version: 66.04
glider: 5
mission: 5
dive: 467
start: 2 19 109 14 13 51
data:
$ID,5
$MISSION,5
$DIVE,467
$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,-96527.953
$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
$GPS1,140706,6116.352,-754.090,44,0.9,44,-8.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-68.3
$GPS2,141331,6116.336,-754.043,15,1.0,15,-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,152.2,3071,-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,-28.8,0.0,0.0,0,69,0.00,0.00,-51.12,0.000,2,0.000,0.000,423,1976,2845
$GC,72,-1.90,-52.1,3.1,-2.8,3,96,10.02,2.67,-7.50,0.000,4,0.137,0.074,2327,3413,3045
$GC,349,-1.81,-52.1,45.4,-16.9,15,354,0.12,2.55,0.00,0.000,6,0.117,0.051,2348,1992,3046
$GC,673,-1.81,-52.1,92.4,-14.1,31,677,0.00,2.60,0.00,0.000,4,0.000,0.062,2348,3414,3046
$GC,717,-1.81,-52.1,99.1,-14.1,33,721,0.00,2.55,0.00,0.000,6,0.000,0.050,2348,1989,3046
$GC,1038,-1.81,-52.1,145.6,-14.7,49,1042,0.00,2.50,0.00,0.000,4,0.000,0.061,2348,584,3046
$GC,1095,-1.75,-52.1,154.1,-15.7,51,1101,0.00,2.50,0.00,0.000,6,0.000,0.051,2348,1990,3047
$GC,1413,-1.75,-52.1,200.1,-14.3,67,1417,0.00,2.53,0.00,0.000,4,0.000,0.062,2348,595,3046
$GC,1499,-1.67,-52.1,213.1,-15.8,71,1504,0.15,2.45,0.00,0.000,6,0.111,0.051,2376,1972,3046
$GC,1829,-1.71,-52.1,256.4,-13.1,87,1833,0.00,2.50,0.00,0.000,4,0.000,0.062,2376,594,3046
$GC,1914,-1.71,-52.1,268.6,-14.0,91,1919,0.00,2.40,0.00,0.000,6,0.000,0.051,2376,1947,3046
$GC,2243,-1.76,-52.1,311.8,-13.0,107,2247,0.00,2.45,0.00,0.000,4,0.000,0.063,2376,594,3046
$GC,2276,-1.76,-52.1,316.4,-13.3,108,2280,0.00,2.38,0.00,0.000,6,0.000,0.051,2376,1933,3046
$GC,2593,-1.80,-52.1,354.9,-11.9,123,2598,0.12,2.45,0.00,0.000,4,0.058,0.062,2343,594,3046
$GC,2634,-1.71,-52.1,360.3,-13.8,125,2638,0.15,2.38,0.00,0.000,6,0.108,0.051,2370,1934,3046
$GC,2961,-1.71,-52.1,400.4,-12.3,141,2966,0.00,2.45,0.00,0.000,4,0.000,0.064,2370,583,3047
$GC,3036,-1.71,-52.1,410.1,-13.2,144,3040,0.00,2.35,0.00,0.000,6,0.000,0.051,2370,1912,3046
$GC,3351,-1.71,-52.1,449.2,-12.3,159,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1913,3047
$GC,3660,-1.71,-52.1,485.3,-11.2,174,3665,0.00,2.40,0.00,0.000,4,0.000,0.065,2370,594,3047
$GC,3785,-1.71,-52.1,499.4,-10.7,179,3792,0.00,2.33,0.00,0.000,6,0.000,0.052,2370,1905,3047
$GC,4101,-1.75,-52.1,532.1,-10.1,195,4106,0.00,2.70,0.00,0.000,4,0.000,0.067,2370,3402,3047
$GC,4142,-1.75,-52.1,536.0,-9.7,197,4146,0.00,2.70,0.00,0.000,6,0.000,0.058,2370,1907,3047
$GC,4469,-1.81,-52.1,567.9,-10.1,213,4473,0.00,2.38,0.00,0.000,4,0.000,0.069,2370,588,3047
$GC,4672,-1.81,-52.1,590.1,-11.7,222,4676,0.00,2.35,0.00,0.000,6,0.000,0.058,2370,1897,3047
$GC,4993,-1.86,-52.1,622.9,-10.4,238,4999,0.15,2.78,0.00,0.000,4,0.065,0.074,2333,3409,3047
$GC,5080,-1.80,-52.1,632.7,-11.8,242,5085,0.00,2.75,0.00,0.000,6,0.000,0.066,2333,1909,3047
$GC,5407,-1.75,-52.1,668.9,-11.2,258,5409,0.15,0.00,0.00,0.000,6,0.117,0.000,2359,1908,3046
$GC,5716,-1.75,-52.1,702.4,-10.4,273,5720,0.00,2.42,0.00,0.000,4,0.000,0.081,2359,591,3045
$GC,5772,-1.75,-52.1,708.7,-11.3,275,5779,0.00,2.40,0.00,0.000,6,0.000,0.067,2359,1908,3045
