version: 66.04
glider: 5
mission: 5
dive: 460
start: 2 17 109 21 11 41
data:
$ID,5
$MISSION,5
$DIVE,460
$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,-96416.758
$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,30
$R_STBD_OVSHOOT,17
$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
$GPS1,210456,6116.434,-753.521,27,2.4,46,-8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-62.5
$GPS2,211120,6116.412,-753.506,16,1.9,16,-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,161.3,2938,-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,-56.20,0.000,6,0.000,0.000,422,1979,2949
$GC,81,-1.87,-31.8,3.9,-5.6,3,98,10.10,2.65,-0.35,0.000,4,0.137,0.074,2329,3419,2961
$GC,244,-1.75,-31.8,27.8,-13.6,9,249,0.17,2.55,0.00,0.000,6,0.110,0.051,2361,2000,2963
$GC,560,-1.75,-31.8,66.4,-12.3,24,564,0.00,2.53,0.00,0.000,4,0.000,0.062,2361,587,2963
$GC,611,-1.69,-31.8,73.4,-13.9,26,616,0.00,2.53,0.00,0.000,6,0.000,0.051,2361,1996,2963
$GC,927,-1.69,-31.8,113.3,-12.1,41,932,0.00,2.55,0.00,0.000,4,0.000,0.061,2361,590,2963
$GC,1029,-1.61,-31.8,126.6,-13.2,45,1036,0.17,2.45,0.00,0.000,6,0.110,0.051,2391,1970,2963
$GC,1347,-1.67,-31.8,163.9,-11.7,61,1351,0.00,2.50,0.00,0.000,4,0.000,0.063,2392,595,2963
$GC,1397,-1.67,-31.8,170.3,-11.8,63,1401,0.00,2.42,0.00,0.000,6,0.000,0.051,2391,1959,2963
$GC,1714,-1.73,-31.8,206.5,-11.2,78,1719,0.12,2.50,0.00,0.000,4,0.063,0.061,2361,591,2963
$GC,1759,-1.66,-31.8,212.4,-12.6,80,1764,0.12,2.40,0.00,0.000,6,0.110,0.051,2381,1938,2963
$GC,2081,-1.66,-31.8,248.6,-10.7,96,2085,0.00,2.62,0.00,0.000,4,0.000,0.064,2380,3401,2963
$GC,2113,-1.66,-31.8,252.6,-11.4,97,2120,0.00,2.62,0.00,0.000,6,0.000,0.053,2381,1937,2964
$GC,2429,-1.66,-31.8,286.7,-10.5,113,2434,0.00,2.67,0.00,0.000,4,0.000,0.064,2381,3403,2963
$GC,2480,-1.66,-31.8,292.3,-10.7,115,2484,0.00,2.62,0.00,0.000,6,0.000,0.052,2381,1934,2963
$GC,2797,-1.70,-31.8,324.8,-10.0,130,2805,0.00,2.40,0.00,0.000,4,0.000,0.064,2381,588,2964
$GC,2861,-1.70,-31.8,331.9,-11.3,132,2867,0.00,2.38,0.00,0.000,6,0.000,0.051,2381,1922,2963
$GC,3178,-1.75,-31.8,363.7,-10.2,148,3183,0.00,2.42,0.00,0.000,4,0.000,0.066,2381,591,2963
$GC,3263,-1.75,-31.8,373.0,-10.8,152,3268,0.00,2.35,0.00,0.000,6,0.000,0.052,2381,1916,2964
$GC,3591,-1.80,-31.8,406.9,-10.7,168,3596,0.15,2.67,0.00,0.000,4,0.062,0.065,2344,3402,2964
$GC,3749,-1.73,-31.8,426.7,-12.6,175,3754,0.12,2.62,0.00,0.000,6,0.110,0.055,2366,1940,2963
$GC,4071,-1.73,-31.8,462.4,-11.7,191,4076,0.00,2.40,0.00,0.000,4,0.000,0.064,2366,594,2964
