version: 66.04
glider: 5
mission: 5
dive: 410
start: 2 7 109 1 24 3
data:
$ID,5
$MISSION,5
$DIVE,410
$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,-95400.523
$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,18
$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
$GPS1,011700,6124.048,-812.432,41,1.9,41,-8.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-47.3
$GPS2,012344,6124.002,-812.514,14,1.6,14,-8.8
$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,317.9,17625,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.97,-146.6,0.0,0.0,0,159,0.00,0.00,-141.40,0.000,2,0.000,0.000,423,1964,3372
$GC,163,-0.97,-146.6,5.1,-4.4,7,186,11.05,2.72,-1.25,0.000,4,0.135,0.074,2527,3423,3431
$GC,306,-0.91,-146.6,36.2,-14.6,13,311,0.00,2.58,0.00,0.000,6,0.000,0.050,2527,1987,3431
$GC,629,-0.81,-146.6,64.9,-7.2,29,631,0.20,0.00,0.00,0.000,6,0.086,0.000,2569,1985,3432
$GC,937,-0.81,-146.6,87.5,-8.5,44,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1985,3432
$GC,1248,-0.81,-146.6,111.1,-6.8,59,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1985,3432
$GC,1557,-0.81,-146.6,130.7,-6.1,74,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1985,3432
$GC,1866,-0.81,-146.6,151.5,-6.9,89,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1985,3431
$GC,2174,-0.81,-146.6,177.5,-6.5,104,2178,0.00,2.60,0.00,0.000,4,0.000,0.061,2569,3412,3432
$GC,2214,-0.81,-146.6,180.1,-7.1,106,2218,0.00,2.53,0.00,0.000,6,0.000,0.051,2569,1998,3432
$GC,2545,-0.81,-146.6,200.5,-6.2,122,2549,0.00,2.50,0.00,0.000,4,0.000,0.064,2569,595,3432
$GC,2611,-0.81,-146.6,204.6,-6.8,125,2616,0.00,2.50,0.00,0.000,6,0.000,0.051,2569,2004,3431
$GC,2934,-0.81,-146.6,221.0,-4.8,141,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2004,3431
$GC,3242,-0.81,-146.6,235.8,-4.4,156,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2004,3431
$GC,3551,-0.81,-146.6,261.8,-9.0,171,3555,0.00,2.58,0.00,0.000,4,0.000,0.065,2569,587,3431
$GC,3591,-0.81,-146.6,265.6,-10.3,173,3596,0.00,2.53,0.00,0.000,6,0.000,0.053,2569,1997,3431
$GC,3917,-0.81,-146.6,296.5,-10.5,189,3922,0.00,2.53,0.00,0.000,4,0.000,0.062,2569,3405,3431
$GC,3958,-0.87,-146.6,301.4,-11.6,191,3963,0.00,2.53,0.00,0.000,6,0.000,0.051,2569,1990,3431
$GC,4286,-0.87,-146.6,336.8,-11.8,207,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1989,3431
$GC,4595,-0.92,-146.6,368.3,-7.9,222,4600,0.12,2.50,0.00,0.000,4,0.056,0.062,2534,583,3431
$GC,4652,-0.85,-146.6,372.1,-6.5,224,4659,0.12,2.53,0.00,0.000,6,0.088,0.051,2560,1998,3431
$GC,4968,-0.85,-146.6,403.5,-10.6,240,4969,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2010,3431
$GC,5277,-0.85,-146.6,428.3,-7.2,255,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2010,3431
$GC,5587,-0.85,-146.6,452.5,-7.5,270,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2010,3431
$GC,5895,-0.85,-146.6,474.4,-7.0,285,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2010,3431
$GC,6205,-0.85,-146.6,494.2,-5.9,300,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2010,3431
$GC,6515,-0.85,-146.6,515.6,-6.4,315,6519,0.00,2.58,0.00,0.000,4,0.000,0.065,2560,592,3431
$GC,6542,-0.85,-146.6,517.4,-5.6,316,6547,0.00,2.47,0.00,0.000,6,0.000,0.053,2560,1984,3431
$GC,6859,-0.85,-146.6,533.3,-5.6,331,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1985,3431
$GC,7169,-0.85,-146.6,556.5,-7.8,346,7170,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1985,3431
