version: 66.04
glider: 5
mission: 5
dive: 459
start: 2 17 109 15 19 43
data:
$ID,5
$MISSION,5
$DIVE,459
$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,-96399.906
$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,31
$R_STBD_OVSHOOT,24
$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
$GPS1,150900,6116.622,-753.901,43,1.6,43,-8.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-63.2
$GPS2,151925,6116.589,-753.776,14,1.7,31,-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,160.2,3342,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.87,-28.8,0.0,0.0,0,79,0.00,0.00,-56.92,0.000,6,0.000,0.000,425,1975,2948
$GC,83,-1.87,-34.0,3.7,-5.3,3,100,10.10,2.62,-0.68,0.000,4,0.139,0.072,2330,3406,2971
$GC,353,-1.76,-34.0,45.1,-15.0,14,358,0.17,2.53,0.00,0.000,6,0.111,0.049,2362,1997,2971
$GC,675,-1.76,-34.0,88.6,-13.5,30,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1998,2972
$GC,986,-1.76,-34.0,128.9,-12.4,45,990,0.00,2.53,0.00,0.000,4,0.000,0.063,2362,585,2972
$GC,1030,-1.70,-34.0,135.4,-13.9,47,1035,0.00,2.53,0.00,0.000,6,0.000,0.051,2362,2005,2972
$GC,1353,-1.70,-34.0,175.2,-11.6,63,1357,0.00,2.58,0.00,0.000,4,0.000,0.063,2362,590,2972
$GC,1461,-1.64,-34.0,188.9,-13.0,68,1466,0.12,2.47,0.00,0.000,6,0.115,0.051,2384,1974,2972
$GC,1792,-1.68,-34.0,225.5,-11.3,84,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1974,2972
$GC,2097,-1.73,-34.0,259.3,-10.5,99,2102,0.00,2.53,0.00,0.000,4,0.000,0.064,2383,586,2972
$GC,2177,-1.73,-34.0,268.0,-11.1,102,2183,0.00,2.50,0.00,0.000,6,0.000,0.052,2383,1983,2972
$GC,2494,-1.78,-34.0,298.3,-9.8,118,2499,0.12,2.58,0.00,0.000,4,0.062,0.064,2353,3412,2972
$GC,2512,-1.78,-34.0,300.3,-9.7,119,2517,0.00,2.58,0.00,0.000,6,0.000,0.054,2353,1977,2972
$GC,2840,-1.78,-34.0,334.4,-10.6,135,2844,0.00,2.47,0.00,0.000,4,0.000,0.065,2353,594,2972
$GC,2996,-1.69,-34.0,351.7,-11.4,142,3001,0.12,2.45,0.00,0.000,6,0.111,0.051,2374,1965,2972
$GC,3322,-1.69,-34.0,384.9,-10.1,158,3327,0.00,2.50,0.00,0.000,4,0.000,0.065,2375,591,2972
$GC,3357,-1.69,-34.0,388.7,-10.7,159,3363,0.00,2.40,0.00,0.000,6,0.000,0.051,2375,1946,2972
$GC,3673,-1.69,-34.0,421.2,-10.1,175,3677,0.00,2.62,0.00,0.000,4,0.000,0.066,2375,3402,2973
$GC,3790,-1.69,-34.0,433.4,-10.3,180,3794,0.00,2.58,0.00,0.000,6,0.000,0.055,2375,1968,2972
$GC,4107,-1.69,-34.0,462.4,-9.3,195,4111,0.00,2.45,0.00,0.000,4,0.000,0.065,2375,593,2972
$GC,4285,-1.69,-34.0,480.0,-9.1,203,4290,0.00,2.42,0.00,0.000,6,0.000,0.052,2374,1963,2972
$GC,4607,-1.74,-34.0,507.6,-8.0,219,4611,0.00,2.50,0.00,0.000,4,0.000,0.067,2375,588,2972
