version: 66.04
glider: 5
mission: 5
dive: 420
start: 2 9 109 12 40 6
data:
$ID,5
$MISSION,5
$DIVE,420
$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,-95606.656
$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,31
$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
$GPS1,123337,6145.604,-946.529,37,1.4,37,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-63.7
$GPS2,123944,6145.578,-946.580,15,1.3,15,-9.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_6
$TGT_LATLONG,6145.000,-945.000
$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,137.4,1750,-27.3,-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,-1.87,-28.8,0.0,0.0,0,77,0.00,0.00,-58.58,0.000,6,0.000,0.000,420,1963,2951
$GC,81,-1.89,-45.4,3.1,-3.7,3,103,10.05,2.55,-2.30,0.000,4,0.137,0.071,2328,598,3019
$GC,308,-1.77,-45.4,39.7,-13.8,13,313,0.17,2.50,0.00,0.000,6,0.110,0.049,2360,2005,3019
$GC,636,-1.77,-45.4,85.3,-13.3,29,640,0.00,2.55,0.00,0.000,4,0.000,0.061,2360,597,3019
$GC,753,-1.71,-45.4,102.8,-18.2,34,757,0.00,2.45,0.00,0.000,6,0.000,0.049,2360,1975,3019
$GC,1076,-1.71,-45.4,152.2,-13.8,50,1080,0.00,2.50,0.00,0.000,4,0.000,0.061,2360,593,3018
$GC,1127,-1.71,-45.4,160.2,-15.4,52,1132,0.00,2.42,0.00,0.000,6,0.000,0.049,2360,1967,3019
$GC,1451,-1.71,-45.4,200.1,-11.4,68,1455,0.00,2.50,0.00,0.000,4,0.000,0.063,2360,599,3019
$GC,1517,-1.71,-45.4,208.0,-11.7,71,1522,0.00,2.40,0.00,0.000,6,0.000,0.050,2360,1959,3019
$GC,1840,-1.71,-45.4,245.5,-11.9,87,1844,0.00,2.50,0.00,0.000,4,0.000,0.062,2360,588,3018
$GC,1918,-1.71,-45.4,255.9,-12.4,90,1924,0.00,2.38,0.00,0.000,6,0.000,0.050,2360,1924,3019
$GC,2237,-1.71,-45.4,300.3,-14.9,106,2241,0.00,2.42,0.00,0.000,4,0.000,0.062,2359,595,3018
$GC,2310,-1.66,-45.4,312.4,-15.8,109,2315,0.12,2.38,0.00,0.000,6,0.110,0.049,2381,1930,3019
$GC,2627,-1.73,-45.4,359.8,-13.3,124,2631,0.00,2.45,0.00,0.000,4,0.000,0.063,2381,588,3019
$GC,2718,-1.78,-45.4,372.9,-13.3,128,2722,0.12,2.33,0.00,0.000,6,0.060,0.050,2350,1897,3019
$GC,3038,-1.78,-45.4,414.9,-12.8,144,3042,0.00,2.38,0.00,0.000,4,0.000,0.064,2350,597,3019
$GC,3080,-1.71,-45.4,420.4,-13.2,146,3085,0.10,2.28,0.00,0.000,6,0.114,0.049,2367,1877,3019
$GC,3407,-1.71,-45.4,459.4,-12.2,162,3411,0.00,2.72,0.00,0.000,4,0.000,0.062,2367,3401,3018
$GC,3434,-1.71,-45.4,463.3,-14.3,163,3438,0.00,2.72,0.00,0.000,6,0.000,0.056,2367,1880,3018
$GC,3750,-1.71,-45.4,507.7,-13.5,178,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1880,3019
$GC,4059,-1.71,-45.4,548.9,-13.9,193,4063,0.00,2.75,0.00,0.000,4,0.000,0.061,2367,3401,3019
$GC,4080,-1.71,-45.4,552.0,-13.4,194,4085,0.00,2.72,0.00,0.000,6,0.000,0.054,2367,1879,3018
$GC,4403,-1.71,-45.4,593.3,-12.6,210,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1880,3018