$GC,7477,-0.85,-146.6,580.2,-8.1,361,7478,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1985,3431
$GC,7787,-0.85,-146.6,602.0,-6.0,376,7791,0.00,2.60,0.00,0.000,4,0.000,0.074,2560,3406,3431
$GC,7827,-0.90,-146.6,604.4,-6.6,378,7832,0.00,2.60,0.00,0.000,6,0.000,0.062,2560,1977,3431
$GC,8154,-0.90,-146.6,623.2,-5.7,394,8159,0.00,2.55,0.00,0.000,4,0.000,0.077,2560,582,3430
$GC,8210,-0.94,-146.6,627.1,-7.1,396,8217,0.00,2.53,0.00,0.000,6,0.000,0.064,2560,1973,3430
$GC,8528,-0.98,-146.6,651.9,-8.1,412,8533,0.15,2.65,0.00,0.000,4,0.056,0.077,2520,3409,3429
$GC,8595,-0.91,-146.6,658.5,-9.9,415,8600,0.12,2.65,0.00,0.000,6,0.100,0.069,2545,1976,3429
$GC,8918,-0.91,-146.6,686.0,-8.4,431,8919,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1976,3429
$GC,9226,-0.91,-146.6,710.0,-7.6,446,9231,0.00,2.72,0.00,0.000,4,0.000,0.084,2545,3410,3427
$GC,9259,-0.91,-146.6,712.6,-7.7,447,9265,0.00,2.65,0.00,0.000,6,0.000,0.073,2545,1987,3427
$GC,9576,-0.91,-146.6,731.5,-5.8,463,9581,0.00,2.70,0.00,0.000,4,0.000,0.084,2545,3408,3426
$GC,9609,-0.91,-146.6,733.5,-6.1,464,9615,0.00,2.65,0.00,0.000,6,0.000,0.073,2545,1987,3425
$GC,9925,-0.91,-146.6,747.5,-3.6,480,9926,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1972,3424
$GC,10235,-0.87,-146.6,774.9,-9.3,495,10236,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1973,3422
$STATE,10375,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10375,begin apogee
$GC,10383,-0.33,0.0,789.2,9.6,502,10520,0.60,0.00,133.62,1.457,6,0.087,0.000,2667,2144,2832
$STATE,10520,end apogee,CONTROL_FINISHED_OK
$STATE,10520,begin climb
$GC,10524,0.97,146.6,794.9,0.0,509,10670,1.38,2.78,134.35,1.410,4,0.085,0.085,2951,3524,2234
$GC,10825,0.80,146.6,781.6,7.2,522,10832,0.17,2.67,0.00,0.000,6,0.096,0.077,2918,2119,2233
$GC,11142,0.80,146.6,764.0,6.4,538,11146,0.00,2.67,0.00,0.000,4,0.000,0.090,2917,705,2232
$GC,11182,0.74,157.3,761.8,5.7,540,11198,0.00,2.65,11.00,1.256,6,0.000,0.075,2918,2122,2190
$GC,11511,0.76,196.9,744.6,4.9,555,11555,0.00,2.80,36.83,1.394,4,0.000,0.087,2917,3535,2028
$GC,11579,0.76,196.9,739.5,6.1,558,11583,0.00,2.70,0.00,0.000,6,0.000,0.078,2917,2130,2029
$GC,11894,0.76,196.9,720.1,6.3,573,11899,0.00,2.70,0.00,0.000,4,0.000,0.089,2917,705,2027
$GC,11940,0.76,196.9,717.4,6.4,575,11944,0.00,2.70,0.00,0.000,6,0.000,0.075,2917,2140,2027
$GC,12261,0.77,202.7,700.4,5.8,591,12270,0.00,0.00,6.57,1.160,6,0.000,0.000,2917,2141,2005
$GC,12570,0.77,202.7,679.4,7.3,606,12575,0.00,2.75,0.00,0.000,4,0.000,0.089,2917,706,2005
$GC,12612,0.77,202.7,676.3,7.5,608,12617,0.00,2.67,0.00,0.000,6,0.000,0.075,2917,2132,2005
$GC,12940,0.80,223.9,656.1,5.4,624,12962,0.00,0.00,20.42,1.356,6,0.000,0.000,2917,2132,1918
$GC,13270,0.80,223.9,636.7,6.1,640,13274,0.00,2.72,0.00,0.000,4,0.000,0.088,2917,707,1919
$GC,13336,0.80,223.9,632.1,6.5,643,13340,0.00,2.67,0.00,0.000,6,0.000,0.074,2917,2132,1919
$GC,13657,0.80,223.9,606.5,8.7,659,13658,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2133,1920
$GC,13967,0.81,231.5,584.7,5.8,674,13981,0.00,2.72,8.70,1.200,4,0.000,0.082,2917,3534,1888
$GC,14016,0.81,231.5,581.3,6.7,676,14021,0.00,2.65,0.00,0.000,6,0.000,0.069,2918,2118,1888
$GC,14338,0.92,301.0,566.2,4.1,692,14402,0.12,0.00,61.92,1.318,6,0.064,0.000,2950,2118,1604
$GC,14708,0.92,301.0,542.7,6.8,710,14709,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2118,1605
$GC,15018,0.92,301.0,519.9,8.0,725,15019,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2118,1605
