version: 66.04
glider: 5
mission: 5
dive: 439
start: 2 14 109 8 9 5
data:
$ID,5
$MISSION,5
$DIVE,439
$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,-95994.883
$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,21
$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
$GPS1,080230,6134.763,-824.955,42,1.2,42,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-54.8
$GPS2,080844,6134.926,-824.990,12,1.2,12,-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,150.4,47174,-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,16,-0.97,-146.6,0.0,0.0,0,159,0.00,0.00,-141.20,0.000,2,0.000,0.000,422,2044,3167
$GC,163,-0.97,-146.6,3.7,-2.9,7,186,10.95,2.53,-7.15,0.000,4,0.137,0.071,2527,3408,3430
$GC,345,-0.88,-146.6,25.4,-9.5,15,350,0.12,2.53,0.00,0.000,6,0.094,0.048,2553,1993,3429
$GC,672,-0.88,-146.6,52.6,-8.6,31,676,0.00,2.50,0.00,0.000,4,0.000,0.063,2553,594,3429
$GC,700,-0.88,-146.6,55.2,-9.3,32,704,0.00,2.50,0.00,0.000,6,0.000,0.052,2553,1997,3429
$GC,1018,-0.88,-146.6,83.6,-9.2,47,1022,0.00,2.55,0.00,0.000,4,0.000,0.062,2553,3412,3429
$GC,1035,-0.88,-146.6,85.5,-9.8,48,1040,0.00,2.53,0.00,0.000,6,0.000,0.050,2553,1996,3429
$GC,1364,-0.88,-146.6,114.8,-8.8,64,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1996,3429
$GC,1674,-0.88,-146.6,139.7,-7.2,79,1678,0.00,2.58,0.00,0.000,4,0.000,0.061,2553,3408,3429
$GC,1707,-0.88,-146.6,142.4,-7.1,80,1713,0.00,2.53,0.00,0.000,6,0.000,0.050,2553,1994,3429
$GC,2024,-0.88,-146.6,162.6,-5.6,96,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1994,3429
$GC,2332,-0.88,-146.6,178.7,-5.3,111,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1994,3429
$GC,2643,-0.88,-146.6,195.3,-5.5,126,2647,0.00,2.58,0.00,0.000,4,0.000,0.062,2553,3404,3429
$GC,2684,-0.88,-146.6,197.9,-6.2,128,2688,0.00,2.50,0.00,0.000,6,0.000,0.049,2553,2000,3429
$GC,3010,-0.88,-146.6,217.6,-6.5,144,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2000,3429
$GC,3319,-0.88,-146.6,240.4,-8.1,159,3324,0.00,2.58,0.00,0.000,4,0.000,0.063,2553,3408,3429
$GC,3342,-0.88,-146.6,242.4,-8.6,160,3347,0.00,2.50,0.00,0.000,6,0.000,0.051,2553,2006,3429
$GC,3665,-0.88,-146.6,276.3,-12.2,176,3669,0.00,2.53,0.00,0.000,4,0.000,0.064,2553,591,3429
$GC,3709,-0.88,-146.6,282.3,-13.9,178,3713,0.00,2.53,0.00,0.000,6,0.000,0.051,2553,2014,3428
$GC,4031,-0.88,-146.6,323.2,-12.6,194,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2014,3428
$GC,4339,-0.88,-146.6,358.8,-10.3,209,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2015,3429
$GC,4648,-0.88,-146.6,382.7,-6.3,224,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2014,3429
$GC,4959,-0.88,-146.6,394.1,-2.7,239,4963,0.00,2.53,0.00,0.000,4,0.000,0.066,2553,3411,3428
$GC,5003,-0.88,-146.6,395.3,-2.6,241,5008,0.00,2.53,0.00,0.000,6,0.000,0.054,2553,2003,3428
$GC,5325,-0.88,-146.6,407.1,-5.5,257,5330,0.00,2.58,0.00,0.000,4,0.000,0.064,2553,3410,3429
$GC,5353,-0.88,-146.6,409.0,-6.3,258,5358,0.00,2.50,0.00,0.000,6,0.000,0.052,2553,2010,3429
$GC,5669,-0.88,-146.6,442.5,-13.2,273,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2010,3428
$GC,5979,-0.88,-146.6,486.8,-13.1,288,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2010,3429
$GC,6287,-0.88,-146.6,516.5,-7.7,303,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2010,3429
