version: 66.04
glider: 5
mission: 5
dive: 465
start: 2 19 109 2 41 41
data:
$ID,5
$MISSION,5
$DIVE,465
$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,-96495.852
$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,36
$R_STBD_OVSHOOT,21
$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
$GPS1,023507,6116.699,-753.435,29,1.4,29,-8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-62.4
$GPS2,024120,6116.667,-753.377,16,1.4,16,-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,166.8,3323,-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,-28.8,0.0,0.0,0,77,0.00,0.00,-56.53,0.000,6,0.000,0.000,423,1963,2950
$GC,81,-1.90,-50.8,3.2,-2.9,3,103,10.00,2.65,-2.92,0.000,4,0.134,0.074,2329,3404,3040
$GC,356,-1.79,-50.8,46.2,-17.6,15,361,0.12,2.50,0.00,0.000,6,0.117,0.051,2350,2009,3041
$GC,680,-1.79,-50.8,90.2,-13.6,31,685,0.00,2.58,0.00,0.000,4,0.000,0.062,2350,3417,3041
$GC,748,-1.74,-50.8,100.3,-13.9,34,752,0.00,2.55,0.00,0.000,6,0.000,0.051,2350,1994,3041
$GC,1070,-1.70,-50.8,142.8,-12.9,50,1075,0.12,2.50,0.00,0.000,4,0.113,0.061,2373,592,3041
$GC,1127,-1.70,-50.8,150.1,-13.2,52,1134,0.00,2.53,0.00,0.000,6,0.000,0.051,2373,2011,3041
$GC,1443,-1.70,-50.8,188.6,-12.1,68,1447,0.00,2.58,0.00,0.000,4,0.000,0.061,2373,590,3041
$GC,1476,-1.70,-50.8,193.1,-13.4,69,1482,0.00,2.53,0.00,0.000,6,0.000,0.051,2373,2003,3041
$GC,1792,-1.70,-50.8,232.7,-11.9,85,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2002,3041
$GC,2101,-1.70,-50.8,268.9,-11.5,100,2105,0.00,2.58,0.00,0.000,4,0.000,0.063,2373,584,3041
$GC,2172,-1.70,-50.8,278.0,-12.4,103,2177,0.00,2.50,0.00,0.000,6,0.000,0.051,2373,1990,3041
$GC,2489,-1.70,-50.8,314.5,-11.7,118,2493,0.00,2.53,0.00,0.000,4,0.000,0.064,2373,595,3041
$GC,2590,-1.70,-50.8,328.0,-13.1,122,2594,0.00,2.45,0.00,0.000,6,0.000,0.051,2373,1971,3041
$GC,2907,-1.70,-50.8,367.8,-12.6,137,2911,0.00,2.58,0.00,0.000,4,0.000,0.065,2373,3406,3041
$GC,2924,-1.70,-50.8,370.1,-12.9,138,2929,0.00,2.60,0.00,0.000,6,0.000,0.055,2373,1960,3041
$GC,3251,-1.74,-50.8,412.1,-12.4,154,3255,0.00,2.45,0.00,0.000,4,0.000,0.064,2373,585,3041
$GC,3369,-1.74,-50.8,427.1,-13.2,159,3373,0.00,2.42,0.00,0.000,6,0.000,0.051,2373,1952,3042
$GC,3685,-1.79,-50.8,462.7,-11.7,174,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1952,3041
$GC,3995,-1.84,-50.8,497.2,-11.0,189,4000,0.15,2.50,0.00,0.000,4,0.058,0.065,2335,591,3041
$GC,4128,-1.75,-50.8,513.9,-11.9,195,4132,0.15,2.40,0.00,0.000,6,0.110,0.053,2361,1928,3041
$GC,4456,-1.75,-50.8,549.3,-9.8,211,4461,0.00,2.67,0.00,0.000,4,0.000,0.067,2361,3407,3041
$GC,4489,-1.75,-50.8,552.9,-10.0,212,4493,0.00,2.72,0.00,0.000,6,0.000,0.060,2362,1902,3042
$GC,4805,-1.75,-50.8,582.2,-9.8,227,4809,0.00,2.38,0.00,0.000,4,0.000,0.073,2362,594,3042
$GC,4945,-1.75,-50.8,597.5,-10.7,233,4949,0.00,2.30,0.00,0.000,6,0.000,0.058,2361,1871,3041
$GC,5261,-1.75,-50.8,629.9,-10.3,248,5266,0.00,2.80,0.00,0.000,4,0.000,0.075,2361,3404,3041
$GC,5317,-1.75,-50.8,635.7,-10.5,250,5323,0.00,2.80,0.00,0.000,6,0.000,0.067,2361,1879,3041
$GC,5634,-1.75,-50.8,665.8,-9.9,266,5639,0.00,2.88,0.00,0.000,4,0.000,0.080,2361,3404,3040
$GC,5684,-1.75,-50.8,671.3,-10.3,268,5689,0.00,2.80,0.00,0.000,6,0.000,0.070,2361,1891,3039
