version: 66.04
glider: 5
mission: 5
dive: 441
start: 2 14 109 17 45 39
data:
$ID,5
$MISSION,5
$DIVE,441
$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,-96028.492
$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,26
$R_STBD_OVSHOOT,23
$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
$GPS1,173943,6138.426,-819.237,40,1.0,44,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-58.2
$GPS2,174520,6138.434,-819.207,15,1.1,15,-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,159.7,49708,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.97,-146.6,0.0,0.0,0,101,0.00,0.00,-81.22,0.000,2,0.000,0.000,422,1971,3392
$GC,105,-0.97,-146.6,4.9,-5.0,4,127,11.00,2.65,-0.88,0.000,4,0.136,0.073,2525,3415,3431
$GC,379,-0.89,-146.6,41.1,-10.8,16,384,0.12,2.53,0.00,0.000,6,0.095,0.048,2551,1998,3432
$GC,702,-0.89,-146.6,66.8,-7.1,32,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1997,3432
$GC,1011,-0.89,-146.6,89.0,-7.3,47,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1997,3432
$GC,1319,-0.89,-146.6,109.8,-7.4,62,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1997,3432
$GC,1628,-0.89,-146.6,131.9,-7.4,77,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1997,3432
$GC,1938,-0.89,-146.6,154.0,-6.9,92,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1997,3432
$GC,2249,-0.89,-146.6,175.7,-7.3,107,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1997,3432
$GC,2556,-0.89,-146.6,197.3,-6.5,122,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1997,3432
$GC,2866,-0.89,-146.6,217.6,-6.8,137,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1997,3432
$GC,3174,-0.89,-146.6,238.9,-7.1,152,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1998,3432
$GC,3484,-0.89,-146.6,259.6,-6.3,167,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1997,3432
$GC,3794,-0.89,-146.6,279.3,-6.2,182,3798,0.00,2.58,0.00,0.000,4,0.000,0.064,2551,3408,3431
$GC,3811,-0.89,-146.6,280.4,-6.2,183,3815,0.00,2.53,0.00,0.000,6,0.000,0.052,2551,1993,3431
$GC,4138,-0.89,-146.6,300.0,-6.0,199,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1994,3432
$GC,4448,-0.89,-146.6,318.3,-5.9,214,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1993,3431
$GC,4756,-0.89,-146.6,336.2,-5.4,229,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1993,3432
$GC,5065,-0.89,-146.6,351.5,-4.4,244,5070,0.00,2.58,0.00,0.000,4,0.000,0.063,2551,3407,3431
$GC,5117,-0.89,-146.6,353.9,-4.8,246,5121,0.00,2.50,0.00,0.000,6,0.000,0.051,2551,2000,3431
$GC,5434,-0.89,-146.6,371.2,-6.3,261,5438,0.00,2.50,0.00,0.000,4,0.000,0.064,2552,595,3431
$GC,5468,-0.89,-146.6,373.5,-6.6,262,5475,0.00,2.50,0.00,0.000,6,0.000,0.052,2551,2008,3431
$GC,5785,-0.89,-146.6,394.4,-7.3,278,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2008,3431
$GC,6093,-0.89,-146.6,418.0,-7.6,293,6098,0.00,2.58,0.00,0.000,4,0.000,0.065,2551,583,3431
$GC,6144,-0.89,-146.6,422.4,-8.8,295,6148,0.00,2.50,0.00,0.000,6,0.000,0.052,2552,1996,3432
$GC,6460,-0.89,-146.6,445.9,-7.1,310,6465,0.00,2.55,0.00,0.000,4,0.000,0.064,2552,588,3431
$GC,6501,-0.89,-146.6,449.0,-7.9,312,6505,0.00,2.50,0.00,0.000,6,0.000,0.053,2551,2000,3431
$GC,6827,-0.89,-146.6,469.4,-6.1,328,6831,0.00,2.53,0.00,0.000,4,0.000,0.066,2551,3404,3431
$GC,6884,-0.89,-146.6,473.1,-5.9,330,6891,0.00,2.50,0.00,0.000,6,0.000,0.054,2551,1999,3431
$GC,7201,-0.89,-146.6,494.8,-7.3,346,7205,0.00,2.58,0.00,0.000,4,0.000,0.066,2551,3410,3431
$GC,7233,-0.89,-146.6,497.3,-7.2,347,7239,0.00,2.50,0.00,0.000,6,0.000,0.054,2551,2015,3431
$GC,7550,-0.89,-146.6,517.5,-6.9,363,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2015,3431
$GC,7859,-1.21,-146.6,520.1,-0.2,378,7861,0.32,0.00,0.00,0.000,6,0.056,0.000,2473,2015,3432
$STATE,7979,end dive,NO_VERTICAL_VELOCITY
$STATE,7979,begin apogee
$GC,7988,-0.33,0.0,520.1,0.0,384,8123,0.90,0.00,130.20,1.157,6,0.060,0.000,2672,2123,2832
$STATE,8124,end apogee,CONTROL_FINISHED_OK
$STATE,8124,begin climb
$GC,8127,0.97,146.6,520.0,0.0,391,8261,1.27,0.00,129.27,1.126,6,0.061,0.000,2952,2132,2234
$GC,8578,0.85,146.6,496.9,6.1,413,8580,0.12,0.00,0.00,0.000,6,0.087,0.000,2929,2125,2234
