version: 66.04
glider: 5
mission: 5
dive: 451
start: 2 15 109 17 39 15
data:
$ID,5
$MISSION,5
$DIVE,451
$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,-96205.297
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,173406,6126.388,-758.885,30,0.9,35,-8.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-61.5
$GPS2,173856,6126.387,-758.848,14,1.7,14,-8.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_2
$TGT_LATLONG,6115.000,-752.000
$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,172.5,21953,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-80.10,0.000,6,0.000,0.000,421,1998,3431
$GC,101,-0.97,-146.6,5.6,-6.0,4,117,10.98,2.58,0.00,0.000,4,0.138,0.061,2523,3408,3431
$GC,273,-0.87,-146.6,30.5,-10.1,10,280,0.15,2.53,0.00,0.000,6,0.092,0.049,2555,1994,3432
$GC,590,-0.87,-146.6,57.0,-8.6,26,595,0.00,2.53,0.00,0.000,4,0.000,0.064,2555,582,3431
$GC,618,-0.87,-146.6,59.3,-7.8,27,623,0.00,2.55,0.00,0.000,6,0.000,0.052,2555,2014,3431
$GC,935,-0.87,-146.6,85.1,-8.3,42,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2014,3432
$GC,1244,-0.87,-146.6,108.4,-7.0,57,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2015,3432
$GC,1554,-0.87,-146.6,130.9,-7.3,72,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2015,3431
$GC,1862,-0.87,-146.6,152.5,-7.7,87,1866,0.00,2.60,0.00,0.000,4,0.000,0.064,2555,583,3432
$GC,1902,-0.87,-146.6,155.8,-8.8,89,1907,0.00,2.53,0.00,0.000,6,0.000,0.052,2555,2006,3432
$GC,2229,-0.87,-146.6,183.8,-8.5,105,2233,0.00,2.53,0.00,0.000,4,0.000,0.064,2555,3411,3432
$GC,2252,-0.87,-146.6,185.5,-7.5,106,2256,0.00,2.53,0.00,0.000,6,0.000,0.051,2555,1998,3431
$GC,2574,-0.87,-146.6,210.1,-7.2,122,2578,0.00,2.53,0.00,0.000,4,0.000,0.066,2555,584,3432
$GC,2624,-0.87,-146.6,214.2,-8.5,124,2628,0.00,2.53,0.00,0.000,6,0.000,0.052,2555,2006,3432
$GC,2946,-0.87,-146.6,239.6,-7.4,140,2950,0.00,2.58,0.00,0.000,4,0.000,0.065,2555,591,3432
$GC,2990,-0.87,-146.6,243.2,-8.0,142,2994,0.00,2.47,0.00,0.000,6,0.000,0.052,2555,1988,3431
$GC,3317,-0.87,-146.6,267.6,-7.2,158,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1988,3431
$GC,3627,-0.87,-146.6,290.5,-7.6,173,3631,0.00,2.55,0.00,0.000,4,0.000,0.067,2555,586,3432
$GC,3654,-0.87,-146.6,292.8,-8.3,174,3658,0.00,2.50,0.00,0.000,6,0.000,0.053,2555,1993,3431
$GC,3970,-0.87,-146.6,321.1,-9.1,189,3974,0.00,2.55,0.00,0.000,4,0.000,0.067,2555,594,3432
$GC,4003,-0.87,-146.6,324.0,-9.0,190,4009,0.00,2.45,0.00,0.000,6,0.000,0.054,2555,1980,3432
$GC,4320,-0.87,-146.6,348.3,-7.4,206,4324,0.00,2.58,0.00,0.000,4,0.000,0.066,2555,3411,3432
$GC,4376,-0.87,-146.6,352.7,-7.7,208,4381,0.00,2.55,0.00,0.000,6,0.000,0.055,2555,1992,3431
$GC,4694,-0.87,-146.6,376.3,-9.1,223,4698,0.00,2.58,0.00,0.000,4,0.000,0.064,2555,3406,3432
$GC,4784,-0.87,-146.6,384.0,-9.2,227,4789,0.00,2.50,0.00,0.000,6,0.000,0.051,2555,2003,3432
