version: 66.04
glider: 5
mission: 5
dive: 419
start: 2 9 109 7 24 15
data:
$ID,5
$MISSION,5
$DIVE,419
$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,-95590.695
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,071409,6145.135,-942.992,38,1.7,41,-9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-56.2
$GPS2,072355,6145.240,-943.075,32,1.8,32,-9.7
$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,265.0,1745,-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,13,begin dive
$GC,16,-1.87,-28.8,0.0,0.0,0,119,0.00,0.00,-101.18,0.000,2,0.000,0.000,425,1970,2945
$GC,123,-1.91,-56.3,3.1,-2.2,5,145,9.95,2.62,-3.95,0.000,4,0.136,0.072,2326,3401,3063
$GC,398,-1.79,-56.3,51.0,-20.2,17,403,0.15,2.50,0.00,0.000,6,0.112,0.050,2352,2002,3062
$GC,721,-1.79,-56.3,105.6,-13.3,33,725,0.00,2.55,0.00,0.000,4,0.000,0.061,2353,3404,3061
$GC,771,-1.79,-56.3,113.1,-13.8,35,776,0.00,2.53,0.00,0.000,6,0.000,0.049,2353,1986,3061
$GC,1087,-1.79,-56.3,153.4,-13.6,50,1091,0.00,2.47,0.00,0.000,4,0.000,0.062,2353,594,3061
$GC,1154,-1.79,-56.3,162.7,-12.8,53,1158,0.00,2.47,0.00,0.000,6,0.000,0.049,2352,1994,3061
$GC,1476,-1.79,-56.3,205.2,-13.9,69,1480,0.00,2.55,0.00,0.000,4,0.000,0.062,2353,592,3061
$GC,1599,-1.79,-56.3,219.4,-10.3,74,1605,0.00,2.45,0.00,0.000,6,0.000,0.050,2353,1981,3061
$GC,1915,-1.79,-56.3,265.4,-16.2,90,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1997,3061
$GC,2223,-1.79,-56.3,313.4,-14.9,105,2228,0.00,2.55,0.00,0.000,4,0.000,0.064,2352,585,3061
$GC,2347,-1.74,-56.3,329.2,-12.2,110,2354,0.00,2.45,0.00,0.000,6,0.000,0.051,2352,1963,3060
$GC,2664,-1.74,-56.3,371.8,-13.1,126,2668,0.00,2.47,0.00,0.000,4,0.000,0.064,2352,595,3060
$GC,2715,-1.74,-56.3,378.5,-12.6,128,2719,0.00,2.40,0.00,0.000,6,0.000,0.051,2352,1952,3061
$GC,3035,-1.74,-56.3,414.1,-10.2,144,3039,0.00,2.47,0.00,0.000,4,0.000,0.063,2352,584,3061
$GC,3065,-1.68,-56.3,417.3,-11.1,145,3070,0.12,2.42,0.00,0.000,6,0.117,0.051,2375,1960,3060
$GC,3389,-1.74,-56.3,449.0,-9.8,161,3393,0.00,2.47,0.00,0.000,4,0.000,0.064,2375,595,3060
$GC,3501,-1.74,-56.3,462.0,-11.4,166,3505,0.00,2.38,0.00,0.000,6,0.000,0.050,2375,1941,3061
$GC,3826,-1.79,-56.3,500.3,-11.2,182,3830,0.00,2.45,0.00,0.000,4,0.000,0.064,2375,593,3061
$GC,3938,-1.79,-56.3,514.0,-12.7,187,3942,0.00,2.38,0.00,0.000,6,0.000,0.050,2375,1939,3061
$GC,4260,-1.84,-56.3,549.2,-10.8,203,4265,0.15,2.47,0.00,0.000,4,0.054,0.063,2336,584,3060
$GC,4338,-1.76,-56.3,559.5,-13.1,206,4345,0.12,2.40,0.00,0.000,6,0.110,0.051,2358,1934,3060
$GC,4655,-1.76,-56.3,589.2,-9.2,222,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1935,3061
$GC,4963,-1.76,-56.3,621.2,-11.6,237,4968,0.00,2.62,0.00,0.000,4,0.000,0.063,2358,3404,3060
$GC,4991,-1.76,-56.3,624.5,-12.1,238,4996,0.00,2.62,0.00,0.000,6,0.000,0.054,2358,1938,3060
$GC,5313,-1.76,-56.3,659.4,-9.4,254,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1937,3060
$GC,5621,-1.76,-56.3,685.3,-8.4,269,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1937,3060
$GC,5931,-1.76,-56.3,714.6,-10.0,284,5935,0.00,2.40,0.00,0.000,4,0.000,0.064,2358,588,3060
