version: 66.04
glider: 5
mission: 5
dive: 438
start: 2 14 109 3 6 27
data:
$ID,5
$MISSION,5
$DIVE,438
$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,-95982.031
$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,36
$R_STBD_OVSHOOT,21
$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
$GPS1,025936,6131.111,-829.283,25,1.4,25,-8.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-60.8
$GPS2,030607,6131.142,-829.031,16,1.8,16,-8.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_2
$TGT_LATLONG,6115.000,-752.000
$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,141.1,44517,-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,-146.6,0.0,0.0,0,137,0.00,0.00,-116.95,0.000,6,0.000,0.000,422,1971,3428
$GC,141,-0.97,-146.6,6.3,-5.4,6,157,10.90,2.62,0.00,0.000,4,0.135,0.060,2527,3415,3429
$GC,297,-0.88,-146.6,31.6,-9.7,12,302,0.12,2.50,0.00,0.000,6,0.090,0.048,2553,2010,3430
$GC,626,-0.88,-146.6,57.6,-8.0,28,630,0.00,2.53,0.00,0.000,4,0.000,0.061,2553,592,3430
$GC,705,-0.88,-146.6,64.3,-8.9,31,711,0.00,2.47,0.00,0.000,6,0.000,0.051,2553,1983,3430
$GC,1022,-0.88,-146.6,90.9,-8.2,47,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1983,3430
$GC,1330,-0.88,-146.6,115.0,-7.7,62,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1983,3430
$GC,1641,-0.88,-146.6,138.1,-7.5,77,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1983,3430
$GC,1948,-0.88,-146.6,160.8,-9.2,92,1953,0.00,2.55,0.00,0.000,4,0.000,0.063,2553,3405,3430
$GC,1988,-0.88,-146.6,164.4,-8.9,94,1993,0.00,2.53,0.00,0.000,6,0.000,0.049,2553,1984,3430
$GC,2316,-0.88,-146.6,189.8,-7.8,110,2321,0.00,2.60,0.00,0.000,4,0.000,0.062,2553,3412,3430
$GC,2344,-0.88,-146.6,192.1,-7.9,111,2349,0.00,2.53,0.00,0.000,6,0.000,0.051,2553,1993,3430
$GC,2661,-0.88,-146.6,212.8,-2.7,126,2665,0.00,2.50,0.00,0.000,4,0.000,0.064,2553,592,3430
$GC,2717,-0.88,-146.6,216.5,-7.1,128,2723,0.00,2.47,0.00,0.000,6,0.000,0.051,2553,1989,3430
$GC,3033,-0.88,-146.6,245.1,-6.3,144,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1990,3430
$GC,3343,-0.88,-146.6,257.7,-5.9,159,3348,0.00,2.55,0.00,0.000,4,0.000,0.064,2553,584,3430
$GC,3365,-0.88,-146.6,259.9,-9.0,160,3370,0.00,2.47,0.00,0.000,6,0.000,0.052,2553,1975,3430
$GC,3687,-0.88,-146.6,288.8,-8.4,176,3692,0.00,2.58,0.00,0.000,4,0.000,0.063,2553,3409,3429
$GC,3761,-0.88,-146.6,295.7,-9.0,179,3766,0.00,2.55,0.00,0.000,6,0.000,0.051,2553,1980,3429
$GC,4077,-0.88,-146.6,322.1,-7.0,194,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1979,3429
$GC,4386,-0.88,-146.6,340.4,-6.5,209,4391,0.00,2.60,0.00,0.000,4,0.000,0.063,2553,3409,3429
$GC,4454,-0.88,-146.6,345.1,-7.2,212,4459,0.00,2.55,0.00,0.000,6,0.000,0.052,2553,1983,3429
$GC,4776,-0.88,-146.6,370.3,-9.3,228,4780,0.00,2.60,0.00,0.000,4,0.000,0.064,2553,3406,3429
$GC,4808,-0.88,-146.6,373.6,-10.3,229,4815,0.00,2.53,0.00,0.000,6,0.000,0.051,2553,1992,3429
$GC,5125,-0.88,-146.6,397.3,-6.1,245,5130,0.00,2.60,0.00,0.000,4,0.000,0.064,2553,3413,3429
$GC,5152,-0.88,-146.6,399.1,-6.1,246,5157,0.00,2.50,0.00,0.000,6,0.000,0.052,2553,2016,3429
$GC,5469,-0.88,-146.6,420.3,-7.1,261,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2016,3429
$GC,5779,-0.88,-146.6,442.6,-7.4,276,5783,0.00,2.55,0.00,0.000,4,0.000,0.064,2553,3412,3429