$GC,4711,-1.71,-45.4,631.9,-12.3,225,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1879,3018
$GC,5020,-1.71,-45.4,671.1,-14.0,240,5025,0.00,2.78,0.00,0.000,4,0.000,0.061,2367,3411,3019
$GC,5160,-1.71,-45.4,691.4,-14.0,246,5164,0.00,2.72,0.00,0.000,6,0.000,0.054,2367,1885,3019
$GC,5476,-1.71,-45.4,727.4,-10.5,261,5480,0.00,2.30,0.00,0.000,4,0.000,0.065,2367,593,3019
$GC,5622,-1.71,-45.4,744.2,-11.8,267,5628,0.00,2.28,0.00,0.000,6,0.000,0.051,2367,1884,3019
$GC,5938,-1.76,-45.4,786.4,-15.4,283,5943,0.00,2.72,0.00,0.000,4,0.000,0.064,2367,3411,3019
$GC,5972,-1.76,-45.4,791.8,-15.3,284,5978,0.00,2.72,0.00,0.000,6,0.000,0.056,2368,1890,3019
$GC,6290,-1.80,-45.4,826.4,-10.3,300,6294,0.00,2.30,0.00,0.000,4,0.000,0.065,2367,597,3019
$GC,6549,-1.80,-45.4,852.9,-9.0,311,6555,0.00,2.22,0.00,0.000,6,0.000,0.051,2367,1857,3018
$GC,6866,-1.93,-87.4,868.7,-0.2,327,6870,0.20,2.33,0.00,0.000,4,0.053,0.067,2314,587,3018
$GC,7073,-1.78,-101.7,884.0,-4.0,336,7078,0.22,2.22,0.00,0.000,6,0.104,0.054,2356,1844,3018
$GC,7396,-1.81,-125.1,910.6,-2.8,352,7400,0.00,2.25,0.00,0.000,4,0.000,0.061,2357,594,3019
$GC,7438,-1.75,-146.6,910.6,-1.6,354,7442,0.00,2.30,0.00,0.000,6,0.000,0.058,2357,1869,3018
$GC,7765,-1.75,-146.6,950.6,-14.6,370,7769,0.00,2.78,0.00,0.000,4,0.000,0.076,2356,3399,3018
$STATE,7986,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7986,begin apogee
$GC,7996,-0.33,0.0,973.1,8.5,380,8043,1.52,0.00,43.42,1.489,6,0.107,0.000,2667,2131,2832
$STATE,8044,end apogee,CONTROL_FINISHED_OK
$STATE,8044,begin climb
$GC,8047,2.05,146.6,975.7,0.0,382,8193,2.38,2.78,136.73,1.493,4,0.055,0.079,3196,710,2234
$GC,8388,1.84,146.6,920.7,21.9,397,8393,0.28,2.62,0.00,0.000,6,0.113,0.067,3149,2124,2232
$GC,8703,1.84,146.6,866.2,19.2,412,8705,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2141,2231
$GC,9014,1.84,146.6,815.2,18.7,427,9018,0.00,2.67,0.00,0.000,4,0.000,0.080,3149,711,2229
$GC,9076,1.77,146.6,803.6,18.7,430,9081,0.00,2.60,0.00,0.000,6,0.000,0.067,3149,2123,2229
$GC,9403,1.77,146.6,751.5,15.8,446,9408,0.00,2.60,0.00,0.000,4,0.000,0.074,3149,3533,2227
$GC,9599,1.73,146.6,719.3,16.3,454,9606,0.15,2.53,0.00,0.000,6,0.117,0.060,3122,2149,2227
$GC,9916,1.81,146.6,673.1,15.0,470,9920,0.00,2.58,0.00,0.000,4,0.000,0.068,3122,3539,2227
$GC,9988,1.81,146.6,661.7,14.6,473,9993,0.00,2.47,0.00,0.000,6,0.000,0.056,3122,2168,2227
$GC,10304,1.88,146.6,616.8,14.5,488,10309,0.15,2.53,0.00,0.000,4,0.061,0.064,3157,3533,2227
$GC,10372,1.84,146.6,605.6,15.8,491,10377,0.00,2.40,0.00,0.000,6,0.000,0.054,3157,2200,2227
$GC,10694,1.84,146.6,564.5,11.9,507,10698,0.00,2.45,0.00,0.000,4,0.000,0.063,3157,3538,2228