$GC,15325,0.92,301.0,496.1,6.7,740,15327,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2117,1606
$GC,15636,0.92,301.0,472.8,7.9,755,15637,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2117,1607
$GC,15944,0.92,301.0,450.0,6.8,770,15948,0.00,2.62,0.00,0.000,4,0.000,0.064,2950,3542,1608
$GC,15965,0.92,301.0,447.8,9.4,771,15970,0.00,2.58,0.00,0.000,6,0.000,0.057,2950,2120,1608
$GC,16287,0.92,301.0,411.3,12.5,787,16288,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2111,1609
$GC,16595,0.92,301.0,372.6,12.1,802,16596,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2111,1610
$GC,16905,0.92,301.0,344.0,7.8,817,16906,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2111,1611
$GC,17215,0.92,301.0,321.0,8.3,832,17216,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2111,1611
$GC,17523,0.92,301.0,293.7,10.1,847,17524,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2111,1612
$GC,17832,0.92,301.0,270.0,8.1,862,17834,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2111,1613
$GC,18143,0.92,301.0,242.7,8.9,877,18152,0.00,2.58,3.75,0.630,4,0.000,0.065,2950,715,1604
$GC,18170,0.92,301.0,240.3,8.2,878,18174,0.00,2.55,0.00,0.000,6,0.000,0.052,2950,2139,1604
$GC,18491,0.92,301.0,210.3,9.3,894,18495,0.00,2.62,0.00,0.000,4,0.000,0.066,2950,705,1604
$GC,18519,0.92,301.0,207.5,9.7,895,18523,0.00,2.55,0.00,0.000,6,0.000,0.054,2950,2129,1604
$GC,18834,0.92,301.0,178.8,6.3,910,18839,0.00,2.53,0.00,0.000,4,0.000,0.063,2950,3530,1605
$GC,18868,0.92,301.0,176.3,6.5,911,18874,0.00,2.50,0.00,0.000,6,0.000,0.051,2950,2129,1605
$GC,19184,0.92,301.0,149.3,10.1,927,19188,0.00,2.55,0.00,0.000,4,0.000,0.066,2950,707,1605
$GC,19218,0.92,301.0,145.4,13.1,928,19222,0.00,2.53,0.00,0.000,6,0.000,0.052,2950,2128,1605
$GC,19534,1.06,386.0,134.7,3.7,943,19607,0.10,0.00,69.93,0.914,6,0.056,0.000,2982,2147,1258
$GC,19905,1.06,386.0,112.6,8.6,961,19906,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2147,1257
$GC,20212,1.06,386.0,86.5,8.8,976,20213,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2128,1257
$GC,20521,1.06,386.0,50.5,10.7,991,20526,0.00,2.60,0.00,0.000,4,0.000,0.066,2983,708,1257
$GC,20539,1.06,386.0,49.0,10.5,992,20544,0.00,2.53,0.00,0.000,6,0.000,0.052,2983,2122,1257
$GC,20867,1.06,386.0,26.2,7.8,1008,20868,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2141,1257
$STATE,21070,end climb,SURFACE_DEPTH_REACHED
$STATE,21070,begin surface coast
$FINISH,0.6,1.013646
$STATE,21093,end surface coast,CONTROL_FINISHED_OK
$STATE,21094,begin surface
$SM_CCo,21178,0.00,0.000,0,0,1257,386.35
$SM_GC,1.34,11.25,0.00,0.00,0.039,0.000,0.000,419,1978,1257,-10.61,-0.59,386.35
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1819
$TCM_TEMP,16.90
$XPDR_PINGS,65
$ALTIM_BOTTOM_PING,725.4,72.6
$24V_AH,23.4,72.778
$10V_AH,10.1,36.211
$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,25.400,131.075,487.100,0.000,0.000,37.754,27.675,192.983,22.750,0.000,0.000,14.528,1803.097,16473.398,677.135,1991.883,627.696,0.000,1676.109,0.000,1954.557,0.000,43.763,0.000
$DEVICE_MAMPS,134.992,89.739,1457.300,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,756.485,687.401,599.327,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50603,1019
$CAP_FILE_SIZE,139880,0
$CFSIZE,254472192,226209792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
$GPS,070209,071827,6128.670,-823.285,28,4.0,47,-8.9