version: 66.04
glider: 5
mission: 7
dive: 377
start: 10 27 109 4 9 15
data:
$ID,5
$MISSION,7
$DIVE,377
$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,-107441.62
$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,25
$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
$GPS1,040306,6239.085,-1115.863,34,0.9,34,-10.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-60.3
$GPS2,040825,6239.099,-1115.889,15,1.0,20,-10.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,DE
$TGT_LATLONG,6237.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.263,0.016
$KALMAN_X,-148464.3,886.4,828.2,232062.7,-9722.6
$KALMAN_Y,41778.3,560.6,692.9,-134151.7,-5285.6
$MHEAD_RNG_PITCHd_Wd,97.3,14082,-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,12,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,59,0.00,0.00,-41.20,0.000,2,0.000,0.000,419,2146,2434
$GC,63,-1.44,-146.6,2.4,-3.7,2,127,11.07,0.00,-45.50,0.000,6,0.160,0.000,2421,2137,3428
$GC,439,-1.33,-146.6,51.9,-14.7,20,441,0.15,0.00,0.00,0.000,6,0.106,0.000,2451,2137,3429
$GC,746,-1.28,-146.6,92.8,-13.6,35,750,0.00,2.58,0.00,0.000,4,0.000,0.057,2451,706,3429
$GC,801,-1.28,-146.6,100.6,-13.6,37,807,0.00,2.53,0.00,0.000,6,0.000,0.048,2451,2134,3429
$GC,1119,-1.23,-146.6,144.6,-14.1,53,1127,0.12,2.58,0.00,0.000,4,0.104,0.057,2475,704,3430
$GC,1184,-1.27,-146.6,153.3,-12.6,56,1190,0.00,2.53,0.00,0.000,6,0.000,0.048,2475,2130,3429
$GC,1503,-1.27,-146.6,192.9,-12.2,77,1508,0.00,2.58,0.00,0.000,4,0.000,0.060,2475,703,3429
$GC,1550,-1.31,-146.6,198.8,-12.9,80,1554,0.00,2.50,0.00,0.000,6,0.000,0.049,2475,2114,3430
$GC,1875,-1.31,-146.6,239.6,-12.5,101,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2114,3430
$GC,2189,-1.31,-146.6,279.7,-13.1,121,2193,0.00,2.53,0.00,0.000,4,0.000,0.060,2475,716,3430
$GC,2240,-1.35,-146.6,286.9,-13.7,124,2245,0.12,2.47,0.00,0.000,6,0.058,0.050,2442,2113,3430
$GC,2564,-1.29,-146.6,334.1,-14.6,144,2566,0.10,0.00,0.00,0.000,6,0.103,0.000,2460,2112,3430
$GC,2871,-1.29,-146.6,375.1,-12.6,164,2875,0.00,2.53,0.00,0.000,4,0.000,0.061,2460,714,3430
$GC,2934,-1.29,-146.6,383.1,-12.9,168,2938,0.00,2.47,0.00,0.000,6,0.000,0.051,2460,2109,3430
$GC,3259,-1.29,-146.6,421.9,-11.3,189,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2110,3430
$GC,3570,-1.29,-146.6,456.5,-11.9,209,3574,0.00,2.53,0.00,0.000,4,0.000,0.063,2461,715,3430
$GC,3650,-1.33,-146.6,465.9,-11.6,214,3655,0.00,2.45,0.00,0.000,6,0.000,0.051,2461,2097,3430
$GC,3974,-1.33,-146.6,507.5,-17.4,235,3979,0.00,2.53,0.00,0.000,4,0.000,0.064,2461,706,3430
$GC,4014,-1.37,-146.6,514.1,-15.9,237,4020,0.00,2.45,0.00,0.000,6,0.000,0.052,2460,2084,3429
$GC,4334,-1.37,-146.6,547.8,-9.3,258,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2084,3430
$GC,4645,-1.37,-146.6,580.7,-12.7,278,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2084,3430
$GC,4958,-1.37,-146.6,622.8,-13.0,298,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2085,3429
$STATE,5111,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5111,begin apogee
$GC,5118,-0.33,0.0,641.4,11.2,308,5254,0.98,0.00,131.55,1.246,6,0.083,0.000,2669,1835,2831
$STATE,5254,end apogee,CONTROL_FINISHED_OK
$STATE,5254,begin climb
$GC,5258,1.44,146.6,646.9,0.0,317,5397,1.77,0.00,131.77,1.206,6,0.061,0.000,3056,1834,2233
$GC,5710,1.41,176.0,614.4,8.7,346,5742,0.00,2.72,27.12,1.148,4,0.000,0.072,3056,3257,2113
$GC,5750,1.40,216.8,610.9,8.1,348,5793,0.00,2.62,37.45,1.157,6,0.000,0.069,3056,1859,1947