$GC,6002,-1.75,-50.8,701.0,-9.2,283,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1891,3039
$GC,6309,-1.75,-50.8,730.4,-10.0,298,6314,0.00,2.88,0.00,0.000,4,0.000,0.084,2361,3406,3037
$GC,6348,-1.75,-50.8,734.8,-11.5,300,6353,0.00,2.85,0.00,0.000,6,0.000,0.074,2361,1878,3037
$GC,6676,-1.75,-50.8,768.3,-10.1,316,6678,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1877,3036
$GC,6985,-1.75,-50.8,799.8,-10.0,331,6989,0.00,2.90,0.00,0.000,4,0.000,0.087,2361,3399,3034
$GC,7002,-1.75,-50.8,801.9,-10.2,332,7006,0.00,2.83,0.00,0.000,6,0.000,0.077,2361,1890,3034
$GC,7330,-1.81,-50.8,836.5,-10.4,348,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1889,3033
$STATE,7449,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7449,begin apogee
$GC,7457,-0.33,0.0,850.9,12.1,354,7511,1.55,0.00,46.95,1.494,6,0.108,0.000,2672,2136,2832
$STATE,7512,end apogee,CONTROL_FINISHED_OK
$STATE,7512,begin climb
$GC,7515,1.90,50.8,852.9,0.0,357,7572,2.25,2.80,48.35,1.470,4,0.070,0.085,3159,715,2624
$GC,7824,1.69,50.8,832.8,7.5,370,7830,0.25,2.62,0.00,0.000,6,0.120,0.071,3115,2121,2622
$GC,8148,1.65,50.8,811.6,6.2,386,8149,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2121,2621
$GC,8456,1.65,55.1,794.1,5.4,401,8466,0.00,2.75,5.22,1.104,4,0.000,0.085,3115,707,2607
$GC,8506,1.57,59.0,791.2,5.5,403,8518,0.15,2.70,5.15,1.089,6,0.124,0.074,3089,2141,2591
$GC,8828,1.61,59.0,772.7,6.2,419,8833,0.00,2.72,0.00,0.000,4,0.000,0.087,3089,716,2590
$GC,8873,1.61,59.9,770.1,5.9,421,8877,0.00,2.65,0.00,0.000,6,0.000,0.074,3089,2128,2590
$GC,9195,1.62,62.0,752.1,5.7,437,9204,0.00,2.70,4.12,0.977,4,0.000,0.088,3089,3534,2579
$GC,9354,1.62,62.0,741.8,6.6,444,9359,0.00,2.62,0.00,0.000,6,0.000,0.075,3089,2142,2579
$GC,9682,1.66,62.8,721.9,5.9,460,9687,0.00,2.70,0.00,0.000,4,0.000,0.089,3089,3538,2578
$GC,9813,1.66,62.8,713.5,6.1,466,9818,0.00,2.60,0.00,0.000,6,0.000,0.075,3089,2157,2578
$GC,10140,1.71,62.8,693.2,6.2,482,10145,0.12,2.65,0.00,0.000,4,0.077,0.087,3116,3534,2578
$GC,10324,1.63,62.8,680.1,7.1,490,10329,0.00,2.58,0.00,0.000,6,0.000,0.074,3116,2163,2577
$GC,10640,1.63,62.8,659.7,6.2,505,10645,0.00,2.65,0.00,0.000,4,0.000,0.088,3117,3534,2577
$GC,10714,1.55,62.8,654.8,7.1,508,10720,0.17,2.55,0.00,0.000,6,0.124,0.074,3086,2174,2576
$GC,11031,1.61,71.9,639.1,4.7,523,11047,0.00,2.67,10.30,1.284,4,0.000,0.086,3086,3534,2538
$GC,11117,1.62,72.8,634.8,5.9,526,11121,0.00,2.55,0.00,0.000,6,0.000,0.075,3086,2185,2537
$GC,11444,1.70,76.5,617.0,5.5,542,11456,0.12,2.80,5.72,1.114,4,0.074,0.085,3113,714,2519
$GC,11532,1.64,76.5,611.2,6.7,546,11536,0.00,2.75,0.00,0.000,6,0.000,0.074,3113,2175,2519
$GC,11858,1.64,76.5,589.1,6.8,562,11863,0.00,2.58,0.00,0.000,4,0.000,0.087,3113,3534,2518
$GC,11954,1.59,76.5,582.1,6.7,566,11958,0.00,2.58,0.00,0.000,6,0.000,0.074,3113,2164,2518
$GC,12272,1.60,77.6,561.9,5.9,581,12276,0.00,2.70,0.00,0.000,4,0.000,0.085,3113,714,2518
$GC,12344,1.55,77.6,557.1,6.1,584,12349,0.17,2.72,0.00,0.000,6,0.121,0.074,3083,2173,2518
$GC,12665,1.64,86.6,541.7,4.8,599,12678,0.00,0.00,10.32,1.230,6,0.000,0.000,3083,2173,2479
$GC,12996,1.73,86.6,521.2,6.3,615,13001,0.17,2.58,0.00,0.000,4,0.068,0.082,3127,3540,2478
$GC,13254,1.67,86.6,499.3,7.8,626,13260,0.00,2.53,0.00,0.000,6,0.000,0.065,3127,2174,2478
