version: 66.04
glider: 5
mission: 5
dive: 463
start: 2 18 109 14 38 11
data:
$ID,5
$MISSION,5
$DIVE,463
$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,-96461.484
$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,14
$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
$GPS1,143136,6116.709,-754.002,31,1.0,31,-8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-60.4
$GPS2,143750,6116.742,-753.977,12,1.1,12,-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,160.0,3676,-25.5,-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,-1.75,-32.9,0.0,0.0,0,77,0.00,0.00,-57.70,0.000,6,0.000,0.000,421,1967,2968
$GC,81,-1.78,-49.5,3.3,-4.0,3,103,10.18,2.67,-2.15,0.000,4,0.137,0.090,2350,3417,3035
$GC,300,-1.68,-49.5,35.1,-13.1,12,307,0.12,2.55,0.00,0.000,6,0.114,0.051,2374,2000,3035
$GC,618,-1.68,-49.5,81.0,-14.1,28,622,0.00,2.53,0.00,0.000,4,0.000,0.068,2374,587,3035
$GC,647,-1.60,-49.5,85.4,-14.4,29,652,0.12,2.55,0.00,0.000,6,0.113,0.051,2395,2006,3035
$GC,964,-1.60,-49.5,125.4,-12.0,44,968,0.00,2.58,0.00,0.000,4,0.000,0.061,2396,586,3036
$GC,1036,-1.60,-49.5,134.7,-12.2,47,1040,0.00,2.53,0.00,0.000,6,0.000,0.051,2396,1995,3036
$GC,1353,-1.60,-49.5,170.4,-11.4,62,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1995,3036
$GC,1661,-1.60,-49.5,206.0,-11.4,77,1665,0.00,2.55,0.00,0.000,4,0.000,0.063,2396,589,3036
$GC,1701,-1.60,-49.5,210.7,-12.6,79,1706,0.00,2.47,0.00,0.000,6,0.000,0.051,2396,1984,3036
$GC,2028,-1.60,-49.5,248.3,-11.4,95,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1984,3036
$GC,2338,-1.60,-49.5,282.8,-11.1,110,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1984,3036
$GC,2648,-1.60,-49.5,317.8,-11.5,125,2652,0.00,2.53,0.00,0.000,4,0.000,0.064,2395,586,3036
$GC,2698,-1.60,-49.5,324.0,-12.3,127,2702,0.00,2.53,0.00,0.000,6,0.000,0.052,2396,2000,3035
$GC,3013,-1.60,-49.5,360.4,-10.9,142,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2000,3036
$GC,3324,-1.60,-49.5,394.2,-10.5,157,3328,0.00,2.58,0.00,0.000,4,0.000,0.064,2396,585,3035
$GC,3409,-1.60,-49.5,404.0,-11.5,161,3413,0.00,2.50,0.00,0.000,6,0.000,0.052,2396,1983,3035
$GC,3737,-1.60,-49.5,437.1,-9.6,177,3741,0.00,2.53,0.00,0.000,4,0.000,0.064,2395,587,3036
$GC,3844,-1.60,-49.5,448.1,-10.4,182,3848,0.00,2.45,0.00,0.000,6,0.000,0.052,2395,1968,3036
$GC,4171,-1.60,-49.5,479.9,-9.9,198,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1968,3036
$GC,4481,-1.65,-49.5,510.3,-9.5,213,4486,0.00,2.60,0.00,0.000,4,0.000,0.067,2396,3411,3036
$GC,4503,-1.65,-49.5,513.0,-10.5,214,4508,0.00,2.60,0.00,0.000,6,0.000,0.058,2396,1970,3036
