version: 66.04
glider: 5
mission: 5
dive: 417
start: 2 8 109 18 27 21
data:
$ID,5
$MISSION,5
$DIVE,417
$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,-95539.969
$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,32
$R_STBD_OVSHOOT,19
$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
$GPS1,182124,6140.392,-918.028,43,1.1,43,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-63.8
$GPS2,182702,6140.425,-918.068,13,1.1,13,-9.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_6
$TGT_LATLONG,6145.000,-945.000
$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,299.1,25083,-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,15,begin dive
$GC,18,-0.97,-146.6,0.0,0.0,0,81,0.00,0.00,-60.88,0.000,2,0.000,0.000,420,1967,2987
$GC,84,-0.97,-146.6,3.2,-4.1,3,115,11.07,2.60,-13.90,0.000,4,0.136,0.072,2527,3415,3431
$GC,368,-0.88,-146.6,36.3,-10.1,15,375,0.12,2.53,0.00,0.000,6,0.095,0.051,2553,2003,3431
$GC,686,-0.88,-146.6,54.4,-5.4,31,690,0.00,2.58,0.00,0.000,4,0.000,0.061,2553,3415,3431
$GC,719,-0.88,-146.6,56.7,-6.9,32,726,0.00,2.53,0.00,0.000,6,0.000,0.049,2554,1999,3431
$GC,1036,-0.83,-146.6,75.4,-6.0,48,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1998,3431
$GC,1346,-0.83,-146.6,103.0,-10.4,63,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1998,3431
$GC,1655,-0.83,-146.6,133.8,-11.5,78,1659,0.00,2.53,0.00,0.000,4,0.000,0.064,2553,583,3431
$GC,1682,-0.83,-146.6,137.4,-11.8,79,1687,0.00,2.55,0.00,0.000,6,0.000,0.051,2554,2020,3431
$GC,1998,-0.83,-146.6,170.6,-11.5,94,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2022,3431
$GC,2308,-0.83,-146.6,199.0,-9.6,109,2312,0.00,2.60,0.00,0.000,4,0.000,0.063,2553,586,3431
$GC,2347,-0.83,-146.6,201.6,-6.3,111,2352,0.00,2.55,0.00,0.000,6,0.000,0.052,2554,2024,3431
$GC,2674,-0.83,-146.6,230.1,-10.9,127,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2025,3431
$GC,2985,-0.83,-146.6,256.9,-8.8,142,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2024,3431
$GC,3293,-0.83,-146.6,279.5,-4.5,157,3298,0.00,2.60,0.00,0.000,4,0.000,0.063,2554,587,3431
$GC,3349,-0.83,-146.6,282.6,-5.7,159,3356,0.00,2.55,0.00,0.000,6,0.000,0.052,2553,2026,3431
$GC,3667,-0.83,-146.6,297.0,-4.3,175,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2027,3431
$GC,3975,-0.83,-146.6,309.5,-4.4,190,3979,0.00,2.60,0.00,0.000,4,0.000,0.063,2553,587,3431
$GC,4020,-0.83,-146.6,311.9,-5.4,192,4024,0.00,2.55,0.00,0.000,6,0.000,0.052,2554,2022,3431
$GC,4341,-0.83,-146.6,334.0,-7.8,208,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2023,3431
$GC,4650,-0.83,-146.6,358.4,-6.0,223,4654,0.00,2.60,0.00,0.000,4,0.000,0.064,2553,584,3431
$GC,4735,-0.83,-146.6,363.2,-6.4,227,4740,0.00,2.53,0.00,0.000,6,0.000,0.052,2553,2012,3431
$GC,5063,-0.83,-146.6,382.3,-5.6,243,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2013,3431
$GC,5372,-0.83,-146.6,400.5,-6.2,258,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2013,3431
$GC,5682,-0.83,-146.6,429.8,-11.3,273,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2013,3431
$GC,5990,-0.83,-146.6,463.1,-11.2,288,5994,0.00,2.58,0.00,0.000,4,0.000,0.065,2553,591,3431
$GC,6052,-0.83,-146.6,470.6,-12.1,291,6057,0.00,2.53,0.00,0.000,6,0.000,0.051,2553,2008,3431
$GC,6380,-0.83,-146.6,503.1,-8.7,307,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2009,3431
$GC,6689,-0.83,-146.6,534.3,-10.6,322,6693,0.00,2.58,0.00,0.000,4,0.000,0.064,2553,586,3431
$GC,6721,-0.83,-146.6,537.9,-11.1,323,6727,0.00,2.50,0.00,0.000,6,0.000,0.052,2553,2001,3431
$GC,7038,-0.83,-146.6,566.6,-8.2,339,7042,0.00,2.55,0.00,0.000,4,0.000,0.064,2553,593,3431
