version: 66.04
glider: 5
mission: 5
dive: 461
start: 2 18 109 3 8 46
data:
$ID,5
$MISSION,5
$DIVE,461
$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,-96430.305
$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,26
$R_STBD_OVSHOOT,20
$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
$GPS1,030207,6116.534,-754.413,40,1.7,40,-8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-63.9
$GPS2,030825,6116.555,-754.398,12,1.9,12,-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,152.0,3585,-26.1,-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,-1.79,-31.4,0.0,0.0,0,76,0.00,0.00,-57.40,0.000,6,0.000,0.000,421,1963,2960
$GC,80,-1.83,-56.7,2.7,-2.8,3,102,10.20,2.65,-3.45,0.000,4,0.139,0.074,2338,3410,3065
$GC,270,-1.73,-56.7,35.2,-18.8,11,275,0.15,2.53,0.00,0.000,6,0.115,0.051,2365,1999,3065
$GC,586,-1.73,-56.7,79.4,-13.2,26,591,0.00,2.60,0.00,0.000,4,0.000,0.063,2365,3417,3065
$GC,616,-1.69,-56.7,83.3,-13.9,27,620,0.00,2.55,0.00,0.000,6,0.000,0.049,2365,1992,3065
$GC,932,-1.69,-56.7,123.0,-12.1,42,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1991,3065
$GC,1241,-1.69,-56.7,159.8,-12.3,57,1245,0.00,2.50,0.00,0.000,4,0.000,0.062,2364,588,3065
$GC,1303,-1.62,-56.7,167.9,-12.8,59,1310,0.15,2.50,0.00,0.000,6,0.111,0.051,2391,1996,3065
$GC,1620,-1.66,-56.7,203.2,-10.9,75,1624,0.00,2.55,0.00,0.000,4,0.000,0.062,2391,588,3065
$GC,1670,-1.66,-56.7,209.0,-12.3,77,1675,0.00,2.47,0.00,0.000,6,0.000,0.052,2391,1979,3065
$GC,1986,-1.66,-56.7,247.3,-11.8,92,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1980,3065
$GC,2296,-1.71,-56.7,281.4,-10.9,107,2300,0.00,2.53,0.00,0.000,4,0.000,0.064,2391,588,3065
$GC,2364,-1.71,-56.7,289.7,-13.0,110,2368,0.00,2.47,0.00,0.000,6,0.000,0.052,2391,1973,3065
$GC,2688,-1.75,-56.7,326.2,-11.0,126,2693,0.15,2.53,0.00,0.000,4,0.058,0.063,2353,591,3065
$GC,2722,-1.64,-56.7,330.9,-13.5,127,2728,0.17,2.42,0.00,0.000,6,0.104,0.052,2384,1960,3065
$GC,3039,-1.64,-56.7,365.9,-11.0,143,3043,0.00,2.47,0.00,0.000,4,0.000,0.064,2384,595,3065
$GC,3089,-1.64,-56.7,371.8,-11.5,145,3093,0.00,2.38,0.00,0.000,6,0.000,0.051,2384,1934,3066
$GC,3405,-1.64,-56.7,405.9,-10.8,160,3410,0.00,2.65,0.00,0.000,4,0.000,0.064,2384,3406,3065
$GC,3433,-1.64,-56.7,409.4,-12.0,161,3437,0.00,2.65,0.00,0.000,6,0.000,0.056,2384,1932,3065
$GC,3749,-1.64,-56.7,442.0,-9.5,176,3753,0.00,2.67,0.00,0.000,4,0.000,0.064,2384,3401,3066
$GC,3800,-1.69,-56.7,447.6,-11.2,178,3804,0.00,2.60,0.00,0.000,6,0.000,0.054,2384,1949,3066
