version: 66.04
glider: 5
mission: 5
dive: 452
start: 2 15 109 21 53 57
data:
$ID,5
$MISSION,5
$DIVE,452
$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,-96220.719
$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,22
$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
$GPS1,214801,6125.005,-757.729,40,1.7,40,-8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-65.9
$GPS2,215338,6125.035,-757.739,14,1.5,14,-8.6
$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,173.2,19275,-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,17,-0.97,-146.6,0.0,0.0,0,101,0.00,0.00,-81.25,0.000,2,0.000,0.000,422,1982,3393
$GC,104,-0.97,-146.6,4.8,-4.8,4,127,11.05,2.65,-0.85,0.000,4,0.139,0.074,2527,3409,3432
$GC,237,-0.89,-146.6,27.0,-11.5,9,244,0.12,2.53,0.00,0.000,6,0.097,0.048,2552,1993,3432
$GC,555,-0.89,-146.6,54.6,-7.5,25,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1992,3432
$GC,862,-0.89,-146.6,79.8,-8.4,40,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1992,3432
$GC,1173,-0.89,-146.6,106.3,-8.7,55,1177,0.00,2.50,0.00,0.000,4,0.000,0.063,2552,591,3432
$GC,1213,-0.89,-146.6,110.0,-9.4,57,1217,0.00,2.47,0.00,0.000,6,0.000,0.052,2553,1990,3432
$GC,1547,-0.89,-146.6,136.6,-8.2,73,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1991,3432
$GC,1856,-0.89,-146.6,160.8,-8.2,88,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1990,3432
$GC,2164,-0.89,-146.6,186.4,-7.7,103,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1990,3432
$GC,2473,-0.89,-146.6,209.4,-7.9,118,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1991,3432
$GC,2783,-0.89,-146.6,232.6,-7.0,133,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1990,3432
$GC,3092,-0.89,-146.6,248.1,-4.5,148,3096,0.00,2.55,0.00,0.000,4,0.000,0.065,2553,3406,3432
$GC,3109,-0.89,-146.6,248.9,-4.6,149,3114,0.00,2.55,0.00,0.000,6,0.000,0.054,2552,1981,3432
$GC,3438,-0.89,-146.6,265.1,-5.2,165,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1980,3432
$GC,3746,-0.89,-146.6,280.3,-5.0,180,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1980,3432
$GC,4056,-0.89,-146.6,297.5,-5.5,195,4061,0.00,2.60,0.00,0.000,4,0.000,0.064,2552,3408,3432
$GC,4074,-0.89,-146.6,298.4,-5.6,196,4079,0.00,2.55,0.00,0.000,6,0.000,0.053,2553,1980,3432
$GC,4401,-0.89,-146.6,321.3,-7.8,212,4406,0.00,2.60,0.00,0.000,4,0.000,0.064,2552,3406,3432
$GC,4423,-0.89,-146.6,323.0,-7.2,213,4428,0.00,2.53,0.00,0.000,6,0.000,0.052,2552,1992,3432
$GC,4746,-0.89,-146.6,343.9,-4.9,229,4751,0.00,2.60,0.00,0.000,4,0.000,0.064,2552,3413,3432
$GC,4779,-0.89,-146.6,345.5,-4.8,230,4786,0.00,2.53,0.00,0.000,6,0.000,0.054,2553,2001,3432
$GC,5097,-0.89,-146.6,365.9,-7.4,246,5101,0.00,2.53,0.00,0.000,4,0.000,0.067,2552,590,3433
$GC,5137,-0.89,-146.6,368.9,-7.2,248,5142,0.00,2.53,0.00,0.000,6,0.000,0.054,2553,2011,3432
$GC,5464,-0.89,-146.6,393.1,-9.2,264,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2011,3432
$GC,5775,-0.89,-146.6,418.9,-11.3,279,5779,0.00,2.53,0.00,0.000,4,0.000,0.068,2553,3405,3432
$GC,5852,-0.89,-146.6,428.7,-11.6,282,5859,0.00,2.53,0.00,0.000,6,0.000,0.060,2552,2009,3432
$GC,6168,-0.89,-146.6,461.4,-8.2,298,6173,0.00,2.55,0.00,0.000,4,0.000,0.067,2553,3404,3431
