version: 66.04
glider: 5
mission: 5
dive: 468
start: 2 19 109 19 50 35
data:
$ID,5
$MISSION,5
$DIVE,468
$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,-96543.867
$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,34
$R_STBD_OVSHOOT,19
$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
$GPS1,194407,6116.535,-753.232,32,1.6,32,-8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-62.3
$GPS2,195014,6116.514,-753.176,15,1.5,15,-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,168.0,2993,-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,-56.28,0.000,6,0.000,0.000,421,1955,2949
$GC,81,-1.87,-29.8,4.1,-5.9,3,96,10.07,2.65,0.00,0.000,4,0.137,0.063,2333,3411,2951
$GC,349,-1.76,-29.8,40.0,-13.0,14,354,0.15,2.53,0.00,0.000,6,0.110,0.049,2359,2000,2951
$GC,673,-1.76,-29.8,77.8,-12.1,30,678,0.00,2.60,0.00,0.000,4,0.000,0.063,2360,3419,2951
$GC,737,-1.70,-29.8,86.0,-12.8,33,742,0.00,2.53,0.00,0.000,6,0.000,0.051,2360,2007,2951
$GC,1066,-1.70,-29.8,123.6,-11.4,49,1070,0.00,2.53,0.00,0.000,4,0.000,0.061,2360,592,2951
$GC,1139,-1.62,-29.8,132.4,-11.5,52,1144,0.15,2.53,0.00,0.000,6,0.109,0.051,2386,2012,2951
$GC,1455,-1.67,-29.8,164.2,-9.7,67,1460,0.00,2.58,0.00,0.000,4,0.000,0.062,2386,594,2951
$GC,1522,-1.67,-29.8,171.7,-10.7,70,1527,0.00,2.47,0.00,0.000,6,0.000,0.051,2386,1981,2951
$GC,1845,-1.73,-29.8,203.3,-9.7,86,1850,0.00,2.53,0.00,0.000,4,0.000,0.062,2386,590,2952
$GC,1885,-1.73,-29.8,207.5,-10.0,88,1890,0.00,2.50,0.00,0.000,6,0.000,0.051,2387,1985,2951
$GC,2214,-1.77,-29.8,238.5,-9.5,104,2219,0.15,2.55,0.00,0.000,4,0.060,0.062,2350,591,2952
$GC,2299,-1.67,-29.8,247.8,-10.6,108,2304,0.15,2.42,0.00,0.000,6,0.110,0.051,2377,1959,2952
$GC,2626,-1.67,-29.8,282.9,-11.3,124,2630,0.00,2.60,0.00,0.000,4,0.000,0.064,2377,3405,2952
$GC,2653,-1.67,-29.8,286.3,-11.9,125,2658,0.00,2.60,0.00,0.000,6,0.000,0.054,2377,1958,2951
$GC,2969,-1.67,-29.8,319.5,-10.3,140,2973,0.00,2.45,0.00,0.000,4,0.000,0.074,2377,587,2952
$GC,3042,-1.67,-29.8,327.2,-11.0,143,3046,0.00,2.42,0.00,0.000,6,0.000,0.052,2377,1952,2952
$GC,3358,-1.67,-29.8,358.5,-9.4,158,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1952,2952
$GC,3667,-1.67,-29.8,389.2,-10.1,173,3672,0.00,2.60,0.00,0.000,4,0.000,0.066,2376,3408,2952
$GC,3691,-1.67,-29.8,391.7,-10.5,174,3695,0.00,2.60,0.00,0.000,6,0.000,0.057,2377,1958,2952
$GC,4011,-1.67,-29.8,424.3,-9.8,190,4016,0.00,2.45,0.00,0.000,4,0.000,0.065,2376,584,2952
$GC,4058,-1.67,-29.8,428.9,-10.2,192,4062,0.00,2.42,0.00,0.000,6,0.000,0.051,2376,1954,2952
$GC,4380,-1.67,-29.8,459.4,-9.7,208,4384,0.00,2.47,0.00,0.000,4,0.000,0.065,2377,584,2952