$GC,4116,-1.74,-56.7,482.2,-11.6,193,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1949,3066
$GC,4425,-1.78,-56.7,518.3,-10.9,208,4430,0.15,2.42,0.00,0.000,4,0.058,0.065,2347,594,3066
$GC,4467,-1.67,-56.7,523.3,-13.5,210,4472,0.17,2.42,0.00,0.000,6,0.105,0.054,2378,1964,3066
$GC,4796,-1.71,-56.7,557.6,-9.5,226,4801,0.00,2.53,0.00,0.000,4,0.000,0.068,2378,585,3066
$GC,4975,-1.71,-56.7,576.0,-10.7,234,4979,0.00,2.38,0.00,0.000,6,0.000,0.057,2378,1912,3066
$GC,5302,-1.76,-56.7,608.0,-9.9,250,5306,0.00,2.45,0.00,0.000,4,0.000,0.074,2378,590,3066
$GC,5433,-1.76,-56.7,621.8,-11.0,256,5437,0.00,2.38,0.00,0.000,6,0.000,0.061,2378,1905,3065
$GC,5761,-1.81,-56.7,655.9,-10.6,272,5766,0.15,2.75,0.00,0.000,4,0.060,0.078,2343,3398,3065
$GC,5848,-1.72,-56.7,666.2,-12.1,276,5853,0.12,2.72,0.00,0.000,6,0.116,0.071,2365,1924,3065
$GC,6175,-1.72,-56.7,703.8,-11.3,292,6179,0.00,2.45,0.00,0.000,4,0.000,0.082,2365,597,3064
$GC,6219,-1.72,-56.7,709.0,-11.8,294,6223,0.00,2.40,0.00,0.000,6,0.000,0.070,2365,1905,3064
$GC,6541,-1.72,-56.7,743.9,-10.9,310,6545,0.00,2.78,0.00,0.000,4,0.000,0.085,2365,3397,3062
$GC,6603,-1.72,-56.7,751.1,-11.2,313,6607,0.00,2.75,0.00,0.000,6,0.000,0.076,2365,1925,3062
$GC,6930,-1.72,-56.7,787.5,-11.4,329,6935,0.00,2.83,0.00,0.000,4,0.000,0.087,2365,3404,3060
$GC,6974,-1.72,-56.7,793.0,-12.2,331,6979,0.00,2.72,0.00,0.000,6,0.000,0.076,2365,1941,3060
$GC,7295,-1.72,-56.7,828.1,-10.6,347,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1941,3059
$STATE,7582,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7582,begin apogee
$GC,7590,-0.33,0.0,858.0,9.9,361,7647,1.52,0.00,53.33,1.495,6,0.110,0.000,2670,2120,2832
$STATE,7648,end apogee,CONTROL_FINISHED_OK
$STATE,7648,begin climb
$GC,7651,1.83,56.7,859.6,0.0,364,7713,2.17,0.00,54.35,1.465,6,0.067,0.000,3145,2121,2600
$GC,8025,1.68,56.7,834.8,7.8,382,8030,0.17,2.70,0.00,0.000,4,0.121,0.087,3112,3532,2598
$GC,8283,1.56,56.7,815.1,7.2,393,8290,0.15,2.65,0.00,0.000,6,0.127,0.074,3086,2127,2597
$GC,8600,1.57,59.0,795.9,5.7,409,8605,0.00,2.70,0.00,0.000,4,0.000,0.088,3086,3526,2596
$GC,8679,1.51,59.0,790.7,6.6,412,8685,0.00,2.62,0.00,0.000,6,0.000,0.074,3086,2130,2595
$GC,8996,1.51,59.0,771.9,6.1,428,9001,0.00,2.70,0.00,0.000,4,0.000,0.087,3086,3530,2595
$GC,9121,1.46,59.0,764.0,7.2,433,9127,0.10,2.60,0.00,0.000,6,0.141,0.074,3068,2143,2594
$GC,9437,1.52,64.3,746.7,5.3,449,9451,0.00,2.75,7.22,1.231,4,0.000,0.087,3068,3526,2569
$GC,9598,1.52,64.3,737.2,6.4,456,9602,0.00,2.53,0.00,0.000,6,0.000,0.074,3068,2178,2569