$GC,4825,-1.71,-49.5,543.5,-9.0,230,4829,0.00,2.47,0.00,0.000,4,0.000,0.067,2396,591,3036
$GC,4888,-1.71,-49.5,549.5,-9.3,233,4893,0.00,2.42,0.00,0.000,6,0.000,0.054,2395,1957,3036
$GC,5221,-1.78,-49.5,577.5,-8.2,249,5226,0.17,2.53,0.00,0.000,4,0.060,0.070,2354,594,3036
$GC,5479,-1.68,-49.5,606.2,-12.2,260,5486,0.12,2.30,0.00,0.000,6,0.112,0.059,2375,1871,3036
$GC,5795,-1.68,-49.5,638.2,-10.3,276,5800,0.00,2.83,0.00,0.000,4,0.000,0.077,2375,3404,3036
$GC,5925,-1.68,-49.5,651.4,-10.4,282,5930,0.00,2.83,0.00,0.000,6,0.000,0.067,2375,1869,3035
$GC,6252,-1.68,-49.5,684.6,-10.0,298,6256,0.00,2.35,0.00,0.000,4,0.000,0.081,2375,591,3034
$GC,6286,-1.64,-49.5,688.3,-11.3,299,6292,0.00,2.33,0.00,0.000,6,0.000,0.067,2375,1860,3034
$GC,6602,-1.64,-49.5,721.1,-10.4,315,6607,0.00,2.88,0.00,0.000,4,0.000,0.084,2375,3407,3033
$GC,6624,-1.64,-49.5,723.4,-10.1,316,6628,0.00,2.85,0.00,0.000,6,0.000,0.074,2375,1879,3032
$GC,6945,-1.64,-49.5,756.1,-10.2,332,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1879,3031
$GC,7254,-1.64,-49.5,786.6,-9.6,347,7258,0.00,2.90,0.00,0.000,4,0.000,0.087,2375,3399,3029
$GC,7293,-1.64,-49.5,790.7,-10.9,349,7298,0.00,2.85,0.00,0.000,6,0.000,0.077,2375,1878,3029
$GC,7621,-1.64,-49.5,823.0,-10.0,365,7625,0.00,2.90,0.00,0.000,4,0.000,0.088,2375,3399,3028
$GC,7676,-1.64,-49.5,829.4,-11.1,367,7682,0.00,2.83,0.00,0.000,6,0.000,0.077,2375,1895,3028
$STATE,7865,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7865,begin apogee
$GC,7873,-0.33,0.0,848.2,9.5,377,7923,1.48,0.00,46.00,1.492,6,0.107,0.000,2670,2122,2832
$STATE,7923,end apogee,CONTROL_FINISHED_OK
$STATE,7923,begin climb
$GC,7927,1.78,49.5,849.9,0.0,379,7980,2.12,0.00,47.55,1.469,6,0.068,0.000,3132,2121,2631
$GC,8279,1.60,49.5,829.3,6.1,396,8285,0.20,2.70,0.00,0.000,4,0.117,0.087,3095,3534,2629
$GC,8465,1.49,55.1,819.2,5.3,404,8477,0.12,2.60,6.62,1.198,6,0.128,0.074,3074,2152,2608
$GC,8786,1.50,60.6,802.7,5.3,420,8799,0.00,2.75,6.50,1.195,4,0.000,0.086,3074,3529,2584
$GC,8886,1.46,60.6,796.9,6.1,424,8891,0.00,2.60,0.00,0.000,6,0.000,0.074,3074,2153,2584
$GC,9202,1.47,63.6,778.8,5.6,439,9212,0.00,2.70,4.35,1.006,4,0.000,0.087,3073,3534,2572
$GC,9326,1.47,63.6,770.8,6.6,444,9332,0.00,2.58,0.00,0.000,6,0.000,0.075,3074,2168,2572
$GC,9642,1.47,63.6,751.3,6.0,460,9646,0.00,2.62,0.00,0.000,4,0.000,0.087,3074,3530,2571
$GC,9764,1.47,63.6,743.2,7.2,465,9771,0.00,2.50,0.00,0.000,6,0.000,0.075,3073,2195,2571
$GC,10082,1.47,67.3,724.8,5.6,481,10092,0.00,2.60,4.85,1.068,4,0.000,0.087,3074,3530,2557
