version: 66.04
glider: 5
mission: 5
dive: 456
start: 2 16 109 21 29 13
data:
$ID,5
$MISSION,5
$DIVE,456
$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,-96337.875
$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,57
$R_STBD_OVSHOOT,22
$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
$GPS1,212206,6116.391,-753.939,45,1.0,45,-8.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-62.6
$GPS2,212855,6116.383,-753.954,16,1.2,33,-8.5
$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,154.3,3097,-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,12,begin dive
$GC,15,-1.87,-28.8,0.0,0.0,0,77,0.00,0.00,-58.45,0.000,6,0.000,0.000,422,1965,2949
$GC,82,-1.91,-55.2,2.6,-2.3,3,104,10.00,2.65,-3.95,0.000,4,0.137,0.074,2324,3400,3058
$GC,324,-1.81,-55.2,41.4,-18.6,13,331,0.12,2.45,0.00,0.000,6,0.114,0.050,2345,2032,3059
$GC,642,-1.77,-55.2,89.2,-13.7,29,646,0.00,2.58,0.00,0.000,4,0.000,0.062,2345,587,3060
$GC,804,-1.68,-55.2,113.6,-15.0,36,809,0.17,2.47,0.00,0.000,6,0.111,0.051,2377,1978,3060
$GC,1124,-1.73,-55.2,155.7,-13.6,51,1128,0.00,2.53,0.00,0.000,4,0.000,0.064,2378,592,3060
$GC,1179,-1.73,-55.2,164.1,-14.4,53,1185,0.00,2.45,0.00,0.000,6,0.000,0.052,2377,1963,3060
$GC,1495,-1.73,-55.2,206.7,-12.9,69,1499,0.00,2.50,0.00,0.000,4,0.000,0.064,2377,588,3060
$GC,1523,-1.73,-55.2,210.6,-13.6,70,1527,0.00,2.45,0.00,0.000,6,0.000,0.051,2378,1957,3060
$GC,1839,-1.79,-55.2,254.8,-13.7,85,1844,0.00,2.60,0.00,0.000,4,0.000,0.064,2377,3404,3060
$GC,1867,-1.79,-55.2,258.9,-14.9,86,1871,0.00,2.60,0.00,0.000,6,0.000,0.053,2377,1949,3060
$GC,2186,-1.84,-55.2,301.7,-13.2,101,2187,0.15,0.00,0.00,0.000,6,0.060,0.000,2342,1948,3060
$GC,2493,-1.84,-55.2,348.7,-14.8,116,2497,0.00,2.42,0.00,0.000,4,0.000,0.064,2342,591,3060
$GC,2556,-1.75,-55.2,357.9,-14.6,119,2561,0.12,2.35,0.00,0.000,6,0.110,0.051,2363,1916,3060
$GC,2884,-1.75,-55.2,400.4,-12.7,135,2888,0.00,2.42,0.00,0.000,4,0.000,0.066,2364,587,3060
$GC,2941,-1.75,-55.2,408.0,-13.6,137,2947,0.00,2.35,0.00,0.000,6,0.000,0.052,2363,1909,3060
$GC,3258,-1.75,-55.2,448.2,-13.4,153,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1913,3060
$GC,3566,-1.75,-55.2,486.9,-11.8,168,3570,0.00,2.42,0.00,0.000,4,0.000,0.067,2363,582,3060
$GC,3599,-1.75,-55.2,491.2,-12.7,169,3605,0.00,2.33,0.00,0.000,6,0.000,0.052,2363,1890,3060
$GC,3917,-1.75,-55.2,527.0,-11.1,185,3921,0.00,2.72,0.00,0.000,4,0.000,0.067,2363,3403,3060
$GC,3989,-1.75,-55.2,535.9,-11.4,188,3993,0.00,2.67,0.00,0.000,6,0.000,0.058,2363,1919,3060
$GC,4305,-1.75,-55.2,568.8,-10.2,203,4309,0.00,2.40,0.00,0.000,4,0.000,0.068,2363,585,3060
$GC,4446,-1.75,-55.2,584.5,-11.2,209,4450,0.00,2.35,0.00,0.000,6,0.000,0.056,2363,1896,3060
$GC,4762,-1.79,-55.2,617.3,-9.7,224,4766,0.00,2.42,0.00,0.000,4,0.000,0.076,2363,591,3060
$GC,4941,-1.79,-55.2,635.0,-9.1,232,4946,0.00,2.33,0.00,0.000,6,0.000,0.061,2363,1876,3060
$GC,5263,-1.85,-55.2,662.8,-9.1,248,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1894,3059
$GC,5574,-1.92,-55.2,692.6,-9.9,263,5579,0.17,2.83,0.00,0.000,4,0.062,0.081,2323,3400,3058
$GC,5638,-1.83,-55.2,700.1,-13.4,266,5643,0.12,2.80,0.00,0.000,6,0.127,0.074,2343,1897,3058