$GC,5112,-0.87,-146.6,403.6,-5.3,243,5116,0.00,2.53,0.00,0.000,4,0.000,0.067,2555,597,3431
$GC,5156,-0.87,-146.6,405.8,-5.8,245,5161,0.00,2.53,0.00,0.000,6,0.000,0.054,2555,2014,3431
$GC,5478,-0.87,-146.6,423.4,-5.7,261,5482,0.00,2.60,0.00,0.000,4,0.000,0.069,2555,591,3431
$GC,5522,-0.87,-146.6,426.5,-6.6,263,5526,0.00,2.53,0.00,0.000,6,0.000,0.056,2555,2008,3431
$GC,5844,-0.87,-146.6,447.9,-6.8,279,5848,0.00,2.53,0.00,0.000,4,0.000,0.071,2555,3405,3431
$GC,5865,-0.87,-146.6,449.6,-7.2,280,5870,0.00,2.53,0.00,0.000,6,0.000,0.059,2555,2005,3430
$GC,6187,-0.87,-146.6,470.1,-6.2,296,6192,0.00,2.58,0.00,0.000,4,0.000,0.070,2555,3414,3430
$GC,6228,-0.87,-146.6,472.8,-6.6,298,6233,0.00,2.53,0.00,0.000,6,0.000,0.058,2555,2014,3430
$GC,6556,-0.87,-146.6,497.3,-7.3,314,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2013,3429
$GC,6865,-0.87,-146.6,524.3,-9.4,329,6869,0.00,2.58,0.00,0.000,4,0.000,0.071,2555,3408,3429
$GC,6910,-0.92,-146.6,528.5,-9.4,331,6915,0.00,2.50,0.00,0.000,6,0.000,0.059,2555,2026,3429
$STATE,6960,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6960,begin apogee
$GC,6967,-0.33,0.0,533.4,9.3,334,7103,0.55,0.00,130.23,1.180,6,0.076,0.000,2674,2128,2832
$STATE,7104,end apogee,CONTROL_FINISHED_OK
$STATE,7104,begin climb
$GC,7107,0.97,146.6,542.4,0.0,341,7242,1.27,0.00,130.12,1.147,6,0.060,0.000,2954,2128,2234
$GC,7541,0.81,146.6,531.7,6.2,362,7543,0.17,0.00,0.00,0.000,6,0.084,0.000,2919,2131,2233
$GC,7851,0.80,175.0,512.8,5.2,377,7882,0.00,2.67,26.27,1.105,4,0.000,0.074,2919,3534,2117
$GC,7973,0.91,246.7,506.4,4.0,382,8043,0.10,2.58,63.58,1.133,6,0.064,0.064,2947,2143,1826
$GC,8354,0.91,246.7,478.2,10.2,401,8358,0.00,2.60,0.00,0.000,4,0.000,0.072,2947,3529,1828
$GC,8387,0.87,246.7,475.1,8.9,402,8393,0.00,2.53,0.00,0.000,6,0.000,0.061,2947,2153,1828
$GC,8703,0.87,246.7,443.2,10.2,418,8704,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2153,1828
$GC,9013,0.87,246.7,415.2,9.1,433,9017,0.00,2.62,0.00,0.000,4,0.000,0.071,2947,715,1828
$GC,9040,0.87,246.7,412.6,9.6,434,9045,0.00,2.65,0.00,0.000,6,0.000,0.059,2947,2172,1827
$GC,9356,0.90,262.4,386.6,5.6,449,9378,0.00,2.78,15.77,1.045,4,0.000,0.068,2947,712,1761
$GC,9419,0.90,262.4,382.3,6.5,451,9425,0.00,2.65,0.00,0.000,6,0.000,0.059,2947,2164,1761
$GC,9734,0.90,262.4,358.6,7.9,467,9738,0.00,2.53,0.00,0.000,4,0.000,0.071,2947,3538,1761
$GC,9758,0.90,262.4,356.0,12.0,468,9762,0.00,2.50,0.00,0.000,6,0.000,0.058,2947,2164,1761
$GC,10079,0.90,262.4,325.8,9.3,484,10083,0.00,2.58,0.00,0.000,4,0.000,0.068,2947,3539,1761
$GC,10102,0.90,262.4,323.6,9.3,485,10106,0.00,2.50,0.00,0.000,6,0.000,0.057,2947,2161,1761
$GC,10423,0.90,262.4,296.1,8.0,501,10428,0.00,2.62,0.00,0.000,4,0.000,0.068,2947,714,1760