$GC,9925,1.58,70.0,719.4,5.3,472,9939,0.00,2.67,6.78,1.202,4,0.000,0.087,3068,3527,2546
$GC,10070,1.58,70.0,710.1,7.2,478,10074,0.00,2.53,0.00,0.000,6,0.000,0.073,3068,2185,2545
$GC,10386,1.65,70.4,690.3,6.0,493,10391,0.17,2.60,0.00,0.000,4,0.073,0.088,3107,3530,2545
$GC,10489,1.57,70.4,682.7,7.5,497,10495,0.00,2.47,0.00,0.000,6,0.000,0.074,3107,2207,2545
$GC,10805,1.57,70.4,661.3,6.7,513,10806,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2207,2545
$GC,11114,1.57,70.4,641.3,6.4,528,11119,0.00,2.55,0.00,0.000,4,0.000,0.088,3107,3528,2544
$GC,11194,1.48,70.4,636.3,6.0,531,11201,0.20,2.47,0.00,0.000,6,0.122,0.074,3071,2207,2544
$GC,11511,1.55,77.6,620.6,5.1,547,11525,0.00,2.90,8.20,1.225,4,0.000,0.087,3070,714,2516
$GC,11567,1.56,81.7,617.3,5.5,549,11578,0.00,2.80,5.55,1.085,6,0.000,0.074,3070,2198,2498
$GC,11888,1.63,81.7,596.2,6.7,565,11893,0.15,2.85,0.00,0.000,4,0.071,0.084,3106,713,2498
$GC,12146,1.57,81.7,575.7,7.1,576,12153,0.00,2.67,0.00,0.000,6,0.000,0.072,3106,2149,2498
$GC,12462,1.57,83.9,556.2,5.7,592,12467,0.00,2.72,0.00,0.000,4,0.000,0.083,3106,710,2497
$GC,12619,1.51,87.0,547.2,5.6,599,12633,0.17,2.70,6.40,1.110,6,0.119,0.072,3074,2167,2477
$GC,12952,1.59,87.0,529.0,6.0,615,12957,0.00,2.72,0.00,0.000,4,0.000,0.079,3074,713,2476
$GC,13025,1.59,87.0,524.4,6.1,618,13030,0.00,2.65,0.00,0.000,6,0.000,0.069,3074,2145,2476
$GC,13342,1.65,87.0,502.6,7.0,633,13347,0.15,2.58,0.00,0.000,4,0.072,0.078,3109,3531,2477
$GC,13392,1.58,87.0,498.7,7.1,635,13397,0.00,2.65,0.00,0.000,6,0.000,0.065,3109,2094,2477
$GC,13709,1.58,87.0,478.7,6.1,650,13714,0.00,2.70,0.00,0.000,4,0.000,0.076,3109,3534,2477
$GC,13816,1.52,87.0,470.0,8.0,655,13822,0.17,2.58,0.00,0.000,6,0.117,0.062,3077,2126,2477
$GC,14146,1.60,87.0,447.0,7.5,671,14150,0.00,2.65,0.00,0.000,4,0.000,0.073,3077,3538,2478
$GC,14404,1.60,87.0,426.0,8.1,682,14410,0.00,2.47,0.00,0.000,6,0.000,0.058,3077,2170,2478
$GC,14720,1.67,87.0,402.2,7.5,698,14725,0.15,2.53,0.00,0.000,4,0.063,0.069,3113,3533,2479
$GC,14929,1.62,87.0,384.0,8.9,707,14933,0.00,2.40,0.00,0.000,6,0.000,0.055,3113,2200,2479
$GC,15244,1.62,87.0,360.1,7.3,722,15246,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2200,2480
$GC,15554,1.62,87.0,335.7,8.1,737,15558,0.00,2.47,0.00,0.000,4,0.000,0.067,3113,3541,2481
$GC,15622,1.57,87.0,330.1,8.2,740,15627,0.15,2.38,0.00,0.000,6,0.107,0.052,3086,2213,2481
$GC,15944,1.64,87.0,307.5,6.9,756,15948,0.00,2.42,0.00,0.000,4,0.000,0.065,3086,3534,2482
$GC,16035,1.64,87.0,300.7,8.0,760,16039,0.00,2.35,0.00,0.000,6,0.000,0.051,3086,2213,2483
