version: 66.04
glider: 5
mission: 5
dive: 453
start: 2 16 109 3 5 27
data:
$ID,5
$MISSION,5
$DIVE,453
$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,-96237.18
$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,32
$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
$GPS1,025837,6123.599,-755.911,37,1.3,37,-8.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-66.4
$GPS2,030508,6123.601,-755.814,13,1.5,13,-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,176.6,16288,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.50,0.000,2,0.000,0.000,424,1979,2994
$GC,82,-0.97,-146.6,3.0,-3.5,3,113,11.02,2.60,-13.85,0.000,4,0.137,0.073,2527,3411,3430
$GC,242,-0.88,-146.6,19.4,-8.5,10,247,0.12,2.53,0.00,0.000,6,0.091,0.049,2553,1998,3430
$GC,570,-0.88,-146.6,46.2,-7.4,26,574,0.00,2.53,0.00,0.000,4,0.000,0.064,2553,587,3430
$GC,611,-0.88,-146.6,49.6,-8.9,28,616,0.00,2.55,0.00,0.000,6,0.000,0.052,2553,2011,3430
$GC,938,-0.88,-146.6,75.1,-7.9,44,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2011,3430
$GC,1247,-0.88,-146.6,99.9,-8.1,59,1251,0.00,2.60,0.00,0.000,4,0.000,0.065,2553,585,3430
$GC,1299,-0.88,-146.6,104.1,-8.2,61,1303,0.00,2.53,0.00,0.000,6,0.000,0.053,2553,2003,3430
$GC,1615,-0.88,-146.6,128.1,-7.5,76,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2003,3430
$GC,1925,-0.88,-146.6,150.8,-7.3,91,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2003,3430
$GC,2234,-0.88,-146.6,172.8,-6.5,106,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2003,3430
$GC,2543,-0.88,-146.6,191.9,-6.0,121,2547,0.00,2.58,0.00,0.000,4,0.000,0.065,2553,587,3430
$GC,2578,-0.88,-146.6,193.8,-5.5,122,2584,0.00,2.53,0.00,0.000,6,0.000,0.053,2554,1998,3430
$GC,2894,-0.88,-146.6,212.7,-6.2,138,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1999,3430
$GC,3203,-0.88,-146.6,230.3,-5.9,153,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1999,3430
$GC,3512,-0.88,-146.6,252.0,-7.9,168,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2000,3430
$GC,3822,-0.88,-146.6,279.4,-8.5,183,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2000,3430
$GC,4130,-0.88,-146.6,305.1,-8.4,198,4135,0.00,2.53,0.00,0.000,4,0.000,0.064,2553,3407,3431
$GC,4164,-0.88,-146.6,308.0,-8.8,199,4170,0.00,2.55,0.00,0.000,6,0.000,0.053,2553,1980,3430
$GC,4481,-0.88,-146.6,333.1,-7.8,215,4485,0.00,2.60,0.00,0.000,4,0.000,0.064,2553,3408,3430
$GC,4542,-0.88,-146.6,338.2,-8.5,218,4547,0.00,2.53,0.00,0.000,6,0.000,0.053,2553,1994,3430
$GC,4869,-0.88,-146.6,363.0,-7.4,234,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1993,3430
$GC,5179,-0.88,-146.6,384.2,-6.9,249,5183,0.00,2.60,0.00,0.000,4,0.000,0.065,2554,3414,3430