$GC,6115,1.36,216.8,570.1,12.2,372,6119,0.00,2.62,0.00,0.000,4,0.000,0.073,3056,3255,1946
$GC,6181,1.36,216.8,560.9,13.4,376,6186,0.00,2.62,0.00,0.000,6,0.000,0.070,3056,1852,1946
$GC,6501,1.36,216.8,523.1,10.7,396,6506,0.00,2.62,0.00,0.000,4,0.000,0.073,3056,3254,1944
$GC,6552,1.36,216.8,517.2,11.6,399,6556,0.00,2.58,0.00,0.000,6,0.000,0.068,3056,1870,1944
$GC,6872,1.36,216.8,481.4,10.9,419,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1870,1944
$GC,7183,1.36,216.8,445.3,12.2,439,7188,0.00,2.58,0.00,0.000,4,0.000,0.069,3056,3251,1943
$GC,7222,1.36,216.8,440.4,12.2,441,7229,0.00,2.53,0.00,0.000,6,0.000,0.062,3056,1875,1942
$GC,7542,1.36,216.8,406.6,10.3,462,7546,0.00,2.55,0.00,0.000,4,0.000,0.067,3056,3252,1942
$GC,7587,1.36,216.8,401.4,11.1,465,7592,0.00,2.47,0.00,0.000,6,0.000,0.060,3057,1893,1942
$GC,7914,1.36,216.8,364.8,11.2,486,7918,0.00,2.53,0.00,0.000,4,0.000,0.065,3056,3261,1942
$GC,7943,1.36,216.8,361.2,11.8,488,7947,0.00,2.45,0.00,0.000,6,0.000,0.058,3056,1906,1942
$GC,8273,1.36,216.8,322.8,11.4,509,8277,0.00,2.47,0.00,0.000,4,0.000,0.064,3056,3251,1942
$GC,8296,1.36,216.8,320.0,11.7,510,8302,0.00,2.42,0.00,0.000,6,0.000,0.055,3056,1908,1942
$GC,8616,1.36,216.8,285.3,11.0,531,8620,0.00,2.47,0.00,0.000,4,0.000,0.063,3056,3255,1942
$GC,8649,1.36,216.8,281.3,11.4,533,8653,0.00,2.40,0.00,0.000,6,0.000,0.054,3056,1923,1942
$GC,8968,1.36,216.8,244.8,11.6,553,8972,0.00,2.45,0.00,0.000,4,0.000,0.063,3056,3258,1942
$GC,8997,1.36,216.8,241.3,12.4,555,9001,0.00,2.40,0.00,0.000,6,0.000,0.053,3056,1920,1943
$GC,9322,1.36,218.5,206.2,9.9,576,9326,0.00,2.45,0.00,0.000,4,0.000,0.061,3056,3261,1943
$GC,9343,1.36,218.5,203.8,10.7,577,9349,0.00,2.38,0.00,0.000,6,0.000,0.051,3056,1933,1943
$GC,9664,1.43,259.1,176.5,8.1,598,9706,0.00,0.00,36.28,0.910,6,0.000,0.000,3056,1934,1773
$GC,10029,1.43,259.1,136.0,12.7,620,10033,0.00,2.42,0.00,0.000,4,0.000,0.061,3056,3257,1774
$GC,10073,1.43,259.1,130.2,13.7,622,10077,0.00,2.38,0.00,0.000,6,0.000,0.050,3056,1931,1774
$GC,10395,1.46,277.6,96.6,9.2,638,10415,0.00,0.00,16.65,0.828,6,0.000,0.000,3056,1931,1699
$GC,10727,1.55,332.5,68.3,7.5,654,10778,0.10,2.45,45.70,0.835,4,0.058,0.058,3087,3252,1475
$GC,10807,1.55,332.5,58.1,13.0,657,10814,0.00,2.35,0.00,0.000,6,0.000,0.048,3087,1940,1475
$GC,11124,1.55,332.5,12.8,14.5,673,11128,0.00,2.40,0.00,0.000,4,0.000,0.058,3087,3256,1476
$GC,11142,1.52,332.5,10.5,13.1,674,11146,0.00,2.33,0.00,0.000,6,0.000,0.051,3087,1953,1476
$STATE,11218,end climb,SURFACE_DEPTH_REACHED
$STATE,11219,begin surface coast
$FINISH,0.8,1.027190
$STATE,11241,end surface coast,CONTROL_FINISHED_OK
$STATE,11241,begin surface
$SM_CCo,11325,0.00,0.000,0,0,1475,332.38
$SM_GC,1.53,11.65,0.00,0.00,0.038,0.000,0.000,420,2137,1475,-10.60,0.40,332.38
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1828
$TCM_TEMP,17.40
$XPDR_PINGS,48
$ALTIM_BOTTOM_PING,595.7,55.0
$24V_AH,23.7,61.222
$10V_AH,10.1,27.769
$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,26.075,100.700,426.525,0.000,0.000,37.761,28.809,126.118,17.500,0.000,0.000,20.258,1187.932,8131.252,525.791,1355.439,442.862,33.353,1231.106,0.000,1316.806,0.000,42.745,0.000
$DEVICE_MAMPS,160.303,72.865,1245.608,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,463.675,497.294,397.370,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34783,679
$CAP_FILE_SIZE,91643,0
$CFSIZE,254472192,231436288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,271009,071906,6239.371,-1112.657,29,1.2,29,-10.9