version: 66.04
glider: 5
mission: 5
dive: 416
start: 2 8 109 13 41 57
data:
$ID,5
$MISSION,5
$DIVE,416
$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,-95525.867
$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,34
$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
$GPS1,132820,6137.768,-911.606,41,2.3,60,-9.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-61.6
$GPS2,134137,6137.704,-911.781,13,1.2,30,-9.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_5
$TGT_LATLONG,6140.000,-915.000
$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,335.8,5107,-17.8,-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,-1.29,-65.1,0.0,0.0,0,109,0.00,0.00,-91.05,0.000,6,0.000,0.000,424,1978,3098
$GC,113,-1.38,-124.4,2.7,-2.3,4,136,10.57,2.65,-7.03,0.000,4,0.137,0.072,2435,3409,3341
$GC,253,-1.31,-124.4,23.0,-12.4,10,258,0.10,2.50,0.00,0.000,6,0.105,0.048,2457,2007,3340
$GC,580,-1.31,-124.4,64.3,-16.6,26,585,0.00,2.53,0.00,0.000,4,0.000,0.062,2457,592,3340
$GC,644,-1.31,-124.4,74.7,-15.4,29,649,0.00,2.50,0.00,0.000,6,0.000,0.051,2457,1998,3340
$GC,972,-1.26,-124.4,115.6,-10.4,45,976,0.00,2.58,0.00,0.000,4,0.000,0.062,2457,590,3340
$GC,1027,-1.26,-124.4,122.0,-10.9,47,1034,0.00,2.50,0.00,0.000,6,0.000,0.051,2457,1997,3340
$GC,1344,-1.26,-124.4,163.1,-15.0,63,1348,0.00,2.55,0.00,0.000,4,0.000,0.062,2457,590,3341
$GC,1394,-1.22,-124.4,171.5,-16.6,65,1399,0.10,2.47,0.00,0.000,6,0.104,0.051,2476,1982,3340
$GC,1711,-1.22,-124.4,217.0,-14.6,80,1715,0.00,2.53,0.00,0.000,4,0.000,0.062,2476,589,3340
$GC,1828,-1.22,-124.4,234.6,-14.6,85,1832,0.00,2.45,0.00,0.000,6,0.000,0.051,2476,1963,3340
$GC,2150,-1.22,-124.4,283.1,-16.6,101,2154,0.00,2.53,0.00,0.000,4,0.000,0.066,2476,583,3340
$GC,2206,-1.22,-124.4,293.2,-17.0,103,2210,0.00,2.42,0.00,0.000,6,0.000,0.051,2476,1954,3340
$GC,2522,-1.22,-124.4,342.9,-14.8,118,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1968,3340
$GC,2833,-1.22,-124.4,376.9,-9.9,133,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1971,3340
$GC,3140,-1.22,-124.4,409.1,-10.4,148,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1971,3339
$GC,3449,-1.22,-124.4,442.2,-11.2,163,3453,0.00,2.50,0.00,0.000,4,0.000,0.064,2476,586,3339
$GC,3483,-1.22,-124.4,446.0,-11.0,164,3487,0.00,2.42,0.00,0.000,6,0.000,0.051,2476,1953,3339
$GC,3799,-1.22,-124.4,481.6,-11.3,179,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1955,3339
$GC,4108,-1.22,-124.4,516.7,-11.5,194,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1955,3339
$GC,4419,-1.22,-124.4,551.8,-10.6,209,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1955,3339
$GC,4726,-1.22,-124.4,584.2,-9.7,224,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1955,3339
$GC,5035,-1.22,-124.4,617.1,-10.8,239,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1955,3339
$GC,5347,-1.22,-124.4,650.6,-10.9,254,5348,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1955,3339
