version: 66.04
glider: 5
mission: 5
dive: 470
start: 2 20 109 7 45 8
data:
$ID,5
$MISSION,5
$DIVE,470
$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,-96598.047
$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,17
$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
$GPS1,073436,6116.393,-753.438,31,1.3,31,-8.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-61.1
$GPS2,074449,6116.379,-753.346,17,1.4,17,-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,163.4,2822,-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,-28.8,0.0,0.0,0,75,0.00,0.00,-57.42,0.000,6,0.000,0.000,423,1960,2950
$GC,79,-1.90,-51.2,3.0,-2.9,3,101,10.05,2.65,-3.10,0.000,4,0.137,0.071,2331,3411,3042
$GC,113,-1.41,-51.2,8.5,-15.2,4,118,0.55,2.55,0.00,0.000,6,0.098,0.051,2436,1994,3042
$GC,429,-1.62,-51.2,46.3,-12.2,19,431,0.20,0.00,0.00,0.000,6,0.053,0.000,2389,1993,3042
$GC,739,-1.68,-51.2,87.9,-13.0,34,743,0.00,2.50,0.00,0.000,4,0.000,0.063,2389,592,3042
$GC,790,-1.68,-51.2,94.8,-12.9,36,794,0.00,2.50,0.00,0.000,6,0.000,0.051,2389,1998,3042
$GC,1107,-1.76,-51.2,134.3,-13.1,51,1108,0.12,0.00,0.00,0.000,6,0.055,0.000,2356,1998,3043
$GC,1418,-1.76,-51.2,176.3,-13.0,66,1422,0.00,2.55,0.00,0.000,4,0.000,0.061,2356,586,3042
$GC,1469,-1.69,-51.2,183.7,-13.7,68,1473,0.00,2.47,0.00,0.000,6,0.000,0.051,2356,1972,3042
$GC,1787,-1.69,-51.2,226.0,-13.3,83,1792,0.00,2.50,0.00,0.000,4,0.000,0.061,2356,588,3042
$GC,1878,-1.63,-51.2,239.2,-13.9,87,1883,0.17,2.42,0.00,0.000,6,0.107,0.051,2387,1944,3042
$GC,2202,-1.70,-51.2,279.5,-12.3,103,2206,0.00,2.45,0.00,0.000,4,0.000,0.064,2387,593,3042
$GC,2236,-1.70,-51.2,284.4,-13.4,104,2242,0.00,2.40,0.00,0.000,6,0.000,0.052,2387,1942,3043
$GC,2553,-1.77,-51.2,322.8,-11.6,120,2558,0.15,2.47,0.00,0.000,4,0.058,0.063,2348,587,3042
$GC,2599,-1.70,-51.2,329.1,-13.8,122,2604,0.12,2.40,0.00,0.000,6,0.108,0.051,2371,1928,3042
$GC,2922,-1.74,-51.2,368.1,-11.9,138,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1931,3043
$GC,3229,-1.74,-51.2,404.3,-11.5,153,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1931,3043
$GC,3539,-1.74,-51.2,441.1,-12.3,168,3543,0.00,2.42,0.00,0.000,4,0.000,0.065,2371,593,3043
$GC,3618,-1.74,-51.2,451.5,-11.9,171,3624,0.00,2.38,0.00,0.000,6,0.000,0.052,2371,1931,3043
$GC,3934,-1.79,-51.2,490.0,-12.1,187,3939,0.00,2.45,0.00,0.000,4,0.000,0.065,2371,583,3043
$GC,4114,-1.79,-51.2,512.8,-14.1,195,4118,0.00,2.33,0.00,0.000,6,0.000,0.054,2371,1892,3043
$GC,4444,-1.84,-51.2,552.1,-11.9,211,4449,0.12,2.72,0.00,0.000,4,0.058,0.067,2338,3404,3043
