version: 66.04
glider: 5
mission: 5
dive: 413
start: 2 7 109 19 11 11
data:
$ID,5
$MISSION,5
$DIVE,413
$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,-95460.18
$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,50
$R_STBD_OVSHOOT,26
$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
$GPS1,190436,6140.135,-838.071,43,1.1,43,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-59.9
$GPS2,191050,6140.191,-838.101,13,1.0,13,-9.1
$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,275.8,6075,-14.3,-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,-1.10,-95.8,0.0,0.0,0,119,0.00,0.00,-101.68,0.000,2,0.000,0.000,424,1976,3183
$GC,123,-1.19,-146.6,3.9,-3.2,5,146,10.90,2.62,-6.55,0.000,4,0.139,0.074,2481,3406,3431
$GC,332,-1.11,-146.6,31.9,-10.4,14,337,0.12,2.47,0.00,0.000,6,0.099,0.048,2506,2021,3431
$GC,655,-1.11,-146.6,59.2,-9.8,30,659,0.00,2.55,0.00,0.000,4,0.000,0.063,2507,594,3431
$GC,717,-1.11,-146.6,66.7,-10.7,33,722,0.00,2.50,0.00,0.000,6,0.000,0.052,2507,1997,3431
$GC,1046,-1.11,-146.6,101.0,-12.3,49,1051,0.00,2.58,0.00,0.000,4,0.000,0.064,2507,595,3431
$GC,1096,-1.11,-146.6,107.5,-11.5,51,1101,0.00,2.47,0.00,0.000,6,0.000,0.052,2507,1983,3431
$GC,1414,-1.11,-146.6,142.0,-12.0,66,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1984,3431
$GC,1722,-1.11,-146.6,173.5,-10.9,81,1727,0.00,2.55,0.00,0.000,4,0.000,0.065,2507,584,3431
$GC,1790,-1.11,-146.6,181.1,-12.0,84,1795,0.00,2.50,0.00,0.000,6,0.000,0.053,2507,1990,3431
$GC,2111,-1.11,-146.6,215.6,-11.8,100,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1990,3431
$GC,2421,-1.11,-146.6,250.7,-10.4,115,2425,0.00,2.58,0.00,0.000,4,0.000,0.067,2507,592,3431
$GC,2461,-1.11,-146.6,254.9,-10.9,117,2466,0.00,2.47,0.00,0.000,6,0.000,0.054,2507,1981,3431
$GC,2788,-1.11,-146.6,287.3,-10.2,133,2793,0.00,2.55,0.00,0.000,4,0.000,0.066,2507,583,3431
$GC,2816,-1.11,-146.6,290.5,-11.4,134,2820,0.00,2.47,0.00,0.000,6,0.000,0.053,2507,1974,3431
$GC,3133,-1.11,-146.6,322.6,-9.9,149,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1975,3431
$GC,3441,-1.11,-146.6,354.7,-10.0,164,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1975,3431
$GC,3750,-1.11,-146.6,387.1,-10.8,179,3754,0.00,2.53,0.00,0.000,4,0.000,0.067,2507,593,3431
$GC,3773,-1.11,-146.6,389.5,-10.6,180,3777,0.00,2.45,0.00,0.000,6,0.000,0.053,2507,1970,3431
$GC,4095,-1.11,-146.6,422.1,-10.0,196,4099,0.00,2.53,0.00,0.000,4,0.000,0.067,2506,587,3431
$GC,4161,-1.11,-146.6,428.9,-9.3,199,4165,0.00,2.47,0.00,0.000,6,0.000,0.053,2507,1970,3431
$GC,4484,-1.11,-146.6,459.3,-9.4,215,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1978,3431
$GC,4792,-1.11,-146.6,488.3,-9.8,230,4796,0.00,2.53,0.00,0.000,4,0.000,0.067,2506,587,3431
$GC,4831,-1.11,-146.6,492.2,-10.0,232,4835,0.00,2.45,0.00,0.000,6,0.000,0.054,2507,1963,3431
$GC,5159,-1.11,-146.6,522.6,-7.6,248,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1965,3431
$GC,5467,-1.11,-146.6,553.5,-10.2,263,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1964,3431
$GC,5776,-1.11,-146.6,582.7,-9.8,278,5780,0.00,2.62,0.00,0.000,4,0.000,0.071,2507,3404,3430
$GC,5861,-1.11,-146.6,591.6,-10.4,282,5866,0.00,2.62,0.00,0.000,6,0.000,0.060,2507,1957,3430
$GC,6188,-1.11,-146.6,624.4,-10.4,298,6190,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1957,3430
