version: 66.04
glider: 5
mission: 5
dive: 476
start: 2 21 109 18 57 2
data:
$ID,5
$MISSION,5
$DIVE,476
$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,-96687.719
$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,12
$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
$GPS1,184821,6114.674,-753.216,38,2.8,57,-8.5
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-41.5
$GPS2,185643,6114.621,-753.034,18,1.7,18,-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,61.2,1159,-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,16,-1.87,-28.8,0.0,0.0,0,139,0.00,0.00,-121.18,0.000,2,0.000,0.000,423,1979,2887
$GC,143,-1.91,-53.2,3.8,-2.6,6,165,9.98,2.53,-4.93,0.000,4,0.132,0.073,2327,591,3050
$GC,418,-1.81,-53.2,47.1,-12.7,18,423,0.12,2.55,0.00,0.000,6,0.115,0.051,2348,2014,3046
$GC,741,-1.81,-53.2,83.3,-11.3,34,746,0.00,2.58,0.00,0.000,4,0.000,0.061,2348,591,3045
$GC,999,-1.76,-53.2,122.8,-15.1,45,1006,0.00,2.50,0.00,0.000,6,0.000,0.051,2348,1997,3045
$GC,1316,-1.76,-53.2,171.3,-14.4,61,1320,0.00,2.58,0.00,0.000,4,0.000,0.062,2348,586,3045
$GC,1562,-1.68,-53.2,205.5,-12.9,72,1567,0.15,2.50,0.00,0.000,6,0.110,0.051,2375,1989,3045
$GC,1885,-1.68,-53.2,241.1,-11.0,88,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1989,3045
$GC,2193,-1.68,-53.2,274.5,-11.0,103,2198,0.00,2.53,0.00,0.000,4,0.000,0.062,2375,591,3045
$GC,2261,-1.68,-53.2,282.5,-11.8,106,2266,0.00,2.47,0.00,0.000,6,0.000,0.051,2375,1977,3045
$GC,2589,-1.68,-53.2,319.3,-11.4,122,2593,0.00,2.53,0.00,0.000,4,0.000,0.062,2375,583,3044
$GC,2718,-1.68,-53.2,335.6,-12.9,128,2722,0.00,2.42,0.00,0.000,6,0.000,0.051,2375,1947,3045
$GC,3046,-1.68,-53.2,373.4,-11.8,144,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1951,3045
$GC,3354,-1.73,-53.2,408.9,-11.0,159,3358,0.00,2.47,0.00,0.000,4,0.000,0.064,2375,584,3045
$GC,3409,-1.73,-53.2,415.7,-11.9,161,3416,0.00,2.40,0.00,0.000,6,0.000,0.052,2375,1937,3045
$GC,3728,-1.80,-53.2,451.6,-11.9,177,3732,0.00,2.47,0.00,0.000,4,0.000,0.064,2375,587,3045
$GC,3873,-1.80,-53.2,468.6,-11.3,183,3879,0.00,2.33,0.00,0.000,6,0.000,0.051,2375,1898,3045
$GC,4190,-1.86,-53.2,497.8,-9.0,199,4195,0.17,2.70,0.00,0.000,4,0.056,0.064,2332,3403,3045
$GC,4241,-1.76,-53.2,503.6,-10.8,201,4246,0.15,2.67,0.00,0.000,6,0.108,0.058,2358,1922,3044
$GC,4558,-1.76,-53.2,534.9,-10.8,216,4562,0.00,2.40,0.00,0.000,4,0.000,0.066,2358,582,3045
$GC,4816,-1.76,-53.2,566.4,-12.4,227,4822,0.00,2.35,0.00,0.000,6,0.000,0.055,2358,1899,3044
$GC,5132,-1.76,-53.2,599.0,-10.0,243,5136,0.00,2.75,0.00,0.000,4,0.000,0.071,2358,3410,3044
$GC,5177,-1.76,-53.2,603.9,-10.8,245,5182,0.00,2.72,0.00,0.000,6,0.000,0.062,2358,1915,3044
$GC,5498,-1.76,-53.2,638.7,-11.0,261,5503,0.00,2.78,0.00,0.000,4,0.000,0.072,2358,3411,3044
$GC,5538,-1.76,-53.2,643.2,-10.8,263,5543,0.00,2.70,0.00,0.000,6,0.000,0.062,2358,1927,3044
$GC,5866,-1.76,-53.2,678.1,-10.1,279,5870,0.00,2.45,0.00,0.000,4,0.000,0.077,2358,588,3043
$GC,5973,-1.76,-53.2,689.9,-11.2,284,5977,0.00,2.47,0.00,0.000,6,0.000,0.064,2358,1949,3043
$GC,6300,-1.76,-53.2,723.4,-10.4,300,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1949,3042
$GC,6608,-1.76,-53.2,755.0,-10.3,315,6613,0.00,2.55,0.00,0.000,4,0.000,0.083,2358,597,3040