$GC,7059,-0.83,-146.6,568.8,-8.8,340,7063,0.00,2.47,0.00,0.000,6,0.000,0.052,2553,1997,3431
$GC,7387,-0.83,-146.6,594.2,-7.1,356,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2010,3431
$GC,7698,-0.83,-146.6,612.0,-5.1,371,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2003,3431
$GC,8006,-0.83,-146.6,627.0,-4.6,386,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2009,3431
$GC,8316,-0.83,-146.6,655.5,-10.8,401,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2009,3431
$GC,8624,-0.83,-146.6,670.2,-1.3,416,8629,0.00,2.55,0.00,0.000,4,0.000,0.064,2553,586,3431
$GC,8665,-0.83,-146.6,670.9,-2.0,418,8669,0.00,2.47,0.00,0.000,6,0.000,0.052,2553,1987,3431
$GC,8991,-0.83,-146.6,692.3,-9.8,434,8996,0.00,2.55,0.00,0.000,4,0.000,0.066,2553,583,3431
$GC,9036,-0.83,-146.6,697.2,-10.7,436,9040,0.00,2.47,0.00,0.000,6,0.000,0.053,2553,1980,3431
$GC,9357,-0.83,-146.6,721.4,-6.6,452,9361,0.00,2.55,0.00,0.000,4,0.000,0.064,2553,3407,3431
$GC,9430,-0.89,-146.6,725.9,-5.1,455,9435,0.00,2.58,0.00,0.000,6,0.000,0.056,2553,1974,3431
$GC,9746,-0.93,-146.6,743.3,-6.5,470,9747,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1960,3431
$GC,10056,-0.93,-146.6,760.6,-5.4,485,10057,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1959,3431
$GC,10366,-0.98,-146.6,774.1,-1.9,500,10370,0.00,2.53,0.00,0.000,4,0.000,0.077,2553,583,3431
$GC,10406,-1.06,-146.6,776.0,-4.9,502,10412,0.17,2.50,0.00,0.000,6,0.056,0.062,2509,1970,3431
$GC,10737,-0.98,-146.6,803.5,-10.6,518,10742,0.10,2.60,0.00,0.000,4,0.102,0.081,2527,594,3431
$GC,10874,-0.98,-146.6,814.1,-5.7,524,10878,0.00,2.47,0.00,0.000,6,0.000,0.065,2527,1954,3430
$GC,11196,-0.93,-146.6,858.1,-21.8,540,11200,0.00,2.67,0.00,0.000,4,0.000,0.081,2527,3416,3428
$STATE,11271,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11271,begin apogee
$GC,11280,-0.33,0.0,869.1,12.0,543,11419,0.65,0.00,135.20,1.456,6,0.085,0.000,2667,2089,2832
$STATE,11420,end apogee,CONTROL_FINISHED_OK
$STATE,11421,begin climb
$GC,11424,0.97,146.6,875.3,0.0,550,11569,1.30,2.72,134.70,1.418,4,0.061,0.086,2952,720,2234
$GC,11635,0.65,146.6,860.7,16.5,559,11642,0.32,2.62,0.00,0.000,6,0.084,0.071,2887,2123,2234
$GC,11952,0.65,146.6,831.6,7.9,575,11957,0.00,2.67,0.00,0.000,4,0.000,0.084,2887,717,2233
$GC,12014,0.65,146.6,825.6,11.9,578,12019,0.00,2.60,0.00,0.000,6,0.000,0.070,2887,2119,2233
$GC,12342,0.65,146.6,801.3,6.5,594,12346,0.00,2.65,0.00,0.000,4,0.000,0.084,2887,3530,2231
$GC,12386,0.65,146.6,796.9,10.8,596,12390,0.00,2.65,0.00,0.000,6,0.000,0.071,2887,2112,2231
$GC,12706,0.65,146.6,781.2,7.9,612,12708,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2111,2229
$GC,13017,0.68,159.4,767.2,5.6,627,13035,0.00,0.00,12.10,1.306,6,0.000,0.000,2887,2101,2182
$GC,13345,0.84,232.4,748.5,4.0,643,13419,0.17,2.72,67.12,1.418,4,0.061,0.086,2935,706,1883
$GC,13462,0.77,232.4,739.2,9.2,648,13467,0.00,2.67,0.00,0.000,6,0.000,0.073,2935,2124,1883
$GC,13780,0.73,232.4,714.3,6.5,663,13785,0.15,2.67,0.00,0.000,4,0.094,0.083,2904,3538,1884
$GC,13875,0.82,248.3,708.2,5.6,667,13897,0.00,2.60,15.88,1.315,6,0.000,0.070,2904,2147,1819
$GC,14217,1.07,360.6,694.6,2.9,684,14326,0.30,2.75,102.05,1.362,4,0.055,0.077,2980,705,1361
$GC,14399,0.99,360.6,681.0,7.7,692,14406,0.00,2.67,0.00,0.000,6,0.000,0.066,2979,2147,1359
$GC,14716,0.91,360.6,648.8,11.7,708,14721,0.17,2.70,0.00,0.000,4,0.087,0.072,2943,713,1360
$GC,14743,0.91,360.6,645.8,10.1,709,14748,0.00,2.60,0.00,0.000,6,0.000,0.061,2942,2138,1360
$GC,15060,0.91,360.6,619.9,8.5,724,15061,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2155,1361
$GC,15369,0.96,360.6,592.0,9.5,739,15373,0.00,2.65,0.00,0.000,4,0.000,0.069,2943,711,1362