$GC,4654,-1.74,-34.0,511.7,-8.8,221,4658,0.00,2.47,0.00,0.000,6,0.000,0.054,2375,1981,2972
$GC,4981,-1.74,-34.0,541.6,-9.6,237,4985,0.00,2.53,0.00,0.000,4,0.000,0.068,2375,596,2972
$GC,5239,-1.74,-34.0,568.7,-10.7,248,5243,0.00,2.42,0.00,0.000,6,0.000,0.056,2375,1959,2972
$GC,5557,-1.79,-34.0,601.8,-11.2,263,5561,0.00,2.50,0.00,0.000,4,0.000,0.071,2375,597,2972
$GC,5635,-1.79,-34.0,610.9,-10.8,266,5639,0.00,2.47,0.00,0.000,6,0.000,0.058,2375,1975,2972
$GC,5952,-1.85,-34.0,644.2,-9.8,281,5957,0.15,2.58,0.00,0.000,4,0.062,0.073,2338,594,2971
$GC,6085,-1.75,-34.0,657.1,-10.1,287,6090,0.12,2.45,0.00,0.000,6,0.117,0.062,2359,1947,2971
$GC,6412,-1.75,-34.0,683.2,-7.3,303,6416,0.00,2.70,0.00,0.000,4,0.000,0.079,2359,3406,2971
$GC,6485,-1.75,-34.0,689.0,-8.6,306,6490,0.00,2.65,0.00,0.000,6,0.000,0.070,2359,1968,2970
$GC,6801,-1.75,-34.0,713.0,-7.6,321,6806,0.00,2.55,0.00,0.000,4,0.000,0.083,2359,588,2969
$GC,6858,-1.75,-34.0,718.0,-9.1,323,6864,0.00,2.50,0.00,0.000,6,0.000,0.070,2359,1947,2969
$GC,7174,-1.75,-34.0,743.6,-8.1,339,7179,0.00,2.58,0.00,0.000,4,0.000,0.086,2359,587,2968
$GC,7241,-1.75,-34.0,749.7,-9.1,342,7246,0.00,2.47,0.00,0.000,6,0.000,0.071,2359,1926,2967
$GC,7573,-1.75,-34.0,776.6,-8.0,358,7578,0.00,2.55,0.00,0.000,4,0.000,0.088,2359,587,2966
$GC,7636,-1.75,-34.0,782.4,-8.8,361,7641,0.00,2.47,0.00,0.000,6,0.000,0.074,2359,1923,2966
$GC,7963,-1.75,-34.0,810.9,-8.9,377,7968,0.00,2.78,0.00,0.000,4,0.000,0.089,2359,3400,2964
$GC,8032,-1.75,-34.0,817.3,-9.5,380,8036,0.00,2.75,0.00,0.000,6,0.000,0.078,2359,1933,2964
$GC,8353,-1.75,-34.0,844.8,-8.6,396,8357,0.00,2.80,0.00,0.000,4,0.000,0.090,2359,3402,2963
$STATE,8412,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8412,begin apogee
$GC,8423,-0.33,0.0,851.5,10.9,399,8458,1.55,0.00,31.50,1.470,6,0.110,0.000,2666,2120,2832
$STATE,8459,end apogee,CONTROL_FINISHED_OK
$STATE,8459,begin climb
$GC,8462,1.87,34.0,853.5,0.0,401,8503,2.22,0.00,33.62,1.451,6,0.067,0.000,3153,2121,2693
$GC,8814,1.75,60.1,842.1,2.4,418,8845,0.15,2.78,24.80,1.433,4,0.128,0.085,3128,3523,2587
$GC,9099,1.62,60.1,821.7,7.1,431,9104,0.17,2.55,0.00,0.000,6,0.129,0.074,3097,2172,2586
$GC,9426,1.62,60.1,797.5,7.5,447,9431,0.00,2.62,0.00,0.000,4,0.000,0.088,3097,3531,2585
$GC,9686,1.62,60.1,777.5,8.3,458,9692,0.00,2.55,0.00,0.000,6,0.000,0.074,3097,2171,2585
$GC,10003,1.62,60.1,756.0,6.9,474,10007,0.00,2.62,0.00,0.000,4,0.000,0.088,3097,3528,2584
$GC,10047,1.62,60.1,752.7,7.0,476,10051,0.00,2.55,0.00,0.000,6,0.000,0.076,3098,2170,2584
