version: 66.04
glider: 5
mission: 5
dive: 442
start: 2 14 109 22 20 3
data:
$ID,5
$MISSION,5
$DIVE,442
$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,-96044.266
$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,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
$GPS1,221054,6137.915,-815.626,64,1.4,64,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-64.1
$GPS2,221944,6137.929,-815.495,15,1.5,15,-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,162.7,47342,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.45,0.000,2,0.000,0.000,422,1980,3020
$GC,82,-0.97,-146.6,3.2,-3.4,3,113,11.00,2.62,-12.95,0.000,4,0.134,0.073,2525,3404,3430
$GC,310,-0.88,-146.6,27.5,-10.0,13,315,0.12,2.50,0.00,0.000,6,0.094,0.048,2551,2003,3431
$GC,633,-0.88,-146.6,53.5,-8.9,29,637,0.00,2.53,0.00,0.000,4,0.000,0.062,2551,588,3431
$GC,666,-0.88,-146.6,57.4,-11.2,30,672,0.00,2.53,0.00,0.000,6,0.000,0.051,2551,2007,3431
$GC,983,-0.88,-146.6,82.6,-8.1,46,988,0.00,2.58,0.00,0.000,4,0.000,0.062,2552,589,3430
$GC,1018,-0.88,-146.6,85.5,-7.9,47,1024,0.00,2.50,0.00,0.000,6,0.000,0.052,2551,1992,3431
$GC,1334,-0.88,-146.6,106.7,-6.5,63,1338,0.00,2.55,0.00,0.000,4,0.000,0.064,2551,3411,3430
$GC,1355,-0.88,-146.6,108.2,-6.7,64,1360,0.00,2.55,0.00,0.000,6,0.000,0.051,2551,1980,3430
$GC,1678,-0.88,-146.6,130.8,-6.9,80,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1980,3431
$GC,1986,-0.88,-146.6,152.1,-6.6,95,1990,0.00,2.60,0.00,0.000,4,0.000,0.061,2551,3409,3431
$GC,2030,-0.88,-146.6,155.3,-7.5,97,2034,0.00,2.53,0.00,0.000,6,0.000,0.049,2551,1988,3430
$GC,2352,-0.88,-146.6,179.3,-8.0,113,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1988,3431
$GC,2660,-0.88,-146.6,204.4,-8.1,128,2664,0.00,2.47,0.00,0.000,4,0.000,0.063,2551,594,3430
$GC,2704,-0.88,-146.6,207.8,-7.5,130,2708,0.00,2.47,0.00,0.000,6,0.000,0.051,2551,1990,3430
$GC,3026,-0.88,-146.6,231.4,-6.3,146,3030,0.00,2.55,0.00,0.000,4,0.000,0.064,2551,594,3430
$GC,3099,-0.88,-146.6,236.8,-7.7,149,3103,0.00,2.42,0.00,0.000,6,0.000,0.052,2552,1963,3430
$GC,3415,-0.88,-146.6,263.9,-9.4,164,3419,0.00,2.60,0.00,0.000,4,0.000,0.065,2551,3409,3430
$GC,3460,-0.88,-146.6,267.9,-8.9,166,3464,0.00,2.58,0.00,0.000,6,0.000,0.052,2551,1964,3430
$GC,3781,-0.88,-146.6,299.1,-8.8,182,3785,0.00,2.62,0.00,0.000,4,0.000,0.062,2551,3407,3430
$GC,3813,-0.88,-146.6,302.6,-11.9,183,3819,0.00,2.58,0.00,0.000,6,0.000,0.051,2551,1963,3430
$GC,4130,-0.88,-146.6,333.4,-9.9,199,4135,0.00,2.62,0.00,0.000,4,0.000,0.063,2551,3405,3430
$GC,4175,-0.88,-146.6,338.6,-10.6,201,4179,0.00,2.55,0.00,0.000,6,0.000,0.052,2551,1978,3430
$GC,4497,-0.88,-146.6,368.9,-7.2,217,4501,0.00,2.47,0.00,0.000,4,0.000,0.065,2551,594,3430
$GC,4592,-0.88,-146.6,375.5,-7.6,221,4596,0.00,2.42,0.00,0.000,6,0.000,0.052,2551,1963,3430
$STATE,4657,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4657,begin apogee
$GC,4665,-0.33,0.0,380.4,7.4,224,4794,0.55,0.00,126.28,1.052,6,0.055,0.000,2678,2132,2832
$STATE,4795,end apogee,CONTROL_FINISHED_OK
$STATE,4795,begin climb
