version: 66.04
glider: 5
mission: 5
dive: 414
start: 2 8 109 0 50 53
data:
$ID,5
$MISSION,5
$DIVE,414
$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,-95473.469
$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,34
$R_STBD_OVSHOOT,17
$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
$GPS1,004425,6139.347,-850.008,41,1.9,41,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-63.9
$GPS2,005032,6139.267,-850.064,12,1.3,12,-9.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_5
$TGT_LATLONG,6140.000,-915.000
$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,282.7,21960,-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,13,begin dive
$GC,16,-0.97,-146.6,0.0,0.0,0,79,0.00,0.00,-60.88,0.000,2,0.000,0.000,422,1989,3001
$GC,82,-0.97,-146.6,3.4,-5.1,3,113,11.15,2.62,-12.73,0.000,4,0.139,0.073,2526,3415,3431
$GC,265,-0.86,-146.6,22.7,-9.1,11,270,0.15,2.53,0.00,0.000,6,0.091,0.050,2557,1999,3431
$GC,586,-0.86,-146.6,53.6,-8.4,27,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1998,3431
$GC,897,-0.86,-146.6,77.2,-7.6,42,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1998,3431
$GC,1206,-0.86,-146.6,104.0,-8.2,57,1211,0.00,2.60,0.00,0.000,4,0.000,0.062,2557,3423,3431
$GC,1234,-0.86,-146.6,106.6,-8.8,58,1238,0.00,2.53,0.00,0.000,6,0.000,0.050,2557,2005,3431
$GC,1551,-0.86,-146.6,140.7,-11.4,73,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2005,3431
$GC,1859,-0.86,-146.6,171.4,-9.5,88,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2005,3431
$GC,2168,-0.86,-146.6,195.6,-7.6,103,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2005,3431
$GC,2479,-0.86,-146.6,225.1,-10.0,118,2484,0.00,2.58,0.00,0.000,4,0.000,0.062,2557,3419,3431
$GC,2519,-0.86,-146.6,229.2,-9.9,120,2524,0.00,2.53,0.00,0.000,6,0.000,0.049,2557,1998,3431
$GC,2847,-0.86,-146.6,259.7,-8.7,136,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1997,3432
$GC,3157,-0.86,-146.6,283.4,-7.8,151,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1997,3431
$GC,3465,-0.86,-146.6,309.0,-8.3,166,3469,0.00,2.58,0.00,0.000,4,0.000,0.064,2557,3413,3431
$GC,3505,-0.86,-146.6,312.0,-7.6,168,3509,0.00,2.53,0.00,0.000,6,0.000,0.052,2557,1997,3431
$GC,3832,-0.86,-146.6,337.2,-8.1,184,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1997,3431
$GC,4141,-0.86,-146.6,363.7,-8.2,199,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1996,3431
$GC,4450,-0.86,-146.6,387.1,-6.6,214,4454,0.00,2.60,0.00,0.000,4,0.000,0.064,2557,3421,3431
$GC,4491,-0.86,-146.6,389.7,-6.9,216,4495,0.00,2.53,0.00,0.000,6,0.000,0.053,2557,2007,3431
$GC,4818,-0.86,-146.6,408.8,-5.4,232,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2006,3432
$GC,5127,-0.86,-146.6,423.7,-4.8,247,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2006,3431