$GC,5966,-1.83,-55.2,739.7,-11.8,282,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1896,3057
$GC,6278,-1.83,-55.2,775.8,-11.6,297,6283,0.00,2.88,0.00,0.000,4,0.000,0.086,2343,3405,3055
$GC,6333,-1.83,-55.2,783.1,-12.5,299,6340,0.00,2.80,0.00,0.000,6,0.000,0.075,2343,1907,3055
$GC,6650,-1.83,-55.2,820.4,-11.9,315,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1907,3054
$STATE,6956,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6956,begin apogee
$GC,6964,-0.33,0.0,855.2,11.9,330,7019,1.65,0.00,51.70,1.490,6,0.109,0.000,2671,2123,2832
$STATE,7020,end apogee,CONTROL_FINISHED_OK
$STATE,7020,begin climb
$GC,7023,1.91,55.2,857.0,0.0,333,7085,2.28,0.00,52.75,1.460,6,0.071,0.000,3162,2123,2607
$GC,7398,1.75,55.2,829.1,8.2,351,7404,0.20,2.70,0.00,0.000,4,0.126,0.088,3126,3534,2605
$GC,7645,1.64,55.2,812.1,6.1,362,7650,0.12,2.65,0.00,0.000,6,0.132,0.074,3107,2125,2604
$GC,7972,1.65,56.2,792.7,5.9,378,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2126,2602
$GC,8281,1.65,61.4,775.4,5.3,393,8295,0.00,2.78,6.40,1.189,4,0.000,0.087,3107,3534,2580
$GC,8343,1.60,61.9,771.8,5.9,395,8349,0.00,2.65,0.00,0.000,6,0.000,0.076,3107,2132,2580
$GC,8659,1.60,63.0,753.5,5.9,411,8664,0.00,2.70,0.00,0.000,4,0.000,0.089,3107,3526,2579
$GC,8769,1.56,64.9,746.8,5.7,416,8779,0.10,2.60,4.53,1.032,6,0.138,0.074,3088,2138,2567
$GC,9098,1.60,64.9,726.1,7.3,432,9102,0.00,2.70,0.00,0.000,4,0.000,0.089,3088,707,2567
$GC,9125,1.60,64.9,723.7,7.8,433,9130,0.00,2.67,0.00,0.000,6,0.000,0.075,3088,2133,2566
$GC,9442,1.65,64.9,704.8,6.8,448,9443,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2133,2566
$GC,9750,1.69,64.9,686.6,6.9,463,9755,0.12,2.67,0.00,0.000,4,0.076,0.090,3114,3537,2565
$GC,9952,1.61,69.1,672.6,5.4,472,9962,0.00,2.62,5.10,1.082,6,0.000,0.074,3113,2131,2550
$GC,10273,1.61,73.6,655.6,5.4,487,10281,0.00,0.00,5.90,1.139,6,0.000,0.000,3114,2131,2531
$GC,10583,1.61,73.6,635.9,6.7,502,10588,0.00,2.67,0.00,0.000,4,0.000,0.088,3114,706,2530
$GC,10646,1.56,73.6,631.6,6.8,505,10652,0.17,2.70,0.00,0.000,6,0.117,0.075,3085,2147,2531
$GC,10975,1.63,73.6,610.6,6.9,521,10980,0.00,2.65,0.00,0.000,4,0.000,0.090,3085,3541,2530
$GC,11157,1.63,73.6,597.1,7.4,529,11162,0.00,2.58,0.00,0.000,6,0.000,0.072,3085,2165,2530
$GC,11481,1.71,76.1,577.4,5.7,545,11490,0.15,2.78,3.83,0.892,4,0.074,0.087,3117,700,2521
$GC,11744,1.65,76.1,559.7,6.7,556,11750,0.00,2.72,0.00,0.000,6,0.000,0.071,3117,2166,2521
$GC,12061,1.65,80.4,541.1,5.4,572,12071,0.00,2.60,5.68,1.075,4,0.000,0.084,3117,3530,2503
$GC,12209,1.60,80.4,532.9,6.0,578,12216,0.15,2.50,0.00,0.000,6,0.123,0.070,3093,2188,2503
$GC,12528,1.67,85.3,516.8,5.3,594,12539,0.00,2.60,6.22,1.085,4,0.000,0.080,3093,3537,2483
$GC,12796,1.67,85.3,495.4,8.6,606,12800,0.00,2.35,0.00,0.000,6,0.000,0.064,3093,2257,2484
$GC,13123,1.75,85.3,469.7,7.7,622,13128,0.15,2.40,0.00,0.000,4,0.071,0.075,3126,3533,2483
$GC,13173,1.68,85.3,465.3,8.6,624,13177,0.00,2.33,0.00,0.000,6,0.000,0.061,3126,2258,2484
$GC,13490,1.68,85.3,438.1,8.5,639,13491,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2257,2484