$GC,4799,0.97,146.6,380.6,0.0,230,4933,1.23,2.67,126.15,1.018,4,0.051,0.063,2952,706,2234
$GC,4980,0.78,146.6,373.3,7.1,238,4987,0.20,2.55,0.00,0.000,6,0.083,0.051,2911,2122,2234
$GC,5297,0.82,174.7,355.8,5.2,254,5328,0.00,2.60,25.12,0.966,4,0.000,0.064,2911,3529,2119
$GC,5345,0.88,208.7,353.4,5.1,256,5381,0.10,2.58,30.35,0.974,6,0.060,0.054,2942,2117,1982
$GC,5706,0.88,208.7,328.9,8.5,274,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2117,1981
$GC,6013,0.89,245.7,307.1,5.0,289,6055,0.00,2.70,32.83,0.972,4,0.000,0.062,2942,3532,1830
$GC,6079,0.89,245.7,303.1,7.1,292,6083,0.00,2.55,0.00,0.000,6,0.000,0.054,2942,2129,1830
$GC,6406,0.89,245.7,276.7,7.3,308,6410,0.00,2.55,0.00,0.000,4,0.000,0.065,2942,715,1831
$GC,6440,0.89,245.7,274.0,8.5,309,6444,0.00,2.55,0.00,0.000,6,0.000,0.052,2942,2135,1831
$GC,6756,0.96,294.0,248.9,4.7,324,6803,0.00,2.60,42.12,0.955,4,0.000,0.062,2942,3538,1632
$GC,6839,1.01,294.0,244.1,7.1,328,6844,0.10,2.55,0.00,0.000,6,0.059,0.053,2972,2136,1632
$GC,7166,0.96,294.0,216.1,9.8,344,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2135,1632
$GC,7477,0.90,294.0,185.7,9.8,359,7482,0.15,2.60,0.00,0.000,4,0.081,0.063,2941,3538,1632
$GC,7521,0.96,294.0,181.3,9.5,361,7526,0.00,2.53,0.00,0.000,6,0.000,0.051,2942,2132,1632
$GC,7843,0.96,294.0,151.8,9.8,377,7847,0.00,2.55,0.00,0.000,4,0.000,0.064,2941,709,1632
$GC,7877,0.96,294.0,148.2,10.4,378,7883,0.00,2.58,0.00,0.000,6,0.000,0.051,2941,2150,1632
$GC,8193,1.01,294.0,116.5,9.4,394,8198,0.12,2.65,0.00,0.000,4,0.052,0.064,2978,709,1632
$GC,8221,0.96,294.0,113.3,11.7,395,8226,0.12,2.55,0.00,0.000,6,0.082,0.053,2952,2135,1632
$GC,8540,0.96,294.0,83.6,8.7,410,8544,0.00,2.60,0.00,0.000,4,0.000,0.064,2952,706,1632
$GC,8557,0.96,294.0,82.0,8.0,411,8562,0.00,2.53,0.00,0.000,6,0.000,0.053,2951,2126,1632
$GC,8885,0.96,294.0,54.4,8.3,427,8886,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2126,1632
$GC,9195,0.96,294.0,29.3,8.3,442,9199,0.00,2.58,0.00,0.000,4,0.000,0.064,2952,714,1632
$GC,9235,0.96,294.0,26.2,8.2,444,9239,0.00,2.50,0.00,0.000,6,0.000,0.051,2952,2114,1632
$STATE,9559,end climb,SURFACE_DEPTH_REACHED
$STATE,9559,begin surface coast
$FINISH,0.7,1.027452
$STATE,9601,end surface coast,CONTROL_FINISHED_OK
$STATE,9603,begin surface
$SM_CCo,9687,0.00,0.000,0,0,1631,294.61
$SM_GC,1.58,11.00,0.00,0.00,0.038,0.000,0.000,423,1961,1631,-10.59,-1.10,294.61
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1840
$TCM_TEMP,16.90
$XPDR_PINGS,54
$ALTIM_BOTTOM_PING,351.8,38.3
$24V_AH,23.7,79.101
$10V_AH,10.1,39.148
$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,24.700,107.900,382.850,0.000,0.000,75.524,69.142,195.676,16.250,0.000,0.000,15.145,888.023,7184.148,458.507,1110.569,575.277,0.000,1058.263,0.000,1084.212,0.000,19.824,0.000
$DEVICE_MAMPS,134.225,72.865,1052.324,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,337.420,309.535,403.426,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22226,462
$CAP_FILE_SIZE,82923,0
$CFSIZE,254472192,224047104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,150209,010253,6136.713,-811.630,29,1.6,45,-8.8