$GC,16357,1.73,87.0,278.4,7.0,776,16362,0.15,2.42,0.00,0.000,4,0.060,0.064,3124,3537,2483
$GC,16506,1.65,87.0,265.8,8.7,782,16512,0.00,2.33,0.00,0.000,6,0.000,0.051,3124,2227,2484
$GC,16822,1.65,87.0,241.1,8.3,798,16823,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2226,2485
$GC,17131,1.65,87.0,216.3,8.1,813,17135,0.00,2.40,0.00,0.000,4,0.000,0.064,3124,3537,2486
$GC,17200,1.58,87.0,210.5,9.0,816,17210,0.17,2.33,3.92,0.653,6,0.106,0.050,3092,2224,2477
$GC,17535,1.65,87.0,186.4,7.1,832,17539,0.00,2.40,0.00,0.000,4,0.000,0.064,3092,3534,2477
$GC,17590,1.65,87.0,181.8,7.2,834,17596,0.00,2.30,0.00,0.000,6,0.000,0.049,3092,2236,2477
$GC,17908,1.73,87.0,158.9,6.9,850,17910,0.12,0.00,0.00,0.000,6,0.061,0.000,3124,2235,2477
$GC,18216,1.73,87.0,134.9,7.6,865,18220,0.00,2.38,0.00,0.000,4,0.000,0.063,3124,3536,2478
$GC,18329,1.67,87.0,124.8,9.4,870,18333,0.00,2.30,0.00,0.000,6,0.000,0.048,3124,2234,2478
$GC,18652,1.67,87.0,97.2,8.9,886,18656,0.00,2.38,0.00,0.000,4,0.000,0.062,3124,3537,2479
$GC,18725,1.60,87.0,90.2,10.0,889,18729,0.17,2.25,0.00,0.000,6,0.106,0.048,3092,2260,2479
$GC,19042,1.67,87.0,65.0,8.0,904,19044,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2260,2479
$GC,19350,1.74,87.0,43.5,6.5,919,19355,0.15,2.35,0.00,0.000,4,0.058,0.062,3129,3538,2480
$GC,19484,1.67,87.0,34.0,8.6,925,19488,0.00,2.25,0.00,0.000,6,0.000,0.048,3129,2260,2480
$GC,19813,1.67,87.0,4.3,8.0,941,19817,0.00,2.20,0.00,0.000,3,0.000,0.058,3129,996,2481
$STATE,19818,end climb,SURFACE_DEPTH_REACHED
$STATE,19818,begin surface coast
$FINISH,0.6,1.017306
$STATE,19876,end surface coast,CONTROL_FINISHED_OK
$STATE,19876,begin surface
$SM_CCo,19902,94.88,0.816,0,0,1812,250.21
$SM_GC,1.47,0.00,0.00,94.88,0.000,0.000,0.816,423,2019,1812,-10.68,0.54,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1805
$TCM_TEMP,16.80
$XPDR_PINGS,57
$ALTIM_BOTTOM_PING,776.0,90.9
$24V_AH,23.3,81.272
$10V_AH,10.1,40.496
$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,29.500,202.900,145.750,94.875,0.000,37.755,32.200,161.073,21.250,0.000,0.000,12.920,1873.168,14977.539,440.602,2425.200,653.856,0.000,1618.783,0.000,2365.351,0.000,46.990,0.000
$DEVICE_MAMPS,141.128,88.205,1494.883,816.088,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,696.548,641.160,520.596,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47448,944
$CAP_FILE_SIZE,165445,0
$CFSIZE,254472192,222928896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,67,0,0
$GPS,180209,084330,6116.278,-754.496,41,1.5,46,-8.6