version: 66.04
glider: 5
mission: 5
dive: 412
start: 2 7 109 13 15 47
data:
$ID,5
$MISSION,5
$DIVE,412
$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,-95445.93
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,130906,6134.134,-829.915,47,1.3,47,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-63.8
$GPS2,131527,6134.155,-829.916,11,3.9,30,-9.0
$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,318.2,17117,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.82,0.000,2,0.000,0.000,421,1968,3164
$GC,123,-0.97,-146.6,3.7,-3.1,5,146,11.12,2.67,-7.20,0.000,4,0.139,0.072,2525,3407,3432
$GC,315,-0.86,-146.6,25.9,-10.0,13,320,0.15,2.50,0.00,0.000,6,0.094,0.048,2556,1999,3432
$GC,631,-0.86,-146.6,51.3,-6.4,28,636,0.00,2.53,0.00,0.000,4,0.000,0.061,2556,581,3432
$GC,688,-0.86,-146.6,56.3,-9.2,30,695,0.00,2.53,0.00,0.000,6,0.000,0.052,2556,2002,3431
$GC,1005,-0.86,-146.6,77.5,-5.9,46,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2013,3432
$GC,1313,-0.86,-146.6,97.6,-7.3,61,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2013,3431
$GC,1624,-0.86,-146.6,120.0,-8.6,76,1628,0.00,2.58,0.00,0.000,4,0.000,0.064,2556,592,3431
$GC,1673,-0.86,-146.6,124.6,-9.8,78,1678,0.00,2.50,0.00,0.000,6,0.000,0.052,2556,2000,3432
$GC,1991,-0.86,-146.6,149.0,-7.4,93,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2000,3432
$GC,2299,-0.86,-146.6,178.0,-9.8,108,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2001,3431
$GC,2610,-0.86,-146.6,205.0,-9.2,123,2615,0.00,2.53,0.00,0.000,4,0.000,0.063,2556,3408,3431
$GC,2638,-0.86,-146.6,208.0,-9.4,124,2643,0.00,2.53,0.00,0.000,6,0.000,0.051,2556,1995,3431
$GC,2955,-0.86,-146.6,234.8,-8.6,139,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1995,3431
$GC,3263,-0.86,-146.6,261.3,-8.6,154,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1995,3431
$GC,3572,-0.86,-146.6,287.7,-8.8,169,3577,0.00,2.58,0.00,0.000,4,0.000,0.063,2556,3405,3431
$GC,3618,-0.86,-146.6,291.9,-9.4,171,3622,0.00,2.53,0.00,0.000,6,0.000,0.051,2556,1990,3431
$GC,3938,-0.86,-146.6,319.1,-8.3,187,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1989,3431
$GC,4248,-0.86,-146.6,340.1,-6.8,202,4252,0.00,2.58,0.00,0.000,4,0.000,0.063,2556,3405,3431
$GC,4288,-0.86,-146.6,342.7,-7.1,204,4292,0.00,2.50,0.00,0.000,6,0.000,0.051,2556,2002,3431
$GC,4614,-0.86,-146.6,364.8,-6.8,220,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2001,3431
$GC,4924,-0.86,-146.6,385.8,-6.5,235,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2001,3431
$GC,5234,-0.86,-146.6,406.1,-6.7,250,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2001,3431