$GC,4273,-1.73,-31.8,485.3,-10.6,200,4277,0.00,2.38,0.00,0.000,6,0.000,0.052,2366,1933,2964
$GC,4601,-1.73,-31.8,514.8,-8.6,216,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1946,2964
$GC,4910,-1.73,-31.8,541.1,-8.4,231,4914,0.00,2.47,0.00,0.000,4,0.000,0.067,2366,590,2964
$GC,5017,-1.73,-31.8,550.9,-9.3,236,5022,0.00,2.42,0.00,0.000,6,0.000,0.054,2366,1955,2964
$GC,5345,-1.73,-31.8,579.4,-9.1,252,5349,0.00,2.50,0.00,0.000,4,0.000,0.071,2366,595,2964
$GC,5586,-1.73,-31.8,604.2,-9.8,263,5590,0.00,2.40,0.00,0.000,6,0.000,0.059,2366,1931,2964
$GC,5913,-1.73,-31.8,634.4,-9.2,279,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1932,2963
$GC,6221,-1.73,-31.8,662.0,-8.5,294,6226,0.00,2.70,0.00,0.000,4,0.000,0.077,2365,3399,2963
$GC,6311,-1.73,-31.8,669.3,-8.3,298,6316,0.00,2.72,0.00,0.000,6,0.000,0.070,2366,1922,2962
$GC,6632,-1.73,-31.8,696.3,-8.6,314,6637,0.00,2.45,0.00,0.000,4,0.000,0.082,2366,594,2961
$GC,6798,-1.73,-31.8,710.9,-9.1,321,6802,0.00,2.35,0.00,0.000,6,0.000,0.067,2366,1879,2961
$GC,7115,-1.73,-31.8,737.9,-8.8,336,7119,0.00,2.42,0.00,0.000,4,0.000,0.084,2366,594,2959
$GC,7143,-1.73,-31.8,740.8,-9.9,337,7147,0.00,2.38,0.00,0.000,6,0.000,0.071,2366,1882,2959
$GC,7464,-1.73,-31.8,768.3,-8.1,353,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1884,2958
$GC,7775,-1.77,-31.8,794.0,-8.2,368,7779,0.00,2.85,0.00,0.000,4,0.000,0.087,2365,3402,2957
$GC,7824,-1.77,-31.8,798.6,-9.4,370,7829,0.00,2.83,0.00,0.000,6,0.000,0.078,2366,1899,2956
$GC,8141,-1.77,-31.8,824.5,-8.3,385,8146,0.00,2.88,0.00,0.000,4,0.000,0.089,2366,3402,2955
$GC,8191,-1.77,-31.8,829.0,-8.9,387,8195,0.00,2.80,0.00,0.000,6,0.000,0.079,2366,1911,2955
$STATE,8504,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8504,begin apogee
$GC,8512,-0.33,0.0,857.4,8.1,402,8547,1.52,0.00,29.45,1.474,6,0.109,0.000,2668,2122,2832
$STATE,8547,end apogee,CONTROL_FINISHED_OK
$STATE,8547,begin climb
$GC,8552,1.87,31.8,858.6,0.0,404,8591,2.28,2.78,31.65,1.454,4,0.067,0.088,3152,718,2702
$GC,8603,1.60,31.8,855.3,8.2,406,8610,0.32,2.67,0.00,0.000,6,0.111,0.071,3093,2135,2702
$GC,8919,1.63,47.0,844.0,3.9,422,8941,0.00,2.72,15.52,1.397,4,0.000,0.087,3093,3531,2639
$GC,9193,1.59,47.0,823.5,6.6,434,9198,0.00,2.75,0.00,0.000,6,0.000,0.075,3093,2069,2639
$GC,9515,1.59,52.7,805.6,5.2,450,9529,0.00,2.90,6.70,1.215,4,0.000,0.087,3092,3535,2616
$GC,9694,1.59,52.7,794.9,6.4,458,9698,0.00,2.75,0.00,0.000,6,0.000,0.075,3093,2076,2616
$GC,10022,1.60,54.9,776.0,5.7,474,10026,0.00,2.80,0.00,0.000,4,0.000,0.088,3092,3533,2615
$GC,10242,1.60,54.9,763.0,6.5,484,10246,0.00,2.67,0.00,0.000,6,0.000,0.074,3092,2107,2615
