version: 66.04
glider: 5
mission: 5
dive: 428
start: 2 11 109 13 35 50
data:
$ID,5
$MISSION,5
$DIVE,428
$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,-95794.602
$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,26
$R_STBD_OVSHOOT,25
$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
$GPS1,132451,6142.885,-912.732,42,1.6,54,-9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-67.5
$GPS2,133531,6142.792,-912.774,12,1.6,17,-9.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_4
$TGT_LATLONG,6140.000,-845.000
$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,111.4,24953,-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,-81.20,0.000,2,0.000,0.000,420,1969,3181
$GC,104,-0.97,-146.6,3.8,-3.5,4,128,11.20,2.65,-6.60,0.000,4,0.140,0.072,2524,3408,3431
$GC,274,-0.88,-146.6,26.1,-10.5,11,279,0.12,2.53,0.00,0.000,6,0.092,0.048,2550,1993,3431
$GC,590,-0.88,-146.6,57.4,-9.6,26,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1991,3431
$GC,901,-0.88,-146.6,85.1,-8.1,41,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1991,3431
$GC,1208,-0.88,-146.6,108.4,-6.8,56,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1991,3431
$GC,1518,-0.88,-146.6,127.6,-5.7,71,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1991,3431
$GC,1828,-0.88,-146.6,148.2,-7.1,86,1832,0.00,2.58,0.00,0.000,4,0.000,0.061,2550,3413,3431
$GC,1861,-0.88,-146.6,150.4,-6.6,87,1867,0.00,2.50,0.00,0.000,6,0.000,0.051,2550,2007,3431
$GC,2176,-0.88,-146.6,179.9,-9.4,103,2180,0.00,2.53,0.00,0.000,4,0.000,0.064,2550,591,3431
$GC,2204,-0.88,-146.6,182.5,-8.9,104,2208,0.00,2.53,0.00,0.000,6,0.000,0.051,2550,2016,3431
$GC,2526,-0.88,-146.6,208.8,-8.3,120,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2016,3431
$GC,2834,-0.84,-146.6,237.4,-11.5,135,2839,0.00,2.58,0.00,0.000,4,0.000,0.064,2550,595,3431
$GC,2856,-0.84,-146.6,240.4,-12.5,136,2861,0.00,2.53,0.00,0.000,6,0.000,0.051,2550,2020,3431
$GC,3179,-0.84,-146.6,273.5,-8.9,152,3183,0.00,2.60,0.00,0.000,4,0.000,0.064,2550,584,3431
$GC,3211,-0.84,-146.6,276.7,-9.8,153,3217,0.00,2.55,0.00,0.000,6,0.000,0.051,2550,2016,3431
$GC,3528,-0.84,-146.6,305.7,-8.9,169,3532,0.00,2.50,0.00,0.000,4,0.000,0.064,2550,3411,3431
$GC,3561,-0.84,-146.6,308.7,-8.9,170,3566,0.00,2.50,0.00,0.000,6,0.000,0.052,2550,2012,3431
$GC,3877,-0.84,-146.6,336.3,-8.6,185,3881,0.00,2.53,0.00,0.000,4,0.000,0.062,2550,592,3431
$GC,3904,-0.84,-146.6,338.7,-8.9,186,3908,0.00,2.53,0.00,0.000,6,0.000,0.051,2550,2017,3431
$GC,4221,-0.84,-146.6,364.5,-7.7,201,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2018,3431
$GC,4530,-0.84,-146.6,386.5,-6.0,216,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2018,3431
$GC,4840,-0.84,-146.6,406.4,-6.4,231,4844,0.00,2.60,0.00,0.000,4,0.000,0.064,2550,582,3431
$GC,4884,-0.84,-146.6,409.7,-6.9,233,4888,0.00,2.55,0.00,0.000,6,0.000,0.052,2550,2020,3431
$GC,5206,-0.84,-146.6,429.2,-5.4,249,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2020,3431
$GC,5515,-0.84,-146.6,447.5,-6.3,264,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2020,3431
$GC,5823,-0.84,-146.6,466.6,-6.1,279,5827,0.00,2.60,0.00,0.000,4,0.000,0.064,2550,583,3431
$GC,5863,-0.84,-146.6,469.5,-7.6,281,5867,0.00,2.55,0.00,0.000,6,0.000,0.053,2550,2023,3431
