version: 66.04
glider: 5
mission: 5
dive: 430
start: 2 12 109 1 4 36
data:
$ID,5
$MISSION,5
$DIVE,430
$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,-95842.398
$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,21
$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
$GPS1,005727,6140.413,-907.005,40,2.3,59,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-56.8
$GPS2,010416,6140.382,-907.029,14,2.1,33,-9.3
$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,101.4,19375,-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,12,begin dive
$GC,15,-0.97,-146.6,0.0,0.0,0,118,0.00,0.00,-101.07,0.000,2,0.000,0.000,418,1955,3003
$GC,122,-0.97,-146.6,3.2,-2.2,5,153,11.07,2.55,-12.73,0.000,4,0.134,0.074,2528,588,3431
$GC,293,-0.85,-146.6,22.4,-7.7,12,300,0.15,2.53,0.00,0.000,6,0.088,0.050,2558,2010,3431
$GC,611,-0.85,-146.6,47.8,-5.8,28,615,0.00,2.53,0.00,0.000,4,0.000,0.063,2558,3415,3431
$GC,630,-0.85,-146.6,48.9,-5.7,29,634,0.00,2.53,0.00,0.000,6,0.000,0.050,2558,2000,3431
$GC,957,-0.85,-146.6,77.9,-9.4,45,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1999,3431
$GC,1266,-0.85,-146.6,101.8,-7.2,60,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1999,3430
$GC,1576,-0.85,-146.6,129.9,-10.6,75,1580,0.00,2.53,0.00,0.000,4,0.000,0.064,2558,585,3430
$GC,1599,-0.85,-146.6,132.8,-11.3,76,1603,0.00,2.58,0.00,0.000,6,0.000,0.051,2558,2029,3431
$GC,1920,-0.85,-146.6,158.1,-7.2,92,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2029,3430
$GC,2230,-0.85,-146.6,180.5,-6.7,107,2234,0.00,2.62,0.00,0.000,4,0.000,0.064,2557,584,3430
$GC,2279,-0.85,-146.6,184.3,-7.2,109,2283,0.00,2.53,0.00,0.000,6,0.000,0.052,2558,2008,3430
$GC,2595,-0.85,-146.6,207.4,-7.5,124,2599,0.00,2.53,0.00,0.000,4,0.000,0.064,2558,3411,3430
$GC,2623,-0.85,-146.6,209.6,-7.9,125,2627,0.00,2.50,0.00,0.000,6,0.000,0.051,2558,2006,3430
$GC,2939,-0.85,-146.6,232.7,-6.2,140,2943,0.00,2.53,0.00,0.000,4,0.000,0.064,2558,592,3430
$GC,2971,-0.85,-146.6,235.0,-7.1,141,2977,0.00,2.53,0.00,0.000,6,0.000,0.051,2558,2017,3430
$GC,3288,-0.85,-146.6,252.7,-5.3,157,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2018,3430
$GC,3596,-0.85,-146.6,271.3,-6.9,172,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2018,3430
$GC,3906,-0.85,-146.6,295.6,-8.1,187,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2019,3430
$GC,4216,-0.85,-146.6,320.3,-8.2,202,4220,0.00,2.60,0.00,0.000,4,0.000,0.066,2558,587,3430
$GC,4249,-0.85,-146.6,323.5,-9.4,203,4255,0.00,2.58,0.00,0.000,6,0.000,0.052,2558,2028,3430
$GC,4564,-0.85,-146.6,347.8,-7.8,219,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2029,3430