$GC,10570,1.60,58.9,745.1,5.4,500,10583,0.00,2.85,6.62,1.211,4,0.000,0.087,3092,3537,2592
$GC,10704,1.60,58.9,736.5,6.4,506,10709,0.00,2.65,0.00,0.000,6,0.000,0.074,3093,2129,2591
$GC,11032,1.60,58.9,716.1,6.5,522,11037,0.00,2.72,0.00,0.000,4,0.000,0.088,3092,3538,2591
$GC,11166,1.60,58.9,706.7,6.8,528,11171,0.00,2.62,0.00,0.000,6,0.000,0.074,3092,2136,2591
$GC,11488,1.61,60.5,687.1,5.8,544,11489,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2137,2590
$GC,11798,1.62,65.7,670.0,5.3,559,11807,0.00,0.00,7.50,1.224,6,0.000,0.000,3093,2136,2564
$GC,12106,1.66,65.7,650.9,6.1,574,12110,0.00,2.67,0.00,0.000,4,0.000,0.087,3093,713,2564
$GC,12192,1.66,65.7,645.4,6.1,578,12196,0.00,2.62,0.00,0.000,6,0.000,0.074,3093,2121,2564
$GC,12518,1.67,74.4,627.9,4.8,594,12533,0.00,2.75,9.38,1.260,4,0.000,0.088,3093,3537,2528
$GC,12660,1.67,75.1,619.9,5.9,600,12664,0.00,2.60,0.00,0.000,6,0.000,0.073,3093,2153,2528
$GC,12983,1.73,80.9,602.0,5.2,616,12998,0.12,2.72,7.60,1.197,4,0.076,0.086,3119,3524,2502
$GC,13125,1.67,80.9,591.9,7.6,622,13130,0.00,2.55,0.00,0.000,6,0.000,0.072,3119,2168,2502
$GC,13447,1.67,80.9,568.2,7.1,638,13451,0.00,2.72,0.00,0.000,4,0.000,0.083,3119,707,2501
$GC,13510,1.61,80.9,563.4,7.8,641,13515,0.15,2.70,0.00,0.000,6,0.123,0.071,3095,2163,2501
$GC,13841,1.67,84.5,541.6,5.5,657,13851,0.00,2.60,4.95,1.012,4,0.000,0.084,3094,3530,2487
$GC,14002,1.67,84.5,530.7,7.6,664,14006,0.00,2.53,0.00,0.000,6,0.000,0.067,3094,2171,2487
$GC,14319,1.74,87.0,512.1,5.6,679,14329,0.12,2.60,4.28,0.917,4,0.072,0.079,3123,3530,2477
$GC,14583,1.69,87.0,491.7,7.0,690,14590,0.00,2.42,0.00,0.000,6,0.000,0.064,3123,2204,2477
$GC,14900,1.69,87.0,469.0,7.9,706,14904,0.00,2.50,0.00,0.000,4,0.000,0.075,3123,3532,2477
$GC,15122,1.63,87.0,449.4,8.7,716,15127,0.12,2.38,0.00,0.000,6,0.123,0.061,3103,2228,2477
$GC,15449,1.70,87.0,419.9,8.6,732,15454,0.00,2.75,0.00,0.000,4,0.000,0.069,3103,710,2478
$GC,15511,1.70,87.0,415.3,7.4,735,15516,0.00,2.72,0.00,0.000,6,0.000,0.059,3103,2219,2478
$GC,15840,1.78,87.0,392.6,6.9,751,15845,0.12,2.40,0.00,0.000,4,0.066,0.070,3132,3533,2479
$GC,16099,1.72,87.0,371.2,9.3,762,16105,0.00,2.38,0.00,0.000,6,0.000,0.054,3132,2212,2480
$GC,16415,1.72,87.0,347.9,7.5,778,16419,0.00,2.42,0.00,0.000,4,0.000,0.067,3132,3533,2481
$GC,16471,1.67,87.0,343.5,7.0,780,16476,0.12,2.35,0.00,0.000,6,0.114,0.053,3111,2221,2481
$GC,16788,1.72,91.6,325.3,5.4,795,16797,0.00,0.00,7.10,0.915,6,0.000,0.000,3111,2221,2458
$GC,17121,1.79,91.6,304.0,7.1,811,17125,0.00,2.42,0.00,0.000,4,0.000,0.064,3111,3539,2458
