version: 66.04
glider: 5
mission: 5
dive: 481
start: 2 23 109 0 14 27
data:
$ID,5
$MISSION,5
$DIVE,481
$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,-96817.117
$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,28
$R_STBD_OVSHOOT,21
$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
$GPS1,000736,6116.013,-751.320,27,1.4,27,-8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-69.6
$GPS2,001407,6115.997,-751.299,16,1.4,34,-8.5
$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,207.2,1948,-27.3,-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,16,-1.87,-28.8,0.0,0.0,0,75,0.00,0.00,-57.10,0.000,6,0.000,0.000,424,1972,2950
$GC,79,-1.90,-52.1,2.7,-2.8,3,101,10.07,2.53,-3.47,0.000,4,0.137,0.071,2324,590,3047
$GC,176,-1.76,-52.1,16.5,-16.4,7,181,0.20,2.55,0.00,0.000,6,0.107,0.051,2360,2012,3047
$GC,497,-1.76,-52.1,62.4,-14.4,23,502,0.00,2.58,0.00,0.000,4,0.000,0.061,2361,591,3046
$GC,562,-1.76,-52.1,72.1,-14.7,26,566,0.00,2.50,0.00,0.000,6,0.000,0.051,2361,1997,3046
$GC,890,-1.76,-52.1,118.0,-14.5,42,895,0.00,2.55,0.00,0.000,4,0.000,0.061,2361,587,3047
$GC,914,-1.76,-52.1,121.6,-14.5,43,918,0.00,2.50,0.00,0.000,6,0.000,0.051,2361,1993,3046
$GC,1237,-1.76,-52.1,163.0,-12.9,59,1241,0.00,2.55,0.00,0.000,4,0.000,0.062,2361,587,3047
$GC,1277,-1.76,-52.1,168.7,-14.5,61,1281,0.00,2.50,0.00,0.000,6,0.000,0.051,2360,1983,3046
$GC,1604,-1.76,-52.1,211.9,-13.5,77,1608,0.00,2.53,0.00,0.000,4,0.000,0.061,2361,586,3047
$GC,1678,-1.71,-52.1,222.5,-14.4,80,1682,0.00,2.47,0.00,0.000,6,0.000,0.052,2360,1971,3047
$GC,1994,-1.71,-52.1,266.2,-13.3,95,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1972,3047
$GC,2303,-1.71,-52.1,305.8,-12.4,110,2307,0.00,2.50,0.00,0.000,4,0.000,0.063,2360,591,3047
$GC,2354,-1.71,-52.1,312.5,-14.0,112,2358,0.00,2.45,0.00,0.000,6,0.000,0.051,2360,1969,3047
$GC,2670,-1.71,-52.1,352.0,-12.4,127,2675,0.00,2.50,0.00,0.000,4,0.000,0.063,2360,586,3047
$GC,2688,-1.71,-52.1,354.4,-12.0,128,2692,0.00,2.42,0.00,0.000,6,0.000,0.052,2360,1954,3047
$GC,3022,-1.71,-52.1,398.1,-13.6,144,3026,0.00,2.62,0.00,0.000,4,0.000,0.067,2360,3410,3047
$GC,3055,-1.71,-52.1,403.4,-14.6,145,3061,0.00,2.60,0.00,0.000,6,0.000,0.055,2360,1960,3048
$GC,3372,-1.71,-52.1,446.9,-13.4,161,3377,0.00,2.45,0.00,0.000,4,0.000,0.064,2360,585,3047
$GC,3423,-1.71,-52.1,454.3,-14.4,163,3427,0.00,2.42,0.00,0.000,6,0.000,0.053,2360,1952,3047
$GC,3739,-1.71,-52.1,494.6,-11.9,178,3743,0.00,2.47,0.00,0.000,4,0.000,0.064,2360,584,3048
$GC,3998,-1.71,-52.1,523.2,-9.5,189,4004,0.00,2.28,0.00,0.000,6,0.000,0.053,2360,1868,3048
$GC,4314,-1.71,-52.1,553.3,-9.6,205,4318,0.00,2.35,0.00,0.000,4,0.000,0.069,2360,580,3048
$GC,4416,-1.71,-52.1,563.9,-10.8,209,4422,0.00,2.30,0.00,0.000,6,0.000,0.057,2360,1869,3048
$GC,4731,-1.71,-52.1,597.6,-10.7,225,4736,0.00,2.83,0.00,0.000,4,0.000,0.074,2361,3410,3048
$GC,4809,-1.71,-52.1,606.5,-11.1,228,4815,0.00,2.78,0.00,0.000,6,0.000,0.064,2360,1890,3048
$GC,5125,-1.71,-52.1,642.2,-11.3,244,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1890,3047
$GC,5435,-1.71,-52.1,675.6,-10.8,259,5440,0.00,2.85,0.00,0.000,4,0.000,0.079,2360,3407,3046
$GC,5531,-1.71,-52.1,686.3,-10.9,263,5536,0.00,2.80,0.00,0.000,6,0.000,0.068,2360,1884,3046