$GC,4874,-0.85,-146.6,374.9,-9.8,234,4879,0.00,2.62,0.00,0.000,4,0.000,0.065,2558,584,3430
$GC,4913,-0.85,-146.6,379.1,-10.8,235,4920,0.00,2.55,0.00,0.000,6,0.000,0.052,2558,2023,3430
$GC,5229,-0.85,-146.6,404.3,-7.9,251,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2023,3430
$GC,5539,-0.85,-146.6,430.4,-7.9,266,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2023,3430
$GC,5848,-0.85,-146.6,451.7,-7.5,281,5852,0.00,2.60,0.00,0.000,4,0.000,0.064,2558,590,3430
$GC,5903,-0.85,-146.6,456.4,-8.3,283,5909,0.00,2.50,0.00,0.000,6,0.000,0.051,2558,2005,3430
$GC,6220,-0.85,-146.6,479.3,-7.1,299,6224,0.00,2.53,0.00,0.000,4,0.000,0.064,2558,3408,3430
$GC,6242,-0.85,-146.6,481.0,-7.0,300,6246,0.00,2.53,0.00,0.000,6,0.000,0.054,2558,1999,3430
$GC,6564,-0.85,-146.6,503.6,-6.9,316,6568,0.00,2.53,0.00,0.000,4,0.000,0.066,2558,584,3430
$GC,6599,-0.85,-146.6,506.0,-7.6,317,6605,0.00,2.53,0.00,0.000,6,0.000,0.052,2558,2012,3430
$GC,6915,-0.85,-146.6,526.2,-6.4,333,6919,0.00,2.50,0.00,0.000,4,0.000,0.064,2558,3403,3430
$GC,6948,-0.85,-146.6,528.1,-5.8,334,6954,0.00,2.50,0.00,0.000,6,0.000,0.054,2558,2007,3430
$GC,7265,-0.85,-146.6,549.4,-6.0,350,7269,0.00,2.55,0.00,0.000,4,0.000,0.063,2558,3406,3430
$GC,7320,-0.85,-146.6,552.8,-6.7,352,7324,0.00,2.45,0.00,0.000,6,0.000,0.051,2558,2032,3430
$GC,7636,-0.85,-146.6,571.9,-5.9,367,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2031,3430
$GC,7946,-0.85,-146.6,592.5,-7.7,382,7947,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2031,3430
$GC,8254,-0.85,-146.6,616.9,-7.5,397,8259,0.00,2.50,0.00,0.000,4,0.000,0.064,2558,3405,3430
$GC,8277,-0.89,-146.6,618.7,-7.6,398,8281,0.00,2.45,0.00,0.000,6,0.000,0.053,2558,2037,3429
$GC,8599,-0.89,-146.6,649.2,-12.1,414,8603,0.00,2.58,0.00,0.000,4,0.000,0.064,2558,589,3429
$GC,8661,-0.95,-146.6,659.7,-20.3,417,8666,0.00,2.53,0.00,0.000,6,0.000,0.051,2558,2027,3429
$GC,8988,-1.01,-146.6,692.3,-8.8,433,8993,0.17,2.47,0.00,0.000,4,0.051,0.065,2511,3399,3429
$GC,9033,-0.97,-146.6,696.6,-9.8,435,9038,0.12,2.50,0.00,0.000,6,0.091,0.056,2536,2012,3429
$GC,9355,-0.97,-146.6,717.2,-4.4,451,9360,0.00,2.55,0.00,0.000,4,0.000,0.067,2536,3402,3429
$GC,9412,-0.97,-146.6,719.8,-4.9,453,9419,0.00,2.45,0.00,0.000,6,0.000,0.055,2535,2034,3429
$GC,9728,-0.97,-146.6,737.0,-7.6,469,9733,0.00,2.53,0.00,0.000,4,0.000,0.070,2535,3401,3429
$GC,9795,-0.97,-146.6,743.1,-9.8,472,9800,0.00,2.50,0.00,0.000,6,0.000,0.058,2535,2020,3429
$GC,10117,-0.97,-146.6,770.4,-8.0,488,10121,0.00,2.62,0.00,0.000,4,0.000,0.077,2536,585,3429
$GC,10156,-0.97,-146.6,772.8,-6.3,490,10161,0.00,2.60,0.00,0.000,6,0.000,0.065,2535,2015,3429
$GC,10483,-0.97,-146.6,803.2,-12.4,506,10484,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2017,3428