$GC,15396,1.02,360.6,589.4,9.1,740,15401,0.10,2.58,0.00,0.000,6,0.061,0.056,2972,2139,1361
$GC,15713,1.02,360.6,563.8,10.2,755,15714,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2156,1362
$GC,16022,1.06,413.8,548.6,4.5,770,16077,0.00,2.78,47.53,1.198,4,0.000,0.065,2972,707,1145
$GC,16124,1.06,413.8,542.2,7.1,774,16131,0.00,2.58,0.00,0.000,6,0.000,0.054,2972,2130,1145
$GC,16440,1.06,413.8,516.7,9.6,790,16444,0.00,2.65,0.00,0.000,4,0.000,0.067,2972,702,1146
$GC,16461,1.06,413.8,514.0,12.4,791,16465,0.00,2.55,0.00,0.000,6,0.000,0.054,2972,2118,1146
$GC,16783,1.06,413.8,473.5,12.7,807,16787,0.00,2.60,0.00,0.000,4,0.000,0.066,2972,709,1146
$GC,16815,1.06,413.8,468.8,12.1,808,16822,0.00,2.50,0.00,0.000,6,0.000,0.053,2972,2103,1146
$GC,17131,1.06,413.8,430.7,11.6,824,17136,0.00,2.55,0.00,0.000,4,0.000,0.066,2972,711,1147
$GC,17160,1.06,413.8,427.1,13.8,825,17164,0.00,2.47,0.00,0.000,6,0.000,0.053,2972,2093,1147
$GC,17476,1.06,413.8,390.8,12.8,840,17477,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2113,1147
$GC,17785,1.06,413.8,353.9,11.5,855,17789,0.00,2.55,0.00,0.000,4,0.000,0.064,2972,706,1148
$GC,17807,1.06,413.8,351.1,12.8,856,17812,0.00,2.47,0.00,0.000,6,0.000,0.052,2972,2090,1147
$GC,18129,1.06,413.8,316.4,10.6,872,18130,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2099,1148
$GC,18438,1.06,413.8,283.4,11.2,887,18442,0.00,2.55,0.00,0.000,4,0.000,0.064,2973,703,1148
$GC,18465,1.06,413.8,280.4,11.7,888,18469,0.00,2.45,0.00,0.000,6,0.000,0.053,2972,2074,1148
$GC,18782,1.06,413.8,245.6,11.3,903,18783,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2092,1149
$GC,19090,1.06,413.8,210.5,9.6,918,19094,0.00,2.50,0.00,0.000,4,0.000,0.064,2972,711,1149
$GC,19129,1.06,413.8,206.8,11.0,920,19134,0.00,2.42,0.00,0.000,6,0.000,0.052,2972,2071,1149
$GC,19458,1.06,413.8,170.4,11.8,936,19459,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2094,1149
$GC,19767,1.06,413.8,141.2,8.9,951,19772,0.00,2.50,0.00,0.000,4,0.000,0.064,2972,711,1149
$GC,19795,1.06,413.8,139.0,7.2,952,19800,0.00,2.42,0.00,0.000,6,0.000,0.052,2972,2068,1149
$GC,20112,1.06,413.8,113.0,9.9,967,20117,0.00,2.60,0.00,0.000,4,0.000,0.061,2972,3528,1149
$GC,20140,1.12,413.8,109.9,10.1,968,20144,0.00,2.62,0.00,0.000,6,0.000,0.050,2972,2053,1149
$GC,20458,1.12,413.8,81.3,10.1,983,20459,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2053,1149
$GC,20766,1.12,413.8,51.4,9.8,998,20767,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2053,1149
$GC,21075,1.12,413.8,25.3,9.4,1013,21076,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2053,1149
$STATE,21319,end climb,SURFACE_DEPTH_REACHED
$STATE,21319,begin surface coast
$FINISH,0.5,1.027546
$STATE,21362,end surface coast,CONTROL_FINISHED_OK
$STATE,21362,begin surface
$SM_CCo,21445,0.00,0.000,0,0,1149,412.84
$SM_GC,1.44,11.12,0.00,0.00,0.038,0.000,0.000,421,1984,1149,-10.60,-0.45,412.84
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1827
$TCM_TEMP,17.00
$XPDR_PINGS,98
$ALTIM_BOTTOM_PING,802.6,76.5
$24V_AH,23.5,74.159
$10V_AH,10.1,36.847
$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,25.775,169.850,514.575,0.000,0.000,37.764,26.517,142.436,31.750,0.000,0.000,13.474,1861.822,16518.521,611.152,2189.065,599.777,0.000,1740.460,0.000,2138.412,0.000,48.543,0.000
$DEVICE_MAMPS,135.759,85.904,1455.766,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,755.619,692.480,580.188,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53586,1027
$CAP_FILE_SIZE,152823,0
$CFSIZE,254472192,225726464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,45,0,0
$GPS,090209,002600,6143.304,-929.690,37,1.3,37,-9.6