$GC,6499,-1.11,-146.6,655.5,-9.5,313,6503,0.00,2.70,0.00,0.000,4,0.000,0.074,2506,3405,3430
$GC,6543,-1.15,-146.6,660.1,-10.1,315,6548,0.00,2.65,0.00,0.000,6,0.000,0.063,2506,1957,3429
$GC,6864,-1.15,-146.6,689.2,-9.2,331,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1956,3428
$GC,7174,-1.15,-146.6,715.2,-8.4,346,7179,0.00,2.53,0.00,0.000,4,0.000,0.082,2506,586,3427
$GC,7214,-1.15,-146.6,718.8,-9.5,348,7219,0.00,2.53,0.00,0.000,6,0.000,0.068,2506,1965,3427
$GC,7541,-1.15,-146.6,746.0,-8.3,364,7542,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1966,3425
$GC,7852,-1.21,-146.6,775.2,-9.9,379,7857,0.12,2.70,0.00,0.000,4,0.070,0.084,2475,3410,3424
$GC,7914,-1.10,-146.6,781.1,-13.5,382,7920,0.15,2.70,0.00,0.000,6,0.104,0.074,2504,1964,3424
$STATE,8218,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8218,begin apogee
$GC,8226,-0.33,0.0,807.0,6.8,397,8361,0.80,0.00,130.27,1.460,6,0.088,0.000,2667,2126,2832
$STATE,8362,end apogee,CONTROL_FINISHED_OK
$STATE,8362,begin climb
$GC,8365,1.19,146.6,809.5,0.0,404,8509,1.55,2.83,132.95,1.411,4,0.070,0.087,2998,711,2234
$GC,8518,0.96,146.6,800.4,8.3,411,8524,0.22,2.67,0.00,0.000,6,0.096,0.070,2957,2129,2234
$GC,8840,0.91,146.6,773.5,6.9,427,8841,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2128,2233
$GC,9149,0.91,146.6,755.6,7.0,442,9153,0.00,2.67,0.00,0.000,4,0.000,0.087,2957,3535,2232
$GC,9235,0.86,146.6,749.3,7.6,446,9240,0.12,2.62,0.00,0.000,6,0.107,0.076,2933,2141,2232
$GC,9562,0.86,146.6,726.7,7.1,462,9563,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2142,2231
$GC,9871,0.86,146.6,706.9,6.4,477,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2142,2230
$GC,10182,0.90,146.6,687.6,6.3,492,10186,0.00,2.70,0.00,0.000,4,0.000,0.088,2933,705,2229
$GC,10221,0.90,146.6,684.6,7.3,494,10226,0.00,2.67,0.00,0.000,6,0.000,0.074,2933,2141,2229
$GC,10550,0.94,171.0,666.2,5.0,510,10574,0.00,0.00,22.20,1.354,6,0.000,0.000,2933,2141,2134
$GC,10879,0.99,171.0,644.1,7.3,526,10883,0.12,2.62,0.00,0.000,4,0.069,0.084,2965,3531,2133
$GC,10974,0.94,171.0,635.1,9.4,530,10978,0.00,2.62,0.00,0.000,6,0.000,0.071,2964,2130,2133
$GC,11291,0.94,171.0,611.5,7.0,545,11295,0.00,2.67,0.00,0.000,4,0.000,0.081,2964,3532,2133
$GC,11335,0.90,171.0,607.5,8.4,547,11340,0.12,2.60,0.00,0.000,6,0.104,0.071,2942,2136,2133
$GC,11658,0.94,171.0,586.4,6.5,563,11662,0.00,2.65,0.00,0.000,4,0.000,0.081,2942,3532,2132
$GC,11690,0.94,171.0,584.2,6.2,564,11697,0.00,2.60,0.00,0.000,6,0.000,0.068,2942,2132,2132
$GC,12007,0.99,171.0,565.9,6.0,580,12008,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2132,2132
$GC,12316,1.06,184.3,547.5,5.4,595,12338,0.15,2.70,13.00,1.220,4,0.062,0.074,2978,715,2080
$GC,12373,0.98,184.3,543.6,7.7,597,12377,0.00,2.65,0.00,0.000,6,0.000,0.064,2978,2146,2080
$GC,12688,0.98,184.3,524.2,6.2,612,12693,0.00,2.58,0.00,0.000,4,0.000,0.076,2978,3535,2079
$GC,12844,0.92,184.3,512.9,7.7,619,12850,0.17,2.53,0.00,0.000,6,0.091,0.062,2945,2154,2080
$GC,13172,0.98,184.3,487.1,8.2,635,13176,0.00,2.58,0.00,0.000,4,0.000,0.071,2945,3534,2080
$GC,13213,1.02,184.3,483.5,9.1,637,13218,0.10,2.50,0.00,0.000,6,0.066,0.060,2972,2162,2080
$GC,13539,1.02,184.3,454.3,7.7,653,13540,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2162,2080
$GC,13850,1.02,184.3,433.7,6.4,668,13854,0.00,2.62,0.00,0.000,4,0.000,0.069,2972,713,2081
