version: 66.04
glider: 5
mission: 5
dive: 440
start: 2 14 109 13 12 46
data:
$ID,5
$MISSION,5
$DIVE,440
$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,-96012.398
$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,29
$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
$GPS1,130624,6138.070,-821.821,27,1.3,42,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-60.2
$GPS2,131225,6138.158,-821.775,16,1.9,16,-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,157.2,50428,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.30,0.000,2,0.000,0.000,422,1959,2964
$GC,103,-0.97,-146.6,3.1,-2.9,4,135,10.98,2.62,-15.07,0.000,4,0.135,0.073,2526,3406,3429
$GC,236,-0.88,-146.6,17.7,-11.3,10,240,0.12,2.50,0.00,0.000,6,0.096,0.048,2552,2001,3429
$GC,563,-0.88,-146.6,48.2,-9.3,26,567,0.00,2.53,0.00,0.000,4,0.000,0.064,2552,588,3428
$GC,586,-0.88,-146.6,50.5,-9.8,27,590,0.00,2.53,0.00,0.000,6,0.000,0.052,2552,2005,3429
$GC,908,-0.84,-146.6,77.1,-8.0,43,912,0.00,2.58,0.00,0.000,4,0.000,0.064,2552,592,3428
$GC,974,-0.84,-146.6,83.1,-8.4,46,978,0.00,2.47,0.00,0.000,6,0.000,0.051,2552,1984,3428
$GC,1298,-0.84,-146.6,107.9,-7.3,62,1303,0.00,2.55,0.00,0.000,4,0.000,0.063,2552,3405,3428
$GC,1326,-0.84,-146.6,110.3,-7.9,63,1330,0.00,2.53,0.00,0.000,6,0.000,0.049,2552,1990,3428
$GC,1642,-0.84,-146.6,133.7,-7.1,78,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1989,3428
$GC,1952,-0.84,-146.6,156.1,-7.2,93,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1989,3428
$GC,2260,-0.84,-146.6,181.8,-8.3,108,2265,0.00,2.60,0.00,0.000,4,0.000,0.062,2552,3415,3428
$GC,2293,-0.84,-146.6,184.8,-9.3,109,2299,0.00,2.55,0.00,0.000,6,0.000,0.050,2552,1981,3429
$GC,2610,-0.84,-146.6,211.8,-8.7,125,2614,0.00,2.60,0.00,0.000,4,0.000,0.061,2552,3410,3428
$GC,2631,-0.84,-146.6,213.9,-8.9,126,2636,0.00,2.53,0.00,0.000,6,0.000,0.049,2552,1989,3428
$GC,2952,-0.84,-146.6,240.7,-8.1,142,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1989,3428
$GC,3262,-0.84,-146.6,264.0,-7.3,157,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1989,3429
$GC,3571,-0.84,-146.6,287.3,-7.7,172,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1989,3429
$GC,3881,-0.84,-146.6,312.0,-7.9,187,3886,0.00,2.58,0.00,0.000,4,0.000,0.063,2552,3405,3428
$GC,3904,-0.84,-146.6,313.9,-7.9,188,3909,0.00,2.50,0.00,0.000,6,0.000,0.051,2551,2002,3429
$GC,4226,-0.84,-146.6,338.1,-7.5,204,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2001,3428
$GC,4535,-0.84,-146.6,362.2,-7.4,219,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2000,3428
$GC,4845,-0.84,-146.6,387.8,-8.8,234,4850,0.00,2.58,0.00,0.000,4,0.000,0.064,2552,3413,3428
$GC,4940,-0.84,-146.6,397.3,-10.3,238,4945,0.00,2.50,0.00,0.000,6,0.000,0.052,2552,2010,3429
$GC,5256,-0.84,-146.6,424.6,-7.8,253,5261,0.00,2.55,0.00,0.000,4,0.000,0.063,2552,3407,3428
$GC,5281,-0.84,-146.6,426.5,-8.1,254,5286,0.00,2.47,0.00,0.000,6,0.000,0.052,2552,2020,3428
