version: 66.04
glider: 5
mission: 7
dive: 376
start: 10 27 109 0 51 47
data:
$ID,5
$MISSION,7
$DIVE,376
$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,-107420.73
$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,24
$R_STBD_OVSHOOT,26
$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
$GPS1,004537,6238.780,-1119.405,37,0.9,37,-10.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-64.6
$GPS2,005056,6238.807,-1119.448,12,1.8,12,-10.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,DE
$TGT_LATLONG,6237.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.263,0.022
$KALMAN_X,-147614.6,1390.8,813.5,227777.8,-10532.4
$KALMAN_Y,41918.0,90.6,309.5,-133957.4,-5544.4
$MHEAD_RNG_PITCHd_Wd,96.2,16901,-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,-40.95,0.000,2,0.000,0.000,418,2146,2422
$GC,63,-1.44,-146.6,2.2,-3.1,2,128,11.27,2.65,-46.05,0.000,4,0.164,0.066,2426,706,3429
$GC,213,-1.37,-146.6,16.7,-15.0,9,218,0.10,2.53,0.00,0.000,6,0.110,0.048,2444,2129,3430
$GC,540,-1.30,-146.6,64.0,-14.1,25,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2130,3430
$GC,849,-1.23,-146.6,109.2,-14.6,40,854,0.15,2.58,0.00,0.000,4,0.100,0.059,2474,706,3430
$GC,917,-1.26,-146.6,118.4,-13.1,43,922,0.00,2.53,0.00,0.000,6,0.000,0.048,2474,2131,3430
$GC,1240,-1.26,-146.6,158.7,-12.1,60,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2130,3430
$GC,1553,-1.26,-146.6,194.6,-11.1,80,1558,0.00,2.58,0.00,0.000,4,0.000,0.061,2474,707,3430
$GC,1582,-1.26,-146.6,198.1,-12.3,81,1588,0.00,2.50,0.00,0.000,6,0.000,0.048,2474,2119,3430
$GC,1901,-1.26,-146.6,234.4,-11.9,102,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2119,3430
$GC,2214,-1.26,-146.6,272.2,-12.2,122,2218,0.00,2.55,0.00,0.000,4,0.000,0.061,2474,708,3430
$GC,2259,-1.31,-146.6,278.0,-12.5,124,2265,0.00,2.50,0.00,0.000,6,0.000,0.049,2474,2120,3430
$GC,2578,-1.31,-146.6,317.2,-12.4,145,2582,0.00,2.55,0.00,0.000,4,0.000,0.061,2474,708,3430
$GC,2612,-1.34,-146.6,321.5,-12.7,147,2616,0.00,2.47,0.00,0.000,6,0.000,0.050,2474,2103,3430
$GC,2931,-1.34,-146.6,361.3,-12.4,167,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2103,3431
$GC,3244,-1.34,-146.6,399.9,-12.2,187,3245,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2103,3430
$GC,3555,-1.34,-146.6,440.2,-13.2,207,3560,0.00,2.53,0.00,0.000,4,0.000,0.064,2474,717,3431
$GC,3619,-1.39,-146.6,448.4,-12.8,211,3624,0.15,2.45,0.00,0.000,6,0.058,0.051,2434,2092,3430
$GC,3947,-1.33,-146.6,494.0,-13.4,232,3952,0.00,2.50,0.00,0.000,4,0.000,0.063,2434,717,3431
$GC,3998,-1.33,-146.6,501.2,-13.0,235,4002,0.00,2.42,0.00,0.000,6,0.000,0.051,2434,2076,3430
$GC,4327,-1.28,-146.6,546.4,-14.8,256,4332,0.15,2.67,0.00,0.000,4,0.100,0.074,2465,3531,3430
$GC,4360,-1.28,-146.6,552.0,-13.9,258,4364,0.00,2.67,0.00,0.000,6,0.000,0.064,2464,2067,3430
$GC,4681,-1.28,-146.6,589.7,-11.0,278,4685,0.00,2.45,0.00,0.000,4,0.000,0.069,2464,707,3430
$GC,4727,-1.33,-146.6,594.9,-11.0,281,4732,0.00,2.45,0.00,0.000,6,0.000,0.053,2464,2082,3430
$GC,5059,-1.33,-146.6,635.3,-11.8,302,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2082,3430
$STATE,5179,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5179,begin apogee
$GC,5187,-0.33,0.0,649.6,11.6,310,5323,0.98,0.00,131.75,1.243,6,0.081,0.000,2673,1846,2831
$STATE,5323,end apogee,CONTROL_FINISHED_OK
$STATE,5323,begin climb
$GC,5327,1.44,146.6,654.9,0.0,319,5466,1.75,0.00,131.02,1.204,6,0.057,0.000,3058,1847,2232
$GC,5779,1.37,146.6,619.3,10.3,348,5783,0.00,2.65,0.00,0.000,4,0.000,0.072,3058,3256,2232