$GC,10368,1.62,60.1,731.1,6.5,492,10372,0.00,2.75,0.00,0.000,4,0.000,0.089,3097,709,2583
$GC,10424,1.62,60.1,727.3,6.9,494,10430,0.00,2.72,0.00,0.000,6,0.000,0.076,3097,2165,2583
$GC,10740,1.63,64.9,708.8,5.3,510,10750,0.00,2.83,5.25,1.106,4,0.000,0.087,3097,713,2566
$GC,10790,1.63,64.9,705.6,6.5,512,10794,0.00,2.72,0.00,0.000,6,0.000,0.075,3097,2158,2566
$GC,11107,1.63,65.9,688.2,5.9,527,11108,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2158,2565
$GC,11415,1.64,74.4,671.1,4.8,542,11430,0.00,2.67,10.10,1.292,4,0.000,0.088,3097,3537,2528
$GC,11557,1.65,82.8,664.0,4.8,547,11572,0.00,2.53,9.48,1.272,6,0.000,0.074,3097,2200,2493
$GC,11903,1.72,83.4,645.7,5.9,564,11907,0.00,2.83,0.00,0.000,4,0.000,0.088,3097,706,2493
$GC,12080,1.72,83.4,633.6,7.7,572,12085,0.00,2.80,0.00,0.000,6,0.000,0.074,3097,2201,2493
$GC,12408,1.77,83.4,611.4,7.1,588,12413,0.15,2.53,0.00,0.000,4,0.074,0.087,3129,3535,2492
$GC,12666,1.68,83.4,587.8,8.7,599,12673,0.00,2.45,0.00,0.000,6,0.000,0.071,3129,2218,2492
$GC,12981,1.68,83.4,563.1,7.8,615,12986,0.00,2.80,0.00,0.000,4,0.000,0.082,3129,711,2492
$GC,13106,1.59,83.4,552.2,9.1,620,13113,0.20,2.75,0.00,0.000,6,0.117,0.069,3095,2202,2492
$GC,13422,1.65,83.4,532.2,6.1,636,13427,0.00,2.80,0.00,0.000,4,0.000,0.078,3095,704,2491
$GC,13563,1.65,83.4,522.1,6.9,642,13567,0.00,2.70,0.00,0.000,6,0.000,0.067,3095,2170,2492
$GC,13881,1.71,83.4,499.0,7.6,657,13886,0.10,2.75,0.00,0.000,4,0.072,0.076,3117,710,2492
$GC,14030,1.66,83.4,486.2,9.2,663,14036,0.00,2.65,0.00,0.000,6,0.000,0.064,3117,2156,2492
$GC,14346,1.66,83.4,465.1,6.1,679,14350,0.00,2.55,0.00,0.000,4,0.000,0.077,3117,3537,2492
$GC,14603,1.66,83.8,448.3,5.9,690,14610,0.00,2.45,0.00,0.000,6,0.000,0.060,3117,2181,2493
$GC,14920,1.67,84.6,429.9,5.9,706,14924,0.00,2.53,0.00,0.000,4,0.000,0.072,3117,3537,2494
$GC,15131,1.67,86.6,417.3,5.7,715,15142,0.00,2.42,5.15,0.908,6,0.000,0.057,3117,2187,2479
$GC,15470,1.67,86.6,397.0,6.9,732,15474,0.00,2.50,0.00,0.000,4,0.000,0.069,3117,3535,2479
$GC,15628,1.67,86.6,385.6,6.9,739,15632,0.00,2.38,0.00,0.000,6,0.000,0.055,3117,2215,2479
$GC,15949,1.67,86.6,363.7,6.9,755,15953,0.00,2.45,0.00,0.000,4,0.000,0.067,3117,3544,2481
$GC,16112,1.67,86.6,349.9,9.0,762,16116,0.00,2.35,0.00,0.000,6,0.000,0.052,3117,2230,2481
$GC,16433,1.67,86.6,325.2,7.3,778,16437,0.00,2.72,0.00,0.000,4,0.000,0.066,3117,711,2482
$GC,16472,1.67,86.6,321.9,8.9,780,16477,0.00,2.72,0.00,0.000,6,0.000,0.055,3117,2234,2482
$GC,16801,1.67,86.6,298.2,7.0,796,16802,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2234,2483