$GC,4458,-1.67,-29.8,467.1,-9.0,211,4462,0.00,2.38,0.00,0.000,6,0.000,0.052,2377,1923,2952
$GC,4775,-1.72,-29.8,498.0,-9.3,226,4779,0.00,2.42,0.00,0.000,4,0.000,0.067,2377,591,2952
$GC,4940,-1.72,-29.8,514.5,-10.4,233,4944,0.00,2.35,0.00,0.000,6,0.000,0.054,2376,1915,2952
$GC,5256,-1.76,-29.8,544.9,-9.1,248,5260,0.00,2.67,0.00,0.000,4,0.000,0.067,2377,3402,2952
$GC,5307,-1.76,-29.8,549.4,-9.0,250,5311,0.00,2.70,0.00,0.000,6,0.000,0.059,2377,1909,2951
$GC,5625,-1.81,-29.8,576.7,-9.0,265,5627,0.12,0.00,0.00,0.000,6,0.063,0.000,2345,1909,2951
$GC,5933,-1.81,-29.8,604.5,-8.8,280,5937,0.00,2.40,0.00,0.000,4,0.000,0.072,2345,583,2951
$GC,6120,-1.73,-29.8,621.2,-9.2,288,6125,0.12,2.45,0.00,0.000,6,0.114,0.061,2367,1937,2951
$GC,6437,-1.73,-29.8,647.0,-8.0,303,6442,0.00,2.70,0.00,0.000,4,0.000,0.077,2368,3408,2951
$GC,6447,-1.73,-29.8,648.2,-8.3,303,6454,0.00,2.67,0.00,0.000,6,0.000,0.068,2367,1952,2951
$GC,6764,-1.73,-29.8,676.2,-8.8,319,6768,0.00,2.50,0.00,0.000,4,0.000,0.081,2367,589,2950
$GC,6918,-1.73,-29.8,690.9,-10.3,326,6922,0.00,2.45,0.00,0.000,6,0.000,0.067,2367,1931,2949
$GC,7245,-1.73,-29.8,719.3,-8.4,342,7249,0.00,2.72,0.00,0.000,4,0.000,0.084,2367,3399,2948
$GC,7289,-1.73,-29.8,723.3,-9.7,344,7293,0.00,2.72,0.00,0.000,6,0.000,0.074,2367,1936,2948
$GC,7611,-1.73,-29.8,750.2,-8.4,360,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1936,2947
$GC,7923,-1.73,-29.8,775.8,-7.9,375,7928,0.00,2.78,0.00,0.000,4,0.000,0.085,2367,3399,2945
$GC,7951,-1.73,-29.8,778.8,-9.4,376,7956,0.00,2.72,0.00,0.000,6,0.000,0.074,2367,1937,2945
$GC,8269,-1.77,-29.8,805.3,-8.7,391,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1938,2944
$GC,8577,-1.81,-29.8,830.8,-8.2,406,8582,0.00,2.78,0.00,0.000,4,0.000,0.087,2367,3398,2943
$GC,8696,-1.81,-29.8,841.4,-8.7,411,8700,0.00,2.67,0.00,0.000,6,0.000,0.077,2367,1969,2943
$STATE,8844,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8844,begin apogee
$GC,8851,-0.33,0.0,854.8,8.8,418,8886,1.52,0.00,26.62,1.469,6,0.110,0.000,2670,2122,2833
$STATE,8886,end apogee,CONTROL_FINISHED_OK
$STATE,8886,begin climb
$GC,8889,1.87,29.8,855.8,0.0,420,8926,2.25,0.00,29.67,1.457,6,0.066,0.000,3153,2122,2710
$GC,9237,1.72,43.8,841.7,4.1,437,9259,0.17,2.75,14.27,1.388,4,0.123,0.096,3121,3524,2653
$GC,9514,1.61,49.9,826.9,5.2,449,9531,0.12,2.62,7.15,1.231,6,0.132,0.074,3099,2129,2628
$GC,9840,1.62,52.5,809.0,5.6,465,9849,0.00,2.72,4.18,0.984,4,0.000,0.087,3099,3524,2617
$GC,10080,1.57,52.5,793.7,6.2,475,10087,0.00,2.62,0.00,0.000,6,0.000,0.074,3099,2127,2617
$GC,10397,1.57,52.6,774.7,6.0,491,10401,0.00,2.70,0.00,0.000,4,0.000,0.087,3098,3528,2616
$GC,10477,1.57,54.0,769.8,5.8,494,10483,0.00,2.60,0.00,0.000,6,0.000,0.075,3098,2143,2616
