version: 66.04
glider: 5
mission: 7
dive: 393
start: 10 29 109 8 26 41
data:
$ID,5
$MISSION,7
$DIVE,393
$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,-107745.3
$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,30
$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
$GPS1,082007,6238.065,-1047.141,35,1.1,35,-10.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-64.4
$GPS2,082550,6238.091,-1047.100,13,1.5,13,-10.6
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.249,-0.086
$KALMAN_X,-184975.4,716.9,927.9,292450.0,-9490.2
$KALMAN_Y,57645.4,124.1,-323.4,-150410.2,6509.7
$MHEAD_RNG_PITCHd_Wd,119.6,20938,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.44,-146.6,0.0,0.0,0,62,0.00,0.00,-41.58,0.000,2,0.000,0.000,417,2148,2430
$GC,66,-1.44,-146.6,2.2,-3.5,2,130,10.82,2.53,-45.90,0.000,4,0.150,0.078,2421,3526,3428
$GC,312,-1.33,-146.6,32.3,-15.5,13,317,0.17,2.50,0.00,0.000,6,0.100,0.047,2455,2123,3428
$GC,640,-1.28,-146.6,77.2,-13.4,29,644,0.00,2.50,0.00,0.000,4,0.000,0.058,2455,711,3428
$GC,691,-1.28,-146.6,84.1,-13.5,31,695,0.00,2.50,0.00,0.000,6,0.000,0.048,2455,2123,3428
$GC,1007,-1.23,-146.6,124.9,-13.2,46,1012,0.00,2.55,0.00,0.000,4,0.000,0.060,2455,712,3429
$GC,1058,-1.23,-146.6,132.4,-14.0,48,1062,0.00,2.47,0.00,0.000,6,0.000,0.048,2455,2113,3429
$GC,1378,-1.20,-146.6,176.3,-14.0,66,1383,0.15,2.53,0.00,0.000,4,0.101,0.059,2485,716,3428
$GC,1440,-1.25,-146.6,184.7,-12.8,70,1445,0.00,2.45,0.00,0.000,6,0.000,0.048,2485,2102,3428
$GC,1766,-1.25,-146.6,225.6,-12.6,91,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2101,3429
$GC,2078,-1.25,-146.6,265.0,-12.3,111,2082,0.00,2.53,0.00,0.000,4,0.000,0.062,2485,709,3428
$GC,2124,-1.31,-146.6,270.8,-12.6,114,2129,0.12,2.45,0.00,0.000,6,0.060,0.049,2453,2094,3429
$GC,2451,-1.27,-146.6,313.3,-12.8,135,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2093,3429
$GC,2762,-1.23,-146.6,352.8,-12.5,155,2767,0.12,2.50,0.00,0.000,4,0.101,0.061,2476,713,3429
$GC,2791,-1.23,-146.6,356.4,-12.8,157,2795,0.00,2.45,0.00,0.000,6,0.000,0.050,2476,2097,3428
$GC,3116,-1.23,-146.6,395.9,-12.1,178,3120,0.00,2.50,0.00,0.000,4,0.000,0.063,2476,717,3428
$GC,3150,-1.27,-146.6,400.3,-12.0,180,3154,0.00,2.42,0.00,0.000,6,0.000,0.050,2476,2088,3428
$GC,3469,-1.27,-146.6,439.6,-12.6,200,3473,0.00,2.47,0.00,0.000,4,0.000,0.063,2476,722,3428
$GC,3502,-1.31,-146.6,443.9,-12.9,202,3507,0.00,2.40,0.00,0.000,6,0.000,0.051,2476,2069,3428
$GC,3822,-1.31,-146.6,481.1,-11.1,222,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2069,3428
$GC,4134,-1.31,-146.6,516.4,-10.6,242,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2069,3428
$GC,4447,-1.31,-146.6,548.4,-10.1,262,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2070,3428
$GC,4759,-1.35,-146.6,585.1,-12.0,282,4764,0.12,2.70,0.00,0.000,4,0.064,0.074,2443,3540,3428
$STATE,4795,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4795,begin apogee
$GC,4806,-0.33,0.0,590.3,13.1,284,4941,1.02,0.00,130.68,1.199,6,0.081,0.000,2665,1847,2831
$STATE,4942,end apogee,CONTROL_FINISHED_OK
$STATE,4942,begin climb
$GC,4945,1.44,146.6,597.2,0.0,293,5086,1.77,2.67,130.70,1.160,4,0.058,0.075,3054,434,2233
$GC,5197,1.36,167.8,581.7,9.0,308,5224,0.00,2.58,20.00,1.080,6,0.000,0.054,3054,1869,2146
$GC,5539,1.35,191.5,553.6,8.9,330,5571,0.00,2.65,22.12,1.101,4,0.000,0.071,3053,3247,2049