$GC,5608,-0.84,-146.6,452.8,-7.9,270,5613,0.00,2.55,0.00,0.000,4,0.000,0.065,2552,591,3428
$GC,5659,-0.84,-146.6,458.0,-11.0,272,5663,0.00,2.53,0.00,0.000,6,0.000,0.052,2552,2015,3428
$GC,5976,-0.84,-146.6,478.4,-1.8,287,5980,0.00,2.60,0.00,0.000,4,0.000,0.067,2552,584,3428
$GC,6016,-0.84,-146.6,480.5,-4.7,289,6020,0.00,2.50,0.00,0.000,6,0.000,0.054,2552,1995,3428
$GC,6344,-0.79,-146.6,484.0,-2.9,305,6349,0.10,2.55,0.00,0.000,4,0.094,0.065,2573,3408,3428
$GC,6377,-0.86,-146.6,486.1,-6.7,306,6384,0.00,2.55,0.00,0.000,6,0.000,0.056,2573,1991,3428
$GC,6694,-0.90,-146.6,505.9,-5.2,322,6699,0.12,2.50,0.00,0.000,4,0.058,0.064,2539,587,3428
$GC,6745,-0.90,-146.6,509.7,-7.2,324,6749,0.00,2.50,0.00,0.000,6,0.000,0.054,2539,1992,3428
$GC,7061,-0.86,-146.6,533.2,-7.1,339,7065,0.00,2.58,0.00,0.000,4,0.000,0.067,2539,594,3428
$GC,7083,-0.82,-146.6,535.3,-8.5,340,7088,0.12,2.47,0.00,0.000,6,0.089,0.054,2566,1980,3428
$GC,7408,-0.82,-146.6,551.2,-4.0,356,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1999,3428
$GC,7714,-0.87,-146.6,567.7,-4.8,371,7719,0.00,2.55,0.00,0.000,4,0.000,0.065,2565,588,3428
$GC,7761,-0.95,-146.6,569.8,-4.1,373,7766,0.12,2.45,0.00,0.000,6,0.057,0.054,2528,1965,3428
$GC,8082,-0.89,-146.6,590.2,-6.2,389,8084,0.10,0.00,0.00,0.000,6,0.095,0.000,2549,1974,3428
$STATE,8141,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8141,begin apogee
$GC,8148,-0.33,0.0,594.3,6.4,392,8284,0.57,0.00,131.82,1.205,6,0.059,0.000,2678,2129,2832
$STATE,8285,end apogee,CONTROL_FINISHED_OK
$STATE,8285,begin climb
$GC,8289,0.97,146.6,593.4,0.0,399,8429,1.27,2.70,131.25,1.169,4,0.060,0.067,2955,3535,2234
$GC,8611,0.80,146.6,570.2,10.5,414,8616,0.17,2.58,0.00,0.000,6,0.086,0.058,2920,2125,2234
$GC,8938,0.75,146.6,546.4,6.3,430,8942,0.00,2.55,0.00,0.000,4,0.000,0.066,2920,712,2233
$GC,9035,0.70,146.6,538.0,9.2,434,9040,0.10,2.53,0.00,0.000,6,0.096,0.053,2900,2120,2233
$GC,9357,0.70,146.6,513.1,9.4,450,9362,0.00,2.58,0.00,0.000,4,0.000,0.067,2900,3530,2233
$GC,9408,0.70,146.6,508.3,8.8,452,9412,0.00,2.60,0.00,0.000,6,0.000,0.058,2899,2093,2233
$GC,9725,0.75,146.6,478.9,10.3,467,9729,0.00,2.50,0.00,0.000,4,0.000,0.067,2899,707,2233
$GC,9769,0.79,146.6,474.4,9.7,469,9774,0.00,2.50,0.00,0.000,6,0.000,0.054,2899,2103,2233
$GC,10093,0.84,146.6,446.3,6.0,485,10098,0.12,2.60,0.00,0.000,4,0.054,0.066,2938,3534,2233
$GC,10140,0.74,146.6,441.6,11.3,487,10145,0.15,2.60,0.00,0.000,6,0.087,0.057,2906,2096,2233
$GC,10461,0.92,263.1,420.6,2.8,503,10570,0.17,2.55,102.80,1.083,4,0.051,0.064,2954,714,1758
$GC,10611,0.87,263.1,410.4,8.3,510,10615,0.00,2.53,0.00,0.000,6,0.000,0.053,2954,2109,1758
$GC,10932,0.87,263.1,388.4,7.8,526,10936,0.00,2.58,0.00,0.000,4,0.000,0.064,2954,3530,1761
$GC,10972,0.88,268.8,385.8,5.8,528,10985,0.00,2.60,7.07,0.871,6,0.000,0.056,2954,2095,1736
$GC,11304,0.88,268.8,358.3,8.1,544,11308,0.00,2.65,0.00,0.000,4,0.000,0.064,2954,3535,1736