$GC,10712,1.79,146.6,562.3,12.1,508,10717,0.12,2.38,0.00,0.000,6,0.120,0.054,3136,2211,2228
$GC,11039,1.79,146.6,507.1,16.8,524,11043,0.00,2.42,0.00,0.000,4,0.000,0.062,3136,3534,2229
$GC,11123,1.79,146.6,492.5,17.3,527,11129,0.00,2.35,0.00,0.000,6,0.000,0.051,3136,2212,2229
$GC,11440,1.84,146.6,451.1,10.9,543,11444,0.00,2.40,0.00,0.000,4,0.000,0.061,3136,3534,2229
$GC,11553,1.84,146.6,437.7,13.4,548,11558,0.00,2.30,0.00,0.000,6,0.000,0.051,3136,2240,2230
$GC,11881,1.84,146.6,393.5,13.5,564,11885,0.00,2.38,0.00,0.000,4,0.000,0.061,3136,3535,2230
$GC,11999,1.84,146.6,374.7,16.8,569,12003,0.00,2.28,0.00,0.000,6,0.000,0.050,3136,2254,2230
$GC,12316,1.89,146.6,325.1,15.2,584,12320,0.00,2.35,0.00,0.000,4,0.000,0.061,3136,3536,2231
$GC,12343,1.89,146.6,321.2,14.0,585,12347,0.00,2.25,0.00,0.000,6,0.000,0.049,3136,2266,2231
$GC,12660,1.95,146.6,276.4,14.0,600,12665,0.15,2.33,0.00,0.000,4,0.058,0.060,3174,3535,2231
$GC,12797,1.89,146.6,253.2,16.7,606,12801,0.00,2.20,0.00,0.000,6,0.000,0.049,3174,2288,2231
$GC,13119,1.81,146.6,204.9,14.6,622,13124,0.17,2.30,0.00,0.000,4,0.109,0.060,3140,3543,2231
$GC,13191,1.81,146.6,195.9,11.5,625,13195,0.00,2.22,0.00,0.000,6,0.000,0.048,3140,2282,2231
$GC,13508,1.81,146.6,167.4,7.1,640,13512,0.00,2.30,0.00,0.000,4,0.000,0.061,3140,3539,2232
$GC,13575,1.81,146.6,160.3,9.5,643,13579,0.00,2.15,0.00,0.000,6,0.000,0.048,3140,2319,2232
$GC,13909,1.86,146.6,124.6,11.2,659,13910,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2299,2232
$GC,14219,1.90,146.6,76.0,16.9,674,14223,0.00,2.22,0.00,0.000,4,0.000,0.061,3140,3535,2232
$GC,14381,1.90,146.6,47.7,16.6,681,14385,0.00,2.12,0.00,0.000,6,0.000,0.048,3140,2329,2232
$STATE,14679,end climb,SURFACE_DEPTH_REACHED
$STATE,14679,begin surface coast
$FINISH,0.8,1.023695
$STATE,14701,end surface coast,CONTROL_FINISHED_OK
$STATE,14701,begin surface
$SM_CCo,14725,55.42,0.811,0,0,1812,250.21
$SM_GC,1.36,0.00,0.00,55.42,0.000,0.000,0.811,426,1975,1812,-10.67,-0.68,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1829
$TCM_TEMP,17.00
$XPDR_PINGS,64
$ALTIM_BOTTOM_PING,900.4,82.5
$24V_AH,23.5,74.590
$10V_AH,10.1,37.108
$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,27.775,151.925,180.150,55.425,0.000,37.784,32.354,154.986,24.250,0.000,0.000,15.334,1404.315,10941.897,369.883,1887.947,543.131,0.000,1300.414,0.000,1828.896,0.000,54.924,0.000
$DEVICE_MAMPS,137.293,79.768,1492.582,810.719,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,507.463,475.497,374.125,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34824,697
$CAP_FILE_SIZE,125357,0
$CFSIZE,254472192,225562624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
$GPS,090209,164737,6144.754,-947.205,30,1.0,30,-9.7