$GC,5594,1.35,191.5,547.4,10.5,333,5599,0.00,2.58,0.00,0.000,6,0.000,0.067,3054,1864,2049
$GC,5914,1.36,226.0,517.5,8.4,353,5950,0.00,2.65,31.08,1.126,4,0.000,0.070,3053,3244,1908
$GC,5991,1.39,244.1,510.5,9.2,358,6014,0.00,2.60,17.38,1.077,6,0.000,0.065,3054,1850,1835
$GC,6338,1.39,244.1,472.6,10.5,380,6342,0.00,2.60,0.00,0.000,4,0.000,0.069,3054,3244,1834
$GC,6354,1.39,244.1,470.1,10.9,381,6358,0.00,2.55,0.00,0.000,6,0.000,0.063,3054,1848,1834
$GC,6674,1.39,244.1,432.4,13.0,401,6678,0.00,2.60,0.00,0.000,4,0.000,0.067,3053,3249,1834
$GC,6746,1.39,244.1,422.3,13.8,405,6753,0.00,2.53,0.00,0.000,6,0.000,0.060,3054,1869,1834
$GC,7065,1.39,244.1,381.9,12.0,426,7070,0.00,2.55,0.00,0.000,4,0.000,0.065,3054,3245,1833
$GC,7114,1.39,244.1,376.3,12.4,429,7118,0.00,2.47,0.00,0.000,6,0.000,0.058,3054,1877,1833
$GC,7438,1.39,244.1,340.2,11.1,450,7442,0.00,2.53,0.00,0.000,4,0.000,0.064,3054,3247,1833
$GC,7459,1.39,244.1,337.7,11.2,451,7465,0.00,2.45,0.00,0.000,6,0.000,0.055,3054,1893,1833
$GC,7779,1.39,244.1,302.6,11.5,472,7783,0.00,2.47,0.00,0.000,4,0.000,0.064,3054,3239,1833
$GC,7812,1.39,244.1,298.5,12.1,474,7816,0.00,2.40,0.00,0.000,6,0.000,0.054,3054,1908,1833
$GC,8131,1.39,244.1,263.1,11.1,494,8135,0.00,2.45,0.00,0.000,4,0.000,0.062,3054,3241,1833
$GC,8161,1.39,244.1,259.8,11.6,496,8165,0.00,2.38,0.00,0.000,6,0.000,0.053,3054,1911,1833
$GC,8485,1.39,244.1,222.3,11.7,517,8489,0.00,2.45,0.00,0.000,4,0.000,0.061,3054,3248,1834
$GC,8503,1.39,244.1,220.2,11.4,518,8507,0.00,2.38,0.00,0.000,6,0.000,0.051,3054,1920,1834
$GC,8828,1.39,244.1,184.9,10.8,539,8832,0.00,2.42,0.00,0.000,4,0.000,0.061,3055,3248,1834
$GC,8849,1.39,244.1,182.2,11.8,540,8856,0.00,2.35,0.00,0.000,6,0.000,0.050,3053,1931,1834
$GC,9179,1.39,244.1,144.6,12.0,561,9183,0.00,2.40,0.00,0.000,4,0.000,0.060,3054,3247,1834
$GC,9207,1.39,244.1,141.0,12.6,562,9211,0.00,2.35,0.00,0.000,6,0.000,0.049,3054,1925,1834
$GC,9535,1.39,244.1,103.6,11.6,578,9536,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1925,1834
$GC,9845,1.40,251.4,71.2,9.7,593,9859,0.00,2.42,7.55,0.729,4,0.000,0.058,3054,3238,1806
$GC,9871,1.40,251.4,68.2,11.1,594,9876,0.00,2.33,0.00,0.000,6,0.000,0.048,3054,1937,1806
$GC,10194,1.40,251.4,35.0,10.3,610,10195,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1936,1806
$GC,10503,1.40,251.4,4.2,10.2,625,10507,0.00,2.38,0.00,0.000,4,0.000,0.058,3055,3245,1806
$STATE,10511,end climb,SURFACE_DEPTH_REACHED
$STATE,10511,begin surface coast
$FINISH,0.7,1.027218
$STATE,10534,end surface coast,CONTROL_FINISHED_OK
$STATE,10534,begin surface
$SM_CCo,10561,25.48,0.775,0,0,1608,300.00
$SM_GC,1.28,0.00,0.00,25.48,0.000,0.000,0.775,418,2098,1608,-10.70,-0.93,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1830
$TCM_TEMP,19.20
$XPDR_PINGS,45
$ALTIM_BOTTOM_PING,545.4,54.8
$24V_AH,23.7,63.560
$10V_AH,10.1,28.786
$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,25.775,114.800,359.500,25.475,0.000,37.763,32.455,145.931,16.000,0.000,0.000,13.163,1129.523,7520.746,478.567,1325.823,478.308,33.361,1180.586,0.000,1296.326,0.000,33.446,0.000
$DEVICE_MAMPS,149.565,78.234,1198.821,774.670,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.997,458.146,381.835,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31710,626
$CAP_FILE_SIZE,92524,0
$CFSIZE,254472192,230641664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,291009,112430,6238.092,-1044.669,42,2.0,42,-10.6