$GC,6597,-0.88,-146.6,524.2,1.3,318,6601,0.00,2.58,0.00,0.000,4,0.000,0.068,2552,3406,3428
$GC,6615,-0.88,-146.6,523.9,1.8,319,6620,0.00,2.50,0.00,0.000,6,0.000,0.058,2553,2024,3429
$GC,6943,-0.88,-146.6,522.6,0.2,335,6947,0.00,2.60,0.00,0.000,4,0.000,0.070,2553,583,3428
$GC,6993,-0.88,-146.6,523.4,-2.0,337,6997,0.00,2.58,0.00,0.000,6,0.000,0.058,2553,2017,3428
$GC,7310,-0.88,-146.6,527.0,-0.5,352,7314,0.00,2.55,0.00,0.000,4,0.000,0.072,2553,3411,3428
$GC,7382,-0.88,-146.6,529.5,-5.6,355,7387,0.00,2.55,0.00,0.000,6,0.000,0.061,2553,2003,3428
$GC,7698,-0.88,-146.6,554.3,-7.6,370,7702,0.00,2.55,0.00,0.000,4,0.000,0.072,2553,594,3427
$GC,7749,-0.88,-146.6,558.9,-9.4,372,7753,0.00,2.53,0.00,0.000,6,0.000,0.059,2553,2003,3427
$GC,8064,-0.88,-146.6,603.5,-16.1,387,8069,0.00,2.55,0.00,0.000,4,0.000,0.072,2553,3404,3426
$GC,8086,-0.88,-146.6,606.6,-13.4,388,8091,0.00,2.58,0.00,0.000,6,0.000,0.061,2553,1994,3426
$GC,8408,-0.88,-146.6,640.9,-8.9,404,8413,0.00,2.65,0.00,0.000,4,0.000,0.075,2553,3413,3426
$GC,8471,-0.88,-146.6,646.0,-8.0,407,8475,0.00,2.55,0.00,0.000,6,0.000,0.062,2553,2011,3426
$GC,8798,-0.88,-146.6,673.2,-9.3,423,8803,0.00,2.60,0.00,0.000,4,0.000,0.074,2553,3404,3425
$GC,8832,-0.88,-146.6,677.0,-11.8,424,8839,0.00,2.50,0.00,0.000,6,0.000,0.061,2552,2031,3425
$STATE,9083,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9083,begin apogee
$GC,9090,-0.33,0.0,698.6,8.3,437,9226,0.55,0.00,133.12,1.329,6,0.078,0.000,2669,2131,2832
$STATE,9227,end apogee,CONTROL_FINISHED_OK
$STATE,9227,begin climb
$GC,9231,0.97,146.6,702.8,0.0,444,9377,1.30,2.70,132.62,1.291,4,0.064,0.074,2951,3526,2234
$GC,9475,0.80,146.6,691.0,8.3,455,9480,0.17,2.62,0.00,0.000,6,0.092,0.066,2918,2119,2234
$GC,9798,0.76,177.0,674.3,5.2,471,9829,0.00,0.00,28.58,1.236,6,0.000,0.000,2918,2112,2111
$GC,10125,0.84,227.5,660.0,4.6,487,10179,0.00,2.75,46.78,1.268,4,0.000,0.076,2917,3526,1903
$GC,10293,1.05,354.7,652.6,2.5,494,10416,0.25,2.58,114.97,1.265,6,0.055,0.067,2979,2136,1384
$GC,10736,0.95,354.7,615.4,13.3,516,10741,0.12,2.62,0.00,0.000,4,0.092,0.074,2953,3527,1385
$GC,10770,0.95,354.7,610.7,12.9,517,10776,0.00,2.58,0.00,0.000,6,0.000,0.066,2953,2143,1385
$GC,11086,0.95,354.7,580.6,8.9,533,11090,0.00,2.62,0.00,0.000,4,0.000,0.076,2953,707,1385
$GC,11132,0.95,354.7,575.3,12.1,535,11137,0.00,2.58,0.00,0.000,6,0.000,0.063,2953,2113,1383
$GC,11454,0.95,354.7,547.0,9.7,551,11458,0.00,2.65,0.00,0.000,4,0.000,0.076,2953,3538,1383
$GC,11493,0.95,354.7,542.3,12.6,553,11498,0.00,2.62,0.00,0.000,6,0.000,0.064,2953,2116,1384
$GC,11821,0.95,354.7,505.2,10.3,569,11825,0.00,2.58,0.00,0.000,4,0.000,0.074,2953,714,1384
$GC,11849,0.95,354.7,502.1,11.0,570,11854,0.00,2.60,0.00,0.000,6,0.000,0.061,2953,2138,1384
$GC,12165,0.95,354.7,472.7,9.2,585,12166,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2150,1383
$GC,12475,0.95,354.7,445.4,8.0,600,12480,0.00,2.67,0.00,0.000,4,0.000,0.072,2953,705,1383
$GC,12525,0.95,354.7,441.0,8.4,602,12530,0.00,2.58,0.00,0.000,6,0.000,0.060,2953,2124,1382
$GC,12841,0.95,354.7,416.2,8.2,617,12842,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2125,1383
$GC,13151,0.95,354.7,389.1,9.2,632,13156,0.00,2.62,0.00,0.000,4,0.000,0.069,2953,706,1383