$GC,6088,-1.75,-52.1,741.6,-10.4,291,6093,0.00,2.80,0.00,0.000,4,0.000,0.084,2359,3409,3043
$GC,6138,-1.75,-52.1,747.3,-11.4,293,6143,0.00,2.78,0.00,0.000,6,0.000,0.074,2359,1922,3043
$GC,6455,-1.75,-52.1,781.4,-10.8,308,6459,0.00,2.47,0.00,0.000,4,0.000,0.087,2359,593,3043
$GC,6527,-1.75,-52.1,789.6,-11.6,311,6531,0.00,2.42,0.00,0.000,6,0.000,0.072,2359,1903,3042
$GC,6845,-1.79,-52.1,821.6,-10.1,326,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1903,3040
$STATE,7150,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7150,begin apogee
$GC,7158,-0.33,0.0,854.8,11.4,341,7212,1.55,0.00,48.12,1.493,6,0.108,0.000,2667,2128,2833
$STATE,7213,end apogee,CONTROL_FINISHED_OK
$STATE,7213,begin climb
$GC,7216,1.90,52.1,857.7,0.0,344,7271,2.28,0.00,50.03,1.465,6,0.068,0.000,3160,2129,2619
$GC,7569,1.74,52.1,834.6,6.7,361,7574,0.17,2.67,0.00,0.000,4,0.119,0.087,3128,3534,2617
$GC,7829,1.62,52.1,815.2,6.9,372,7835,0.17,2.65,0.00,0.000,6,0.128,0.074,3097,2130,2616
$GC,8145,1.62,53.1,796.6,5.9,388,8149,0.00,2.72,0.00,0.000,4,0.000,0.087,3097,3538,2615
$GC,8284,1.62,53.1,787.6,7.0,394,8289,0.00,2.65,0.00,0.000,6,0.000,0.075,3097,2130,2615
$GC,8601,1.64,62.7,771.3,4.7,409,8615,0.00,0.00,10.02,1.320,6,0.000,0.000,3097,2130,2576
$GC,8933,1.64,65.0,753.0,5.7,425,8938,0.00,2.70,0.00,0.000,4,0.000,0.087,3097,3531,2575
$GC,8989,1.64,65.0,749.6,6.6,427,8996,0.00,2.62,0.00,0.000,6,0.000,0.075,3097,2138,2575
$GC,9306,1.64,66.2,731.6,5.8,443,9316,0.00,2.72,4.85,1.069,4,0.000,0.087,3097,3534,2561
$GC,9390,1.64,66.2,726.4,6.3,447,9394,0.00,2.60,0.00,0.000,6,0.000,0.075,3098,2158,2561
$GC,9717,1.64,66.2,705.3,6.5,463,9718,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2156,2561
$GC,10026,1.64,66.2,684.0,7.6,478,10030,0.00,2.65,0.00,0.000,4,0.000,0.087,3098,3531,2560
$GC,10120,1.64,66.2,675.7,8.6,482,10124,0.00,2.53,0.00,0.000,6,0.000,0.074,3097,2183,2560
$GC,10437,1.64,66.2,649.4,8.3,497,10438,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2183,2559
$GC,10745,1.64,66.2,625.2,7.8,512,10749,0.00,2.60,0.00,0.000,4,0.000,0.087,3097,3535,2559
$GC,10981,1.64,66.2,607.1,7.3,522,10987,0.00,2.53,0.00,0.000,6,0.000,0.071,3097,2179,2559
$GC,11297,1.64,66.2,587.4,6.3,538,11301,0.00,2.60,0.00,0.000,4,0.000,0.086,3097,3538,2558
$GC,11554,1.64,66.2,570.5,6.4,549,11560,0.00,2.42,0.00,0.000,6,0.000,0.069,3097,2228,2558
$GC,11870,1.65,70.8,552.3,5.4,565,11880,0.00,2.85,5.30,1.042,4,0.000,0.080,3097,705,2543
$GC,11994,1.65,70.8,544.4,6.1,570,12000,0.00,2.80,0.00,0.000,6,0.000,0.068,3097,2217,2542
$GC,12310,1.66,78.8,527.6,4.9,586,12324,0.00,2.53,8.70,1.163,4,0.000,0.081,3097,3525,2510
$GC,12580,1.66,79.2,511.0,5.9,598,12584,0.00,2.35,0.00,0.000,6,0.000,0.064,3097,2245,2510
$GC,12913,1.73,80.4,491.6,5.8,614,12915,0.10,0.00,0.00,0.000,6,0.076,0.000,3120,2243,2510
$GC,13222,1.73,80.4,471.2,6.6,629,13223,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2243,2510
$GC,13530,1.73,80.4,451.1,6.3,644,13535,0.00,2.80,0.00,0.000,4,0.000,0.070,3120,703,2511
$GC,13679,1.68,80.4,440.2,7.5,650,13686,0.00,2.80,0.00,0.000,6,0.000,0.060,3120,2250,2511
$GC,13995,1.68,80.4,415.4,8.1,666,14000,0.00,2.83,0.00,0.000,4,0.000,0.066,3120,704,2512
