version: 66.04
glider: 5
mission: 5
dive: 411
start: 2 7 109 7 24 53
data:
$ID,5
$MISSION,5
$DIVE,411
$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,-95414.406
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,071827,6128.670,-823.285,28,4.0,47,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-59.4
$GPS2,072432,6128.618,-823.291,13,1.5,13,-8.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_4
$TGT_LATLONG,6140.000,-845.000
$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,326.7,28433,-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,13,begin dive
$GC,16,-0.97,-146.6,0.0,0.0,0,119,0.00,0.00,-101.22,0.000,2,0.000,0.000,419,1961,3274
$GC,123,-0.97,-146.6,4.2,-3.6,5,146,11.12,2.62,-3.85,0.000,4,0.137,0.072,2524,3412,3432
$GC,225,-0.86,-146.6,21.7,-11.5,9,231,0.15,2.53,0.00,0.000,6,0.086,0.049,2556,1997,3431
$GC,542,-0.86,-146.6,47.3,-7.2,24,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1996,3432
$GC,852,-0.86,-146.6,70.3,-7.8,39,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1996,3432
$GC,1160,-0.86,-146.6,93.8,-7.8,54,1164,0.00,2.58,0.00,0.000,4,0.000,0.063,2556,3406,3432
$GC,1200,-0.86,-146.6,97.0,-8.1,56,1204,0.00,2.50,0.00,0.000,6,0.000,0.048,2556,2000,3432
$GC,1528,-0.86,-146.6,122.6,-7.9,72,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1999,3432
$GC,1839,-0.86,-146.6,151.9,-9.5,87,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1999,3431
$GC,2146,-0.86,-146.6,176.6,-8.5,102,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1999,3432
$GC,2456,-0.86,-146.6,212.7,-11.4,117,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1998,3432
$GC,2764,-0.86,-146.6,247.5,-10.5,132,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1998,3432
$GC,3074,-0.86,-146.6,275.5,-9.6,147,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1998,3431
$GC,3383,-0.86,-146.6,299.9,-7.6,162,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1998,3431
$GC,3692,-0.86,-146.6,321.0,-6.2,177,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1998,3431
$GC,4001,-0.86,-146.6,341.2,-6.4,192,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1998,3432
$GC,4311,-0.86,-146.6,361.8,-7.1,207,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1998,3431
$GC,4620,-0.86,-146.6,384.1,-7.2,222,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1998,3431
$GC,4929,-0.86,-146.6,403.4,-6.9,237,4933,0.00,2.58,0.00,0.000,4,0.000,0.064,2555,3410,3431
$GC,4979,-0.86,-146.6,407.2,-7.2,239,4984,0.00,2.50,0.00,0.000,6,0.000,0.051,2555,2008,3432
$GC,5295,-0.86,-146.6,430.2,-6.8,254,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2007,3431
$GC,5604,-0.86,-146.6,452.4,-7.8,269,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2008,3431
$GC,5915,-0.86,-146.6,475.3,-7.0,284,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2008,3431
$GC,6223,-0.86,-146.6,498.1,-8.0,299,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2007,3431
$GC,6532,-0.86,-146.6,519.9,-7.0,314,6536,0.00,2.55,0.00,0.000,4,0.000,0.063,2556,3406,3431
$GC,6566,-0.86,-146.6,522.2,-7.4,315,6572,0.00,2.50,0.00,0.000,6,0.000,0.052,2556,2003,3432
$GC,6882,-0.86,-146.6,544.7,-7.2,331,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2003,3431
$GC,7191,-0.86,-146.6,566.3,-7.0,346,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2003,3431
$GC,7501,-0.86,-146.6,590.3,-7.8,361,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2002,3431