$GC,6203,-0.89,-146.6,463.8,-6.8,299,6209,0.00,2.47,0.00,0.000,6,0.000,0.055,2552,2025,3431
$GC,6518,-0.89,-146.6,488.9,-7.9,315,6523,0.00,2.58,0.00,0.000,4,0.000,0.071,2552,594,3431
$GC,6552,-0.89,-146.6,491.2,-8.2,316,6558,0.00,2.55,0.00,0.000,6,0.000,0.058,2552,2017,3431
$GC,6869,-0.89,-146.6,515.1,-7.9,332,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2018,3430
$GC,7177,-0.89,-146.6,536.8,-6.1,347,7181,0.00,2.62,0.00,0.000,4,0.000,0.073,2553,592,3431
$GC,7243,-0.89,-146.6,540.9,-6.3,350,7247,0.00,2.55,0.00,0.000,6,0.000,0.060,2552,2010,3430
$GC,7564,-0.89,-146.6,559.4,-6.6,366,7569,0.00,2.62,0.00,0.000,4,0.000,0.074,2553,588,3429
$GC,7620,-0.89,-146.6,563.7,-7.4,368,7626,0.00,2.55,0.00,0.000,6,0.000,0.061,2552,2004,3430
$GC,7935,-0.89,-146.6,585.4,-7.0,384,7936,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2003,3429
$GC,8246,-0.89,-146.6,605.7,-6.5,399,8250,0.00,2.62,0.00,0.000,4,0.000,0.076,2553,586,3428
$GC,8273,-0.89,-146.6,607.8,-7.2,400,8277,0.00,2.55,0.00,0.000,6,0.000,0.061,2553,1997,3428
$STATE,8524,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8524,begin apogee
$GC,8531,-0.33,0.0,624.2,6.5,412,8667,0.55,0.00,132.40,1.262,6,0.079,0.000,2669,2133,2832
$STATE,8668,end apogee,CONTROL_FINISHED_OK
$STATE,8668,begin climb
$GC,8672,0.97,146.6,629.4,0.0,419,8812,1.30,2.67,131.68,1.223,4,0.061,0.077,2953,3524,2234
$GC,8871,0.80,146.6,620.8,7.4,427,8877,0.17,2.62,0.00,0.000,6,0.090,0.067,2919,2122,2234
$GC,9189,0.77,153.7,602.1,5.8,442,9203,0.00,2.70,8.20,1.025,4,0.000,0.077,2920,707,2205
$GC,9243,0.72,153.7,598.7,6.4,444,9248,0.00,2.62,0.00,0.000,6,0.000,0.064,2919,2128,2204
$GC,9560,0.77,189.4,582.8,5.0,459,9599,0.00,0.00,33.28,1.197,6,0.000,0.000,2920,2129,2059
$GC,9909,0.78,192.4,562.4,5.9,476,9918,0.00,2.70,4.32,0.827,4,0.000,0.078,2919,708,2046
$GC,9964,0.78,192.4,558.6,6.9,478,9968,0.00,2.60,0.00,0.000,6,0.000,0.064,2919,2119,2047
$GC,10281,0.79,199.4,540.4,5.8,493,10295,0.00,2.70,7.57,1.032,4,0.000,0.076,2920,719,2019
$GC,10312,0.79,199.4,538.2,6.8,494,10317,0.00,2.58,0.00,0.000,6,0.000,0.064,2919,2113,2019
$GC,10629,0.80,208.6,519.5,5.7,509,10645,0.00,2.67,10.23,1.092,4,0.000,0.075,2920,713,1981
$GC,10663,0.80,208.6,517.4,6.6,509,10669,0.00,2.58,0.00,0.000,6,0.000,0.063,2919,2107,1981
$GC,10979,0.83,223.6,501.2,5.6,525,11001,0.00,2.70,14.70,1.134,4,0.000,0.075,2919,3531,1920
$GC,11017,0.83,223.6,498.7,6.6,526,11024,0.00,2.67,0.00,0.000,6,0.000,0.062,2919,2090,1920
$GC,11334,0.83,223.6,476.5,7.1,542,11339,0.00,2.72,0.00,0.000,4,0.000,0.075,2920,3539,1920
$GC,11362,0.83,223.6,474.7,6.7,543,11367,0.00,2.62,0.00,0.000,6,0.000,0.061,2919,2108,1920
$GC,11679,0.83,228.0,452.4,5.9,558,11690,0.00,2.72,5.78,0.927,4,0.000,0.071,2919,3539,1901
$GC,11720,0.85,235.0,449.9,5.8,560,11734,0.00,2.60,7.78,1.000,6,0.000,0.061,2919,2126,1873
$GC,12051,0.85,235.0,429.6,6.8,576,12055,0.00,2.62,0.00,0.000,4,0.000,0.071,2919,3531,1873
$GC,12102,0.85,235.0,425.7,8.0,578,12106,0.00,2.50,0.00,0.000,6,0.000,0.059,2919,2163,1873
$GC,12421,0.89,235.0,403.8,6.6,593,12422,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2163,1873
$GC,12727,0.93,235.0,385.2,6.3,608,12732,0.12,2.55,0.00,0.000,4,0.058,0.069,2954,3533,1873
$GC,12768,0.87,235.0,382.1,8.0,610,12773,0.00,2.45,0.00,0.000,6,0.000,0.058,2954,2180,1874