$GC,5847,-1.71,-52.1,719.4,-10.5,278,5852,0.00,2.88,0.00,0.000,4,0.000,0.083,2360,3400,3045
$GC,5911,-1.71,-52.1,726.7,-11.9,281,5916,0.00,2.80,0.00,0.000,6,0.000,0.072,2360,1894,3045
$GC,6239,-1.71,-52.1,762.9,-10.7,297,6243,0.00,2.40,0.00,0.000,4,0.000,0.084,2361,595,3044
$GC,6300,-1.71,-52.1,770.1,-11.2,299,6306,0.00,2.38,0.00,0.000,6,0.000,0.070,2360,1885,3043
$GC,6616,-1.75,-52.1,803.0,-10.5,315,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1887,3041
$GC,6927,-1.81,-52.1,836.3,-10.8,330,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1903,3040
$STATE,7067,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7067,begin apogee
$GC,7074,-0.33,0.0,852.5,11.8,337,7129,1.55,0.00,48.20,1.484,6,0.107,0.000,2668,2123,2831
$STATE,7130,end apogee,CONTROL_FINISHED_OK
$STATE,7130,begin climb
$GC,7133,1.90,52.1,854.9,0.0,340,7191,2.30,2.78,49.38,1.463,4,0.064,0.087,3160,3531,2619
$GC,7249,1.69,53.2,850.1,5.8,345,7254,0.28,2.67,0.00,0.000,6,0.128,0.075,3112,2121,2619
$GC,7565,1.69,53.2,826.6,7.7,360,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2121,2617
$GC,7876,1.69,53.4,806.9,6.0,375,7880,0.00,2.72,0.00,0.000,4,0.000,0.089,3112,3527,2616
$GC,8134,1.60,53.4,790.1,6.4,386,8140,0.00,2.65,0.00,0.000,6,0.000,0.074,3112,2115,2615
$GC,8451,1.60,53.9,771.6,5.9,402,8452,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2115,2614
$GC,8759,1.61,56.7,753.3,5.6,417,8765,0.00,0.00,4.50,1.028,6,0.000,0.000,3113,2115,2602
$GC,9068,1.61,58.9,735.0,5.7,432,9074,0.00,0.00,3.83,0.919,6,0.000,0.000,3112,2114,2591
$GC,9378,1.61,58.9,716.9,6.4,447,9379,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2115,2590
$GC,9687,1.62,63.5,698.2,5.4,462,9698,0.00,2.78,5.68,1.136,4,0.000,0.088,3112,3533,2573
$GC,9885,1.55,66.4,688.0,5.6,471,9895,0.15,2.70,4.35,0.997,6,0.132,0.074,3087,2096,2561
$GC,10219,1.61,66.4,668.4,6.5,487,10220,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2096,2560
$GC,10528,1.67,67.8,649.3,5.8,502,10532,0.00,2.78,0.00,0.000,4,0.000,0.089,3087,3531,2559
$GC,10651,1.67,67.8,641.9,6.3,507,10658,0.10,2.67,0.00,0.000,6,0.082,0.073,3108,2104,2559
$GC,10968,1.67,69.3,623.7,5.8,523,10978,0.00,2.78,4.22,0.966,4,0.000,0.087,3109,3531,2549
$GC,11116,1.63,69.3,613.7,7.0,529,11121,0.00,2.65,0.00,0.000,6,0.000,0.072,3109,2115,2549
$GC,11433,1.63,69.3,593.4,6.0,544,11438,0.00,2.72,0.00,0.000,4,0.000,0.087,3109,3536,2550
$GC,11529,1.57,69.3,587.3,6.0,548,11533,0.00,2.62,0.00,0.000,6,0.000,0.071,3109,2131,2549
$GC,11845,1.57,69.3,566.9,6.3,563,11849,0.00,2.70,0.00,0.000,4,0.000,0.086,3108,3535,2549
$GC,11890,1.52,69.3,563.6,6.9,565,11896,0.17,2.60,0.00,0.000,6,0.122,0.070,3078,2137,2549
$GC,12213,1.61,69.3,542.2,6.2,581,12217,0.00,2.67,0.00,0.000,4,0.000,0.084,3077,3535,2549
$GC,12262,1.61,69.3,538.6,6.6,583,12267,0.00,2.60,0.00,0.000,6,0.000,0.069,3077,2135,2549
$GC,12582,1.73,84.9,523.7,3.8,598,12604,0.17,2.72,15.32,1.251,4,0.069,0.080,3120,3529,2485
$GC,12703,1.67,87.2,517.1,5.7,603,12707,0.00,2.53,0.00,0.000,6,0.000,0.066,3120,2172,2484
$GC,13025,1.67,88.4,498.0,5.8,619,13035,0.00,2.62,4.93,0.965,4,0.000,0.079,3120,3530,2471
$GC,13087,1.63,88.4,493.2,8.1,622,13092,0.00,2.55,0.00,0.000,6,0.000,0.064,3120,2152,2471