$GC,6681,-1.76,-53.2,762.6,-10.5,318,6686,0.00,2.47,0.00,0.000,6,0.000,0.071,2358,1938,3040
$GC,6998,-1.76,-53.2,792.2,-8.9,333,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1938,3038
$GC,7307,-1.83,-53.2,823.8,-10.9,348,7311,0.00,2.55,0.00,0.000,4,0.000,0.088,2358,597,3037
$GC,7340,-1.83,-53.2,827.8,-11.8,349,7346,0.00,2.47,0.00,0.000,6,0.000,0.074,2358,1929,3037
$GC,7656,-1.83,-53.2,861.1,-9.7,365,7660,0.00,2.75,0.00,0.000,4,0.000,0.087,2358,3403,3036
$STATE,7703,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7703,begin apogee
$GC,7713,-0.33,0.0,864.9,8.6,367,7765,1.52,0.00,47.65,1.487,6,0.108,0.000,2663,2109,2832
$STATE,7765,end apogee,CONTROL_FINISHED_OK
$STATE,7766,begin climb
$GC,7769,1.91,53.2,867.9,0.0,370,7828,2.35,2.78,50.90,1.468,4,0.069,0.087,3160,3523,2615
$GC,8044,1.67,53.2,849.7,7.6,382,8051,0.28,2.65,0.00,0.000,6,0.117,0.074,3112,2116,2614
$GC,8362,1.63,53.2,827.7,7.4,398,8366,0.00,2.72,0.00,0.000,4,0.000,0.087,3112,3526,2612
$GC,8620,1.54,53.2,807.4,7.9,409,8626,0.17,2.60,0.00,0.000,6,0.124,0.074,3081,2140,2611
$GC,8939,1.60,55.6,788.0,5.7,425,8940,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2140,2611
$GC,9245,1.67,63.7,771.3,4.9,440,9261,0.12,2.72,9.75,1.311,4,0.074,0.086,3109,3523,2573
$GC,9309,1.60,63.7,767.3,7.3,442,9313,0.00,2.58,0.00,0.000,6,0.000,0.076,3109,2163,2572
$GC,9635,1.60,63.7,744.3,6.8,458,9640,0.00,2.62,0.00,0.000,4,0.000,0.087,3109,3523,2571
$GC,9736,1.55,63.7,736.9,7.7,462,9743,0.15,2.55,0.00,0.000,6,0.123,0.074,3084,2168,2571
$GC,10054,1.61,63.7,716.5,6.8,478,10058,0.00,2.72,0.00,0.000,4,0.000,0.087,3084,713,2571
$GC,10104,1.61,63.7,712.8,6.8,480,10108,0.00,2.70,0.00,0.000,6,0.000,0.074,3084,2154,2570
$GC,10421,1.67,63.7,692.7,6.8,495,10426,0.12,2.62,0.00,0.000,4,0.076,0.087,3110,3539,2570
$GC,10466,1.60,63.7,689.4,7.1,497,10470,0.00,2.58,0.00,0.000,6,0.000,0.076,3111,2168,2569
$GC,10787,1.60,63.7,667.2,7.3,513,10791,0.00,2.65,0.00,0.000,4,0.000,0.087,3111,3543,2569
$GC,10958,1.54,63.7,653.9,8.2,520,10965,0.17,2.55,0.00,0.000,6,0.125,0.074,3081,2180,2569
$GC,11275,1.60,63.7,632.9,6.2,536,11279,0.00,2.75,0.00,0.000,4,0.000,0.087,3080,713,2568
$GC,11482,1.61,66.6,619.4,5.6,545,11486,0.00,2.67,0.00,0.000,6,0.000,0.071,3081,2152,2567
$GC,11798,1.68,72.6,603.9,5.2,560,11813,0.15,2.67,8.73,1.230,4,0.071,0.086,3114,3536,2536
$GC,12000,1.62,72.6,589.0,8.4,569,12004,0.00,2.65,0.00,0.000,6,0.000,0.071,3114,2118,2536
$GC,12326,1.62,72.6,563.7,7.1,585,12331,0.00,2.72,0.00,0.000,4,0.000,0.084,3114,3542,2535
$GC,12356,1.57,72.6,561.5,7.9,586,12361,0.15,2.65,0.00,0.000,6,0.125,0.071,3090,2121,2535
$GC,12673,1.64,77.7,542.1,5.3,601,12681,0.00,0.00,6.40,1.099,6,0.000,0.000,3089,2120,2515
$GC,12983,1.71,77.7,521.0,7.2,616,12988,0.12,2.60,0.00,0.000,4,0.074,0.077,3117,705,2515
$GC,13241,1.65,77.7,498.7,7.8,627,13247,0.00,2.60,0.00,0.000,6,0.000,0.064,3117,2126,2515
$GC,13558,1.65,77.7,477.4,6.1,643,13562,0.00,2.62,0.00,0.000,4,0.000,0.073,3117,708,2515
$GC,13816,1.60,77.7,461.6,6.3,654,13823,0.15,2.47,0.00,0.000,6,0.117,0.061,3092,2066,2515
$GC,14133,1.68,77.7,442.8,6.4,670,14137,0.00,2.70,0.00,0.000,4,0.000,0.072,3092,3538,2516