$GC,7810,-0.86,-146.6,612.8,-6.7,376,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2003,3431
$GC,8119,-0.86,-146.6,632.4,-6.6,391,8123,0.00,2.58,0.00,0.000,4,0.000,0.066,2556,3410,3431
$GC,8159,-0.86,-146.6,635.2,-7.0,393,8164,0.00,2.47,0.00,0.000,6,0.000,0.054,2556,2028,3431
$GC,8486,-0.86,-146.6,659.8,-7.4,409,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2028,3431
$GC,8795,-0.86,-146.6,683.9,-7.7,424,8797,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2027,3431
$GC,9106,-0.90,-146.6,706.1,-6.2,439,9107,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2027,3431
$GC,9414,-0.90,-146.6,713.4,-1.5,454,9419,0.00,2.62,0.00,0.000,4,0.000,0.078,2556,589,3431
$GC,9448,-0.90,-146.6,714.8,-4.1,455,9455,0.00,2.60,0.00,0.000,6,0.000,0.065,2556,2027,3431
$GC,9765,-0.90,-146.6,733.1,-9.0,471,9766,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2033,3430
$GC,10079,-0.98,-146.6,750.4,-2.3,486,10081,0.12,0.00,0.00,0.000,6,0.067,0.000,2525,2033,3428
$GC,10384,-0.89,-146.6,778.1,-9.9,501,10389,0.12,2.72,0.00,0.000,4,0.106,0.084,2550,588,3426
$GC,10462,-0.89,-146.6,786.4,-12.0,504,10469,0.00,2.65,0.00,0.000,6,0.000,0.074,2550,2024,3426
$STATE,10755,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10755,begin apogee
$GC,10762,-0.33,0.0,816.8,7.0,519,10899,0.57,0.00,133.75,1.466,6,0.084,0.000,2668,2137,2832
$STATE,10899,end apogee,CONTROL_FINISHED_OK
$STATE,10900,begin climb
$GC,10903,0.97,146.6,824.2,0.0,526,11048,1.30,2.80,135.48,1.414,4,0.064,0.083,2949,717,2233
$GC,11088,0.72,209.7,819.7,4.3,534,11157,0.25,2.65,59.20,1.368,6,0.087,0.074,2901,2122,1976
$GC,11467,0.85,264.8,802.1,4.5,553,11523,0.12,2.78,50.30,1.381,4,0.065,0.086,2934,3537,1752
$GC,11553,0.95,264.8,793.9,8.0,556,11557,0.00,2.70,0.00,0.000,6,0.000,0.079,2934,2134,1752
$GC,11874,0.96,306.1,777.5,4.9,572,11915,0.00,0.00,37.53,1.386,6,0.000,0.000,2934,2123,1584
$GC,12225,0.96,306.1,753.5,8.6,589,12226,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2114,1584
$GC,12535,0.96,306.1,738.3,6.3,604,12540,0.00,2.70,0.00,0.000,4,0.000,0.091,2934,709,1584
$GC,12557,0.96,306.1,736.2,8.5,605,12562,0.00,2.70,0.00,0.000,6,0.000,0.074,2934,2146,1583
$GC,12879,0.96,306.1,717.0,9.9,621,12884,0.00,2.78,0.00,0.000,4,0.000,0.090,2934,705,1583
$GC,12920,0.96,306.1,713.0,10.5,623,12924,0.00,2.67,0.00,0.000,6,0.000,0.075,2934,2131,1582
$GC,13247,0.96,307.9,687.9,6.0,639,13251,0.00,2.75,0.00,0.000,4,0.000,0.090,2934,707,1582
$GC,13280,1.13,410.2,686.9,3.2,640,13378,0.25,2.65,91.78,1.418,6,0.058,0.076,2994,2122,1160
$GC,13695,1.04,410.2,639.1,12.7,661,13700,0.10,2.75,0.00,0.000,4,0.101,0.087,2976,704,1157
$GC,13717,0.99,410.2,636.5,10.9,662,13722,0.00,2.65,0.00,0.000,6,0.000,0.074,2976,2112,1157
$GC,14039,0.99,410.2,612.2,7.5,678,14044,0.00,2.67,0.00,0.000,4,0.000,0.085,2976,3535,1157
$GC,14073,0.99,410.2,609.3,7.8,679,14079,0.00,2.67,0.00,0.000,6,0.000,0.075,2975,2116,1157
$GC,14389,0.95,410.2,576.0,12.0,695,14394,0.12,2.62,0.00,0.000,4,0.099,0.081,2950,710,1156
$GC,14424,0.95,410.2,571.8,10.8,696,14431,0.00,2.60,0.00,0.000,6,0.000,0.068,2950,2116,1157
$GC,14741,0.99,410.2,541.6,10.3,712,14745,0.00,2.65,0.00,0.000,4,0.000,0.077,2950,703,1157
$GC,14774,1.05,410.2,537.7,11.6,713,14781,0.10,2.55,0.00,0.000,6,0.067,0.064,2977,2093,1157
$GC,15090,1.05,410.2,497.2,11.5,729,15092,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2114,1157