$GC,10121,1.42,67.3,722.0,7.1,483,10126,0.00,2.50,0.00,0.000,6,0.000,0.075,3073,2205,2557
$GC,10450,1.42,67.5,701.4,6.0,499,10454,0.00,2.58,0.00,0.000,4,0.000,0.088,3074,3537,2556
$GC,10517,1.42,67.5,697.1,6.5,502,10522,0.00,2.50,0.00,0.000,6,0.000,0.075,3074,2208,2556
$GC,10838,1.42,67.5,678.0,6.1,518,10839,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2207,2556
$GC,11149,1.43,68.4,659.9,5.9,533,11153,0.00,2.55,0.00,0.000,4,0.000,0.089,3074,3534,2555
$GC,11255,1.43,73.0,653.7,5.4,537,11267,0.00,2.45,6.55,1.179,6,0.000,0.075,3074,2214,2534
$GC,11590,1.43,73.0,634.4,6.2,554,11594,0.00,2.53,0.00,0.000,4,0.000,0.088,3074,3532,2533
$GC,11754,1.43,73.0,623.9,6.4,561,11758,0.00,2.40,0.00,0.000,6,0.000,0.074,3074,2253,2533
$GC,12070,1.44,77.1,605.4,5.5,576,12081,0.00,2.92,5.45,1.091,4,0.000,0.084,3074,710,2517
$GC,12144,1.44,79.1,601.6,5.8,579,12149,0.00,2.88,0.00,0.000,6,0.000,0.074,3074,2238,2516
$GC,12461,1.44,79.1,583.9,6.0,594,12462,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2239,2516
$GC,12771,1.44,79.1,565.0,6.5,609,12775,0.00,2.90,0.00,0.000,4,0.000,0.082,3073,706,2516
$GC,12967,1.44,79.1,550.9,7.4,618,12971,0.00,2.83,0.00,0.000,6,0.000,0.073,3074,2224,2516
$GC,13295,1.45,85.7,531.7,5.2,634,13309,0.00,2.90,9.20,1.200,4,0.000,0.078,3074,709,2482
$GC,13461,1.45,85.7,520.6,7.2,641,13466,0.00,2.78,0.00,0.000,6,0.000,0.070,3074,2200,2481
$GC,13779,1.51,85.7,500.9,6.3,656,13783,0.00,2.50,0.00,0.000,4,0.000,0.082,3074,3531,2482
$GC,14037,1.51,86.5,484.7,5.9,667,14043,0.00,2.42,0.00,0.000,6,0.000,0.064,3074,2211,2482
$GC,14354,1.57,86.5,466.9,6.2,683,14358,0.00,2.47,0.00,0.000,4,0.000,0.074,3073,3534,2482
$GC,14432,1.57,86.5,461.5,6.5,686,14436,0.00,2.42,0.00,0.000,6,0.000,0.061,3073,2205,2483
$GC,14748,1.63,86.5,441.8,6.4,701,14754,0.12,2.72,0.00,0.000,4,0.070,0.071,3105,706,2483
$GC,14835,1.56,86.5,435.4,7.9,705,14839,0.00,2.70,0.00,0.000,6,0.000,0.061,3104,2194,2483
$GC,15162,1.56,86.5,406.4,9.5,721,15163,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2194,2484
$GC,15472,1.56,86.5,381.1,7.7,736,15476,0.00,2.45,0.00,0.000,4,0.000,0.071,3104,3536,2485
$GC,15612,1.51,86.5,368.7,9.1,742,15617,0.15,2.45,0.00,0.000,6,0.112,0.055,3076,2170,2485
$GC,15929,1.57,86.5,344.7,7.4,757,15933,0.00,2.50,0.00,0.000,4,0.000,0.067,3076,3533,2486
$GC,16075,1.57,86.5,333.3,7.8,763,16079,0.00,2.40,0.00,0.000,6,0.000,0.052,3076,2193,2486
$GC,16396,1.65,86.5,309.0,7.6,779,16402,0.12,0.00,3.70,0.682,6,0.064,0.000,3109,2192,2479
$GC,16706,1.65,86.5,284.2,7.8,794,16708,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2192,2480