$GC,5235,-0.88,-146.6,388.4,-7.9,251,5241,0.00,2.55,0.00,0.000,6,0.000,0.053,2553,1988,3430
$GC,5552,-0.88,-146.6,410.9,-7.3,267,5556,0.00,2.60,0.00,0.000,4,0.000,0.065,2553,3408,3430
$GC,5613,-0.88,-146.6,416.0,-8.4,270,5618,0.00,2.50,0.00,0.000,6,0.000,0.053,2553,2002,3430
$GC,5940,-0.88,-146.6,442.3,-8.1,286,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2001,3430
$GC,6251,-0.88,-146.6,465.8,-6.8,301,6255,0.00,2.58,0.00,0.000,4,0.000,0.067,2553,3408,3430
$GC,6329,-0.88,-146.6,471.5,-6.9,304,6335,0.00,2.50,0.00,0.000,6,0.000,0.054,2553,2013,3430
$GC,6645,-0.88,-146.6,490.3,-5.8,320,6649,0.00,2.55,0.00,0.000,4,0.000,0.067,2553,3404,3430
$GC,6695,-0.88,-146.6,493.5,-6.8,322,6699,0.00,2.47,0.00,0.000,6,0.000,0.055,2553,2023,3430
$GC,7017,-0.88,-146.6,515.1,-7.4,338,7021,0.00,2.58,0.00,0.000,4,0.000,0.069,2553,594,3430
$GC,7117,-0.88,-146.6,523.5,-8.4,342,7123,0.00,2.50,0.00,0.000,6,0.000,0.056,2553,1996,3430
$GC,7434,-0.88,-146.6,548.1,-7.5,358,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1996,3430
$GC,7743,-0.88,-146.6,566.6,-5.4,373,7747,0.00,2.58,0.00,0.000,4,0.000,0.073,2553,595,3430
$GC,7782,-0.88,-146.6,568.8,-5.4,375,7787,0.00,2.47,0.00,0.000,6,0.000,0.060,2553,1972,3429
$GC,8111,-0.88,-146.6,589.4,-6.9,391,8115,0.00,2.60,0.00,0.000,4,0.000,0.075,2553,3404,3429
$GC,8144,-0.88,-146.6,591.8,-6.9,392,8150,0.00,2.62,0.00,0.000,6,0.000,0.064,2553,1968,3428
$GC,8460,-0.88,-146.6,615.1,-7.8,408,8461,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1968,3428
$GC,8769,-0.88,-146.6,637.4,-6.9,423,8773,0.00,2.70,0.00,0.000,4,0.000,0.081,2552,3401,3427
$GC,8796,-0.88,-146.6,639.4,-6.9,424,8800,0.00,2.65,0.00,0.000,6,0.000,0.069,2553,1966,3426
$GC,9113,-0.88,-146.6,660.3,-6.7,439,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1965,3426
$GC,9421,-0.88,-146.6,681.1,-6.9,454,9425,0.00,2.72,0.00,0.000,4,0.000,0.084,2553,3403,3425
$GC,9483,-0.93,-146.6,685.4,-6.7,457,9488,0.00,2.65,0.00,0.000,6,0.000,0.071,2553,1973,3424
$GC,9811,-0.93,-146.6,707.2,-6.8,473,9812,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1973,3424
$GC,10119,-0.97,-146.6,728.5,-6.7,488,10124,0.00,2.72,0.00,0.000,4,0.000,0.088,2553,3400,3422
$GC,10165,-1.02,-146.6,731.7,-7.6,490,10170,0.15,2.65,0.00,0.000,6,0.071,0.074,2518,1980,3422
$STATE,10318,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10318,begin apogee
$GC,10327,-0.33,0.0,745.1,8.4,498,10464,0.73,0.00,134.25,1.407,6,0.086,0.000,2668,2130,2832
$STATE,10465,end apogee,CONTROL_FINISHED_OK
$STATE,10465,begin climb
$GC,10468,0.97,146.6,749.5,0.0,505,10614,1.33,2.75,136.60,1.355,4,0.071,0.088,2952,3526,2234
$GC,10646,0.77,146.6,744.0,6.4,513,10651,0.20,2.67,0.00,0.000,6,0.098,0.075,2914,2127,2233
