version: 66.04
glider: 5
mission: 5
dive: 408
start: 2 6 109 12 23 10
data:
$ID,5
$MISSION,5
$DIVE,408
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$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,550
$T_MISSION,580
$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,1001
$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,2
$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,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-95372.266
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2832
$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,-23.610077
$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,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$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,0.0043761111
$SEABIRD_T_H,0.00064345129
$SEABIRD_T_I,2.5632376e-05
$SEABIRD_T_J,2.7382036e-06
$SEABIRD_C_G,-10.188265
$SEABIRD_C_H,1.1432956
$SEABIRD_C_I,-0.00020702372
$SEABIRD_C_J,0.00012956691
$GPS1,120950,6115.742,-753.518,55,1.8,56,-8.5
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-58.0
$GPS2,122249,6115.670,-753.954,14,1.1,14,-8.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_3
$TGT_LATLONG,6130.000,-828.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.132,-0.177
$KALMAN_X,220775.9,-921.1,-1644.0,-80717.6,25183.1
$KALMAN_Y,135954.9,-405.3,-1430.2,-453990.2,21805.5
$MHEAD_RNG_PITCHd_Wd,319.9,40119,-11.0,-6.000
$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,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-80.90,0.000,2,0.000,0.000,424,1989,3327
$GC,103,-0.97,-146.6,4.4,-4.5,4,125,11.00,2.65,-2.42,0.000,4,0.133,0.075,2526,3407,3432
$GC,226,-0.89,-146.6,26.8,-12.3,9,232,0.12,2.55,0.00,0.000,6,0.094,0.051,2552,1989,3432
$GC,544,-0.85,-146.6,50.6,-8.3,24,548,0.00,2.60,0.00,0.000,4,0.000,0.062,2552,3409,3432
$GC,576,-0.85,-146.6,53.3,-7.3,25,583,0.00,2.53,0.00,0.000,6,0.000,0.049,2552,1996,3432
$GC,895,-0.85,-146.6,76.3,-7.7,41,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1995,3432
$GC,1202,-0.85,-146.6,96.5,-5.0,56,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1995,3433
$GC,1511,-0.85,-146.6,122.3,-9.1,71,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1995,3432
$GC,1820,-0.85,-146.6,147.7,-8.5,86,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1995,3432
$GC,2130,-0.85,-146.6,173.8,-9.3,101,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1995,3432
$GC,2439,-0.85,-146.6,202.0,-7.8,116,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1995,3433
$GC,2749,-0.85,-146.6,228.5,-8.4,131,2753,0.00,2.58,0.00,0.000,4,0.000,0.061,2552,3409,3432
$GC,2782,-0.85,-146.6,231.6,-8.8,132,2788,0.00,2.53,0.00,0.000,6,0.000,0.051,2552,1995,3432
$GC,3097,-0.85,-146.6,260.1,-8.8,148,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1995,3433
$GC,3407,-0.85,-146.6,286.2,-7.8,163,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1995,3432
$GC,3717,-0.85,-146.6,307.5,-6.3,178,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1995,3432
$GC,4025,-0.85,-146.6,329.7,-7.4,193,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1995,3433
$GC,4334,-0.85,-146.6,353.8,-8.4,208,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1995,3433
$GC,4645,-0.85,-146.6,381.2,-8.8,223,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1995,3432
$GC,4953,-0.85,-146.6,408.0,-8.4,238,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1995,3433
$GC,5262,-0.85,-146.6,434.8,-9.2,253,5266,0.00,2.50,0.00,0.000,4,0.000,0.064,2552,594,3433
$GC,5313,-0.85,-146.6,440.0,-10.0,255,5318,0.00,2.50,0.00,0.000,6,0.000,0.051,2552,2004,3433
$GC,5629,-0.85,-146.6,470.3,-8.4,270,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2005,3432
$GC,5940,-0.85,-146.6,490.4,-5.8,285,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2005,3432
$GC,6248,-0.85,-146.6,505.9,-5.5,300,6252,0.00,2.53,0.00,0.000,4,0.000,0.068,2552,3402,3433
$GC,6275,-0.85,-146.6,507.7,-6.3,301,6279,0.00,2.53,0.00,0.000,6,0.000,0.058,2552,2003,3433