$GC,6190,-0.84,-146.6,493.9,-8.1,297,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2024,3431
$GC,6499,-0.84,-146.6,519.7,-8.6,312,6503,0.00,2.60,0.00,0.000,4,0.000,0.064,2550,586,3431
$GC,6526,-0.84,-146.6,522.1,-8.6,313,6530,0.00,2.53,0.00,0.000,6,0.000,0.052,2550,2013,3431
$GC,6842,-0.84,-146.6,547.8,-8.0,328,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2013,3431
$GC,7151,-0.84,-146.6,570.4,-7.2,343,7155,0.00,2.58,0.00,0.000,4,0.000,0.064,2550,591,3431
$GC,7184,-0.84,-146.6,572.8,-7.5,344,7190,0.00,2.50,0.00,0.000,6,0.000,0.052,2551,2003,3431
$GC,7500,-0.84,-146.6,596.3,-7.3,360,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2004,3431
$GC,7809,-0.84,-146.6,619.2,-7.3,375,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2004,3431
$GC,8118,-0.84,-146.6,642.6,-7.0,390,8122,0.00,2.58,0.00,0.000,4,0.000,0.066,2550,584,3431
$GC,8181,-0.84,-146.6,648.4,-9.8,393,8185,0.00,2.53,0.00,0.000,6,0.000,0.054,2550,2009,3431
$GC,8508,-0.84,-146.6,675.3,-7.7,409,8512,0.00,2.58,0.00,0.000,4,0.000,0.067,2550,595,3431
$GC,8642,-0.90,-146.6,688.9,-9.4,415,8647,0.00,2.45,0.00,0.000,6,0.000,0.054,2550,1976,3431
$GC,8965,-0.90,-146.6,728.9,-14.5,431,8969,0.00,2.58,0.00,0.000,4,0.000,0.068,2550,3402,3431
$GC,9066,-1.05,-146.6,741.9,-6.3,435,9073,0.15,2.53,0.00,0.000,6,0.061,0.060,2512,1999,3431
$GC,9384,-0.95,-146.6,751.1,-3.5,451,9389,0.12,2.58,0.00,0.000,4,0.097,0.078,2536,590,3431
$GC,9456,-0.95,-146.6,755.9,-7.4,454,9461,0.00,2.53,0.00,0.000,6,0.000,0.064,2537,1982,3430
$GC,9773,-0.95,-146.6,775.1,-0.1,469,9778,0.00,2.62,0.00,0.000,4,0.000,0.081,2536,3413,3430
$GC,9818,-1.12,-146.6,779.1,-6.8,471,9823,0.17,2.60,0.00,0.000,6,0.061,0.067,2491,1995,3429
$STATE,10075,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10075,begin apogee
$GC,10082,-0.33,0.0,800.9,12.7,484,10223,0.85,0.00,137.00,1.411,6,0.084,0.000,2671,2122,2832
$STATE,10223,end apogee,CONTROL_FINISHED_OK
$STATE,10224,begin climb
$GC,10228,0.97,146.6,806.5,0.0,491,10374,1.30,2.75,137.50,1.371,4,0.064,0.084,2950,3537,2233
$GC,10630,0.75,163.4,772.0,5.5,509,10655,0.22,2.65,16.45,1.262,6,0.087,0.074,2906,2130,2166
$GC,10979,1.05,353.0,764.9,0.8,526,11169,0.28,2.80,175.57,1.361,4,0.055,0.084,2976,3531,1392
$GC,11227,0.96,353.0,738.9,15.3,537,11231,0.00,2.70,0.00,0.000,6,0.000,0.075,2976,2112,1393
$GC,11544,0.88,353.0,702.4,9.0,552,11546,0.20,0.00,0.00,0.000,6,0.091,0.000,2937,2104,1393
$GC,11852,1.07,468.1,688.9,2.8,567,11962,0.17,2.72,101.57,1.365,4,0.061,0.081,2978,713,923
$GC,11976,1.11,498.0,682.6,5.2,573,12010,0.00,2.65,27.77,1.294,6,0.000,0.068,2978,2129,801
$GC,12330,1.11,498.0,653.4,10.4,590,12334,0.00,2.65,0.00,0.000,4,0.000,0.077,2978,711,800
$GC,12357,1.11,498.0,649.7,13.0,591,12361,0.00,2.58,0.00,0.000,6,0.000,0.064,2978,2111,800
$GC,12674,1.11,498.0,612.5,14.6,606,12679,0.00,2.65,0.00,0.000,4,0.000,0.074,2978,702,800
$GC,12701,1.11,498.0,607.9,14.9,607,12706,0.00,2.55,0.00,0.000,6,0.000,0.061,2978,2099,800
$GC,13017,1.11,498.0,570.4,9.6,622,13021,0.00,2.60,0.00,0.000,4,0.000,0.071,2978,708,800
$GC,13057,1.11,498.0,566.5,10.1,624,13062,0.00,2.45,0.00,0.000,6,0.000,0.058,2978,2059,800
$GC,13384,1.11,498.0,533.6,13.0,640,13389,0.00,2.53,0.00,0.000,4,0.000,0.069,2978,703,800