$GC,13570,1.67,86.6,474.9,7.8,642,13575,0.00,2.58,0.00,0.000,4,0.000,0.076,3127,3544,2478
$GC,13634,1.61,86.6,469.7,9.2,645,13639,0.17,2.47,0.00,0.000,6,0.119,0.062,3096,2191,2479
$GC,13962,1.68,86.6,445.0,7.5,661,13963,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2191,2479
$GC,14272,1.77,86.6,422.1,7.4,676,14277,0.15,2.53,0.00,0.000,4,0.064,0.070,3130,3537,2480
$GC,14484,1.71,86.6,403.6,9.9,685,14491,0.00,2.38,0.00,0.000,6,0.000,0.057,3130,2217,2481
$GC,14801,1.71,86.6,376.4,8.9,701,14806,0.00,2.45,0.00,0.000,4,0.000,0.068,3130,3544,2481
$GC,14925,1.65,86.6,364.1,10.1,706,14932,0.15,2.38,0.00,0.000,6,0.113,0.054,3106,2217,2482
$GC,15242,1.71,86.6,337.6,8.4,722,15246,0.00,2.42,0.00,0.000,4,0.000,0.066,3106,3537,2483
$GC,15298,1.71,86.6,332.5,9.6,724,15305,0.00,2.38,0.00,0.000,6,0.000,0.054,3106,2216,2483
$GC,15615,1.78,86.6,307.9,7.8,740,15617,0.12,0.00,0.00,0.000,6,0.062,0.000,3135,2204,2484
$GC,15924,1.78,86.6,279.3,9.4,755,15928,0.00,2.42,0.00,0.000,4,0.000,0.064,3135,3543,2485
$GC,16072,1.72,86.6,265.1,9.4,761,16076,0.00,2.35,0.00,0.000,6,0.000,0.051,3135,2225,2485
$GC,16388,1.72,86.6,236.5,8.9,776,16389,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2225,2486
$GC,16699,1.72,86.6,208.3,9.4,791,16703,0.00,2.40,0.00,0.000,4,0.000,0.064,3135,3538,2487
$GC,16839,1.67,86.6,194.4,10.3,797,16844,0.15,2.33,0.00,0.000,6,0.110,0.049,3110,2228,2487
$GC,17156,1.74,86.6,169.2,8.0,812,17165,0.00,2.45,3.80,0.627,4,0.000,0.063,3109,3541,2479
$GC,17251,1.74,86.6,160.7,9.7,816,17255,0.00,2.33,0.00,0.000,6,0.000,0.049,3109,2232,2479
$GC,17574,1.81,86.6,133.4,8.4,832,17579,0.15,2.40,0.00,0.000,4,0.057,0.061,3147,3538,2480
$GC,17776,1.74,86.6,114.1,9.6,841,17781,0.12,2.28,0.00,0.000,6,0.110,0.048,3125,2254,2480
$GC,18099,1.79,86.6,87.3,8.1,857,18100,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2251,2480
$GC,18406,1.79,86.6,62.9,8.1,872,18408,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2243,2481
$GC,18716,1.79,86.6,39.1,7.7,887,18720,0.00,2.75,0.00,0.000,4,0.000,0.062,3125,710,2482
$GC,18847,1.79,86.6,28.2,6.1,893,18851,0.00,2.78,0.00,0.000,6,0.000,0.052,3125,2270,2482
$STATE,19172,end climb,SURFACE_DEPTH_REACHED
$STATE,19172,begin surface coast
$FINISH,0.7,1.027460
$STATE,19257,end surface coast,CONTROL_FINISHED_OK
$STATE,19257,begin surface
$SM_CCo,19281,100.57,0.825,0,0,1812,250.21
$SM_GC,1.68,0.00,0.00,100.57,0.000,0.000,0.825,421,1972,1812,-10.69,-1.19,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1788
$TCM_TEMP,16.90
$XPDR_PINGS,58
$ALTIM_BOTTOM_PING,776.7,83.8
$24V_AH,23.2,81.649
$10V_AH,10.1,40.875
$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,28.400,187.000,139.950,100.575,0.000,37.761,27.520,157.868,21.500,0.000,0.000,16.881,1810.707,14539.536,425.161,2355.208,619.874,0.000,1562.644,0.000,2295.217,0.000,46.986,0.000
$DEVICE_MAMPS,134.225,88.972,1494.116,825.292,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,676.138,620.408,510.382,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47537,913
$CAP_FILE_SIZE,157163,0
$CFSIZE,254472192,222638080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,55,0,0
$GPS,190209,080615,6116.472,-753.866,42,1.5,50,-8.5