$GC,5654,-1.22,-124.4,685.1,-11.0,269,5658,0.00,2.50,0.00,0.000,4,0.000,0.064,2477,583,3339
$GC,5743,-1.22,-124.4,698.9,-14.7,273,5747,0.00,2.42,0.00,0.000,6,0.000,0.051,2476,1952,3339
$GC,6065,-1.27,-124.4,738.6,-11.3,289,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1954,3339
$GC,6374,-1.37,-143.7,760.9,-4.8,304,6379,0.15,2.50,0.00,0.000,4,0.057,0.067,2435,592,3339
$GC,6554,-1.30,-143.7,778.6,-12.4,312,6559,0.12,2.42,0.00,0.000,6,0.102,0.057,2459,1950,3339
$GC,6881,-1.30,-143.7,808.5,-10.1,328,6885,0.00,2.65,0.00,0.000,4,0.000,0.075,2459,3401,3339
$GC,6937,-1.30,-143.7,816.0,-14.5,330,6943,0.00,2.67,0.00,0.000,6,0.000,0.067,2459,1945,3339
$GC,7253,-1.30,-143.7,846.0,-7.6,346,7258,0.00,2.75,0.00,0.000,6,0.000,0.081,2459,3404,3338
$STATE,7258,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7258,begin apogee
$GC,7268,-0.33,0.0,846.8,8.1,346,7385,0.98,0.00,113.47,1.430,6,0.095,0.000,2664,2094,2832
$STATE,7386,end apogee,CONTROL_FINISHED_OK
$STATE,7386,begin climb
$GC,7390,1.41,143.7,850.8,0.0,352,7526,1.83,0.00,130.98,1.399,6,0.064,0.000,3053,2094,2246
$GC,7836,1.23,143.7,813.2,7.4,374,7841,0.17,2.72,0.00,0.000,4,0.107,0.084,3019,3528,2245
$GC,7917,1.15,143.7,806.5,9.9,377,7924,0.12,2.65,0.00,0.000,6,0.111,0.073,2997,2117,2244
$GC,8233,1.15,143.7,779.7,6.6,393,8234,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2116,2243
$GC,8542,1.16,148.9,762.7,5.7,408,8553,0.00,2.67,5.62,1.075,4,0.000,0.087,2996,706,2224
$GC,8661,1.16,148.9,751.9,11.8,413,8665,0.00,2.67,0.00,0.000,6,0.000,0.074,2996,2135,2224
$GC,8977,1.16,148.9,722.6,7.2,428,8978,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2135,2222
$GC,9287,1.19,172.1,706.3,4.6,443,9313,0.00,2.78,21.30,1.340,4,0.000,0.077,2996,705,2129
$GC,9510,1.19,172.1,691.4,7.2,453,9515,0.00,2.62,0.00,0.000,6,0.000,0.064,2996,2132,2129
$GC,9832,1.19,172.1,669.3,7.5,469,9836,0.00,2.58,0.00,0.000,4,0.000,0.071,2996,3533,2128
$GC,9943,1.19,172.1,660.6,8.9,474,9947,0.00,2.55,0.00,0.000,6,0.000,0.059,2996,2135,2129
$GC,10264,1.24,172.1,628.1,11.1,490,10266,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2134,2129
$GC,10574,1.29,172.1,595.2,10.4,505,10579,0.12,2.60,0.00,0.000,4,0.059,0.064,3028,3536,2129
$GC,10630,1.21,172.1,587.7,14.6,507,10637,0.00,2.50,0.00,0.000,6,0.000,0.055,3028,2147,2130
$GC,10948,1.16,172.1,550.5,11.3,523,10953,0.15,2.58,0.00,0.000,4,0.097,0.063,3000,3541,2130
$GC,11010,1.16,172.1,543.5,11.0,526,11015,0.00,2.50,0.00,0.000,6,0.000,0.054,3000,2148,2131
$GC,11338,1.21,172.1,513.2,9.4,542,11342,0.00,2.55,0.00,0.000,4,0.000,0.063,3000,3534,2132
$GC,11379,1.21,172.1,509.2,10.1,544,11383,0.00,2.45,0.00,0.000,6,0.000,0.051,3000,2162,2132
$GC,11705,1.21,172.1,483.4,7.1,560,11706,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2162,2133
$GC,12015,1.26,172.1,457.8,8.9,575,12019,0.00,2.50,0.00,0.000,4,0.000,0.061,3000,3534,2133