$GC,10793,-0.97,-146.6,826.4,-6.1,521,10798,0.00,2.72,0.00,0.000,4,0.000,0.087,2535,584,3426
$GC,10834,-1.03,-146.6,828.2,-4.5,523,10839,0.00,2.62,0.00,0.000,6,0.000,0.068,2536,2024,3425
$STATE,10890,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10890,begin apogee
$GC,10899,-0.33,0.0,832.5,9.4,526,11035,0.65,0.00,133.45,1.459,6,0.084,0.000,2670,2122,2832
$STATE,11036,end apogee,CONTROL_FINISHED_OK
$STATE,11036,begin climb
$GC,11039,0.97,146.6,840.2,0.0,533,11185,1.33,2.80,133.12,1.419,4,0.070,0.083,2953,717,2235
$GC,11335,0.79,170.4,807.7,5.4,546,11367,0.20,2.65,22.88,1.328,6,0.099,0.071,2915,2139,2136
$GC,11680,0.91,271.9,790.4,3.2,563,11776,0.12,0.00,92.43,1.404,6,0.065,0.000,2946,2138,1723
$GC,12077,0.85,271.9,767.1,10.9,582,12082,0.00,2.72,0.00,0.000,4,0.000,0.087,2947,718,1724
$GC,12118,0.81,271.9,761.9,11.5,584,12123,0.15,2.60,0.00,0.000,6,0.096,0.073,2918,2107,1724
$GC,12446,0.89,322.3,738.6,4.6,600,12498,0.00,2.78,46.17,1.399,4,0.000,0.087,2917,3531,1518
$GC,12534,1.01,342.5,733.9,5.4,604,12560,0.22,2.72,19.67,1.330,6,0.062,0.076,2972,2104,1435
$GC,12886,0.94,342.5,701.9,9.7,621,12890,0.00,2.72,0.00,0.000,4,0.000,0.081,2972,3531,1434
$GC,12903,0.89,342.5,700.0,9.5,622,12909,0.17,2.70,0.00,0.000,6,0.095,0.071,2938,2090,1434
$GC,13231,0.98,400.9,679.8,4.4,638,13293,0.00,2.70,52.47,1.361,4,0.000,0.077,2938,703,1197
$GC,13341,1.16,460.2,674.2,4.4,643,13405,0.28,2.55,54.05,1.332,6,0.053,0.064,3002,2105,955
$GC,13715,1.08,460.2,640.5,8.5,661,13720,0.12,2.65,0.00,0.000,4,0.091,0.071,2978,3517,955
$GC,13744,1.08,460.2,638.1,7.6,662,13748,0.00,2.65,0.00,0.000,6,0.000,0.062,2978,2080,955
$GC,14060,1.12,487.4,617.3,5.3,677,14091,0.00,2.58,25.70,1.246,4,0.000,0.070,2978,707,844
$GC,14121,1.21,538.7,614.4,4.6,680,14173,0.12,2.47,46.25,1.256,6,0.058,0.058,3011,2081,636
$GC,14490,1.14,538.7,578.9,10.0,698,14491,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2082,636
$GC,14800,1.08,538.7,542.5,12.8,713,14805,0.15,2.53,0.00,0.000,4,0.081,0.068,2980,706,637
$GC,14822,1.08,538.7,539.6,12.0,714,14826,0.00,2.45,0.00,0.000,6,0.000,0.055,2980,2061,637
$GC,15143,1.08,538.7,505.7,10.8,730,15147,0.00,2.53,0.00,0.000,4,0.000,0.068,2980,704,637
$GC,15184,1.14,538.7,501.5,10.9,732,15188,0.00,2.38,0.00,0.000,6,0.000,0.054,2980,2028,637
$GC,15510,1.14,538.7,467.4,10.1,748,15514,0.00,2.45,0.00,0.000,4,0.000,0.067,2980,707,638
$GC,15533,1.18,538.7,465.2,10.3,749,15537,0.10,2.33,0.00,0.000,6,0.061,0.052,3010,2005,638
$GC,15861,1.14,538.7,427.8,11.5,765,15862,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2026,638
$GC,16169,1.08,538.7,391.1,12.9,780,16171,0.15,0.00,0.00,0.000,6,0.080,0.000,2978,2026,639