$GC,6593,-0.85,-146.6,528.9,-6.9,316,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2003,3433
$GC,6901,-0.85,-146.6,551.0,-7.0,331,6906,0.00,2.60,0.00,0.000,4,0.000,0.071,2552,3410,3432
$GC,6946,-0.85,-146.6,554.5,-7.1,333,6950,0.00,2.53,0.00,0.000,6,0.000,0.060,2552,2015,3432
$GC,7267,-0.85,-146.6,573.9,-6.3,349,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2016,3432
$GC,7576,-0.85,-146.6,595.7,-7.4,364,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2016,3431
$GC,7886,-0.85,-146.6,614.8,-5.9,379,7890,0.00,2.60,0.00,0.000,4,0.000,0.080,2552,3406,3430
$GC,7959,-0.85,-146.6,619.9,-7.3,382,7963,0.00,2.55,0.00,0.000,6,0.000,0.067,2552,2021,3430
$GC,8274,-0.85,-146.6,642.6,-7.1,397,8279,0.00,2.65,0.00,0.000,4,0.000,0.083,2552,584,3429
$GC,8307,-0.85,-146.6,645.1,-7.6,398,8314,0.00,2.62,0.00,0.000,6,0.000,0.069,2552,2019,3429
$GC,8624,-0.85,-146.6,665.5,-7.1,414,8625,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2019,3427
$GC,8933,-0.85,-146.6,685.4,-5.9,429,8934,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2019,3426
$GC,9242,-0.85,-146.6,702.1,-5.5,444,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2019,3425
$GC,9552,-0.85,-146.6,719.9,-6.4,459,9556,0.00,2.72,0.00,0.000,4,0.000,0.090,2552,582,3424
$GC,9596,-0.85,-146.6,723.1,-8.1,461,9601,0.00,2.67,0.00,0.000,6,0.000,0.075,2552,2023,3424
$GC,9917,-0.85,-146.6,745.3,-7.0,477,9918,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2024,3422
$GC,10227,-0.85,-146.6,767.9,-8.0,492,10231,0.00,2.60,0.00,0.000,4,0.000,0.089,2552,3408,3421
$GC,10255,-0.89,-146.6,770.3,-8.9,493,10259,0.00,2.60,0.00,0.000,6,0.000,0.077,2552,2024,3421
$GC,10570,-0.89,-146.6,791.5,-6.4,508,10572,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2024,3420
$GC,10881,-0.89,-146.6,809.0,-5.1,523,10886,0.00,2.70,0.00,0.000,4,0.000,0.094,2552,591,3420
$GC,10921,-0.94,-146.6,811.5,-6.9,525,10925,0.00,2.65,0.00,0.000,6,0.000,0.077,2552,2015,3419
$GC,11249,-0.94,-146.6,832.1,-6.1,541,11253,0.00,2.65,0.00,0.000,4,0.000,0.092,2552,3414,3418
$GC,11289,-1.00,-146.6,834.8,-7.4,543,11294,0.12,2.62,0.00,0.000,6,0.077,0.079,2523,2020,3418
$STATE,11530,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11530,begin apogee
$GC,11538,-0.33,0.0,852.8,7.9,555,11676,0.73,0.00,135.48,1.528,6,0.089,0.000,2673,2135,2832
$STATE,11677,end apogee,CONTROL_FINISHED_OK
$STATE,11677,begin climb
$GC,11681,0.97,146.6,856.0,0.0,562,11824,1.35,0.00,139.15,1.470,6,0.070,0.000,2957,2134,2234
$GC,12125,0.78,146.6,840.1,7.3,584,12130,0.17,2.70,0.00,0.000,4,0.099,0.092,2920,3534,2233
$GC,12177,0.70,146.6,836.2,6.9,586,12181,0.00,2.70,0.00,0.000,6,0.000,0.081,2919,2122,2233
$GC,12493,0.64,146.6,816.0,6.3,601,12495,0.17,0.00,0.00,0.000,6,0.102,0.000,2885,2122,2232
$GC,12805,0.69,182.5,800.1,5.0,616,12842,0.00,0.00,33.95,1.450,6,0.000,0.000,2885,2122,2088
$GC,13153,0.77,194.4,780.3,5.7,633,13171,0.12,0.00,13.02,1.364,6,0.069,0.000,2915,2122,2039
$GC,13480,0.77,194.4,759.0,6.5,649,13481,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2121,2039
$GC,13790,0.77,194.4,738.9,6.2,664,13792,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2121,2039
$GC,14101,0.78,202.9,720.2,5.8,679,14112,0.00,0.00,9.52,1.312,6,0.000,0.000,2915,2121,2004
$GC,14408,0.78,203.8,702.1,6.0,694,14410,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2121,2003
$GC,14718,0.78,203.8,683.2,6.2,709,14723,0.00,2.72,0.00,0.000,4,0.000,0.089,2915,3531,2003
$GC,14746,0.78,203.8,681.0,7.2,710,14751,0.00,2.65,0.00,0.000,6,0.000,0.077,2915,2133,2003
$GC,15062,0.78,203.8,660.4,6.5,725,15063,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2133,2003
$GC,15374,0.85,246.3,643.1,4.8,740,15420,0.00,2.80,40.08,1.418,4,0.000,0.090,2915,717,1827
$GC,15439,0.90,274.0,639.6,5.2,743,15471,0.10,2.67,26.08,1.371,6,0.072,0.074,2942,2126,1715
$GC,15790,0.90,274.0,613.6,8.8,760,15791,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2127,1716