$GC,12055,1.26,172.1,454.8,7.1,577,12059,0.00,2.42,0.00,0.000,6,0.000,0.050,3000,2173,2132
$GC,12382,1.26,177.1,432.3,5.7,593,12391,0.00,0.00,7.05,0.920,6,0.000,0.000,3000,2173,2109
$GC,12692,1.31,177.1,403.9,9.3,608,12697,0.15,2.50,0.00,0.000,4,0.055,0.061,3037,3535,2110
$GC,12737,1.24,177.1,399.5,9.1,610,12742,0.12,2.42,0.00,0.000,6,0.100,0.050,3015,2178,2110
$GC,13058,1.24,177.1,363.6,11.5,626,13062,0.00,2.47,0.00,0.000,4,0.000,0.061,3015,3535,2110
$GC,13099,1.24,177.1,359.2,10.9,628,13103,0.00,2.40,0.00,0.000,6,0.000,0.049,3015,2183,2110
$GC,13426,1.24,177.1,329.1,9.2,644,13427,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2183,2110
$GC,13735,1.24,177.1,297.9,9.9,659,13736,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2185,2111
$GC,14046,1.24,177.1,267.0,9.4,674,14050,0.00,2.47,0.00,0.000,4,0.000,0.061,3015,3540,2111
$GC,14118,1.24,177.1,260.2,8.7,677,14122,0.00,2.40,0.00,0.000,6,0.000,0.048,3015,2189,2111
$GC,14434,1.27,195.4,241.8,4.9,692,14456,0.00,2.58,17.27,0.938,4,0.000,0.059,3015,3543,2035
$GC,14491,1.31,225.1,239.1,4.2,694,14524,0.00,2.38,26.12,0.958,6,0.000,0.048,3015,2214,1914
$GC,14833,1.36,225.1,208.4,12.1,711,14835,0.12,0.00,0.00,0.000,6,0.058,0.000,3048,2201,1913
$GC,15144,1.36,225.1,166.7,14.9,726,15146,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2186,1913
$GC,15451,1.36,225.1,121.7,15.5,741,15455,0.00,2.42,0.00,0.000,4,0.000,0.061,3048,3534,1913
$GC,15484,1.36,225.1,117.0,14.1,742,15490,0.00,2.35,0.00,0.000,6,0.000,0.048,3048,2213,1913
$GC,15802,1.36,225.1,84.5,9.7,758,15804,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2184,1914
$GC,16109,1.36,225.1,57.4,6.4,773,16114,0.00,2.42,0.00,0.000,4,0.000,0.060,3048,3535,1914
$GC,16154,1.30,225.1,54.8,7.1,775,16158,0.00,2.33,0.00,0.000,6,0.000,0.047,3048,2221,1914
$GC,16477,1.30,225.1,24.2,9.7,791,16478,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2204,1914
$STATE,16617,end climb,SURFACE_DEPTH_REACHED
$STATE,16617,begin surface coast
$FINISH,0.5,1.027414
$STATE,16640,end surface coast,CONTROL_FINISHED_OK
$STATE,16640,begin surface
$SM_CCo,16663,20.12,0.798,0,0,1812,250.21
$SM_GC,1.06,0.00,0.00,20.12,0.000,0.000,0.798,420,1981,1812,-10.70,-0.90,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1816
$TCM_TEMP,15.90
$XPDR_PINGS,87
$ALTIM_BOTTOM_PING,775.2,81.0
$24V_AH,23.5,73.942
$10V_AH,10.1,36.753
$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,26.400,126.325,321.825,20.125,0.000,113.290,99.090,295.020,28.750,0.000,0.000,32.618,1478.561,12896.072,493.873,1764.793,843.171,0.000,1366.425,0.000,1706.724,0.000,50.070,0.000
$DEVICE_MAMPS,136.526,87.438,1429.688,798.447,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,590.878,539.602,447.982,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41002,799
$CAP_FILE_SIZE,126194,0
$CFSIZE,254472192,225832960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,0,0
$GPS,080209,182124,6140.392,-918.028,43,1.1,43,-9.4