$GC,14165,1.68,77.7,440.4,7.2,671,14172,0.00,2.65,0.00,0.000,6,0.000,0.060,3092,2078,2516
$GC,14483,1.77,77.7,419.0,7.0,687,14488,0.17,2.47,0.00,0.000,4,0.063,0.067,3132,707,2516
$GC,14719,1.69,77.7,400.7,7.3,697,14725,0.00,2.50,0.00,0.000,6,0.000,0.057,3132,2100,2517
$GC,15035,1.69,77.7,380.7,6.6,713,15039,0.00,2.53,0.00,0.000,4,0.000,0.065,3132,714,2518
$GC,15159,1.62,77.7,371.8,7.3,718,15164,0.20,2.50,0.00,0.000,6,0.110,0.054,3097,2107,2518
$GC,15477,1.70,77.7,350.0,7.3,733,15478,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2108,2519
$GC,15785,1.78,77.7,326.1,7.7,748,15790,0.15,2.58,0.00,0.000,4,0.059,0.064,3133,3533,2520
$GC,15970,1.71,77.7,309.1,9.2,756,15974,0.00,2.53,0.00,0.000,6,0.000,0.051,3133,2109,2520
$GC,16286,1.71,77.7,280.9,8.8,771,16287,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2109,2521
$GC,16595,1.71,77.7,254.0,9.1,786,16600,0.00,2.60,0.00,0.000,4,0.000,0.062,3133,3538,2522
$GC,16676,1.65,77.7,246.6,8.4,789,16683,0.15,2.55,0.00,0.000,6,0.104,0.049,3108,2100,2522
$GC,16992,1.71,77.7,221.4,7.5,805,16997,0.00,2.62,0.00,0.000,4,0.000,0.061,3108,3540,2523
$GC,17036,1.71,77.7,217.9,8.1,807,17041,0.00,2.55,0.00,0.000,6,0.000,0.049,3108,2102,2523
$GC,17359,1.78,77.7,193.4,7.7,823,17369,0.12,2.62,3.88,0.633,4,0.061,0.061,3138,3537,2515
$GC,17623,1.68,77.7,163.3,13.6,834,17630,0.15,2.53,0.00,0.000,6,0.109,0.048,3111,2111,2515
$GC,17940,1.74,77.7,131.5,7.3,850,17941,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2111,2516
$GC,18250,1.79,77.7,106.9,6.5,865,18252,0.10,0.00,0.00,0.000,6,0.065,0.000,3137,2111,2516
$GC,18560,1.79,77.7,83.4,6.5,880,18564,0.00,2.47,0.00,0.000,4,0.000,0.062,3137,714,2517
$GC,18716,1.73,87.3,74.9,4.7,887,18731,0.00,2.53,10.07,0.796,6,0.000,0.050,3137,2142,2476
$GC,19045,1.73,87.3,48.5,9.0,902,19049,0.00,2.58,0.00,0.000,4,0.000,0.060,3137,716,2476
$GC,19130,1.67,87.3,39.4,12.1,906,19135,0.15,2.53,0.00,0.000,6,0.106,0.050,3111,2138,2476
$GC,19459,1.67,87.3,9.4,10.8,922,19463,0.00,2.58,0.00,0.000,4,0.000,0.060,3111,711,2477
$GC,19470,1.67,87.3,7.8,11.8,922,19477,0.00,2.50,0.00,0.000,6,0.000,0.049,3111,2122,2477
$STATE,19515,end climb,SURFACE_DEPTH_REACHED
$STATE,19516,begin surface coast
$FINISH,1.0,1.027413
$STATE,19558,end surface coast,CONTROL_FINISHED_OK
$STATE,19559,begin surface
$SM_CCo,19582,102.43,0.824,0,0,1813,250.21
$SM_GC,1.41,0.00,0.00,102.43,0.000,0.000,0.824,419,1984,1813,-10.70,-0.40,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1785
$TCM_TEMP,15.90
$XPDR_PINGS,55
$ALTIM_BOTTOM_PING,800.1,74.8
$24V_AH,23.2,82.794
$10V_AH,10.1,41.935
$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,29.075,190.925,137.375,102.425,0.000,37.764,27.665,277.903,21.000,0.000,0.000,18.500,1857.640,14492.152,504.466,2564.445,763.760,0.000,1721.315,0.000,2492.218,0.000,48.556,0.000
$DEVICE_MAMPS,131.924,88.205,1487.213,823.758,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,679.769,628.832,513.599,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47434,927
$CAP_FILE_SIZE,164788,0
$CFSIZE,254472192,221810688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,54,0,0
$GPS,220209,002651,6115.795,-752.828,41,2.1,60,-8.5