$GC,8887,0.87,208.3,481.3,4.3,428,8951,0.00,2.70,54.95,1.111,4,0.000,0.070,2929,3528,1982
$GC,9045,0.87,208.3,470.8,7.9,435,9049,0.00,2.58,0.00,0.000,6,0.000,0.058,2929,2119,1982
$GC,9372,0.87,208.3,446.1,7.1,451,9376,0.00,2.62,0.00,0.000,4,0.000,0.068,2929,3529,1982
$GC,9399,0.87,208.3,444.1,7.7,452,9404,0.00,2.55,0.00,0.000,6,0.000,0.058,2929,2129,1982
$GC,9716,0.87,208.3,424.2,6.7,467,9717,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2129,1982
$GC,10024,0.87,208.3,401.2,7.9,482,10025,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2129,1982
$GC,10333,0.87,208.3,379.5,6.8,497,10337,0.00,2.53,0.00,0.000,4,0.000,0.064,2929,714,1982
$GC,10356,0.87,208.3,377.8,7.3,498,10361,0.00,2.58,0.00,0.000,6,0.000,0.053,2929,2153,1981
$GC,10685,0.88,213.3,358.2,5.9,514,10696,0.00,2.67,6.00,0.845,4,0.000,0.062,2929,707,1962
$GC,10735,0.88,213.3,354.6,7.1,516,10740,0.00,2.55,0.00,0.000,6,0.000,0.053,2929,2133,1962
$GC,11053,0.88,213.3,331.9,7.4,531,11054,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2133,1961
$GC,11361,0.88,213.3,310.3,7.0,546,11362,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2133,1962
$GC,11670,0.88,213.3,288.7,6.9,561,11674,0.00,2.58,0.00,0.000,4,0.000,0.063,2929,716,1962
$GC,11691,0.88,213.3,287.0,7.4,562,11696,0.00,2.53,0.00,0.000,6,0.000,0.052,2929,2131,1962
$GC,12014,0.88,213.3,264.2,7.8,578,12018,0.00,2.53,0.00,0.000,4,0.000,0.064,2929,3537,1962
$GC,12053,0.88,213.3,260.6,8.4,579,12059,0.00,2.50,0.00,0.000,6,0.000,0.051,2929,2134,1962
$GC,12368,0.88,213.3,235.8,8.0,595,12373,0.00,2.55,0.00,0.000,4,0.000,0.063,2929,706,1962
$GC,12397,0.88,213.3,233.3,9.0,596,12401,0.00,2.55,0.00,0.000,6,0.000,0.052,2929,2137,1962
$GC,12713,0.88,213.3,208.5,7.8,611,12714,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2138,1963
$GC,13022,0.88,213.3,185.0,7.5,626,13023,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2138,1963
$GC,13333,0.88,213.3,162.9,7.0,641,13337,0.00,2.58,0.00,0.000,4,0.000,0.064,2929,714,1962
$GC,13360,0.88,213.3,160.8,7.5,642,13365,0.00,2.53,0.00,0.000,6,0.000,0.053,2929,2132,1963
$GC,13682,0.88,213.3,138.6,6.8,658,13684,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2132,1963
$GC,13992,0.88,213.3,118.6,6.1,673,13993,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2132,1963
$GC,14300,0.88,213.3,99.4,6.4,688,14305,0.00,2.58,0.00,0.000,4,0.000,0.063,2929,712,1963
$GC,14328,0.88,213.3,97.2,7.8,689,14332,0.00,2.53,0.00,0.000,6,0.000,0.051,2929,2133,1963
$GC,14645,0.88,213.3,76.3,6.7,704,14649,0.00,2.50,0.00,0.000,4,0.000,0.063,2930,3531,1963
$GC,14672,0.88,213.3,73.9,8.5,705,14677,0.00,2.50,0.00,0.000,6,0.000,0.049,2929,2121,1963
$GC,14993,0.88,213.3,52.8,6.9,721,14998,0.00,2.53,0.00,0.000,4,0.000,0.064,2929,706,1964
$GC,15015,0.88,213.3,51.0,7.3,722,15020,0.00,2.53,0.00,0.000,6,0.000,0.052,2929,2126,1964
$GC,15340,0.88,213.3,27.7,7.8,738,15341,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2127,1963
$GC,15647,0.90,226.6,7.3,5.6,753,15666,0.00,0.00,12.70,0.759,6,0.000,0.000,2929,2127,1907
$STATE,15705,end climb,SURFACE_DEPTH_REACHED
$STATE,15705,begin surface coast
$FINISH,0.8,1.024758
$STATE,15768,end surface coast,CONTROL_FINISHED_OK
$STATE,15768,begin surface
$SM_CCo,15792,18.92,0.786,0,0,1812,250.21
$SM_GC,1.54,0.00,0.00,18.92,0.000,0.000,0.786,423,1966,1812,-10.68,-0.93,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1825
$TCM_TEMP,16.90
$XPDR_PINGS,103
$24V_AH,23.6,78.972
$10V_AH,10.1,39.093
$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,24.675,97.275,333.125,18.925,0.000,37.761,27.226,141.859,29.750,0.000,0.000,15.470,1350.574,12290.535,466.297,1533.994,507.837,0.000,1236.873,0.000,1507.477,0.000,26.428,0.000
$DEVICE_MAMPS,135.759,72.865,1156.636,786.175,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,562.173,512.692,533.887,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37839,759
$CAP_FILE_SIZE,104174,0
$CFSIZE,254472192,224059392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
$GPS,140209,221054,6137.915,-815.626,64,1.4,64,-8.9