$GC,13097,0.82,235.0,358.4,7.0,626,13102,0.15,2.65,0.00,0.000,4,0.088,0.067,2924,712,1874
$GC,13118,0.82,235.0,356.8,6.4,627,13123,0.00,2.67,0.00,0.000,6,0.000,0.056,2924,2197,1873
$GC,13440,0.85,254.9,339.3,5.5,643,13461,0.00,0.00,18.80,1.031,6,0.000,0.000,2924,2197,1793
$GC,13769,0.91,254.9,319.3,6.6,659,13774,0.00,2.72,0.00,0.000,4,0.000,0.067,2924,709,1793
$GC,13810,0.91,254.9,316.4,7.7,661,13815,0.00,2.67,0.00,0.000,6,0.000,0.056,2924,2193,1792
$GC,14138,0.96,254.9,294.4,7.1,677,14143,0.12,2.72,0.00,0.000,4,0.054,0.065,2962,707,1792
$GC,14178,0.88,254.9,290.6,9.7,679,14183,0.12,2.62,0.00,0.000,6,0.087,0.056,2936,2166,1793
$GC,14506,0.88,254.9,263.7,8.4,695,14510,0.00,2.67,0.00,0.000,4,0.000,0.067,2936,707,1794
$GC,14528,0.88,254.9,261.5,8.4,696,14532,0.00,2.60,0.00,0.000,6,0.000,0.055,2936,2156,1794
$GC,14849,0.88,254.9,236.0,8.2,712,14850,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2156,1794
$GC,15159,0.88,254.9,212.7,7.4,727,15160,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2157,1794
$GC,15467,0.88,254.9,189.4,7.3,742,15471,0.00,2.65,0.00,0.000,4,0.000,0.066,2936,707,1794
$GC,15488,0.88,254.9,187.6,7.6,743,15493,0.00,2.60,0.00,0.000,6,0.000,0.054,2936,2158,1794
$GC,15811,0.88,254.9,164.5,7.1,759,15812,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2159,1795
$GC,16122,0.88,254.9,142.4,7.2,774,16127,0.00,2.65,0.00,0.000,4,0.000,0.066,2936,707,1795
$GC,16150,0.88,254.9,139.9,7.9,775,16155,0.00,2.58,0.00,0.000,6,0.000,0.054,2936,2148,1795
$GC,16467,0.88,254.9,117.5,7.2,790,16469,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2149,1796
$GC,16776,0.88,254.9,96.2,6.8,805,16780,0.00,2.62,0.00,0.000,4,0.000,0.066,2936,710,1796
$GC,16803,0.88,254.9,94.1,8.3,806,16807,0.00,2.55,0.00,0.000,6,0.000,0.053,2936,2140,1796
$GC,17122,0.93,254.9,72.8,6.6,821,17123,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2141,1796
$GC,17428,0.97,254.9,52.4,6.9,836,17433,0.00,2.60,0.00,0.000,4,0.000,0.066,2936,714,1797
$GC,17456,0.97,254.9,50.1,7.3,837,17460,0.00,2.55,0.00,0.000,6,0.000,0.053,2936,2141,1797
$GC,17774,1.02,254.9,28.2,6.5,852,17776,0.15,0.00,0.00,0.000,6,0.051,0.000,2979,2141,1797
$STATE,18079,end climb,SURFACE_DEPTH_REACHED
$STATE,18079,begin surface coast
$FINISH,0.6,1.005619
$STATE,18121,end surface coast,CONTROL_FINISHED_OK
$STATE,18121,begin surface
$SM_CCo,18205,0.00,0.000,0,0,1797,254.13
$SM_GC,1.49,11.15,0.00,0.00,0.040,0.000,0.000,424,1965,1797,-10.58,-0.99,254.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1838
$TCM_TEMP,16.80
$XPDR_PINGS,71
$ALTIM_BOTTOM_PING,550.3,83.5
$24V_AH,23.5,80.178
$10V_AH,10.1,39.637
$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,25.025,161.675,374.725,0.000,0.000,37.760,33.842,135.222,22.500,0.000,0.000,14.800,1587.670,14087.795,527.162,1782.613,554.793,0.000,1445.621,0.000,1744.341,0.000,32.663,0.000
$DEVICE_MAMPS,138.827,78.234,1261.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,640.534,585.650,547.947,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44188,869
$CAP_FILE_SIZE,131021,0
$CFSIZE,254472192,223633408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,51,0,0
$GPS,160209,025837,6123.599,-755.911,37,1.3,37,-8.6