$GC,17014,1.65,86.5,260.8,7.1,809,17018,0.00,2.45,0.00,0.000,4,0.000,0.064,3108,3533,2481
$GC,17106,1.58,86.5,254.0,7.3,813,17110,0.00,2.38,0.00,0.000,6,0.000,0.051,3109,2191,2481
$GC,17439,1.58,86.5,229.7,7.5,829,17443,0.00,2.47,0.00,0.000,4,0.000,0.064,3108,3541,2482
$GC,17502,1.53,86.5,224.9,7.4,832,17507,0.15,2.40,0.00,0.000,6,0.110,0.050,3081,2193,2482
$GC,17830,1.60,86.5,204.1,6.1,848,17834,0.00,2.45,0.00,0.000,4,0.000,0.064,3081,3537,2483
$GC,17959,1.60,86.7,195.7,6.0,853,17965,0.00,2.35,0.00,0.000,6,0.000,0.048,3081,2208,2483
$GC,18276,1.68,86.7,177.2,6.1,869,18281,0.12,2.45,0.00,0.000,4,0.061,0.063,3112,3540,2483
$GC,18401,1.62,86.7,167.8,7.9,874,18407,0.00,2.38,0.00,0.000,6,0.000,0.049,3112,2201,2484
$GC,18719,1.62,86.7,144.9,7.3,890,18720,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2201,2484
$GC,19027,1.62,86.7,121.7,7.6,905,19031,0.00,2.42,0.00,0.000,4,0.000,0.063,3112,3534,2485
$GC,19117,1.56,86.7,114.1,8.4,909,19121,0.15,2.35,0.00,0.000,6,0.103,0.048,3086,2205,2485
$GC,19441,1.63,86.7,92.2,6.5,925,19445,0.00,2.42,0.00,0.000,4,0.000,0.063,3086,3535,2485
$GC,19581,1.63,86.7,82.1,7.0,931,19585,0.00,2.30,0.00,0.000,6,0.000,0.048,3086,2232,2486
$GC,19904,1.69,86.7,60.8,8.0,947,19913,0.12,2.42,3.75,0.578,4,0.060,0.062,3117,3535,2478
$GC,19998,1.62,86.7,51.9,9.9,951,20002,0.00,2.33,0.00,0.000,6,0.000,0.048,3117,2224,2478
$GC,20321,1.62,86.7,27.1,6.2,967,20325,0.00,2.40,0.00,0.000,4,0.000,0.062,3117,3544,2478
$GC,20580,1.54,86.7,9.3,7.8,978,20585,0.20,2.33,0.00,0.000,6,0.105,0.047,3082,2224,2478
$STATE,20666,end climb,SURFACE_DEPTH_REACHED
$STATE,20666,begin surface coast
$FINISH,0.6,1.015756
$STATE,20710,end surface coast,CONTROL_FINISHED_OK
$STATE,20710,begin surface
$SM_CCo,20735,96.15,0.819,0,0,1812,250.21
$SM_GC,1.60,0.00,0.00,96.15,0.000,0.000,0.819,424,1988,1812,-10.68,-0.34,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1784
$TCM_TEMP,16.90
$XPDR_PINGS,58
$ALTIM_BOTTOM_PING,776.7,81.1
$24V_AH,23.2,81.460
$10V_AH,10.1,40.685
$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,27.525,200.450,144.525,96.150,0.000,37.761,32.364,160.942,21.500,0.000,0.000,12.552,1938.308,15637.440,435.398,2542.919,648.446,0.000,1658.486,0.000,2478.197,0.000,46.974,0.000
$DEVICE_MAMPS,136.526,89.739,1491.815,819.156,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,725.913,668.776,546.385,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50556,984
$CAP_FILE_SIZE,166280,0
$CFSIZE,254472192,222777344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,63,0,0
$GPS,180209,202637,6116.663,-753.195,33,1.4,33,-8.5