$GC,16478,1.15,538.7,359.1,8.9,795,16482,0.00,2.40,0.00,0.000,4,0.000,0.067,2978,709,638
$GC,16512,1.21,538.7,355.8,8.9,796,16519,0.12,2.30,0.00,0.000,6,0.053,0.052,3014,1997,639
$GC,16828,1.15,538.7,314.6,14.0,812,16833,0.00,2.72,0.00,0.000,4,0.000,0.061,3014,3510,639
$GC,16862,1.15,538.7,309.7,13.4,813,16868,0.00,2.70,0.00,0.000,6,0.000,0.054,3014,2011,640
$GC,17179,1.09,538.7,264.1,14.5,829,17183,0.17,2.35,0.00,0.000,4,0.080,0.064,2975,702,640
$GC,17195,1.09,538.7,261.5,14.5,829,17201,0.00,2.35,0.00,0.000,6,0.000,0.051,2975,2019,640
$GC,17512,1.18,538.7,226.9,11.8,845,17517,0.12,2.42,0.00,0.000,4,0.051,0.065,3012,704,640
$GC,17530,1.24,538.7,224.6,12.1,846,17534,0.00,2.33,0.00,0.000,6,0.000,0.051,3012,2011,640
$GC,17857,1.24,538.7,184.3,9.4,862,17861,0.00,2.70,0.00,0.000,4,0.000,0.061,3012,3517,640
$GC,17878,1.24,538.7,181.8,11.5,863,17882,0.00,2.70,0.00,0.000,6,0.000,0.052,3012,2012,640
$GC,18202,1.24,538.7,141.5,10.9,879,18206,0.00,2.72,0.00,0.000,4,0.000,0.060,3012,3512,640
$GC,18246,1.24,538.7,136.4,10.1,881,18250,0.00,2.62,0.00,0.000,6,0.000,0.050,3012,2039,640
$GC,18568,1.24,538.7,98.0,10.6,897,18572,0.00,2.40,0.00,0.000,4,0.000,0.064,3012,701,640
$GC,18587,1.24,538.7,96.0,11.7,898,18591,0.00,2.38,0.00,0.000,6,0.000,0.051,3012,2032,640
$GC,18915,1.24,538.7,52.6,14.8,914,18920,0.00,2.65,0.00,0.000,4,0.000,0.061,3012,3511,640
$GC,18939,1.24,538.7,49.2,11.9,915,18943,0.00,2.65,0.00,0.000,6,0.000,0.050,3012,2027,640
$GC,19261,1.24,538.7,11.4,11.1,931,19265,0.00,2.38,0.00,0.000,4,0.000,0.065,3012,702,640
$GC,19294,1.24,538.7,8.1,8.3,932,19298,0.00,2.35,0.00,0.000,6,0.000,0.052,3012,2015,640
$STATE,19345,end climb,SURFACE_DEPTH_REACHED
$STATE,19345,begin surface coast
$FINISH,1.3,1.027437
$STATE,19367,end surface coast,CONTROL_FINISHED_OK
$STATE,19367,begin surface
$SM_CCo,19450,0.00,0.000,0,0,640,537.70
$SM_GC,1.46,11.27,0.00,0.00,0.037,0.000,0.000,420,2038,640,-10.60,1.05,537.70
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1823
$TCM_TEMP,16.90
$XPDR_PINGS,114
$ALTIM_BOTTOM_PING,750.0,90.5
$24V_AH,23.4,76.726
$10V_AH,10.1,38.079
$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,27.000,198.850,626.200,0.000,0.000,37.762,40.744,166.983,35.250,0.000,0.000,34.430,1713.326,14691.682,753.826,2049.857,643.008,0.000,1857.511,0.000,1976.627,0.000,45.413,0.000
$DEVICE_MAMPS,134.225,87.438,1458.834,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,688.251,629.928,523.666,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47387,936
$CAP_FILE_SIZE,151937,0
$CFSIZE,254472192,224792576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,50,0,0
$GPS,120209,063021,6137.833,-901.311,37,3.6,56,-9.3