$GC,5437,-0.86,-146.6,443.0,-7.1,262,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2006,3431
$GC,5745,-0.86,-146.6,468.5,-8.7,277,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2006,3432
$GC,6054,-0.86,-146.6,494.7,-7.9,292,6059,0.00,2.55,0.00,0.000,4,0.000,0.064,2557,3414,3431
$GC,6095,-0.86,-146.6,497.8,-8.0,294,6099,0.00,2.50,0.00,0.000,6,0.000,0.054,2557,2010,3432
$GC,6421,-0.86,-146.6,518.9,-6.4,310,6423,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2010,3431
$GC,6732,-0.86,-146.6,537.5,-7.3,325,6736,0.00,2.53,0.00,0.000,4,0.000,0.064,2558,587,3432
$GC,6781,-0.86,-146.6,542.2,-10.0,327,6786,0.00,2.53,0.00,0.000,6,0.000,0.052,2557,2015,3431
$GC,7097,-0.86,-146.6,568.7,-7.4,342,7101,0.00,2.50,0.00,0.000,4,0.000,0.067,2557,3405,3431
$GC,7131,-0.86,-146.6,571.2,-7.9,343,7137,0.00,2.50,0.00,0.000,6,0.000,0.056,2556,2014,3431
$GC,7448,-0.86,-146.6,589.5,-4.9,359,7452,0.00,2.55,0.00,0.000,4,0.000,0.064,2557,582,3432
$GC,7475,-0.86,-146.6,590.9,-5.2,360,7480,0.00,2.53,0.00,0.000,6,0.000,0.053,2557,2008,3431
$GC,7791,-0.86,-146.6,609.0,-6.5,375,7795,0.00,2.53,0.00,0.000,4,0.000,0.068,2557,3407,3431
$GC,7860,-0.90,-146.6,613.9,-7.5,378,7864,0.00,2.50,0.00,0.000,6,0.000,0.057,2557,2018,3431
$GC,8186,-0.90,-146.6,639.3,-8.3,394,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2017,3431
$GC,8496,-0.90,-146.6,664.5,-7.4,409,8497,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2005,3430
$GC,8805,-0.90,-146.6,679.2,-3.4,424,8809,0.00,2.58,0.00,0.000,4,0.000,0.070,2557,583,3430
$GC,8912,-0.96,-146.6,684.9,-6.5,429,8917,0.00,2.58,0.00,0.000,6,0.000,0.058,2557,2029,3430
$GC,9241,-1.02,-146.6,709.3,-8.4,445,9246,0.15,2.50,0.00,0.000,4,0.061,0.071,2518,3407,3430
$GC,9262,-1.02,-146.6,711.5,-9.0,446,9267,0.00,2.53,0.00,0.000,6,0.000,0.062,2517,2019,3430
$GC,9585,-0.95,-146.6,736.1,-7.6,462,9589,0.00,2.60,0.00,0.000,4,0.000,0.077,2517,594,3430
$GC,9618,-0.87,-146.6,739.4,-10.2,463,9625,0.17,2.60,0.00,0.000,6,0.091,0.064,2553,2027,3430
$GC,9933,-0.87,-146.6,761.6,-6.1,479,9935,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2034,3429
$GC,10244,-0.87,-146.6,779.2,-4.8,494,10246,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2034,3427
$GC,10552,-0.87,-146.6,797.9,-6.9,509,10553,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2034,3426
$GC,10862,-0.91,-146.6,818.2,-5.6,524,10863,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2034,3425
$GC,11171,-0.91,-146.6,836.6,-6.9,539,11176,0.00,2.72,0.00,0.000,4,0.000,0.088,2553,587,3424
$GC,11205,-0.96,-146.6,838.3,-4.9,540,11212,0.00,2.67,0.00,0.000,6,0.000,0.076,2553,2032,3424
$STATE,11477,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11477,begin apogee
$GC,11485,-0.33,0.0,859.8,9.2,554,11621,0.57,0.00,132.88,1.511,6,0.089,0.000,2671,2133,2832
$STATE,11623,end apogee,CONTROL_FINISHED_OK