$GC,13798,1.68,85.3,412.5,7.8,654,13802,0.00,2.38,0.00,0.000,4,0.000,0.070,3126,3534,2485
$GC,14006,1.63,85.3,394.6,8.0,663,14011,0.15,2.28,0.00,0.000,6,0.115,0.055,3101,2265,2485
$GC,14327,1.70,85.3,370.1,7.6,679,14332,0.00,2.80,0.00,0.000,4,0.000,0.066,3101,710,2486
$GC,14401,1.70,85.3,364.4,8.3,682,14406,0.00,2.83,0.00,0.000,6,0.000,0.057,3101,2283,2487
$GC,14717,1.78,85.3,340.4,7.4,697,14722,0.15,2.28,0.00,0.000,4,0.060,0.068,3137,3534,2488
$GC,14888,1.71,85.3,325.4,9.2,704,14894,0.00,2.25,0.00,0.000,6,0.000,0.052,3136,2274,2488
$GC,15204,1.71,85.3,299.1,8.4,720,15208,0.00,2.35,0.00,0.000,4,0.000,0.066,3137,3541,2490
$GC,15339,1.64,85.3,287.0,8.4,726,15343,0.20,2.22,0.00,0.000,6,0.110,0.051,3102,2293,2489
$GC,15661,1.72,85.3,262.4,7.2,742,15666,0.00,2.85,0.00,0.000,4,0.000,0.064,3102,705,2491
$GC,15689,1.72,85.3,260.2,7.1,743,15693,0.00,2.88,0.00,0.000,6,0.000,0.054,3102,2316,2491
$GC,16006,1.81,85.3,235.5,8.4,758,16008,0.17,0.00,0.00,0.000,6,0.058,0.000,3145,2316,2492
$GC,16313,1.81,85.3,207.6,9.0,773,16322,0.00,2.25,3.67,0.624,4,0.000,0.066,3145,3534,2484
$GC,16544,1.74,85.3,185.8,9.5,783,16549,0.12,2.20,0.00,0.000,6,0.110,0.049,3124,2295,2484
$GC,16865,1.74,85.3,159.6,7.8,799,16869,0.00,2.28,0.00,0.000,4,0.000,0.064,3124,3537,2485
$GC,16932,1.74,85.3,154.1,7.4,802,16936,0.00,2.17,0.00,0.000,6,0.000,0.049,3124,2307,2485
$GC,17254,1.74,85.3,128.3,7.7,818,17258,0.00,2.25,0.00,0.000,4,0.000,0.064,3124,3538,2486
$GC,17340,1.74,85.3,121.4,8.1,822,17343,0.00,2.17,0.00,0.000,6,0.000,0.048,3124,2306,2486
$GC,17674,1.74,85.3,95.0,7.8,838,17678,0.00,2.85,0.00,0.000,4,0.000,0.061,3124,707,2486
$GC,17830,1.74,85.3,81.5,8.1,845,17835,0.00,2.88,0.00,0.000,6,0.000,0.053,3124,2322,2487
$GC,18152,1.74,85.3,56.2,8.8,861,18156,0.00,2.92,0.00,0.000,4,0.000,0.060,3124,703,2487
$GC,18197,1.74,85.3,52.9,6.5,863,18201,0.00,2.85,0.00,0.000,6,0.000,0.052,3124,2302,2487
$GC,18518,1.74,85.3,33.1,6.9,879,18521,0.00,2.22,0.00,0.000,4,0.000,0.064,3124,3539,2488
$GC,18596,1.74,85.3,26.5,8.1,882,18600,0.00,2.20,0.00,0.000,6,0.000,0.048,3124,2294,2488
$STATE,18869,end climb,SURFACE_DEPTH_REACHED
$STATE,18870,begin surface coast
$FINISH,0.6,1.027432
$STATE,18911,end surface coast,CONTROL_FINISHED_OK
$STATE,18911,begin surface
$SM_CCo,18935,102.10,0.818,0,0,1812,250.21
$SM_GC,1.46,0.00,0.00,102.10,0.000,0.000,0.818,423,1977,1812,-10.68,-0.62,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1802
$TCM_TEMP,16.80
$XPDR_PINGS,56
$ALTIM_BOTTOM_PING,775.8,88.2
$24V_AH,23.3,80.767
$10V_AH,10.1,40.009
$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,28.725,178.650,145.775,102.100,0.000,37.758,27.620,176.675,21.000,0.000,0.000,33.781,1786.849,14213.005,433.953,2371.557,634.621,0.000,1563.050,0.000,2294.871,0.000,46.979,0.000
$DEVICE_MAMPS,138.060,89.739,1489.514,818.389,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,662.380,609.441,501.914,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47387,897
$CAP_FILE_SIZE,155389,0
$CFSIZE,254472192,223326208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,47,0,0
$GPS,170209,024755,6117.005,-755.100,43,1.5,43,-8.6