$GC,13407,1.11,498.0,530.4,13.5,641,13411,0.00,2.42,0.00,0.000,6,0.000,0.056,2978,2046,800
$GC,13729,1.11,498.0,489.5,11.5,657,13733,0.00,2.50,0.00,0.000,4,0.000,0.067,2978,701,802
$GC,13756,1.11,498.0,486.2,12.3,658,13760,0.00,2.40,0.00,0.000,6,0.000,0.054,2978,2033,801
$GC,14072,1.11,498.0,447.7,12.9,673,14076,0.00,2.45,0.00,0.000,4,0.000,0.066,2978,710,801
$GC,14090,1.11,498.0,445.5,12.1,674,14094,0.00,2.33,0.00,0.000,6,0.000,0.053,2978,2010,802
$GC,14417,1.11,498.0,407.9,11.1,690,14418,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2031,802
$GC,14726,1.11,498.0,375.9,10.6,705,14730,0.00,2.40,0.00,0.000,4,0.000,0.066,2978,704,803
$GC,14754,1.11,498.0,373.0,10.7,706,14758,0.00,2.33,0.00,0.000,6,0.000,0.053,2978,2008,803
$GC,15081,1.11,498.0,338.7,11.1,722,15082,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2028,803
$GC,15390,1.11,498.0,306.4,10.3,737,15395,0.00,2.40,0.00,0.000,4,0.000,0.065,2978,708,803
$GC,15412,1.11,498.0,303.9,10.8,738,15417,0.00,2.30,0.00,0.000,6,0.000,0.052,2978,1996,803
$GC,15735,1.16,498.0,268.2,11.5,754,15737,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2016,803
$GC,16043,1.22,498.0,232.2,9.1,769,16045,0.12,0.00,0.00,0.000,6,0.051,0.000,3017,2016,804
$GC,16354,1.15,498.0,197.2,11.7,784,16359,0.12,2.75,0.00,0.000,4,0.087,0.061,2992,3529,804
$GC,16381,1.15,498.0,193.9,11.0,785,16386,0.00,2.78,0.00,0.000,6,0.000,0.051,2992,1972,804
$GC,16697,1.15,498.0,158.2,13.1,800,16702,0.00,2.83,0.00,0.000,4,0.000,0.061,2992,3528,804
$GC,16731,1.20,498.0,153.7,12.2,801,16737,0.00,2.72,0.00,0.000,6,0.000,0.050,2992,1997,804
$GC,17049,1.20,498.0,115.7,12.7,817,17050,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1997,804
$GC,17357,1.20,498.0,89.4,8.3,832,17361,0.00,2.80,0.00,0.000,4,0.000,0.061,2992,3538,805
$GC,17408,1.29,498.0,85.0,8.0,834,17413,0.15,2.72,0.00,0.000,6,0.052,0.051,3032,2007,805
$GC,17724,1.19,498.0,46.2,13.8,849,17726,0.15,0.00,0.00,0.000,6,0.087,0.000,3003,2006,805
$GC,18033,1.19,498.0,9.6,11.4,864,18037,0.00,2.78,0.00,0.000,4,0.000,0.059,3003,3536,805
$GC,18061,1.19,498.0,6.1,12.5,865,18065,0.00,2.70,0.00,0.000,6,0.000,0.051,3003,2026,805
$STATE,18085,end climb,SURFACE_DEPTH_REACHED
$STATE,18085,begin surface coast
$FINISH,0.7,1.027411
$STATE,18108,end surface coast,CONTROL_FINISHED_OK
$STATE,18108,begin surface
$SM_CCo,18190,0.00,0.000,0,0,805,497.22
$SM_GC,1.54,11.25,0.00,0.00,0.038,0.000,0.000,421,2025,805,-10.60,0.71,497.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1828
$TCM_TEMP,17.00
$XPDR_PINGS,81
$ALTIM_BOTTOM_PING,726.0,81.8
$24V_AH,23.5,76.238
$10V_AH,10.1,37.893
$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,26.600,159.800,595.875,0.000,0.000,75.522,58.798,289.211,26.750,0.000,0.000,17.214,1578.817,13867.823,672.378,1907.895,793.624,0.000,1685.271,0.000,1855.315,0.000,43.787,0.000
$DEVICE_MAMPS,140.361,87.438,1411.280,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,637.153,584.969,504.652,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44154,867
$CAP_FILE_SIZE,138269,0
$CFSIZE,254472192,224948224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,47,0,0
$GPS,110209,184007,6140.729,-911.077,29,1.0,29,-9.4