$GC,17109,1.71,86.6,275.6,7.3,811,17114,0.00,2.35,0.00,0.000,4,0.000,0.065,3117,3539,2484
$GC,17300,1.71,86.6,260.5,7.1,819,17306,0.00,2.33,0.00,0.000,6,0.000,0.050,3117,2231,2484
$GC,17616,1.75,86.6,235.8,8.2,835,17620,0.00,2.40,0.00,0.000,4,0.000,0.065,3117,3541,2485
$GC,17711,1.75,86.6,227.4,9.5,839,17715,0.00,2.33,0.00,0.000,6,0.000,0.050,3117,2232,2486
$GC,18028,1.80,86.6,200.9,8.4,854,18032,0.00,2.38,0.00,0.000,4,0.000,0.064,3117,3537,2486
$GC,18089,1.80,86.6,195.4,8.1,856,18095,0.00,2.30,0.00,0.000,6,0.000,0.049,3117,2239,2486
$GC,18406,1.85,86.6,170.8,8.0,872,18410,0.12,2.40,0.00,0.000,4,0.063,0.063,3151,3546,2487
$GC,18462,1.76,86.6,165.6,9.1,874,18466,0.12,2.30,0.00,0.000,6,0.112,0.048,3129,2244,2487
$GC,18778,1.76,86.6,139.2,8.6,889,18779,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2244,2487
$GC,19088,1.76,86.6,114.4,7.8,904,19098,0.00,2.40,3.85,0.602,4,0.000,0.062,3129,3535,2479
$GC,19138,1.76,86.6,110.0,8.4,906,19142,0.00,2.28,0.00,0.000,6,0.000,0.048,3129,2249,2479
$GC,19459,1.76,86.6,83.1,8.3,922,19464,0.00,2.35,0.00,0.000,4,0.000,0.063,3129,3538,2479
$GC,19516,1.76,86.6,78.1,9.4,924,19523,0.00,2.28,0.00,0.000,6,0.000,0.048,3129,2250,2479
$GC,19834,1.76,86.6,52.4,8.1,940,19838,0.00,2.35,0.00,0.000,4,0.000,0.063,3129,3540,2480
$GC,19901,1.76,86.6,46.4,9.0,943,19905,0.00,2.25,0.00,0.000,6,0.000,0.048,3129,2264,2480
$GC,20223,1.76,86.6,19.5,7.5,959,20228,0.00,2.75,0.00,0.000,4,0.000,0.061,3129,706,2481
$GC,20245,1.76,86.6,17.1,9.7,960,20249,0.00,2.80,0.00,0.000,6,0.000,0.051,3129,2285,2480
$STATE,20439,end climb,SURFACE_DEPTH_REACHED
$STATE,20439,begin surface coast
$FINISH,0.7,1.016630
$STATE,20502,end surface coast,CONTROL_FINISHED_OK
$STATE,20503,begin surface
$SM_CCo,20527,96.85,0.819,0,0,1812,250.21
$SM_GC,1.57,0.00,0.00,96.85,0.000,0.000,0.819,422,1981,1812,-10.69,-0.54,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1794
$TCM_TEMP,16.80
$XPDR_PINGS,60
$ALTIM_BOTTOM_PING,776.6,84.8
$24V_AH,23.3,81.085
$10V_AH,10.1,40.305
$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,27.625,219.275,123.750,96.850,0.000,75.522,67.419,249.797,22.250,0.000,0.000,31.441,1947.896,15338.380,423.699,2699.932,831.742,0.000,1711.508,0.000,2609.701,0.000,49.816,0.000
$DEVICE_MAMPS,138.827,89.739,1470.339,819.156,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,714.413,660.547,532.596,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50652,973
$CAP_FILE_SIZE,173932,0
$CFSIZE,254472192,223076352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,62,0,0
$GPS,170209,210456,6116.434,-753.521,27,2.4,46,-8.5