version: 66.04
glider: 5
mission: 5
dive: 466
start: 2 19 109 8 16 9
data:
$ID,5
$MISSION,5
$DIVE,466
$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,-96509.742
$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,28
$R_STBD_OVSHOOT,16
$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
$GPS1,080615,6116.472,-753.866,42,1.5,50,-8.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-61.6
$GPS2,081550,6116.446,-753.810,13,1.9,13,-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,157.5,3125,-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,12,begin dive
$GC,16,-1.87,-28.8,0.0,0.0,0,77,0.00,0.00,-56.45,0.000,6,0.000,0.000,421,1971,2949
$GC,81,-1.89,-40.7,3.5,-4.4,3,103,10.07,2.70,-1.50,0.000,4,0.137,0.073,2329,3423,2999
$GC,358,-1.79,-40.7,46.3,-16.4,15,363,0.12,2.55,0.00,0.000,6,0.117,0.050,2350,2000,2999
$GC,680,-1.79,-40.7,89.6,-12.5,31,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2000,2999
$GC,991,-1.74,-40.7,128.8,-12.4,46,995,0.00,2.53,0.00,0.000,4,0.000,0.062,2350,585,2999
$GC,1036,-1.66,-40.7,135.2,-13.4,48,1041,0.17,2.50,0.00,0.000,6,0.107,0.051,2381,1990,2999
$GC,1357,-1.70,-40.7,172.9,-11.7,64,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1990,2999
$GC,1667,-1.70,-40.7,207.6,-11.1,79,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1990,3000
$GC,1976,-1.75,-40.7,242.9,-11.7,94,1980,0.00,2.55,0.00,0.000,4,0.000,0.063,2381,584,3000
$GC,2054,-1.75,-40.7,252.9,-12.2,97,2060,0.00,2.47,0.00,0.000,6,0.000,0.052,2381,1968,3000
$GC,2371,-1.80,-40.7,289.0,-11.6,113,2373,0.15,0.00,0.00,0.000,6,0.056,0.000,2345,1968,3000
$GC,2679,-1.76,-40.7,328.0,-12.7,128,2683,0.00,2.50,0.00,0.000,4,0.000,0.064,2345,595,3000
$GC,2798,-1.65,-40.7,343.4,-12.8,133,2803,0.20,2.42,0.00,0.000,6,0.107,0.051,2380,1960,3000
$GC,3116,-1.70,-40.7,377.7,-10.8,148,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1961,3000
$GC,3424,-1.75,-40.7,410.5,-10.3,163,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1960,3000
$GC,3732,-1.81,-40.7,441.8,-9.9,178,3734,0.15,0.00,0.00,0.000,6,0.058,0.000,2344,1962,3000
$GC,4042,-1.81,-40.7,475.9,-10.9,193,4046,0.00,2.50,0.00,0.000,4,0.000,0.064,2344,584,3000
$GC,4112,-1.72,-40.7,483.7,-11.0,196,4117,0.15,2.45,0.00,0.000,6,0.105,0.053,2371,1963,3000
$GC,4436,-1.76,-40.7,514.9,-9.4,212,4440,0.00,2.50,0.00,0.000,4,0.000,0.066,2370,590,3000
$GC,4694,-1.76,-40.7,543.0,-11.3,223,4698,0.00,2.35,0.00,0.000,6,0.000,0.054,2371,1906,3000
$GC,5010,-1.81,-40.7,573.2,-9.1,238,5014,0.00,2.72,0.00,0.000,4,0.000,0.069,2371,3409,3000
$GC,5055,-1.81,-40.7,577.3,-9.1,240,5059,0.00,2.65,0.00,0.000,6,0.000,0.061,2370,1946,3000
$GC,5377,-1.86,-40.7,604.5,-8.2,256,5382,0.15,2.45,0.00,0.000,4,0.063,0.071,2334,593,3000
$GC,5561,-1.75,-40.7,623.3,-10.1,264,5566,0.15,2.40,0.00,0.000,6,0.113,0.059,2360,1929,2999
$GC,5877,-1.75,-40.7,649.7,-8.3,279,5882,0.00,2.70,0.00,0.000,4,0.000,0.076,2361,3406,2999
$GC,5973,-1.75,-40.7,658.6,-9.8,283,5978,0.00,2.70,0.00,0.000,6,0.000,0.067,2360,1936,2999
$GC,6294,-1.75,-40.7,685.7,-8.5,299,6298,0.00,2.47,0.00,0.000,4,0.000,0.079,2360,589,2999
$GC,6349,-1.75,-40.7,691.2,-9.6,301,6354,0.00,2.42,0.00,0.000,6,0.000,0.067,2360,1912,2999
$GC,6667,-1.75,-40.7,718.8,-8.8,316,6671,0.00,2.78,0.00,0.000,4,0.000,0.084,2360,3402,2997
$GC,6688,-1.75,-40.7,721.0,-9.6,317,6693,0.00,2.78,0.00,0.000,6,0.000,0.074,2361,1915,2997