$GC,5542,-0.86,-146.6,426.9,-6.3,265,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2001,3431
$GC,5851,-0.86,-146.6,446.6,-6.5,280,5856,0.00,2.58,0.00,0.000,4,0.000,0.064,2556,3412,3431
$GC,5886,-0.86,-146.6,448.9,-7.1,281,5892,0.00,2.53,0.00,0.000,6,0.000,0.052,2556,1997,3431
$GC,6201,-0.86,-146.6,468.9,-6.4,297,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1997,3431
$GC,6511,-0.86,-146.6,490.8,-6.7,312,6515,0.00,2.58,0.00,0.000,4,0.000,0.064,2556,3405,3431
$GC,6561,-0.86,-146.6,494.5,-7.8,314,6565,0.00,2.47,0.00,0.000,6,0.000,0.053,2556,2017,3431
$GC,6877,-0.86,-146.6,519.9,-8.7,329,6881,0.00,2.55,0.00,0.000,4,0.000,0.064,2556,3413,3431
$GC,6933,-0.86,-146.6,525.2,-10.0,331,6939,0.00,2.47,0.00,0.000,6,0.000,0.053,2556,2026,3431
$GC,7250,-0.86,-146.6,547.2,-5.8,347,7254,0.00,2.55,0.00,0.000,4,0.000,0.064,2556,590,3431
$GC,7311,-0.86,-146.6,551.0,-6.5,349,7317,0.00,2.53,0.00,0.000,6,0.000,0.052,2556,2016,3431
$GC,7628,-0.86,-146.6,570.1,-6.2,365,7629,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2016,3431
$GC,7936,-0.86,-146.6,589.9,-7.1,380,7940,0.00,2.60,0.00,0.000,4,0.000,0.069,2556,595,3431
$GC,8003,-0.92,-146.6,595.0,-7.4,383,8007,0.00,2.53,0.00,0.000,6,0.000,0.057,2556,2009,3431
$GC,8325,-0.96,-146.6,615.4,-6.3,399,8329,0.00,2.53,0.00,0.000,4,0.000,0.071,2556,3408,3431
$GC,8410,-1.00,-146.6,621.1,-6.4,403,8415,0.15,2.53,0.00,0.000,6,0.058,0.061,2518,2014,3431
$GC,8740,-0.91,-146.6,648.0,-8.5,419,8742,0.12,0.00,0.00,0.000,6,0.097,0.000,2545,2002,3430
$GC,9046,-0.91,-146.6,667.0,-5.5,434,9051,0.00,2.60,0.00,0.000,4,0.000,0.077,2544,584,3430
$GC,9164,-0.91,-146.6,681.1,-8.8,439,9168,0.00,2.60,0.00,0.000,6,0.000,0.067,2544,2006,3430
$GC,9481,-0.91,-146.6,706.4,-6.7,454,9485,0.00,2.67,0.00,0.000,4,0.000,0.083,2544,583,3428
$GC,9543,-0.96,-146.6,710.9,-5.4,457,9548,0.00,2.62,0.00,0.000,6,0.000,0.071,2544,2018,3427
$GC,9871,-0.96,-146.6,745.5,-10.6,473,9873,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2019,3425
$GC,10180,-0.96,-146.6,773.0,-8.1,488,10184,0.00,2.70,0.00,0.000,4,0.000,0.086,2544,592,3424
$GC,10309,-0.96,-146.6,777.7,-2.4,494,10314,0.00,2.60,0.00,0.000,6,0.000,0.073,2544,1998,3424
$GC,10638,-1.01,-146.6,792.7,-5.4,510,10642,0.00,2.62,0.00,0.000,4,0.000,0.088,2544,3408,3423
$GC,10704,-1.01,-146.6,798.7,-10.5,513,10709,0.00,2.62,0.00,0.000,6,0.000,0.076,2544,2007,3422
$STATE,11002,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11002,begin apogee
$GC,11011,-0.33,0.0,818.9,7.2,528,11146,0.62,0.00,131.57,1.487,6,0.092,0.000,2671,2127,2832
$STATE,11147,end apogee,CONTROL_FINISHED_OK
$STATE,11147,begin climb