$GC,15399,1.05,410.2,469.5,8.2,744,15403,0.00,2.60,0.00,0.000,4,0.000,0.071,2977,702,1158
$GC,15449,1.05,410.2,464.1,11.4,746,15453,0.00,2.50,0.00,0.000,6,0.000,0.058,2977,2081,1158
$GC,15765,1.05,410.2,434.7,9.7,761,15767,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2103,1159
$GC,16074,1.05,410.2,401.6,11.6,776,16079,0.00,2.55,0.00,0.000,4,0.000,0.067,2977,706,1160
$GC,16114,1.05,410.2,396.7,12.0,778,16119,0.00,2.45,0.00,0.000,6,0.000,0.055,2977,2067,1160
$GC,16442,1.05,410.2,361.9,10.7,794,16444,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2084,1160
$GC,16751,1.05,410.2,329.2,10.6,809,16755,0.00,2.53,0.00,0.000,4,0.000,0.067,2977,704,1161
$GC,16778,1.05,410.2,326.2,10.4,810,16782,0.00,2.45,0.00,0.000,6,0.000,0.054,2977,2068,1161
$GC,17095,1.05,410.2,295.9,8.8,825,17096,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2068,1161
$GC,17403,1.05,410.2,268.8,8.5,840,17404,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2068,1162
$GC,17713,1.05,410.2,244.3,8.0,855,17718,0.00,2.50,0.00,0.000,4,0.000,0.068,2978,709,1162
$GC,17741,1.05,410.2,241.3,10.1,856,17745,0.00,2.42,0.00,0.000,6,0.000,0.054,2977,2061,1162
$GC,18057,1.05,410.2,213.4,9.4,871,18058,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2063,1163
$GC,18366,1.05,410.2,181.3,10.3,886,18368,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2082,1163
$GC,18677,1.05,410.2,151.3,8.0,901,18678,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2083,1163
$GC,18985,1.05,410.2,129.1,8.2,916,18989,0.00,2.50,0.00,0.000,4,0.000,0.066,2977,708,1164
$GC,19029,1.05,410.2,124.7,9.1,918,19033,0.00,2.40,0.00,0.000,6,0.000,0.053,2977,2050,1164
$GC,19351,1.05,410.2,96.3,9.2,934,19356,0.00,2.65,0.00,0.000,4,0.000,0.063,2977,3532,1164
$GC,19385,1.11,410.2,93.0,9.3,935,19391,0.00,2.67,0.00,0.000,6,0.000,0.053,2977,2040,1164
$GC,19701,1.11,410.2,69.3,6.8,951,19705,0.00,2.40,0.00,0.000,4,0.000,0.067,2977,707,1164
$GC,19723,1.11,410.2,67.5,7.7,952,19728,0.00,2.42,0.00,0.000,6,0.000,0.053,2977,2061,1164
$GC,20046,1.11,410.2,38.3,9.8,968,20050,0.00,2.62,0.00,0.000,4,0.000,0.061,2977,3531,1164
$GC,20073,1.15,410.2,35.0,11.5,969,20078,0.00,2.65,0.00,0.000,6,0.000,0.051,2977,2050,1164
$GC,20391,1.15,410.2,9.8,8.9,984,20395,0.00,2.70,0.00,0.000,4,0.000,0.061,2977,3532,1165
$GC,20418,1.15,410.2,6.9,9.8,985,20422,0.00,2.62,0.00,0.000,6,0.000,0.051,2977,2065,1165
$STATE,20463,end climb,SURFACE_DEPTH_REACHED
$STATE,20463,begin surface coast
$FINISH,0.7,1.027422
$STATE,20485,end surface coast,CONTROL_FINISHED_OK
$STATE,20485,begin surface
$SM_CCo,20568,0.00,0.000,0,0,1164,409.16
$SM_GC,1.35,11.23,0.00,0.00,0.041,0.000,0.000,421,1974,1164,-10.60,-1.16,409.16
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1824
$TCM_TEMP,16.90
$XPDR_PINGS,72
$ALTIM_BOTTOM_PING,750.4,73.9
$24V_AH,23.4,72.996
$10V_AH,10.1,36.299
$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,25.575,130.300,508.025,0.000,0.000,37.756,28.235,159.118,24.750,0.000,0.000,13.256,1728.687,16051.184,632.315,1926.710,589.751,0.000,1619.688,0.000,1887.626,0.000,45.367,0.000
$DEVICE_MAMPS,137.293,91.273,1465.737,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,728.414,665.622,576.878,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50667,988
$CAP_FILE_SIZE,135588,0
$CFSIZE,254472192,226148352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
$GPS,070209,130906,6134.134,-829.915,47,1.3,47,-9.0