$GC,10793,1.58,57.2,752.0,5.6,510,10803,0.00,2.70,5.80,1.162,4,0.000,0.087,3099,3523,2598
$GC,10893,1.58,57.2,745.5,7.1,514,10900,0.00,2.60,0.00,0.000,6,0.000,0.074,3099,2144,2597
$GC,11211,1.58,57.8,726.3,5.9,530,11215,0.00,2.67,0.00,0.000,4,0.000,0.088,3099,3530,2596
$GC,11389,1.58,57.8,715.1,6.5,538,11393,0.00,2.60,0.00,0.000,6,0.000,0.074,3098,2145,2596
$GC,11711,1.59,65.3,698.3,5.0,554,11725,0.00,2.75,8.57,1.271,4,0.000,0.087,3099,3523,2564
$GC,11811,1.59,65.3,692.3,6.1,558,11815,0.00,2.58,0.00,0.000,6,0.000,0.074,3098,2163,2564
$GC,12128,1.59,65.3,671.9,6.5,573,12132,0.00,2.62,0.00,0.000,4,0.000,0.088,3098,3523,2564
$GC,12224,1.59,65.3,665.3,7.0,577,12228,0.00,2.55,0.00,0.000,6,0.000,0.074,3099,2167,2564
$GC,12540,1.59,66.3,646.4,5.9,592,12545,0.00,2.72,0.00,0.000,4,0.000,0.086,3099,714,2564
$GC,12627,1.59,66.3,641.1,6.6,596,12632,0.00,2.67,0.00,0.000,6,0.000,0.074,3098,2149,2563
$GC,12954,1.60,67.1,622.1,5.9,612,12958,0.00,2.62,0.00,0.000,4,0.000,0.088,3098,3535,2563
$GC,13016,1.60,67.1,618.1,6.4,615,13020,0.00,2.60,0.00,0.000,6,0.000,0.075,3098,2151,2563
$GC,13344,1.61,76.1,601.9,4.7,631,13360,0.00,2.70,11.02,1.273,4,0.000,0.083,3099,3534,2520
$GC,13394,1.62,79.3,598.9,5.6,632,13406,0.00,2.62,4.53,0.980,6,0.000,0.072,3098,2145,2508
$GC,13717,1.67,80.8,579.9,5.8,648,13721,0.00,2.65,0.00,0.000,4,0.000,0.084,3098,3534,2507
$GC,13840,1.67,80.8,572.0,6.3,653,13846,0.00,2.60,0.00,0.000,6,0.000,0.070,3098,2139,2507
$GC,14157,1.73,80.8,547.7,8.9,669,14162,0.10,2.62,0.00,0.000,4,0.074,0.079,3121,714,2507
$GC,14213,1.66,80.8,542.3,9.6,671,14219,0.00,2.62,0.00,0.000,6,0.000,0.068,3121,2137,2507
$GC,14529,1.66,80.8,516.1,8.1,687,14530,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2137,2507
$GC,14839,1.66,80.8,492.5,6.9,702,14840,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2137,2508
$GC,15149,1.67,86.0,475.2,5.3,717,15163,0.00,2.70,7.80,1.093,4,0.000,0.071,3121,717,2481
$GC,15221,1.67,86.0,470.2,6.9,720,15226,0.00,2.55,0.00,0.000,6,0.000,0.061,3121,2115,2481
$GC,15544,1.67,86.0,446.0,7.7,736,15548,0.00,2.60,0.00,0.000,4,0.000,0.073,3121,3528,2481
$GC,15746,1.63,86.0,429.9,7.9,745,15751,0.12,2.55,0.00,0.000,6,0.118,0.058,3101,2122,2481
$GC,16069,1.70,86.0,403.8,8.5,761,16073,0.00,2.62,0.00,0.000,4,0.000,0.069,3101,3536,2482
$GC,16246,1.70,86.0,387.8,9.2,769,16250,0.00,2.53,0.00,0.000,6,0.000,0.054,3101,2132,2483
$GC,16574,1.78,86.0,359.9,8.4,785,16579,0.15,2.58,0.00,0.000,4,0.060,0.067,3136,3527,2483
$GC,16614,1.69,86.0,355.9,9.4,787,16619,0.12,2.47,0.00,0.000,6,0.116,0.054,3115,2148,2483
$GC,16942,1.69,86.0,327.6,8.2,803,16943,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2148,2485