$GC,11150,0.97,146.6,823.0,0.0,535,11294,1.33,2.80,133.40,1.436,4,0.069,0.084,2955,717,2234
$GC,11521,0.75,146.6,796.7,8.9,552,11526,0.25,2.65,0.00,0.000,6,0.097,0.073,2907,2131,2233
$GC,11850,0.76,153.3,770.1,5.8,568,11859,0.00,0.00,7.82,1.195,6,0.000,0.000,2907,2131,2206
$GC,12157,0.76,153.3,745.8,10.3,583,12158,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2131,2206
$GC,12467,0.69,153.3,734.8,8.8,598,12471,0.00,2.65,0.00,0.000,4,0.000,0.087,2907,3534,2205
$GC,12530,0.69,153.3,730.1,8.1,601,12535,0.00,2.70,0.00,0.000,6,0.000,0.080,2907,2113,2205
$GC,12857,0.74,189.5,710.8,5.0,617,12896,0.00,0.00,33.12,1.410,6,0.000,0.000,2907,2101,2059
$GC,13206,0.88,273.3,692.9,3.7,634,13290,0.12,2.72,75.07,1.414,4,0.069,0.089,2939,708,1717
$GC,13303,0.79,273.3,685.3,8.8,638,13308,0.10,2.67,0.00,0.000,6,0.103,0.072,2919,2117,1717
$GC,13618,0.79,273.3,662.9,10.7,653,13623,0.00,2.72,0.00,0.000,4,0.000,0.087,2919,711,1718
$GC,13652,0.79,273.3,660.0,8.0,654,13658,0.00,2.62,0.00,0.000,6,0.000,0.074,2919,2110,1719
$GC,13968,0.82,291.4,640.3,5.5,670,13991,0.00,2.80,17.75,1.325,4,0.000,0.086,2919,3529,1644
$GC,14047,0.82,291.4,634.0,7.4,673,14052,0.00,2.70,0.00,0.000,6,0.000,0.074,2919,2107,1644
$GC,14365,0.87,291.4,609.5,7.6,688,14369,0.00,2.65,0.00,0.000,4,0.000,0.087,2919,703,1644
$GC,14386,0.92,291.4,607.2,9.7,689,14392,0.10,2.62,0.00,0.000,6,0.073,0.074,2946,2102,1644
$GC,14709,0.92,291.4,579.4,7.2,705,14713,0.00,2.70,0.00,0.000,4,0.000,0.085,2945,3532,1644
$GC,14736,0.92,291.4,577.3,7.0,706,14740,0.00,2.70,0.00,0.000,6,0.000,0.074,2946,2098,1644
$GC,15053,0.92,291.4,556.9,6.4,721,15058,0.00,2.60,0.00,0.000,4,0.000,0.084,2946,708,1644
$GC,15133,0.92,291.4,550.8,9.4,724,15139,0.00,2.58,0.00,0.000,6,0.000,0.072,2946,2088,1643
$GC,15448,0.92,291.4,519.7,8.8,740,15453,0.00,2.70,0.00,0.000,4,0.000,0.081,2946,3538,1643
$GC,15481,0.92,291.4,516.7,8.9,741,15487,0.00,2.70,0.00,0.000,6,0.000,0.068,2945,2085,1643
$GC,15798,0.92,291.4,491.1,9.0,757,15799,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2085,1643
$GC,16106,0.93,292.7,470.1,6.0,772,16111,0.00,2.70,0.00,0.000,4,0.000,0.071,2946,3535,1643
$GC,16133,0.93,292.7,468.3,6.2,773,16138,0.00,2.62,0.00,0.000,6,0.000,0.061,2946,2099,1643
$GC,16451,1.10,403.2,456.2,3.0,788,16555,0.17,2.60,96.40,1.205,4,0.054,0.068,2996,713,1187
$GC,16586,1.00,403.2,445.0,12.4,794,16591,0.17,2.55,0.00,0.000,6,0.081,0.058,2960,2104,1186
$GC,16908,1.00,403.2,403.0,16.2,810,16913,0.00,2.60,0.00,0.000,4,0.000,0.069,2960,707,1188
$GC,16942,1.00,403.2,398.5,12.8,811,16948,0.00,2.50,0.00,0.000,6,0.000,0.057,2960,2086,1188
$GC,17257,1.00,403.2,370.0,8.5,827,17262,0.00,2.62,0.00,0.000,4,0.000,0.065,2960,3529,1189
