STATE,13912,end climb,SURFACE_DEPTH_REACHED
$STATE,13912,begin surface coast
$FINISH,0.8,1.017819
$STATE,13935,end surface coast,CONTROL_FINISHED_OK
$STATE,13935,begin surface
$SM_CCo,13959,3.95,0.521,0,0,1607,300.00
$SM_GC,2.60,0.00,0.00,3.95,0.000,0.000,0.521,418,2144,1607,-10.70,0.40,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1832
$TCM_TEMP,16.30
$XPDR_PINGS,56
$ALTIM_BOTTOM_PING,620.9,58.1
$24V_AH,23.7,60.460
$10V_AH,10.1,27.435
$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,26.250,139.950,395.325,3.950,0.000,37.763,46.528,183.962,19.500,0.000,0.000,14.197,1479.898,10062.142,501.865,1733.342,589.928,33.357,1394.158,0.000,1694.223,0.000,38.205,0.000
$DEVICE_MAMPS,157.235,79.768,1264.016,520.793,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,571.731,609.457,481.416,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41113,836
$CAP_FILE_SIZE,118430,0
$CFSIZE,254472192,231673856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,261009,135307,6238.760,-1127.917,30,1.7,30,-11.0