version: 66.04
glider: 5
mission: 5
dive: 450
start: 2 15 109 15 26 21
data:
$ID,5
$MISSION,5
$DIVE,450
$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,-96190.422
$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,58
$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
$GPS1,152102,6127.893,-800.989,8,1.8,9,-8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-60.4
$GPS2,152601,6127.877,-800.907,33,1.7,33,-8.7
$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,170.3,25134,-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,-61.50,0.000,2,0.000,0.000,424,1980,3025
$GC,82,-0.97,-146.6,3.0,-3.5,3,113,10.90,2.65,-12.23,0.000,4,0.134,0.073,2526,3408,3431
$GC,218,-0.86,-146.6,18.8,-8.8,9,223,0.15,2.47,0.00,0.000,6,0.089,0.049,2558,2024,3431
$GC,546,-0.86,-146.6,47.3,-8.6,25,550,0.00,2.58,0.00,0.000,4,0.000,0.064,2557,589,3431
$GC,586,-0.86,-146.6,50.7,-7.9,27,590,0.00,2.55,0.00,0.000,6,0.000,0.052,2557,2022,3431
$GC,913,-0.86,-146.6,76.4,-7.3,43,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2023,3431
$GC,1222,-0.86,-146.6,101.0,-7.8,58,1226,0.00,2.60,0.00,0.000,4,0.000,0.064,2557,594,3431
$GC,1262,-0.86,-146.6,104.1,-7.7,60,1267,0.00,2.53,0.00,0.000,6,0.000,0.052,2557,2013,3431
$GC,1591,-0.86,-146.6,129.8,-7.6,76,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2014,3431
$GC,1899,-0.86,-146.6,153.3,-7.5,91,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2014,3431
$GC,2208,-0.86,-146.6,177.5,-8.0,106,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2014,3431
$GC,2522,-0.86,-146.6,201.4,-7.6,121,2526,0.00,2.60,0.00,0.000,4,0.000,0.065,2558,585,3431
$GC,2549,-0.86,-146.6,203.9,-7.7,122,2553,0.00,2.53,0.00,0.000,6,0.000,0.053,2557,2005,3431
$GC,2864,-0.86,-146.6,227.4,-7.8,137,2869,0.00,2.53,0.00,0.000,4,0.000,0.064,2557,3411,3431
$GC,2886,-0.86,-146.6,229.2,-7.5,138,2891,0.00,2.53,0.00,0.000,6,0.000,0.052,2557,1999,3431
$GC,3209,-0.86,-146.6,254.4,-8.1,154,3213,0.00,2.58,0.00,0.000,4,0.000,0.064,2557,3411,3431
$GC,3226,-0.86,-146.6,255.7,-7.9,155,3230,0.00,2.50,0.00,0.000,6,0.000,0.052,2558,2010,3431
$STATE,3385,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3385,begin apogee
$GC,3393,-0.33,0.0,268.8,8.1,163,3521,0.52,0.00,125.30,0.967,6,0.071,0.000,2671,2125,2832
$STATE,3522,end apogee,CONTROL_FINISHED_OK
$STATE,3522,begin climb
$GC,3525,0.97,146.6,273.1,0.0,169,3659,1.27,2.65,124.20,0.934,4,0.059,0.061,2952,3530,2234
$GC,3706,0.84,146.6,267.5,6.0,178,3712,0.12,2.55,0.00,0.000,6,0.086,0.049,2929,2115,2234
$GC,4029,0.95,246.1,254.9,3.3,194,4121,0.10,2.70,84.35,0.920,4,0.056,0.062,2960,3528,1828
$GC,4160,0.91,246.1,248.1,7.1,200,4164,0.00,2.50,0.00,0.000,6,0.000,0.051,2960,2145,1828
$GC,4487,0.86,246.1,223.9,7.9,216,4492,0.15,2.58,0.00,0.000,4,0.078,0.063,2928,718,1830
$GC,4514,0.86,246.1,221.7,7.7,217,4519,0.00,2.58,0.00,0.000,6,0.000,0.051,2928,2156,1831
$GC,4831,0.92,246.1,196.3,7.8,232,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2158,1831
$GC,5141,0.97,246.1,172.4,7.9,247,5146,0.12,2.65,0.00,0.000,4,0.054,0.063,2966,717,1831
$GC,5181,0.88,246.1,168.4,10.2,249,5186,0.15,2.55,0.00,0.000,6,0.081,0.052,2936,2144,1831
$GC,5510,0.92,246.1,141.7,7.7,265,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2145,1831
$GC,5819,0.93,252.5,121.7,5.8,280,5833,0.00,2.67,7.80,0.756,4,0.000,0.064,2935,720,1802
$GC,5864,0.93,252.5,118.7,6.7,282,5869,0.00,2.55,0.00,0.000,6,0.000,0.052,2935,2141,1802
$GC,6193,0.99,260.8,100.6,5.8,298,6204,0.12,0.00,8.68,0.764,6,0.052,0.000,2973,2142,1767
$GC,6502,0.93,260.8,74.8,9.9,313,6503,0.12,0.00,0.00,0.000,6,0.081,0.000,2946,2142,1767
$GC,6810,0.93,260.8,51.7,6.9,328,6811,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2141,1767
$GC,7118,0.93,260.8,29.9,6.7,343,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2141,1767
$GC,7428,0.93,262.2,5.9,6.0,358,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2145,1767
$STATE,7466,end climb,SURFACE_DEPTH_REACHED
$STATE,7466,begin surface coast
$FINISH,0.6,1.027353
$STATE,7509,end surface coast,CONTROL_FINISHED_OK
$STATE,7509,begin surface
$SM_CCo,7592,0.00,0.000,0,0,1766,261.49
$SM_GC,1.50,11.00,0.00,0.00,0.039,0.000,0.000,420,1985,1766,-10.61,-0.45,261.49
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1834
$TCM_TEMP,15.70
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,201.4,77.0
$24V_AH,23.8,79.904
$10V_AH,10.1,39.486
$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,24.750,57.000,350.325,0.000,0.000,37.758,26.664,106.633,9.250,0.000,0.000,35.282,685.292,5623.495,403.338,837.310,351.620,0.000,840.881,0.000,805.375,0.000,10.384,0.000
$DEVICE_MAMPS,134.225,72.865,967.187,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,268.491,242.769,386.034,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15972,362
$CAP_FILE_SIZE,58688,0
$CFSIZE,254472192,223830016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,150209,173406,6126.388,-758.885,30,0.9,35,-8.7