$GC,11353,0.88,268.8,353.7,9.0,546,11358,0.00,2.58,0.00,0.000,6,0.000,0.053,2954,2107,1737
$GC,11671,0.88,268.8,326.4,9.2,561,11672,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2106,1737
$GC,11979,0.88,268.8,298.4,8.6,576,11983,0.00,2.60,0.00,0.000,4,0.000,0.062,2954,3531,1737
$GC,12012,0.88,268.8,295.5,8.8,577,12018,0.00,2.53,0.00,0.000,6,0.000,0.051,2954,2117,1737
$GC,12328,0.88,268.8,269.8,8.1,593,12330,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2117,1736
$GC,12637,0.88,268.8,244.9,7.7,608,12641,0.00,2.58,0.00,0.000,4,0.000,0.062,2954,3530,1737
$GC,12664,0.88,268.8,242.4,8.1,609,12668,0.00,2.53,0.00,0.000,6,0.000,0.051,2954,2117,1737
$GC,12980,0.88,268.8,218.0,7.8,624,12982,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2116,1737
$GC,13289,0.88,268.8,196.1,6.7,639,13293,0.00,2.60,0.00,0.000,4,0.000,0.063,2954,3540,1737
$GC,13330,0.88,268.8,193.4,7.6,641,13334,0.00,2.53,0.00,0.000,6,0.000,0.050,2954,2123,1737
$GC,13657,0.88,268.8,170.4,7.0,657,13662,0.00,2.53,0.00,0.000,4,0.000,0.064,2954,713,1737
$GC,13675,0.88,268.8,169.1,6.9,658,13679,0.00,2.55,0.00,0.000,6,0.000,0.051,2954,2147,1737
$GC,14002,0.88,268.8,145.5,7.6,674,14003,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2147,1737
$GC,14312,0.88,268.8,123.2,7.5,689,14313,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2147,1738
$GC,14620,0.88,268.8,99.2,7.9,704,14625,0.00,2.60,0.00,0.000,4,0.000,0.064,2954,719,1738
$GC,14661,0.88,268.8,95.9,7.7,706,14665,0.00,2.53,0.00,0.000,6,0.000,0.051,2954,2139,1738
$GC,14989,0.88,268.8,69.8,8.4,722,14990,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2140,1738
$GC,15297,0.88,268.8,44.8,8.2,737,15298,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2140,1738
$GC,15607,0.88,268.8,21.2,8.0,752,15609,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2140,1738
$STATE,15831,end climb,SURFACE_DEPTH_REACHED
$STATE,15831,begin surface coast
$FINISH,0.9,1.027418
$STATE,15852,end surface coast,CONTROL_FINISHED_OK
$STATE,15852,begin surface
$SM_CCo,15936,0.00,0.000,0,0,1736,268.36
$SM_GC,1.50,11.02,0.00,0.00,0.039,0.000,0.000,422,1967,1736,-10.59,-0.74,268.36
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1830
$TCM_TEMP,16.90
$XPDR_PINGS,119
$ALTIM_BOTTOM_PING,550.2,52.7
$24V_AH,23.6,78.847
$10V_AH,10.1,39.020
$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,25.275,143.325,372.950,0.000,0.000,37.759,26.184,156.101,34.500,0.000,0.000,16.893,1418.881,12166.277,498.853,1661.929,548.760,0.000,1355.666,0.000,1622.306,0.000,32.595,0.000
$DEVICE_MAMPS,134.992,72.865,1204.957,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,561.419,514.955,511.668,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37968,764
$CAP_FILE_SIZE,120057,0
$CFSIZE,254472192,224100352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,0,0
$GPS,140209,173943,6138.426,-819.237,40,1.0,44,-8.9