$GC,16096,0.90,274.0,586.3,8.5,775,16097,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2126,1716
$GC,16405,0.90,274.0,562.6,7.4,790,16410,0.00,2.70,0.00,0.000,4,0.000,0.085,2942,711,1716
$GC,16450,0.86,274.0,558.8,8.5,792,16455,0.00,2.62,0.00,0.000,6,0.000,0.071,2942,2118,1716
$GC,16772,0.86,274.0,533.3,7.9,808,16773,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2118,1716
$GC,17080,0.86,274.0,509.5,8.5,823,17085,0.00,2.65,0.00,0.000,4,0.000,0.079,2942,3538,1716
$GC,17136,0.86,274.0,504.4,8.9,825,17143,0.00,2.65,0.00,0.000,6,0.000,0.067,2941,2105,1716
$GC,17453,0.86,274.0,482.1,7.0,841,17454,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2105,1716
$GC,17761,0.86,274.0,455.6,8.5,856,17763,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2105,1717
$GC,18072,0.86,274.0,430.3,8.1,871,18073,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2106,1718
$GC,18380,0.86,274.0,405.9,8.6,886,18381,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2105,1719
$GC,18689,0.86,274.0,380.2,7.9,901,18690,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2105,1720
$GC,18998,0.86,274.0,352.6,8.3,916,19002,0.00,2.50,0.00,0.000,4,0.000,0.065,2942,710,1721
$GC,19027,0.86,274.0,350.5,7.5,917,19032,0.00,2.53,0.00,0.000,6,0.000,0.054,2941,2122,1721
$GC,19348,0.86,274.0,325.9,7.5,933,19352,0.00,2.60,0.00,0.000,4,0.000,0.066,2941,701,1721
$GC,19375,0.86,274.0,323.8,8.4,934,19379,0.00,2.53,0.00,0.000,6,0.000,0.054,2941,2109,1722
$GC,19692,0.86,274.0,299.8,7.6,949,19696,0.00,2.58,0.00,0.000,4,0.000,0.064,2941,3532,1723
$GC,19732,0.86,274.0,296.7,7.3,951,19736,0.00,2.55,0.00,0.000,6,0.000,0.052,2941,2108,1723
$GC,20058,0.86,274.0,271.1,8.7,967,20062,0.00,2.50,0.00,0.000,4,0.000,0.064,2941,714,1724
$GC,20086,0.86,274.0,268.7,9.0,968,20097,0.00,2.50,3.88,0.665,6,0.000,0.052,2941,2121,1714
$GC,20407,0.93,317.4,251.2,4.8,984,20447,0.00,0.00,37.15,0.998,6,0.000,0.000,2941,2121,1538
$GC,20758,1.06,366.3,234.3,4.7,1001,20806,0.15,2.67,41.45,0.981,4,0.051,0.064,2984,707,1337
$GC,20841,1.06,366.3,226.4,13.3,1005,20845,0.00,2.55,0.00,0.000,6,0.000,0.054,2984,2113,1336
$GC,21167,1.06,366.3,188.8,11.3,1021,21169,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2130,1336
$GC,21478,1.06,366.3,163.8,6.9,1036,21479,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2133,1337
$GC,21787,1.11,437.2,152.3,4.1,1051,21853,0.00,2.70,58.67,0.923,4,0.000,0.064,2983,711,1049
$GC,21877,1.11,437.2,147.5,6.6,1055,21881,0.00,2.55,0.00,0.000,6,0.000,0.053,2984,2118,1048
$GC,22198,1.11,437.2,121.3,7.6,1071,22199,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2137,1049
$GC,22507,1.11,437.2,82.6,12.9,1086,22512,0.00,2.60,0.00,0.000,4,0.000,0.064,2984,708,1050
$GC,22559,1.11,437.2,75.1,14.4,1088,22563,0.00,2.53,0.00,0.000,6,0.000,0.052,2984,2116,1049
$GC,22875,1.11,437.2,36.8,7.6,1103,22876,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2137,1050
$GC,23184,1.11,437.2,6.0,11.4,1118,23188,0.00,2.58,0.00,0.000,4,0.000,0.064,2984,708,1050
$STATE,23203,end climb,SURFACE_DEPTH_REACHED
$STATE,23203,begin surface coast
$FINISH,0.7,1.027425
$STATE,23227,end surface coast,CONTROL_FINISHED_OK
$STATE,23227,begin surface
$SM_CCo,23313,0.00,0.000,0,0,1049,437.37
$SM_GC,1.18,11.27,0.00,0.00,0.041,0.000,0.000,423,2006,1049,-10.58,0.14,437.37
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1801
$TCM_TEMP,18.80
$XPDR_PINGS,58
$ALTIM_BOTTOM_PING,775.3,86.9
$24V_AH,23.3,72.335
$10V_AH,10.1,36.021
$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,25.325,130.175,538.425,0.000,0.000,115.572,78.411,308.294,21.500,0.000,0.000,13.944,1945.882,18452.695,668.173,2110.806,907.334,0.000,1725.245,0.000,2071.558,0.000,47.020,0.000
$DEVICE_MAMPS,133.458,93.574,1527.864,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,834.951,757.522,596.034,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56919,1120
$CAP_FILE_SIZE,153527,0
$CFSIZE,254472192,226340864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
$GPS,060209,185300,6119.800,-803.308,39,1.6,40,-8.7