version: 66.04
glider: 5
mission: 5
dive: 446
start: 2 15 109 7 45 14
data:
$ID,5
$MISSION,5
$DIVE,446
$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,-96105.109
$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,24
$R_STBD_OVSHOOT,25
$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
$GPS1,074006,6130.148,-807.981,37,1.2,37,-8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-65.3
$GPS2,074455,6130.130,-808.013,9,1.4,14,-8.8
$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,161.8,31442,-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,-61.45,0.000,2,0.000,0.000,420,1984,2923
$GC,82,-0.97,-146.6,3.1,-3.8,3,118,11.05,2.60,-17.00,0.000,4,0.134,0.074,2525,3402,3430
$GC,249,-0.89,-146.6,18.2,-7.5,10,254,0.12,2.53,0.00,0.000,6,0.095,0.048,2551,1988,3430
$GC,565,-0.84,-146.6,45.1,-8.0,25,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1988,3430
$GC,876,-0.84,-146.6,65.2,-6.4,40,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1988,3430
$GC,1184,-0.84,-146.6,91.4,-7.7,55,1189,0.00,2.60,0.00,0.000,4,0.000,0.062,2551,3412,3430
$GC,1212,-0.84,-146.6,94.0,-9.0,56,1216,0.00,2.53,0.00,0.000,6,0.000,0.048,2551,1992,3430
$GC,1528,-0.84,-146.6,115.4,-6.6,71,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1992,3430
$GC,1840,-0.84,-146.6,141.2,-9.0,86,1844,0.00,2.58,0.00,0.000,4,0.000,0.062,2551,3405,3430
$GC,1873,-0.84,-146.6,144.0,-7.8,87,1879,0.00,2.53,0.00,0.000,6,0.000,0.050,2551,1988,3430
$GC,2188,-0.84,-146.6,167.5,-7.8,103,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1988,3430
$GC,2499,-0.84,-146.6,188.7,-6.6,118,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1988,3430
$GC,2807,-0.84,-146.6,208.4,-6.0,133,2811,0.00,2.47,0.00,0.000,4,0.000,0.062,2551,594,3430
$GC,2846,-0.84,-146.6,211.3,-7.4,134,2852,0.00,2.50,0.00,0.000,6,0.000,0.051,2551,2004,3429
$STATE,3159,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3159,begin apogee
$GC,3167,-0.33,0.0,231.7,6.6,150,3295,0.55,0.00,124.43,0.946,6,0.069,0.000,2670,2132,2832
$STATE,3296,end apogee,CONTROL_FINISHED_OK
$STATE,3296,begin climb
$GC,3299,0.97,146.6,234.8,0.0,156,3431,1.27,2.62,123.72,0.910,4,0.058,0.062,2951,3525,2233
$GC,3500,0.84,146.6,227.0,6.6,165,3505,0.12,2.53,0.00,0.000,6,0.088,0.050,2929,2126,2233
$GC,3816,0.79,146.6,209.9,6.1,180,3820,0.00,2.55,0.00,0.000,4,0.000,0.062,2929,705,2233
$GC,3895,0.73,146.6,203.9,7.7,183,3902,0.12,2.53,0.00,0.000,6,0.085,0.051,2902,2120,2233
$GC,4212,0.77,146.6,181.3,7.1,199,4217,0.00,2.55,0.00,0.000,4,0.000,0.063,2901,717,2233
$GC,4246,0.82,146.6,178.5,8.2,200,4253,0.00,2.50,0.00,0.000,6,0.000,0.052,2901,2120,2233
$GC,4564,0.90,163.0,159.9,5.6,216,4582,0.17,0.00,15.05,0.841,6,0.048,0.000,2950,2121,2167
$GC,4893,0.82,163.0,137.7,6.4,232,4898,0.15,2.55,0.00,0.000,4,0.079,0.063,2919,3530,2167
$GC,4937,0.82,163.0,134.6,6.1,234,4942,0.00,2.55,0.00,0.000,6,0.000,0.050,2919,2106,2167
$GC,5260,0.82,163.0,113.9,6.5,250,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2105,2167
$GC,5569,0.86,189.5,97.1,5.3,265,5599,0.00,2.70,23.30,0.836,4,0.000,0.061,2919,3529,2059
$GC,5635,0.86,189.5,93.2,6.1,268,5640,0.00,2.55,0.00,0.000,6,0.000,0.048,2919,2106,2059
$GC,5964,0.92,197.0,75.6,5.8,284,5974,0.10,0.00,7.90,0.739,6,0.058,0.000,2950,2105,2028
$GC,6272,0.87,197.0,51.6,6.9,299,6277,0.00,2.62,0.00,0.000,4,0.000,0.062,2950,3539,2028
$GC,6324,0.83,197.0,47.9,6.3,301,6329,0.12,2.53,0.00,0.000,6,0.084,0.048,2925,2124,2028
$GC,6642,0.83,198.3,31.8,6.0,316,6646,0.00,2.53,0.00,0.000,4,0.000,0.062,2925,713,2028
$GC,6675,0.83,198.3,29.5,6.1,317,6681,0.00,2.53,0.00,0.000,6,0.000,0.051,2925,2129,2028
$GC,6992,0.91,213.9,10.7,5.6,333,7015,0.00,2.58,15.25,0.770,4,0.000,0.061,2925,3534,1959
$GC,7032,0.96,213.9,8.2,6.0,334,7039,0.12,2.53,0.00,0.000,6,0.054,0.050,2962,2133,1959
$STATE,7099,end climb,SURFACE_DEPTH_REACHED
$STATE,7099,begin surface coast
$FINISH,0.6,1.008041
$STATE,7140,end surface coast,CONTROL_FINISHED_OK
$STATE,7140,begin surface
$SM_CCo,7165,20.33,0.773,0,0,1812,250.21
$SM_GC,1.06,0.00,0.00,20.33,0.000,0.000,0.773,423,1975,1812,-10.68,-0.71,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1834
$TCM_TEMP,16.90
$XPDR_PINGS,35
$ALTIM_BOTTOM_PING,150.5,90.2
$24V_AH,23.8,79.511
$10V_AH,10.1,39.323
$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,25.125,61.650,309.650,20.325,0.000,37.757,36.804,102.533,9.500,0.000,0.000,16.297,664.471,5247.148,414.416,803.497,354.568,0.000,839.333,0.000,791.715,0.000,7.240,0.000
$DEVICE_MAMPS,134.225,73.632,946.478,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,251.638,227.905,401.581,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15926,340
$CAP_FILE_SIZE,58495,0
$CFSIZE,254472192,223948800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,150209,094606,6129.463,-807.531,10,1.3,26,-8.7