$GC,5800,-0.88,-146.6,444.6,-8.3,277,5804,0.00,2.47,0.00,0.000,6,0.000,0.053,2553,2029,3429
$GC,6121,-0.88,-146.6,472.6,-9.5,293,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2028,3429
$GC,6431,-0.88,-146.6,493.8,-6.2,308,6435,0.00,2.55,0.00,0.000,4,0.000,0.063,2553,586,3429
$GC,6458,-0.88,-146.6,496.4,-8.9,309,6463,0.00,2.60,0.00,0.000,6,0.000,0.052,2553,2052,3429
$GC,6774,-0.88,-146.6,519.7,-6.0,324,6779,0.00,2.65,0.00,0.000,4,0.000,0.063,2553,588,3429
$GC,6797,-0.88,-146.6,521.4,-7.0,325,6802,0.00,2.55,0.00,0.000,6,0.000,0.053,2553,2023,3429
$GC,7119,-0.88,-146.6,542.8,-7.1,341,7124,0.00,2.60,0.00,0.000,4,0.000,0.064,2553,592,3429
$GC,7141,-0.88,-146.6,544.6,-7.6,342,7146,0.00,2.55,0.00,0.000,6,0.000,0.054,2553,2026,3429
$GC,7464,-0.88,-146.6,566.0,-5.5,358,7469,0.00,2.62,0.00,0.000,4,0.000,0.064,2553,584,3429
$GC,7486,-0.88,-146.6,567.8,-7.5,359,7491,0.00,2.55,0.00,0.000,6,0.000,0.054,2553,2018,3429
$GC,7808,-0.88,-146.6,590.1,-6.2,375,7812,0.00,2.60,0.00,0.000,4,0.000,0.066,2553,587,3429
$GC,7909,-0.88,-146.6,597.3,-7.4,379,7915,0.00,2.47,0.00,0.000,6,0.000,0.054,2553,1978,3429
$GC,8225,-0.93,-146.6,613.1,-4.6,395,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1985,3429
$GC,8534,-0.93,-146.6,634.3,-6.8,410,8538,0.00,2.55,0.00,0.000,4,0.000,0.066,2553,584,3428
$GC,8691,-0.93,-146.6,647.1,-8.9,417,8695,0.00,2.42,0.00,0.000,6,0.000,0.054,2553,1939,3428
$GC,9019,-0.93,-146.6,666.9,-6.0,433,9023,0.00,2.50,0.00,0.000,4,0.000,0.069,2553,586,3428
$GC,9082,-0.93,-146.6,671.8,-8.9,436,9087,0.00,2.38,0.00,0.000,6,0.000,0.058,2553,1911,3428
$GC,9410,-0.99,-146.6,696.1,-3.8,452,9415,0.12,2.75,0.00,0.000,4,0.064,0.075,2519,3410,3428
$GC,9433,-0.92,-146.6,697.7,-6.5,453,9438,0.12,2.72,0.00,0.000,6,0.096,0.064,2545,1920,3428
$GC,9758,-0.92,-146.6,710.7,-4.8,469,9762,0.00,2.78,0.00,0.000,4,0.000,0.076,2545,3405,3427
$GC,9779,-0.92,-146.6,712.9,-8.6,470,9784,0.00,2.70,0.00,0.000,6,0.000,0.066,2545,1936,3427
$GC,10102,-0.92,-146.6,736.3,-5.7,486,10106,0.00,2.75,0.00,0.000,4,0.000,0.079,2545,3402,3426
$GC,10180,-0.92,-146.6,738.8,-7.6,489,10186,0.00,2.67,0.00,0.000,6,0.000,0.071,2544,1959,3426
$GC,10496,-0.99,-146.6,766.2,-8.9,505,10500,0.00,2.72,0.00,0.000,4,0.000,0.081,2545,3401,3425
$GC,10532,-1.05,-146.6,768.3,-3.8,506,10539,0.12,2.70,0.00,0.000,6,0.075,0.068,2514,1937,3424
$STATE,10722,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10722,begin apogee
$GC,10729,-0.33,0.0,780.7,2.8,516,10865,0.75,0.00,132.93,1.431,6,0.093,0.000,2667,2145,2832
$STATE,10866,end apogee,CONTROL_FINISHED_OK
$STATE,10866,begin climb
$GC,10870,0.97,146.6,785.7,0.0,523,11016,1.35,2.72,133.57,1.381,4,0.076,0.081,2952,3528,2234
$GC,11273,0.70,146.6,767.0,7.1,541,11278,0.28,2.65,0.00,0.000,6,0.092,0.075,2898,2124,2233
$GC,11594,0.96,307.4,764.7,1.6,557,11752,0.20,2.80,145.98,1.381,4,0.061,0.082,2950,3525,1580
$GC,11865,0.85,307.4,744.7,13.7,569,11869,0.00,2.60,0.00,0.000,6,0.000,0.067,2950,2137,1579
$GC,12181,0.85,307.4,710.4,16.3,584,12185,0.00,2.67,0.00,0.000,4,0.000,0.087,2950,714,1580
$GC,12226,0.92,307.4,702.4,14.9,586,12231,0.00,2.67,0.00,0.000,6,0.000,0.074,2950,2143,1580
$GC,12548,1.20,509.0,690.5,0.5,602,12741,0.22,2.75,181.43,1.360,4,0.060,0.084,3007,3532,757
$GC,12827,1.48,683.1,681.6,1.2,615,12918,0.28,2.55,83.72,1.307,6,0.061,0.075,3070,2180,389