$GC,17251,1.75,86.0,302.7,8.1,818,17252,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2148,2485
$GC,17560,1.80,86.0,276.8,8.5,833,17564,0.00,2.55,0.00,0.000,4,0.000,0.064,3115,3540,2486
$GC,17627,1.80,86.0,270.9,8.7,836,17632,0.00,2.47,0.00,0.000,6,0.000,0.051,3115,2152,2486
$GC,17949,1.84,86.0,246.2,7.6,852,17954,0.15,2.55,0.00,0.000,4,0.058,0.063,3153,3535,2487
$GC,18076,1.75,86.0,235.1,9.8,857,18083,0.15,2.45,0.00,0.000,6,0.110,0.049,3126,2156,2488
$GC,18392,1.75,86.0,210.0,8.1,873,18396,0.00,2.53,0.00,0.000,4,0.000,0.063,3126,3538,2489
$GC,18464,1.75,86.0,203.8,8.5,876,18468,0.00,2.45,0.00,0.000,6,0.000,0.049,3126,2161,2488
$GC,18781,1.75,86.0,177.9,8.3,891,18786,0.00,2.50,0.00,0.000,4,0.000,0.063,3126,3531,2489
$GC,18871,1.75,86.0,169.8,9.1,895,18880,0.00,2.45,3.80,0.627,6,0.000,0.050,3126,2149,2480
$GC,19198,1.75,86.0,144.1,7.3,911,19203,0.00,2.53,0.00,0.000,4,0.000,0.062,3126,3530,2480
$GC,19261,1.75,86.0,138.9,8.4,914,19266,0.00,2.42,0.00,0.000,6,0.000,0.048,3126,2165,2481
$GC,19589,1.75,86.0,114.5,7.4,930,19590,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2165,2481
$GC,19900,1.80,86.0,90.5,7.7,945,19904,0.00,2.58,0.00,0.000,4,0.000,0.061,3126,716,2482
$GC,19977,1.80,86.0,84.6,7.6,948,19984,0.00,2.58,0.00,0.000,6,0.000,0.051,3126,2165,2482
$GC,20294,1.80,86.0,60.7,8.0,964,20295,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2165,2482
$GC,20604,1.80,86.0,34.3,8.7,979,20605,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2164,2483
$GC,20912,1.85,86.0,6.2,7.2,994,20916,0.00,2.45,0.00,0.000,4,0.000,0.063,3126,3528,2483
$STATE,20950,end climb,SURFACE_DEPTH_REACHED
$STATE,20950,begin surface coast
$FINISH,0.8,1.027424
$STATE,21018,end surface coast,CONTROL_FINISHED_OK
$STATE,21019,begin surface
$SM_CCo,21046,106.12,0.825,0,0,1812,250.21
$SM_GC,2.32,0.00,0.00,106.12,0.000,0.000,0.825,427,1984,1812,-10.66,-0.42,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1802
$TCM_TEMP,16.80
$XPDR_PINGS,58
$ALTIM_BOTTOM_PING,775.8,88.0
$24V_AH,23.2,81.932
$10V_AH,10.1,41.160
$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,27.675,216.850,123.425,106.125,0.000,37.762,27.388,152.626,21.500,0.000,0.000,15.293,1977.266,15909.631,442.800,2535.933,650.023,0.000,1671.219,0.000,2469.725,0.000,46.985,0.000
$DEVICE_MAMPS,137.293,95.875,1468.805,825.292,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,738.632,679.417,551.528,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50574,999
$CAP_FILE_SIZE,170408,0
$CFSIZE,254472192,222400512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,64,0,0
$GPS,200209,014456,6116.416,-753.630,69,1.2,69,-8.5