$GC,5801,1.31,146.6,617.0,10.2,349,5807,0.15,2.62,0.00,0.000,6,0.103,0.068,3031,1850,2232
$GC,6120,1.37,184.2,590.6,8.3,370,6160,0.00,2.70,33.67,1.167,4,0.000,0.070,3031,3250,2080
$GC,6186,1.39,198.6,584.8,9.3,374,6206,0.00,2.60,14.27,1.095,6,0.000,0.067,3031,1859,2022
$GC,6536,1.45,234.6,555.8,8.4,396,6577,0.15,2.70,32.45,1.156,4,0.061,0.070,3068,3254,1874
$GC,6585,1.40,234.6,550.6,11.1,399,6589,0.00,2.62,0.00,0.000,6,0.000,0.067,3068,1860,1874
$GC,6904,1.35,234.6,512.5,13.1,419,6909,0.15,2.62,0.00,0.000,4,0.101,0.069,3040,3260,1873
$GC,6950,1.39,234.6,506.5,13.6,422,6954,0.00,2.53,0.00,0.000,6,0.000,0.064,3040,1892,1874
$GC,7274,1.41,246.4,469.7,9.5,443,7291,0.00,2.62,11.60,1.046,4,0.000,0.067,3040,3258,1826
$GC,7327,1.50,274.7,465.1,8.7,446,7360,0.15,2.53,25.33,1.107,6,0.061,0.061,3076,1888,1711
$GC,7672,1.45,274.7,425.8,12.0,468,7673,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1888,1712
$GC,7985,1.41,274.7,388.0,11.9,488,7990,0.12,2.53,0.00,0.000,4,0.101,0.064,3053,3252,1712
$GC,8025,1.44,274.7,383.3,11.1,490,8031,0.00,2.47,0.00,0.000,6,0.000,0.058,3053,1893,1712
$GC,8344,1.44,274.7,347.4,12.1,511,8348,0.00,2.50,0.00,0.000,4,0.000,0.064,3053,3252,1712
$GC,8377,1.48,274.7,343.1,12.0,513,8381,0.00,2.42,0.00,0.000,6,0.000,0.056,3053,1914,1712
$GC,8697,1.48,274.7,305.1,11.5,533,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1914,1712
$GC,9008,1.48,274.7,269.4,11.0,553,9013,0.00,2.47,0.00,0.000,4,0.000,0.063,3053,3261,1713
$GC,9055,1.52,274.7,264.3,11.2,556,9060,0.10,2.42,0.00,0.000,6,0.064,0.054,3081,1912,1713
$GC,9384,1.48,274.7,224.1,11.9,577,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1912,1713
$GC,9693,1.44,274.7,189.2,11.0,597,9698,0.12,2.45,0.00,0.000,4,0.097,0.060,3057,3254,1713
$GC,9728,1.48,274.7,185.6,10.1,599,9732,0.00,2.38,0.00,0.000,6,0.000,0.051,3057,1925,1713
$GC,10047,1.49,285.0,155.8,9.5,619,10064,0.00,2.47,10.75,0.831,4,0.000,0.059,3057,3262,1668
$GC,10076,1.52,285.0,152.9,10.6,620,10082,0.00,2.40,0.00,0.000,6,0.000,0.049,3057,1930,1668
$GC,10404,1.52,285.0,119.7,10.7,637,10405,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1930,1668
$GC,10713,1.52,285.0,85.6,11.6,652,10718,0.00,2.42,0.00,0.000,4,0.000,0.058,3057,3262,1668
$GC,10738,1.56,285.0,82.5,12.1,653,10742,0.12,2.35,0.00,0.000,6,0.059,0.048,3092,1938,1669
$GC,11060,1.53,285.0,38.7,13.6,669,11064,0.00,2.40,0.00,0.000,4,0.000,0.058,3092,3261,1670
$GC,11077,1.49,285.0,36.2,12.2,669,11084,0.12,2.33,0.00,0.000,6,0.097,0.048,3068,1946,1669
$STATE,11349,end climb,SURFACE_DEPTH_REACHED
$STATE,11349,begin surface coast
$FINISH,0.8,1.027379
$STATE,11371,end surface coast,CONTROL_FINISHED_OK
$STATE,11371,begin surface
$SM_CCo,11396,7.90,0.686,0,0,1608,300.00
$SM_GC,2.50,0.00,0.00,7.90,0.000,0.000,0.686,419,2143,1608,-10.70,0.37,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1831
$TCM_TEMP,17.40
$XPDR_PINGS,46
$ALTIM_BOTTOM_PING,620.1,39.2
$24V_AH,23.7,61.073
$10V_AH,10.1,27.707
$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,27.225,106.575,390.850,7.900,0.000,37.759,27.992,130.367,17.000,0.000,0.000,12.765,1213.304,8189.517,504.849,1354.378,463.302,33.355,1212.451,0.000,1324.313,0.000,41.432,0.000
$DEVICE_MAMPS,164.138,74.399,1243.307,686.465,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,467.330,498.168,395.692,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34877,684
$CAP_FILE_SIZE,96319,0
$CFSIZE,254472192,231481344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,271009,040306,6239.085,-1115.863,34,0.9,34,-10.9