$GC,13179,0.95,354.7,386.1,10.3,633,13183,0.00,2.53,0.00,0.000,6,0.000,0.057,2953,2108,1383
$GC,13495,0.95,354.7,360.3,7.7,648,13499,0.00,2.58,0.00,0.000,4,0.000,0.068,2953,707,1383
$GC,13516,0.95,354.7,358.4,9.1,649,13521,0.00,2.50,0.00,0.000,6,0.000,0.055,2953,2099,1383
$GC,13839,0.95,354.7,333.1,7.4,665,13840,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2100,1384
$GC,14147,0.95,354.7,310.3,7.2,680,14151,0.00,2.55,0.00,0.000,4,0.000,0.067,2953,706,1384
$GC,14168,0.95,354.7,308.5,7.6,681,14173,0.00,2.47,0.00,0.000,6,0.000,0.054,2953,2090,1384
$GC,14491,0.95,354.7,284.3,7.7,697,14495,0.00,2.60,0.00,0.000,4,0.000,0.063,2953,3531,1385
$GC,14520,1.00,354.7,281.8,8.4,698,14524,0.00,2.62,0.00,0.000,6,0.000,0.053,2953,2070,1385
$GC,14837,1.00,354.7,254.2,9.0,713,14841,0.00,2.45,0.00,0.000,4,0.000,0.067,2953,713,1386
$GC,14864,1.00,354.7,251.6,9.2,714,14868,0.00,2.42,0.00,0.000,6,0.000,0.052,2953,2072,1386
$GC,15180,1.00,354.7,225.7,8.5,729,15184,0.00,2.62,0.00,0.000,4,0.000,0.063,2953,3531,1386
$GC,15202,1.06,354.7,223.9,8.6,730,15207,0.10,2.65,0.00,0.000,6,0.059,0.052,2983,2053,1386
$GC,15525,1.00,354.7,190.7,10.5,746,15526,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2053,1387
$GC,15833,0.96,354.7,158.8,9.8,761,15838,0.15,2.70,0.00,0.000,4,0.081,0.061,2952,3527,1387
$GC,15874,1.03,354.7,155.4,7.7,763,15879,0.00,2.60,0.00,0.000,6,0.000,0.051,2952,2068,1387
$GC,16203,1.03,354.7,132.6,7.7,779,16207,0.00,2.45,0.00,0.000,4,0.000,0.066,2952,706,1387
$GC,16237,1.08,354.7,129.5,8.5,780,16244,0.12,2.45,0.00,0.000,6,0.052,0.053,2990,2079,1387
$GC,16555,1.01,354.7,95.9,10.1,796,16560,0.15,2.60,0.00,0.000,4,0.077,0.061,2959,3528,1387
$GC,16588,1.07,354.7,92.3,9.3,797,16595,0.00,2.60,0.00,0.000,6,0.000,0.051,2959,2074,1387
$GC,16904,1.07,354.7,66.0,8.4,813,16906,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2074,1388
$GC,17215,1.07,354.7,38.8,8.8,828,17219,0.00,2.65,0.00,0.000,4,0.000,0.061,2959,3529,1387
$GC,17232,1.07,354.7,37.3,8.0,829,17237,0.00,2.58,0.00,0.000,6,0.000,0.050,2959,2084,1388
$GC,17559,1.07,354.7,11.2,7.9,845,17564,0.00,2.65,0.00,0.000,4,0.000,0.061,2959,3536,1388
$GC,17588,1.13,354.7,9.1,6.4,846,17593,0.15,2.58,0.00,0.000,6,0.053,0.050,3000,2094,1388
$STATE,17654,end climb,SURFACE_DEPTH_REACHED
$STATE,17654,begin surface coast
$FINISH,0.6,1.027018
$STATE,17676,end surface coast,CONTROL_FINISHED_OK
$STATE,17676,begin surface
$SM_CCo,17759,0.00,0.000,0,0,1387,354.21
$SM_GC,1.52,11.30,0.00,0.00,0.041,0.000,0.000,422,1961,1387,-10.60,-1.10,354.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1827
$TCM_TEMP,16.90
$XPDR_PINGS,82
$ALTIM_BOTTOM_PING,625.5,82.1
$24V_AH,23.5,78.709
$10V_AH,10.1,38.945
$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,25.450,174.975,456.075,0.000,0.000,37.752,43.803,154.870,26.000,0.000,0.000,12.230,1565.366,13499.980,633.047,1833.752,597.373,0.000,1604.456,0.000,1792.598,0.000,37.425,0.000
$DEVICE_MAMPS,136.526,75.933,1329.211,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,621.107,572.403,521.994,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44272,850
$CAP_FILE_SIZE,134632,0
$CFSIZE,254472192,224145408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,49,0,0
$GPS,140209,130624,6138.070,-821.821,27,1.3,42,-8.9