$GC,6065,-1.76,-56.3,729.3,-10.3,290,6069,0.00,2.40,0.00,0.000,6,0.000,0.052,2358,1944,3060
$GC,6386,-1.76,-56.3,761.0,-10.4,306,6390,0.00,2.45,0.00,0.000,4,0.000,0.066,2358,595,3060
$GC,6443,-1.76,-56.3,767.9,-13.6,308,6449,0.00,2.40,0.00,0.000,6,0.000,0.052,2358,1949,3060
$GC,6759,-1.76,-56.3,808.6,-12.5,324,6763,0.00,2.50,0.00,0.000,4,0.000,0.065,2358,584,3060
$GC,6853,-1.76,-56.3,819.7,-10.1,328,6857,0.00,2.38,0.00,0.000,6,0.000,0.053,2358,1925,3060
$GC,7174,-1.76,-56.3,852.3,-15.2,343,7179,0.00,2.65,0.00,0.000,4,0.000,0.063,2358,3411,3059
$GC,7433,-1.76,-56.3,878.1,-7.5,354,7440,0.00,2.62,0.00,0.000,6,0.000,0.057,2358,1927,3060
$GC,7750,-1.86,-56.3,931.2,-15.2,370,7754,0.00,2.67,0.00,0.000,4,0.000,0.069,2358,3403,3060
$STATE,7787,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7787,begin apogee
$GC,7796,-0.33,0.0,934.8,8.9,372,7853,1.52,0.00,52.80,1.437,6,0.094,0.000,2671,2120,2832
$STATE,7854,end apogee,CONTROL_FINISHED_OK
$STATE,7854,begin climb
$GC,7858,1.91,56.3,937.8,0.0,375,7921,2.20,2.67,53.30,1.420,4,0.058,0.072,3164,712,2602
$GC,7933,1.53,56.3,933.1,11.0,378,7939,0.45,2.58,0.00,0.000,6,0.107,0.058,3080,2117,2602
$GC,8250,1.61,56.3,904.8,17.1,393,8254,0.00,2.65,0.00,0.000,4,0.000,0.077,3079,706,2601
$GC,8271,1.61,56.3,899.8,20.8,394,8276,0.00,2.60,0.00,0.000,6,0.000,0.061,3079,2135,2601
$GC,8593,1.68,56.3,856.8,13.2,410,8598,0.15,2.60,0.00,0.000,4,0.063,0.077,3114,3532,2600
$GC,8852,1.56,56.3,840.5,10.5,421,8858,0.15,2.58,0.00,0.000,6,0.111,0.066,3088,2133,2599
$GC,9168,1.69,78.3,824.9,2.9,437,9191,0.12,0.00,20.38,1.362,6,0.071,0.000,3115,2100,2512
$GC,9498,1.69,78.3,801.7,8.1,453,9502,0.00,2.60,0.00,0.000,4,0.000,0.077,3115,711,2510
$GC,9525,1.65,78.3,799.8,6.9,454,9530,0.00,2.55,0.00,0.000,6,0.000,0.063,3115,2102,2510
$GC,9842,1.65,78.3,774.3,9.1,469,9846,0.00,2.62,0.00,0.000,4,0.000,0.073,3115,3531,2509
$GC,10101,1.60,78.3,754.3,6.0,480,10108,0.12,2.50,0.00,0.000,6,0.117,0.059,3094,2154,2509
$GC,10418,1.67,78.3,735.9,7.2,496,10422,0.00,2.55,0.00,0.000,4,0.000,0.069,3095,3534,2509
$GC,10676,1.67,78.3,710.3,10.9,507,10680,0.00,2.47,0.00,0.000,6,0.000,0.056,3094,2158,2509
$GC,10993,1.75,78.3,678.6,9.9,522,10998,0.15,2.55,0.00,0.000,4,0.061,0.065,3130,3534,2508
$GC,11252,1.68,78.3,648.0,11.4,533,11259,0.00,2.42,0.00,0.000,6,0.000,0.054,3130,2174,2508
$GC,11568,1.68,78.3,613.2,11.3,549,11572,0.00,2.47,0.00,0.000,4,0.000,0.063,3130,3532,2509
$GC,11815,1.59,78.3,584.2,10.6,560,11820,0.20,2.42,0.00,0.000,6,0.107,0.051,3094,2172,2509
$GC,12137,1.68,78.3,551.7,9.9,576,12141,0.00,2.47,0.00,0.000,4,0.000,0.062,3094,3532,2510
$GC,12261,1.68,78.3,539.3,11.1,581,12266,0.00,2.40,0.00,0.000,6,0.000,0.050,3094,2181,2510
$GC,12578,1.77,78.3,511.7,8.2,596,12580,0.15,0.00,0.00,0.000,6,0.058,0.000,3130,2180,2511
$GC,12887,1.77,78.3,486.7,7.6,611,12891,0.00,2.47,0.00,0.000,4,0.000,0.061,3130,3541,2511
$GC,12966,1.71,78.3,480.4,7.6,614,12972,0.00,2.40,0.00,0.000,6,0.000,0.051,3130,2187,2511