$GC,13877,1.02,184.3,431.9,6.5,669,13881,0.00,2.65,0.00,0.000,6,0.000,0.057,2972,2179,2081
$GC,14192,1.02,184.3,410.9,7.0,684,14197,0.00,2.47,0.00,0.000,4,0.000,0.067,2972,3540,2081
$GC,14260,1.02,184.3,405.5,7.9,687,14265,0.00,2.47,0.00,0.000,6,0.000,0.055,2972,2169,2081
$GC,14582,1.02,184.3,379.0,8.0,703,14583,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2170,2082
$GC,14891,1.02,184.3,353.9,8.0,718,14892,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2170,2083
$GC,15201,1.02,184.3,332.0,7.0,733,15202,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2170,2083
$GC,15509,1.02,184.3,310.1,7.2,748,15513,0.00,2.50,0.00,0.000,4,0.000,0.064,2972,3535,2084
$GC,15543,1.02,184.3,307.6,7.2,749,15547,0.00,2.45,0.00,0.000,6,0.000,0.051,2972,2165,2085
$GC,15859,1.02,184.3,284.1,7.6,764,15863,0.00,2.50,0.00,0.000,4,0.000,0.063,2972,3536,2085
$GC,15906,1.02,184.3,280.6,7.1,766,15910,0.00,2.42,0.00,0.000,6,0.000,0.051,2972,2176,2085
$GC,16232,1.02,184.3,258.5,6.7,782,16233,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2177,2086
$GC,16542,1.02,184.3,237.4,7.0,797,16543,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2177,2087
$GC,16851,1.02,184.3,215.0,7.0,812,16854,0.00,2.50,0.00,0.000,4,0.000,0.063,2972,3543,2087
$GC,16896,1.02,184.3,211.4,7.5,814,16900,0.00,2.42,0.00,0.000,6,0.000,0.050,2972,2176,2087
$GC,17228,1.02,184.3,187.2,7.9,830,17229,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2177,2087
$GC,17538,1.02,184.3,162.8,8.0,845,17540,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2177,2088
$GC,17847,1.02,184.3,139.6,7.0,860,17848,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2177,2088
$GC,18158,1.02,184.3,116.5,7.6,875,18164,0.00,0.00,3.85,0.593,6,0.000,0.000,2972,2177,2080
$GC,18468,1.02,184.3,94.9,6.9,890,18469,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2177,2080
$GC,18775,1.02,184.3,72.5,7.1,905,18776,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2177,2081
$GC,19084,1.02,184.3,52.4,8.0,920,19085,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2176,2080
$GC,19394,1.02,184.3,29.5,8.0,935,19399,0.00,2.47,0.00,0.000,4,0.000,0.062,2972,3535,2080
$GC,19529,1.10,234.5,23.0,3.9,941,19575,0.00,2.40,41.15,0.838,6,0.000,0.048,2972,2167,1876
$STATE,19833,end climb,SURFACE_DEPTH_REACHED
$STATE,19833,begin surface coast
$FINISH,0.5,1.017914
$STATE,19876,end surface coast,CONTROL_FINISHED_OK
$STATE,19876,begin surface
$SM_CCo,19899,12.75,0.775,0,0,1812,250.21
$SM_GC,2.11,0.00,0.00,12.75,0.000,0.000,0.775,422,1980,1812,-10.69,-0.62,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1820
$TCM_TEMP,16.90
$XPDR_PINGS,61
$ALTIM_BOTTOM_PING,725.4,90.5
$24V_AH,23.4,73.356
$10V_AH,10.1,36.481
$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,25.975,144.275,343.425,12.750,0.000,37.755,24.952,170.001,21.750,0.000,0.000,13.622,1743.581,15408.312,524.175,2009.372,598.524,0.000,1517.546,0.000,1965.961,0.000,43.813,0.000
$DEVICE_MAMPS,138.827,88.205,1460.368,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,708.073,648.191,570.190,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50459,958
$CAP_FILE_SIZE,138206,0
$CFSIZE,254472192,226017280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,43,0,0
$GPS,080209,004425,6139.347,-850.008,41,1.9,41,-9.2