$GC,10971,0.80,199.6,728.0,4.6,529,11023,0.00,0.00,48.95,1.333,6,0.000,0.000,2914,2127,2018
$GC,11324,0.85,228.5,710.0,5.2,546,11354,0.00,0.00,27.80,1.321,6,0.000,0.000,2914,2127,1900
$GC,11652,0.91,266.3,692.8,5.0,562,11695,0.12,2.80,35.53,1.342,4,0.068,0.086,2945,3535,1746
$GC,11720,0.91,266.3,688.5,6.6,565,11725,0.00,2.70,0.00,0.000,6,0.000,0.076,2945,2120,1746
$GC,12047,0.91,266.3,665.8,7.2,581,12051,0.00,2.67,0.00,0.000,4,0.000,0.088,2945,707,1746
$GC,12087,0.86,266.3,662.6,8.3,583,12091,0.00,2.65,0.00,0.000,6,0.000,0.075,2945,2117,1745
$GC,12414,0.86,266.3,639.4,7.0,599,12419,0.00,2.70,0.00,0.000,4,0.000,0.087,2945,711,1745
$GC,12442,0.81,266.3,637.2,7.8,600,12448,0.12,2.62,0.00,0.000,6,0.103,0.074,2920,2111,1745
$GC,12760,0.91,303.4,619.9,5.0,615,12803,0.10,2.80,33.97,1.344,4,0.073,0.087,2946,3525,1595
$GC,12826,0.91,303.4,615.3,7.2,618,12831,0.00,2.72,0.00,0.000,6,0.000,0.076,2946,2101,1595
$GC,13153,0.91,303.4,591.8,6.9,634,13154,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2101,1595
$GC,13463,0.91,303.4,568.7,8.1,649,13468,0.00,2.75,0.00,0.000,4,0.000,0.085,2946,3530,1594
$GC,13496,0.91,303.4,565.9,8.1,650,13503,0.00,2.67,0.00,0.000,6,0.000,0.074,2947,2105,1593
$GC,13812,0.91,303.4,538.2,8.9,666,13817,0.00,2.72,0.00,0.000,4,0.000,0.084,2946,3530,1593
$GC,13852,0.91,303.4,534.5,9.3,668,13856,0.00,2.62,0.00,0.000,6,0.000,0.070,2946,2122,1593
$GC,14178,0.91,303.4,506.0,8.4,684,14182,0.00,2.60,0.00,0.000,4,0.000,0.078,2947,713,1593
$GC,14256,0.91,303.4,499.0,8.7,687,14262,0.00,2.58,0.00,0.000,6,0.000,0.064,2947,2117,1593
$GC,14573,0.91,303.4,473.9,7.4,703,14577,0.00,2.60,0.00,0.000,4,0.000,0.075,2946,713,1594
$GC,14606,0.91,303.4,471.4,7.5,704,14612,0.00,2.55,0.00,0.000,6,0.000,0.063,2947,2108,1594
$GC,14922,0.92,305.9,452.2,5.9,720,14931,0.00,2.65,4.00,0.808,4,0.000,0.074,2947,3536,1584
$GC,14949,0.92,305.9,450.4,6.9,721,14954,0.00,2.67,0.00,0.000,6,0.000,0.063,2947,2087,1584
$GC,15270,0.92,305.9,427.7,7.6,737,15271,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2087,1585
$GC,15579,0.92,305.9,403.1,8.0,752,15584,0.00,2.70,0.00,0.000,4,0.000,0.069,2947,3541,1585
$GC,15613,0.92,305.9,400.3,8.2,753,15620,0.00,2.60,0.00,0.000,6,0.000,0.058,2947,2107,1585
$GC,15929,0.92,305.9,376.0,7.6,769,15933,0.00,2.53,0.00,0.000,4,0.000,0.068,2946,710,1586
$GC,15950,0.92,305.9,374.1,8.7,770,15955,0.00,2.53,0.00,0.000,6,0.000,0.056,2947,2114,1586
$GC,16275,0.92,305.9,348.2,8.4,786,16276,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2115,1587
$GC,16581,0.92,305.9,321.9,8.6,801,16586,0.00,2.58,0.00,0.000,4,0.000,0.068,2947,713,1588
$GC,16604,0.92,305.9,319.7,8.9,802,16608,0.00,2.50,0.00,0.000,6,0.000,0.055,2947,2105,1588
$GC,16926,0.92,305.9,291.4,8.9,818,16927,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2105,1589