$GC,13282,1.71,78.3,459.2,7.0,630,13286,0.00,2.45,0.00,0.000,4,0.000,0.061,3130,3536,2511
$GC,13413,1.64,78.3,449.8,7.2,636,13418,0.15,2.38,0.00,0.000,6,0.113,0.049,3106,2193,2511
$GC,13740,1.69,78.3,427.6,6.9,652,13744,0.00,2.45,0.00,0.000,4,0.000,0.061,3106,3541,2511
$GC,13875,1.69,78.3,417.2,8.1,658,13879,0.00,2.35,0.00,0.000,6,0.000,0.050,3106,2210,2512
$GC,14203,1.78,86.4,397.7,4.9,674,14217,0.12,2.47,8.70,0.940,4,0.061,0.060,3135,3532,2479
$GC,14264,1.73,96.9,394.4,4.5,676,14279,0.00,2.35,10.40,0.972,6,0.000,0.048,3135,2215,2437
$GC,14596,1.73,96.9,369.7,8.3,693,14600,0.00,2.40,0.00,0.000,4,0.000,0.060,3135,3534,2437
$GC,14651,1.73,96.9,364.4,9.8,695,14658,0.00,2.33,0.00,0.000,6,0.000,0.048,3135,2221,2437
$GC,14969,1.73,96.9,338.1,8.7,711,14973,0.00,2.38,0.00,0.000,4,0.000,0.061,3135,3532,2437
$GC,15030,1.73,96.9,332.1,9.4,713,15036,0.00,2.30,0.00,0.000,6,0.000,0.048,3135,2232,2437
$GC,15346,1.73,96.9,300.6,10.3,729,15350,0.00,2.38,0.00,0.000,4,0.000,0.061,3135,3538,2437
$GC,15419,1.68,96.9,293.9,10.6,732,15424,0.12,2.30,0.00,0.000,6,0.111,0.049,3114,2238,2437
$GC,15735,1.76,96.9,263.6,9.4,747,15736,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2236,2438
$GC,16046,1.83,96.9,236.2,9.4,762,16050,0.12,2.38,0.00,0.000,4,0.061,0.060,3146,3539,2438
$GC,16159,1.76,96.9,223.4,11.9,767,16163,0.00,2.30,0.00,0.000,6,0.000,0.048,3146,2238,2438
$GC,16486,1.76,96.9,178.2,13.1,783,16490,0.00,2.35,0.00,0.000,4,0.000,0.061,3146,3534,2438
$GC,16605,1.70,96.9,163.7,11.9,788,16610,0.17,2.28,0.00,0.000,6,0.110,0.047,3114,2242,2439
$GC,16922,1.76,96.9,142.8,6.6,803,16923,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2227,2439
$GC,17232,1.84,96.9,119.6,7.5,818,17234,0.15,0.00,0.00,0.000,6,0.058,0.000,3152,2225,2439
$GC,17539,1.84,96.9,87.3,11.7,833,17541,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2224,2439
$GC,17849,1.84,96.9,50.6,9.0,848,17853,0.00,2.35,0.00,0.000,4,0.000,0.060,3152,3532,2439
$GC,18032,1.78,96.9,32.2,11.1,856,18036,0.00,2.30,0.00,0.000,6,0.000,0.048,3152,2228,2439
$STATE,18330,end climb,SURFACE_DEPTH_REACHED
$STATE,18330,begin surface coast
$FINISH,0.6,1.026688
$STATE,18372,end surface coast,CONTROL_FINISHED_OK
$STATE,18373,begin surface
$SM_CCo,18397,86.47,0.814,0,0,1812,250.21
$SM_GC,1.45,0.00,0.00,86.47,0.000,0.000,0.814,420,1975,1812,-10.70,-0.71,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1791
$TCM_TEMP,17.00
$XPDR_PINGS,107
$ALTIM_BOTTOM_PING,852.3,92.5
$24V_AH,23.5,74.485
$10V_AH,10.1,37.037
$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,28.550,173.000,145.575,86.475,0.000,75.518,64.839,213.089,34.500,0.000,0.000,34.424,1727.345,13822.134,450.371,2333.203,730.634,0.000,1565.698,0.000,2256.244,0.000,51.780,0.000
$DEVICE_MAMPS,135.759,76.700,1436.591,813.787,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,634.359,602.651,470.178,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44306,873
$CAP_FILE_SIZE,153128,0
$CFSIZE,254472192,225591296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,54,0,0
$GPS,090209,123337,6145.604,-946.529,37,1.4,37,-9.7