$GC,7010,-1.75,-40.7,750.2,-9.3,333,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1914,2996
$GC,7320,-1.75,-40.7,781.2,-10.1,348,7321,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1914,2995
$GC,7627,-1.75,-40.7,811.2,-9.7,363,7629,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1914,2993
$GC,7937,-1.80,-40.7,841.4,-10.2,378,7942,0.00,2.83,0.00,0.000,4,0.000,0.088,2360,3398,2992
$GC,8016,-1.80,-40.7,850.2,-11.3,381,8022,0.00,2.75,0.00,0.000,6,0.000,0.078,2360,1934,2991
$STATE,8061,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8061,begin apogee
$GC,8068,-0.33,0.0,855.0,10.5,384,8110,1.55,0.00,37.70,1.485,6,0.109,0.000,2668,2120,2832
$STATE,8111,end apogee,CONTROL_FINISHED_OK
$STATE,8111,begin climb
$GC,8114,1.89,40.7,857.3,0.0,386,8158,2.30,0.00,39.47,1.465,6,0.068,0.000,3154,2120,2666
$GC,8455,1.75,45.8,841.4,5.3,403,8469,0.15,2.80,6.30,1.180,4,0.123,0.087,3129,3534,2644
$GC,8725,1.61,45.8,826.0,6.6,415,8730,0.17,2.62,0.00,0.000,6,0.127,0.075,3099,2139,2644
$GC,9052,1.62,51.8,809.2,5.2,431,9066,0.00,2.78,6.85,1.226,4,0.000,0.086,3099,3530,2620
$GC,9120,1.57,52.5,805.4,5.9,434,9124,0.00,2.65,0.00,0.000,6,0.000,0.076,3099,2132,2620
$GC,9448,1.57,55.8,787.3,5.5,450,9459,0.00,2.75,5.50,1.138,4,0.000,0.087,3099,3536,2604
$GC,9624,1.53,55.8,776.1,6.4,458,9629,0.00,2.60,0.00,0.000,6,0.000,0.075,3098,2153,2603
$GC,9951,1.53,55.8,755.6,6.1,474,9955,0.00,2.67,0.00,0.000,4,0.000,0.090,3099,3535,2602
$GC,10013,1.53,55.8,751.7,6.1,477,10017,0.00,2.60,0.00,0.000,6,0.000,0.076,3099,2156,2602
$GC,10341,1.54,57.8,732.5,5.7,493,10345,0.00,2.65,0.00,0.000,4,0.000,0.088,3099,3531,2602
$GC,10407,1.54,57.8,728.3,6.2,496,10411,0.00,2.55,0.00,0.000,6,0.000,0.074,3099,2170,2602
$GC,10728,1.55,64.5,710.2,5.1,512,10743,0.00,2.70,8.70,1.285,4,0.000,0.087,3099,3526,2568
$GC,10812,1.55,64.5,704.9,7.5,515,10818,0.00,2.53,0.00,0.000,6,0.000,0.074,3099,2188,2568
$GC,11128,1.55,65.4,685.5,5.9,531,11133,0.00,2.60,0.00,0.000,4,0.000,0.089,3099,3531,2568
$GC,11162,1.55,65.4,683.4,6.2,532,11168,0.00,2.53,0.00,0.000,6,0.000,0.075,3098,2192,2567
$GC,11479,1.55,68.5,665.5,5.6,548,11489,0.00,2.62,5.43,1.114,4,0.000,0.087,3099,3537,2551
$GC,11597,1.55,68.5,658.2,6.4,553,11601,0.00,2.50,0.00,0.000,6,0.000,0.074,3099,2209,2552
$GC,11914,1.56,71.6,641.3,5.6,568,11923,0.00,2.58,4.40,0.999,4,0.000,0.087,3099,3530,2540
$GC,12104,1.56,73.6,629.1,5.7,576,12108,0.00,2.40,0.00,0.000,6,0.000,0.073,3098,2249,2540
$GC,12422,1.61,76.2,611.8,5.6,591,12435,0.00,2.92,6.00,1.132,4,0.000,0.084,3099,709,2520
$GC,12601,1.61,78.6,601.5,5.7,599,12610,0.00,2.83,3.97,0.919,6,0.000,0.072,3099,2227,2511
$GC,12935,1.66,80.6,584.2,5.7,615,12939,0.00,2.47,0.00,0.000,4,0.000,0.087,3098,3534,2511
$GC,13194,1.66,80.6,566.0,6.8,626,13200,0.00,2.40,0.00,0.000,6,0.000,0.069,3098,2241,2511
$GC,13510,1.72,80.6,543.2,7.3,642,13514,0.00,2.45,0.00,0.000,4,0.000,0.081,3099,3530,2510
$GC,13566,1.73,84.1,539.6,5.5,644,13578,0.10,2.38,6.53,1.110,6,0.075,0.067,3121,2231,2489
$GC,13889,1.73,84.1,516.7,7.8,660,13894,0.00,2.83,0.00,0.000,4,0.000,0.075,3121,713,2489
$GC,14147,1.67,84.1,496.3,6.2,671,14153,0.00,2.80,0.00,0.000,6,0.000,0.064,3120,2242,2489
$GC,14464,1.67,84.1,475.3,6.3,687,14465,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2242,2489
$GC,14772,1.67,84.1,453.1,7.2,702,14776,0.00,2.38,0.00,0.000,4,0.000,0.075,3121,3531,2490