$STATE,11623,begin climb
$GC,11626,0.97,146.6,865.7,0.0,561,11766,1.35,0.00,135.38,1.461,6,0.072,0.000,2953,2133,2234
$GC,12072,0.92,210.9,844.4,4.2,583,12138,0.00,2.83,59.92,1.424,4,0.000,0.088,2953,716,1972
$GC,12158,0.87,278.2,840.7,4.2,587,12229,0.00,2.67,63.62,1.406,6,0.000,0.073,2953,2129,1697
$GC,12552,0.82,282.2,815.0,5.9,606,12564,0.15,2.72,5.72,1.081,4,0.092,0.088,2925,3538,1681
$GC,12586,0.82,282.2,812.4,6.9,607,12592,0.00,2.70,0.00,0.000,6,0.000,0.078,2926,2129,1681
$GC,12902,0.82,282.2,786.3,7.2,623,12906,0.00,2.70,0.00,0.000,4,0.000,0.089,2925,702,1681
$GC,12924,0.82,282.2,784.6,7.9,624,12929,0.00,2.67,0.00,0.000,6,0.000,0.074,2925,2125,1680
$GC,13246,0.82,282.2,762.4,7.3,640,13250,0.00,2.72,0.00,0.000,4,0.000,0.090,2925,712,1679
$GC,13273,0.82,282.2,760.3,7.2,641,13277,0.00,2.62,0.00,0.000,6,0.000,0.074,2926,2114,1679
$GC,13590,0.86,305.9,740.7,5.4,656,13618,0.00,2.78,22.70,1.401,4,0.000,0.088,2925,707,1583
$GC,13635,0.89,324.8,738.1,5.5,658,13660,0.00,2.67,18.65,1.362,6,0.000,0.074,2926,2115,1507
$GC,13981,0.95,324.8,720.8,6.2,675,13986,0.12,2.72,0.00,0.000,4,0.066,0.089,2956,710,1507
$GC,13999,0.95,324.8,719.3,6.5,676,14003,0.00,2.62,0.00,0.000,6,0.000,0.074,2956,2109,1506
$GC,14325,0.95,324.8,687.0,9.4,692,14330,0.00,2.67,0.00,0.000,4,0.000,0.087,2957,712,1506
$GC,14366,0.95,324.8,682.8,10.9,694,14370,0.00,2.58,0.00,0.000,6,0.000,0.073,2956,2090,1505
$GC,14692,0.95,324.8,649.2,11.2,710,14697,0.00,2.70,0.00,0.000,4,0.000,0.080,2957,3534,1504
$GC,14742,0.95,324.8,643.4,11.2,712,14747,0.00,2.70,0.00,0.000,6,0.000,0.069,2956,2085,1505
$GC,15059,0.95,324.8,617.2,7.5,727,15063,0.00,2.53,0.00,0.000,4,0.000,0.076,2957,711,1505
$GC,15086,0.95,324.8,614.8,9.1,728,15091,0.00,2.53,0.00,0.000,6,0.000,0.063,2956,2091,1504
$GC,15408,0.95,324.8,585.1,8.9,744,15412,0.00,2.65,0.00,0.000,4,0.000,0.071,2957,3534,1505
$GC,15448,0.95,324.8,581.6,8.7,746,15453,0.00,2.65,0.00,0.000,6,0.000,0.062,2957,2086,1505
$GC,15775,0.95,324.8,555.1,7.8,762,15779,0.00,2.50,0.00,0.000,4,0.000,0.070,2957,710,1506
$GC,15796,0.95,324.8,553.3,8.2,763,15801,0.00,2.50,0.00,0.000,6,0.000,0.057,2957,2097,1506
$GC,16118,0.95,324.8,529.6,7.6,779,16119,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2109,1507
$GC,16426,0.95,324.8,504.8,8.2,794,16427,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2109,1507
$GC,16735,0.95,324.8,478.2,8.4,809,16740,0.00,2.58,0.00,0.000,4,0.000,0.067,2957,701,1508
$GC,16777,0.95,324.8,475.0,8.1,811,16781,0.00,2.47,0.00,0.000,6,0.000,0.054,2957,2083,1508
$GC,17103,0.95,324.8,447.5,8.7,827,17107,0.00,2.62,0.00,0.000,4,0.000,0.065,2957,3537,1510
$GC,17130,0.95,324.8,444.7,9.5,828,17135,0.00,2.62,0.00,0.000,6,0.000,0.054,2956,2079,1510
$GC,17447,0.95,324.8,417.3,10.4,843,17448,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2079,1511