$GC,14051,1.63,80.4,411.1,7.5,668,14057,0.00,2.80,0.00,0.000,6,0.000,0.059,3120,2250,2512
$GC,14367,1.63,80.4,388.4,7.2,684,14373,0.00,0.00,3.65,0.724,6,0.000,0.000,3120,2250,2504
$GC,14676,1.63,80.4,366.1,7.4,699,14680,0.00,2.83,0.00,0.000,4,0.000,0.064,3121,702,2505
$GC,14738,1.63,80.4,361.3,7.5,702,14742,0.00,2.78,0.00,0.000,6,0.000,0.057,3120,2242,2505
$GC,15065,1.63,80.4,336.7,7.7,718,15069,0.00,2.35,0.00,0.000,4,0.000,0.067,3120,3538,2507
$GC,15296,1.59,80.4,318.0,8.1,728,15300,0.15,2.33,0.00,0.000,6,0.110,0.052,3094,2235,2507
$GC,15618,1.68,80.4,294.6,7.4,744,15619,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2234,2508
$GC,15926,1.77,80.4,271.9,7.0,759,15928,0.17,0.00,0.00,0.000,6,0.054,0.000,3137,2233,2509
$GC,16236,1.77,80.4,248.6,7.2,774,16237,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2233,2510
$GC,16544,1.77,80.4,226.6,7.1,789,16545,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2233,2511
$GC,16853,1.77,80.4,205.5,6.8,804,16855,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2233,2511
$GC,17164,1.77,80.4,183.7,6.9,819,17168,0.00,2.38,0.00,0.000,4,0.000,0.063,3137,3539,2512
$GC,17271,1.71,80.4,175.4,6.5,823,17277,0.00,2.30,0.00,0.000,6,0.000,0.049,3137,2236,2512
$GC,17586,1.71,80.4,152.2,7.6,839,17587,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2236,2512
$GC,17897,1.71,80.4,129.0,7.1,854,17906,0.00,2.75,3.72,0.599,4,0.000,0.060,3137,697,2504
$GC,17925,1.67,80.4,126.9,7.0,855,17930,0.15,2.78,0.00,0.000,6,0.108,0.051,3111,2260,2503
$GC,18248,1.75,91.3,109.5,4.5,871,18269,0.00,2.88,11.07,0.834,4,0.000,0.058,3111,700,2458
$GC,18287,1.75,91.3,107.1,6.5,872,18293,0.00,2.78,0.00,0.000,6,0.000,0.052,3111,2239,2458
$GC,18605,1.84,91.3,86.1,6.7,888,18610,0.15,2.35,0.00,0.000,4,0.054,0.063,3149,3542,2458
$GC,18753,1.77,91.3,73.6,9.4,894,18760,0.00,2.35,0.00,0.000,6,0.000,0.048,3150,2221,2459
$GC,19069,1.77,91.3,45.4,9.0,910,19074,0.00,2.40,0.00,0.000,4,0.000,0.061,3149,3536,2459
$GC,19299,1.71,91.3,22.3,9.1,920,19304,0.17,2.30,0.00,0.000,6,0.105,0.048,3117,2235,2459
$STATE,19552,end climb,SURFACE_DEPTH_REACHED
$STATE,19552,begin surface coast
$FINISH,0.9,1.027443
$STATE,19614,end surface coast,CONTROL_FINISHED_OK
$STATE,19617,begin surface
$SM_CCo,19640,100.45,0.825,0,0,1812,250.21
$SM_GC,1.75,0.00,0.00,100.45,0.000,0.000,0.825,421,1967,1812,-10.69,-0.90,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1789
$TCM_TEMP,15.80
$XPDR_PINGS,34
$ALTIM_BOTTOM_PING,776.9,87.2
$24V_AH,23.2,81.843
$10V_AH,10.1,41.064
$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,27.825,170.100,145.475,100.450,0.000,37.762,26.796,173.473,15.500,0.000,0.000,17.576,1817.066,14868.762,431.175,2371.808,633.604,0.000,1562.970,0.000,2314.531,0.000,46.998,0.000
$DEVICE_MAMPS,137.293,87.438,1493.349,824.525,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,690.501,634.885,520.580,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47430,935
$CAP_FILE_SIZE,152542,0
$CFSIZE,254472192,222494720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,51,0,0
$GPS,190209,194407,6116.535,-753.232,32,1.6,32,-8.5