$GC,14788,1.67,84.1,451.8,7.3,702,14794,0.00,2.38,0.00,0.000,6,0.000,0.061,3121,2228,2490
$GC,15107,1.67,84.1,430.0,6.8,718,15108,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2229,2490
$GC,15413,1.67,84.1,408.7,6.4,733,15417,0.00,2.42,0.00,0.000,4,0.000,0.070,3121,3534,2491
$GC,15584,1.63,84.1,396.8,6.6,740,15591,0.12,2.33,0.00,0.000,6,0.120,0.055,3100,2237,2491
$GC,15901,1.70,86.1,378.1,5.7,756,15908,0.00,0.00,4.45,0.812,6,0.000,0.000,3100,2233,2481
$GC,16210,1.78,86.1,359.2,6.1,771,16215,0.15,2.42,0.00,0.000,4,0.060,0.066,3136,3540,2481
$GC,16256,1.71,86.1,355.9,7.4,773,16260,0.00,2.33,0.00,0.000,6,0.000,0.054,3136,2239,2482
$GC,16583,1.71,86.1,331.7,7.3,789,16584,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2237,2482
$GC,16893,1.71,86.1,309.3,7.0,804,16897,0.00,2.38,0.00,0.000,4,0.000,0.064,3136,3535,2483
$GC,16951,1.64,86.1,305.0,7.4,806,16958,0.17,2.30,0.00,0.000,6,0.109,0.051,3106,2242,2483
$GC,17267,1.72,86.1,284.5,6.6,822,17271,0.00,2.38,0.00,0.000,4,0.000,0.064,3106,3538,2484
$GC,17346,1.72,86.1,278.8,6.6,825,17352,0.00,2.30,0.00,0.000,6,0.000,0.051,3106,2244,2485
$GC,17663,1.81,86.1,258.0,6.7,841,17665,0.15,0.00,0.00,0.000,6,0.058,0.000,3142,2244,2485
$GC,17971,1.81,86.1,234.3,7.9,856,17975,0.00,2.35,0.00,0.000,4,0.000,0.064,3142,3534,2486
$GC,18138,1.74,86.1,220.0,8.5,863,18142,0.00,2.28,0.00,0.000,6,0.000,0.049,3142,2247,2486
$GC,18465,1.74,86.1,191.7,8.7,879,18466,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2246,2487
$GC,18775,1.74,86.1,166.5,8.1,894,18777,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2246,2487
$GC,19084,1.74,86.1,141.7,8.1,909,19085,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2246,2488
$GC,19393,1.74,86.1,116.4,8.3,924,19397,0.00,2.35,0.00,0.000,4,0.000,0.063,3142,3537,2489
$GC,19618,1.67,86.1,97.7,8.2,934,19623,0.17,2.28,0.00,0.000,6,0.103,0.049,3110,2250,2489
$GC,19940,1.75,86.1,74.4,7.5,950,19949,0.00,2.38,3.65,0.573,4,0.000,0.062,3110,3530,2482
$GC,20019,1.75,86.1,68.0,8.6,953,20023,0.00,2.25,0.00,0.000,6,0.000,0.049,3110,2258,2481
$GC,20337,1.82,86.1,44.6,6.8,968,20342,0.15,2.75,0.00,0.000,4,0.058,0.059,3148,710,2481
$GC,20361,1.82,86.1,42.3,9.0,969,20365,0.00,2.80,0.00,0.000,6,0.000,0.051,3148,2289,2482
$GC,20682,1.82,86.1,16.1,8.8,985,20686,0.00,2.25,0.00,0.000,4,0.000,0.064,3148,3541,2482
$STATE,20796,end climb,SURFACE_DEPTH_REACHED
$STATE,20796,begin surface coast
$FINISH,0.6,1.027442
$STATE,20842,end surface coast,CONTROL_FINISHED_OK
$STATE,20842,begin surface
$SM_CCo,20870,101.15,0.821,0,0,1811,250.21
$SM_GC,1.69,0.00,0.00,101.15,0.000,0.000,0.821,423,1962,1811,-10.68,-1.10,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1778
$TCM_TEMP,18.80
$XPDR_PINGS,59
$ALTIM_BOTTOM_PING,801.0,63.7
$24V_AH,23.2,81.748
$10V_AH,10.1,40.972
$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,28.500,178.300,138.950,101.150,0.000,75.521,59.551,227.971,22.250,0.000,0.000,13.263,1940.582,15863.170,432.048,2512.367,793.622,0.000,1628.793,0.000,2449.729,0.000,51.447,0.000
$DEVICE_MAMPS,137.293,89.739,1484.912,820.690,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,730.036,674.392,536.102,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50594,992
$CAP_FILE_SIZE,165997,0
$CFSIZE,254472192,222552064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,56,0,0
$GPS,190209,140706,6116.352,-754.090,44,0.9,44,-8.5