$GC,17234,0.92,305.9,264.9,8.3,833,17235,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2105,1589
$GC,17543,0.92,305.9,239.0,8.0,848,17544,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2105,1589
$GC,17853,0.92,305.9,214.6,7.8,863,17858,0.00,2.55,0.00,0.000,4,0.000,0.067,2947,709,1590
$GC,17881,0.92,305.9,212.3,8.1,864,17885,0.00,2.50,0.00,0.000,6,0.000,0.054,2946,2106,1590
$GC,18197,0.92,305.9,190.0,6.9,879,18198,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2106,1591
$GC,18507,0.92,305.9,169.8,6.5,894,18511,0.00,2.55,0.00,0.000,4,0.000,0.067,2946,709,1591
$GC,18530,0.92,305.9,168.1,7.2,895,18535,0.00,2.47,0.00,0.000,6,0.000,0.054,2947,2095,1591
$GC,18857,0.92,305.9,147.2,6.7,911,18858,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2095,1592
$GC,19167,0.92,305.9,126.9,6.7,926,19172,0.00,2.60,0.00,0.000,4,0.000,0.064,2947,3538,1592
$GC,19195,0.97,305.9,124.9,7.1,927,19200,0.00,2.58,0.00,0.000,6,0.000,0.052,2946,2098,1592
$GC,19513,0.97,305.9,104.0,7.2,942,19517,0.00,2.50,0.00,0.000,4,0.000,0.067,2946,709,1592
$GC,19540,0.97,305.9,101.6,7.5,943,19545,0.00,2.50,0.00,0.000,6,0.000,0.053,2947,2108,1592
$GC,19858,0.97,305.9,77.2,7.9,958,19859,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2108,1593
$GC,20166,0.97,305.9,53.9,7.3,973,20167,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2108,1593
$GC,20475,0.97,305.9,31.3,7.0,988,20479,0.00,2.55,0.00,0.000,4,0.000,0.067,2947,714,1593
$GC,20504,1.01,305.9,29.2,8.3,989,20509,0.00,2.47,0.00,0.000,6,0.000,0.054,2947,2099,1593
$GC,20823,1.06,305.9,6.6,7.4,1004,20832,0.12,2.60,3.85,0.553,4,0.054,0.064,2984,3530,1584
$STATE,20846,end climb,SURFACE_DEPTH_REACHED
$STATE,20846,begin surface coast
$FINISH,2.4,1.027441
$STATE,20859,end surface coast,CONTROL_FINISHED_OK
$STATE,20859,begin surface
$SM_CCo,20946,0.00,0.000,0,0,1583,306.38
$SM_GC,1.29,11.45,0.00,0.00,0.050,0.000,0.000,425,1968,1583,-10.58,-0.90,306.38
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1836
$TCM_TEMP,18.70
$XPDR_PINGS,65
$ALTIM_BOTTOM_PING,675.5,79.2
$24V_AH,23.4,80.358
$10V_AH,10.1,39.729
$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,25.475,182.325,424.950,0.000,0.000,37.761,29.768,181.136,22.250,0.000,0.000,15.832,1818.944,16214.374,566.668,2082.883,648.807,0.000,1632.879,0.000,2038.471,0.000,40.600,0.000
$DEVICE_MAMPS,136.526,88.205,1407.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,740.941,677.484,601.240,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50570,1005
$CAP_FILE_SIZE,148965,0
$CFSIZE,254472192,223539200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,57,0,0
$GPS,160209,085536,6120.852,-753.499,26,1.7,26,-8.6