$GC,13416,1.63,88.4,466.9,8.5,638,13420,0.00,2.62,0.00,0.000,4,0.000,0.071,3120,712,2471
$GC,13586,1.58,88.4,450.7,9.7,645,13593,0.17,2.60,0.00,0.000,6,0.117,0.060,3090,2145,2471
$GC,13904,1.68,88.4,423.9,8.4,661,13908,0.00,2.55,0.00,0.000,4,0.000,0.074,3090,3531,2472
$GC,14108,1.74,88.4,406.7,9.5,670,14113,0.15,2.50,0.00,0.000,6,0.063,0.056,3125,2146,2472
$GC,14437,1.74,88.4,377.4,9.0,686,14441,0.00,2.58,0.00,0.000,4,0.000,0.070,3125,3538,2473
$GC,14515,1.69,88.4,370.2,9.0,689,14521,0.00,2.50,0.00,0.000,6,0.000,0.054,3125,2150,2473
$GC,14832,1.69,88.4,342.9,8.8,705,14836,0.00,2.55,0.00,0.000,4,0.000,0.067,3125,3535,2474
$GC,14929,1.65,88.4,334.1,9.1,709,14934,0.12,2.47,0.00,0.000,6,0.112,0.052,3106,2150,2474
$GC,15251,1.72,88.4,309.1,7.8,725,15255,0.00,2.55,0.00,0.000,4,0.000,0.065,3106,3537,2475
$GC,15509,1.72,88.4,286.1,9.0,736,15515,0.00,2.42,0.00,0.000,6,0.000,0.051,3106,2176,2476
$GC,15825,1.80,88.4,259.1,8.9,752,15830,0.15,2.50,0.00,0.000,4,0.059,0.064,3141,3538,2477
$GC,15927,1.74,88.4,248.9,9.6,756,15933,0.00,2.42,0.00,0.000,6,0.000,0.050,3141,2175,2477
$GC,16244,1.74,88.4,219.2,9.4,772,16246,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2176,2478
$GC,16554,1.74,88.4,189.2,9.4,787,16558,0.00,2.50,0.00,0.000,4,0.000,0.063,3141,3541,2479
$GC,16610,1.68,88.4,183.7,9.5,789,16617,0.17,2.40,0.00,0.000,6,0.107,0.048,3110,2188,2479
$GC,16926,1.75,88.4,158.7,7.9,805,16935,0.00,2.50,3.88,0.628,4,0.000,0.063,3110,3530,2471
$GC,17033,1.75,88.4,149.2,9.9,809,17039,0.00,2.38,0.00,0.000,6,0.000,0.049,3110,2192,2471
$GC,17350,1.83,88.4,123.5,8.2,825,17352,0.15,0.00,0.00,0.000,6,0.057,0.000,3146,2192,2471
$GC,17660,1.83,88.4,96.3,8.4,840,17664,0.00,2.47,0.00,0.000,4,0.000,0.071,3146,3535,2472
$GC,17738,1.76,88.4,89.9,8.1,843,17745,0.00,2.35,0.00,0.000,6,0.000,0.051,3146,2205,2472
$GC,18055,1.76,88.4,64.6,8.3,859,18059,0.00,2.42,0.00,0.000,4,0.000,0.064,3146,3534,2473
$GC,18142,1.70,88.4,56.7,9.2,863,18147,0.17,2.35,0.00,0.000,6,0.110,0.048,3114,2208,2473
$GC,18469,1.78,88.4,30.3,8.2,879,18473,0.00,2.42,0.00,0.000,4,0.000,0.063,3114,3535,2473
$GC,18515,1.78,88.4,26.3,9.2,881,18519,0.00,2.33,0.00,0.000,6,0.000,0.049,3114,2219,2473
$STATE,18777,end climb,SURFACE_DEPTH_REACHED
$STATE,18777,begin surface coast
$FINISH,0.6,1.027427
$STATE,18820,end surface coast,CONTROL_FINISHED_OK
$STATE,18820,begin surface
$SM_CCo,18844,97.12,0.829,0,0,1812,250.21
$SM_GC,1.63,0.00,0.00,97.12,0.000,0.000,0.829,422,1971,1812,-10.69,-0.82,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1794
$TCM_TEMP,16.90
$XPDR_PINGS,52
$ALTIM_BOTTOM_PING,775.1,87.3
$24V_AH,23.2,83.294
$10V_AH,10.1,42.421
$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,28.000,185.025,144.275,97.125,0.000,37.761,28.571,156.973,20.000,0.000,0.000,34.064,1759.151,14242.521,443.780,2254.306,627.743,0.000,1525.355,0.000,2180.649,0.000,46.980,0.000
$DEVICE_MAMPS,136.526,88.972,1484.145,829.127,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,663.566,608.054,501.509,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47340,896
$CAP_FILE_SIZE,151584,0
$CFSIZE,254472192,221442048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,63,0,0
$GPS,230209,053130,6116.440,-752.431,39,1.5,39,-8.5