$GC,17189,1.79,91.6,298.9,6.6,814,17194,0.10,2.33,0.00,0.000,6,0.067,0.051,3136,2233,2458
$GC,17516,1.79,91.6,275.6,7.3,830,17520,0.00,2.72,0.00,0.000,4,0.000,0.063,3136,711,2460
$GC,17556,1.73,91.6,272.5,8.4,832,17560,0.00,2.72,0.00,0.000,6,0.000,0.053,3136,2237,2460
$GC,17883,1.73,91.6,249.4,6.9,848,17884,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2237,2461
$GC,18191,1.73,91.6,225.3,8.6,863,18193,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2237,2461
$GC,18501,1.73,91.6,196.7,10.0,878,18505,0.00,2.35,0.00,0.000,4,0.000,0.064,3135,3541,2461
$GC,18529,1.73,91.6,193.9,9.4,879,18533,0.00,2.35,0.00,0.000,6,0.000,0.051,3136,2221,2461
$GC,18845,1.73,91.6,167.7,8.2,894,18846,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2221,2462
$GC,19155,1.73,91.6,142.2,8.2,909,19159,0.00,2.40,0.00,0.000,4,0.000,0.063,3136,3537,2463
$GC,19211,1.73,91.6,137.4,8.5,911,19218,0.00,2.33,0.00,0.000,6,0.000,0.048,3136,2223,2463
$GC,19528,1.73,91.6,112.3,7.8,927,19529,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2223,2463
$GC,19837,1.73,91.6,88.3,7.2,942,19841,0.00,2.40,0.00,0.000,4,0.000,0.063,3136,3538,2464
$GC,20002,1.73,91.6,75.1,7.6,949,20006,0.00,2.30,0.00,0.000,6,0.000,0.049,3135,2235,2464
$GC,20324,1.73,91.6,47.5,8.3,965,20328,0.00,2.38,0.00,0.000,4,0.000,0.062,3136,3538,2465
$GC,20449,1.68,91.6,33.6,12.1,970,20456,0.15,2.30,0.00,0.000,6,0.106,0.049,3110,2237,2465
$GC,20766,1.77,91.6,5.0,9.0,986,20770,0.00,2.38,0.00,0.000,4,0.000,0.063,3110,3541,2466
$STATE,20774,end climb,SURFACE_DEPTH_REACHED
$STATE,20774,begin surface coast
$FINISH,0.7,1.027428
$STATE,20820,end surface coast,CONTROL_FINISHED_OK
$STATE,20820,begin surface
$SM_CCo,20847,97.65,0.821,0,0,1812,250.21
$SM_GC,1.73,0.00,0.00,97.65,0.000,0.000,0.821,421,1973,1812,-10.70,-0.76,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1805
$TCM_TEMP,18.70
$XPDR_PINGS,65
$ALTIM_BOTTOM_PING,775.2,91.3
$24V_AH,23.3,81.175
$10V_AH,10.1,40.403
$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,27.975,210.300,130.750,97.650,0.000,37.756,37.096,158.509,23.250,0.000,0.000,16.227,1966.064,15628.432,429.976,2629.702,670.345,0.000,1690.855,0.000,2561.403,0.000,47.005,0.000
$DEVICE_MAMPS,136.526,88.972,1474.174,821.457,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,730.220,672.061,529.165,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50536,988
$CAP_FILE_SIZE,169989,0
$CFSIZE,254472192,222998528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,60,0,0
$GPS,180209,030207,6116.534,-754.413,40,1.7,40,-8.6