$GC,13242,1.31,683.1,640.0,8.8,635,13251,0.17,2.85,1.62,0.179,4,0.105,0.086,3033,713,390
$GC,13319,1.22,683.1,632.4,10.4,638,13325,0.12,2.75,0.10,0.175,6,0.101,0.072,3010,2182,390
$GC,13635,1.22,683.1,571.1,21.8,653,13639,0.00,2.80,0.00,0.000,4,0.000,0.081,3009,714,390
$GC,13713,1.22,683.1,554.2,20.0,656,13719,0.00,2.67,0.00,0.000,6,0.000,0.067,3009,2156,390
$GC,14028,1.22,683.1,492.3,17.8,672,14033,0.00,2.72,0.00,0.000,4,0.000,0.077,3009,714,390
$GC,14119,1.18,683.1,476.9,17.2,676,14123,0.00,2.55,0.00,0.000,6,0.000,0.062,3009,2112,390
$GC,14440,1.14,683.1,417.1,19.7,692,14444,0.00,2.62,0.00,0.000,4,0.000,0.073,3009,713,390
$GC,14467,1.14,683.1,411.7,18.0,693,14471,0.00,2.50,0.00,0.000,6,0.000,0.059,3009,2088,390
$GC,14784,1.14,683.1,353.7,17.7,708,14793,0.00,2.62,2.00,0.170,4,0.000,0.071,3009,714,391
$GC,14829,1.14,683.1,345.0,19.5,710,14833,0.00,2.45,0.00,0.000,6,0.000,0.057,3009,2069,391
$GC,15158,1.14,683.1,291.3,14.2,726,15167,0.00,2.60,2.25,0.318,4,0.000,0.068,3009,707,390
$GC,15190,1.14,683.1,286.8,12.7,727,15195,0.00,2.40,0.00,0.000,6,0.000,0.055,3009,2034,390
$GC,15506,1.14,683.1,244.2,13.4,742,15515,0.00,2.53,1.60,0.164,4,0.000,0.067,3009,710,391
$GC,15539,1.14,683.1,239.8,13.4,743,15544,0.00,2.35,0.17,0.166,6,0.000,0.054,3009,2020,391
$GC,15861,1.14,683.1,204.4,10.2,759,15870,0.00,2.50,2.22,0.293,4,0.000,0.067,3009,708,390
$GC,15888,1.14,683.1,201.6,10.5,760,15892,0.00,2.33,0.00,0.000,6,0.000,0.053,3009,2002,390
$GC,16210,1.14,683.1,166.8,11.4,776,16211,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2023,391
$GC,16518,1.14,683.1,131.2,11.1,791,16524,0.00,2.38,1.38,0.163,4,0.000,0.065,3009,711,391
$GC,16547,1.14,683.1,128.0,11.8,792,16552,0.00,2.30,0.90,0.158,6,0.000,0.052,3009,1998,391
$GC,16865,1.14,683.1,94.6,11.7,807,16874,0.00,2.45,2.25,0.288,4,0.000,0.066,3009,710,390
$GC,16892,1.14,683.1,90.8,11.5,808,16897,0.00,2.25,0.00,0.000,6,0.000,0.052,3009,1966,390
$GC,17215,1.14,683.1,48.7,13.6,824,17219,0.00,2.80,0.00,0.000,4,0.000,0.061,3009,3535,390
$GC,17237,1.14,683.1,45.4,15.0,825,17242,0.00,2.85,0.00,0.000,6,0.000,0.053,3009,1948,390
$GC,17559,1.14,683.1,5.2,11.8,841,17560,0.00,0.00,0.10,0.168,6,0.000,0.000,3009,1948,390
$STATE,17576,end climb,SURFACE_DEPTH_REACHED
$STATE,17576,begin surface coast
$FINISH,0.6,1.002983
$STATE,17598,end surface coast,CONTROL_FINISHED_OK
$STATE,17598,begin surface
$SM_CCo,17682,0.00,0.000,0,0,390,599.02
$SM_GC,1.38,11.30,0.00,0.00,0.039,0.000,0.000,421,2031,390,-10.60,0.85,599.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1860
$TCM_TEMP,16.80
$XPDR_PINGS,88
$ALTIM_BOTTOM_PING,700.5,89.7
$24V_AH,23.4,78.527
$10V_AH,10.1,38.864
$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,26.075,191.475,692.225,0.000,0.000,37.759,33.487,170.856,28.250,0.000,0.000,16.841,1577.356,13067.365,780.740,2024.832,616.532,0.000,1885.599,0.000,1963.386,0.000,42.218,0.000
$DEVICE_MAMPS,134.992,86.671,1431.222,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,619.022,566.151,489.596,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44367,843
$CAP_FILE_SIZE,143671,0
$CFSIZE,254472192,224202752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,53,0,0
$GPS,140209,080230,6134.763,-824.955,42,1.2,42,-8.9