$GC,10451,0.90,262.4,293.5,9.5,502,10455,0.00,2.62,0.00,0.000,6,0.000,0.056,2947,2167,1761
$GC,10768,0.90,262.4,268.0,8.3,517,10769,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2168,1760
$GC,11076,0.90,262.4,244.4,7.4,532,11080,0.00,2.67,0.00,0.000,4,0.000,0.067,2947,707,1761
$GC,11138,0.90,262.4,239.6,8.2,535,11142,0.00,2.60,0.00,0.000,6,0.000,0.054,2947,2156,1761
$GC,11466,0.90,262.4,216.1,7.2,551,11467,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2156,1761
$GC,11774,0.90,262.4,195.6,6.5,566,11778,0.00,2.65,0.00,0.000,4,0.000,0.067,2947,709,1761
$GC,11806,0.90,262.4,193.3,6.8,567,11813,0.00,2.58,0.00,0.000,6,0.000,0.054,2947,2147,1761
$GC,12124,0.90,264.6,173.9,5.9,583,12133,0.00,2.67,3.72,0.599,4,0.000,0.067,2947,715,1753
$GC,12150,0.90,264.6,172.0,7.6,584,12154,0.00,2.55,0.00,0.000,6,0.000,0.053,2947,2141,1753
$GC,12471,0.90,264.6,152.2,6.2,600,12472,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2142,1754
$GC,12782,0.90,264.6,133.2,6.6,615,12786,0.00,2.60,0.00,0.000,4,0.000,0.067,2947,714,1754
$GC,12821,0.90,264.6,130.4,6.9,617,12826,0.00,2.53,0.00,0.000,6,0.000,0.053,2947,2130,1754
$GC,13149,0.90,264.6,109.3,6.6,633,13150,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2130,1754
$GC,13459,0.90,264.6,89.5,6.5,648,13463,0.00,2.60,0.00,0.000,4,0.000,0.067,2947,709,1754
$GC,13480,0.90,264.6,87.9,6.2,649,13484,0.00,2.53,0.00,0.000,6,0.000,0.053,2947,2125,1754
$GC,13803,0.91,267.6,68.7,5.9,665,13810,0.00,0.00,4.85,0.643,6,0.000,0.000,2947,2126,1740
$GC,14113,0.91,267.6,46.6,7.3,680,14117,0.00,2.55,0.00,0.000,4,0.000,0.064,2947,3538,1740
$GC,14135,0.91,267.6,44.7,7.3,681,14139,0.00,2.55,0.00,0.000,6,0.000,0.051,2948,2117,1740
$GC,14456,0.91,267.6,23.0,8.3,697,14457,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2117,1740
$STATE,14721,end climb,SURFACE_DEPTH_REACHED
$STATE,14721,begin surface coast
$FINISH,0.8,1.027427
$STATE,14765,end surface coast,CONTROL_FINISHED_OK
$STATE,14765,begin surface
$SM_CCo,14849,0.00,0.000,0,0,1739,268.11
$SM_GC,1.66,10.98,0.00,0.00,0.038,0.000,0.000,422,1970,1739,-10.60,-0.85,268.11
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1855
$TCM_TEMP,16.90
$XPDR_PINGS,58
$ALTIM_BOTTOM_PING,450.3,91.6
$24V_AH,23.6,80.036
$10V_AH,10.1,39.556
$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,24.200,143.950,374.550,0.000,0.000,37.752,27.208,111.456,18.250,0.000,0.000,14.252,1319.742,11306.194,491.659,1553.246,474.447,0.000,1295.331,0.000,1520.227,0.000,26.320,0.000
$DEVICE_MAMPS,138.060,73.632,1179.646,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,518.551,479.147,513.490,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34895,712
$CAP_FILE_SIZE,109005,0
$CFSIZE,254472192,223719424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,44,0,0
$GPS,150209,214801,6125.005,-757.729,40,1.7,40,-8.6