$GC,17755,0.95,324.8,384.8,10.1,858,17759,0.00,2.65,0.00,0.000,4,0.000,0.062,2957,3529,1511
$GC,17805,0.95,324.8,379.3,10.0,860,17809,0.00,2.55,0.00,0.000,6,0.000,0.051,2957,2098,1511
$GC,18121,0.95,324.8,348.4,9.4,875,18122,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2099,1512
$GC,18429,0.95,324.8,318.0,9.6,890,18431,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2099,1512
$GC,18739,0.95,324.8,287.8,9.7,905,18740,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2099,1512
$GC,19049,0.95,324.8,259.6,9.3,920,19050,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2099,1513
$GC,19357,0.95,324.8,227.4,10.4,935,19358,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2099,1513
$GC,19667,0.95,324.8,203.6,8.5,950,19668,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2099,1513
$GC,19977,1.02,369.3,185.5,4.8,965,20018,0.00,0.00,38.85,0.932,6,0.000,0.000,2957,2098,1326
$GC,20326,1.18,447.3,167.0,3.9,982,20399,0.20,2.60,65.10,0.928,4,0.047,0.061,3009,716,1008
$GC,20411,1.09,447.3,161.9,7.6,986,20416,0.15,2.53,0.00,0.000,6,0.081,0.051,2979,2113,1008
$GC,20734,1.27,558.8,147.6,2.9,1002,20833,0.17,2.65,92.75,0.898,4,0.048,0.062,3031,709,552
$GC,20864,1.20,558.8,133.0,10.9,1007,20869,0.12,2.50,0.00,0.000,6,0.083,0.052,3007,2090,553
$GC,21187,1.20,558.8,87.8,13.3,1023,21191,0.00,2.55,0.00,0.000,4,0.000,0.065,3007,715,553
$GC,21220,1.20,558.8,83.3,11.7,1024,21226,0.00,2.45,0.00,0.000,6,0.000,0.052,3006,2080,553
$GC,21538,1.20,558.8,45.4,11.9,1040,21543,0.00,2.53,0.00,0.000,4,0.000,0.064,3007,714,553
$GC,21566,1.20,558.8,41.5,13.0,1041,21570,0.00,2.42,0.00,0.000,6,0.000,0.051,3007,2071,553
$GC,21882,1.20,558.8,7.1,11.4,1056,21887,0.00,2.50,0.00,0.000,4,0.000,0.063,3007,713,553
$STATE,21907,end climb,SURFACE_DEPTH_REACHED
$STATE,21907,begin surface coast
$FINISH,1.3,1.027415
$STATE,21931,end surface coast,CONTROL_FINISHED_OK
$STATE,21931,begin surface
$SM_CCo,22017,0.00,0.000,0,0,552,559.04
$SM_GC,1.18,11.35,0.00,0.00,0.038,0.000,0.000,422,2026,552,-10.60,0.76,559.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1803
$TCM_TEMP,18.80
$XPDR_PINGS,75
$ALTIM_BOTTOM_PING,801.4,67.3
$24V_AH,23.4,73.602
$10V_AH,10.1,36.575
$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,25.825,170.750,635.575,0.000,0.000,37.762,27.230,161.954,26.000,0.000,0.000,12.661,1878.023,17022.256,722.376,2129.265,628.644,0.000,1835.398,0.000,2082.707,0.000,48.527,0.000
$DEVICE_MAMPS,138.827,89.739,1510.990,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,781.696,713.937,551.233,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53739,1058
$CAP_FILE_SIZE,152865,0
$CFSIZE,254472192,225927168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,44,0,0
$GPS,080209,065906,6137.658,-901.592,39,1.4,39,-9.3