$GC,17286,1.06,403.2,367.2,9.8,828,17291,0.00,2.65,0.00,0.000,6,0.000,0.055,2960,2066,1189
$GC,17602,1.06,403.2,335.7,9.6,843,17606,0.00,2.45,0.00,0.000,4,0.000,0.067,2960,712,1189
$GC,17635,1.11,403.2,332.1,10.2,844,17642,0.10,2.45,0.00,0.000,6,0.060,0.053,2991,2078,1189
$GC,17952,1.05,403.2,295.3,11.4,860,17957,0.00,2.62,0.00,0.000,4,0.000,0.064,2991,3534,1190
$GC,17986,1.05,403.2,291.4,10.5,861,17992,0.00,2.65,0.00,0.000,6,0.000,0.055,2991,2069,1190
$GC,18302,1.00,403.2,252.1,13.1,877,18304,0.15,0.00,0.00,0.000,6,0.081,0.000,2961,2068,1191
$GC,18612,1.00,403.2,217.4,10.9,892,18616,0.00,2.45,0.00,0.000,4,0.000,0.066,2960,710,1191
$GC,18634,1.04,403.2,214.8,9.8,893,18638,0.00,2.42,0.00,0.000,6,0.000,0.052,2960,2065,1191
$GC,18955,1.10,403.2,182.2,9.9,909,18957,0.10,0.00,0.00,0.000,6,0.058,0.000,2991,2065,1192
$GC,19266,1.05,403.2,147.7,11.8,924,19270,0.00,2.50,0.00,0.000,4,0.000,0.067,2991,713,1192
$GC,19299,1.00,403.2,143.6,12.2,925,19306,0.15,2.42,0.00,0.000,6,0.081,0.053,2961,2067,1192
$GC,19618,1.05,403.2,118.8,8.1,941,19620,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2085,1192
$GC,19925,1.10,403.2,91.9,8.8,956,19930,0.10,2.50,0.00,0.000,4,0.058,0.064,2992,712,1192
$GC,19975,1.05,403.2,86.1,10.6,958,19979,0.00,2.40,0.00,0.000,6,0.000,0.052,2992,2057,1193
$GC,20298,1.05,403.2,49.6,11.4,974,20302,0.00,2.65,0.00,0.000,4,0.000,0.062,2992,3532,1193
$GC,20325,1.05,403.2,46.6,10.0,975,20330,0.00,2.65,0.00,0.000,6,0.000,0.051,2991,2051,1193
$GC,20641,1.05,403.2,14.2,9.6,990,20642,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2051,1193
$STATE,20741,end climb,SURFACE_DEPTH_REACHED
$STATE,20741,begin surface coast
$FINISH,1.3,1.027427
$STATE,20765,end surface coast,CONTROL_FINISHED_OK
$STATE,20765,begin surface
$SM_CCo,20849,0.00,0.000,0,0,1192,402.05
$SM_GC,1.41,11.30,0.00,0.00,0.041,0.000,0.000,425,1965,1192,-10.59,-0.76,402.05
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1824
$TCM_TEMP,16.70
$XPDR_PINGS,78
$ALTIM_BOTTOM_PING,750.8,77.7
$24V_AH,23.4,73.207
$10V_AH,10.1,36.393
$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,26.325,181.625,495.150,0.000,0.000,37.760,32.627,155.811,26.250,0.000,0.000,30.896,1819.381,15947.888,664.477,2178.208,615.483,0.000,1770.851,0.000,2109.562,0.000,45.362,0.000
$DEVICE_MAMPS,138.827,88.972,1487.213,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,732.201,671.203,571.813,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50603,996
$CAP_FILE_SIZE,152929,0
$CFSIZE,254472192,226066432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,51,0,0
$GPS,070209,190436,6140.135,-838.071,43,1.1,43,-9.1