$GC,4546,-1.84,-51.2,566.9,-14.5,215,4552,0.00,2.70,0.00,0.000,6,0.000,0.059,2338,1905,3043
$GC,4863,-1.84,-51.2,602.0,-10.5,231,4867,0.00,2.38,0.00,0.000,4,0.000,0.071,2338,588,3043
$GC,5061,-1.77,-51.2,625.1,-11.8,240,5065,0.00,2.28,0.00,0.000,6,0.000,0.059,2338,1853,3043
$GC,5388,-1.77,-51.2,662.4,-11.5,256,5393,0.00,2.85,0.00,0.000,4,0.000,0.075,2338,3404,3042
$GC,5451,-1.72,-51.2,669.5,-11.7,259,5456,0.15,2.83,0.00,0.000,6,0.110,0.067,2365,1866,3042
$GC,5782,-1.77,-51.2,705.3,-11.0,275,5786,0.00,2.35,0.00,0.000,4,0.000,0.081,2365,584,3042
$GC,5900,-1.77,-51.2,719.4,-12.6,280,5904,0.00,2.30,0.00,0.000,6,0.000,0.067,2365,1844,3041
$GC,6217,-1.81,-51.2,754.8,-11.5,295,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1861,3040
$GC,6525,-1.86,-51.2,788.2,-10.9,310,6527,0.12,0.00,0.00,0.000,6,0.072,0.000,2336,1861,3038
$GC,6835,-1.86,-51.2,823.5,-11.1,325,6840,0.00,2.90,0.00,0.000,4,0.000,0.087,2336,3402,3037
$GC,6879,-1.86,-51.2,828.7,-11.7,327,6884,0.00,2.90,0.00,0.000,6,0.000,0.079,2336,1856,3037
$STATE,7115,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7115,begin apogee
$GC,7122,-0.33,0.0,856.5,11.9,339,7177,1.70,0.00,47.58,1.483,6,0.111,0.000,2671,2122,2832
$STATE,7178,end apogee,CONTROL_FINISHED_OK
$STATE,7178,begin climb
$GC,7182,1.90,51.2,858.6,0.0,342,7239,2.25,2.75,48.30,1.462,4,0.070,0.085,3158,717,2623
$GC,7298,1.71,51.2,852.9,6.6,346,7303,0.22,2.65,0.00,0.000,6,0.119,0.071,3120,2124,2622
$GC,7616,1.66,52.7,831.4,5.8,361,7620,0.00,2.67,0.00,0.000,4,0.000,0.087,3120,3534,2620
$GC,7874,1.55,52.7,813.3,6.8,372,7881,0.20,2.60,0.00,0.000,6,0.129,0.074,3084,2152,2620
$GC,8191,1.61,60.2,795.8,5.0,388,8206,0.00,2.72,9.07,1.292,4,0.000,0.085,3084,3537,2586
$GC,8426,1.61,60.3,781.3,6.0,398,8430,0.00,2.58,0.00,0.000,6,0.000,0.073,3084,2166,2585
$GC,8744,1.66,60.3,762.4,6.4,413,8749,0.10,2.65,0.00,0.000,4,0.079,0.087,3107,3542,2585
$GC,8784,1.60,60.3,759.5,7.1,415,8788,0.00,2.58,0.00,0.000,6,0.000,0.077,3107,2173,2585
$GC,9112,1.60,60.3,736.9,7.1,431,9113,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2173,2584
$GC,9420,1.60,60.3,715.1,6.9,446,9424,0.00,2.62,0.00,0.000,4,0.000,0.086,3107,3537,2583
$GC,9528,1.55,60.3,707.1,7.5,451,9533,0.12,2.58,0.00,0.000,6,0.127,0.075,3086,2165,2583
$GC,9856,1.60,60.4,687.0,6.0,467,9861,0.00,2.72,0.00,0.000,4,0.000,0.087,3085,709,2582
$GC,9946,1.60,64.1,681.8,5.5,471,9956,0.00,2.75,4.40,1.003,6,0.000,0.075,3085,2177,2570
$GC,10271,1.68,78.6,668.6,4.0,486,10291,0.12,2.65,14.70,1.341,4,0.074,0.088,3113,3534,2510
$GC,10390,1.63,78.6,661.7,6.3,491,10396,0.00,2.58,0.00,0.000,6,0.000,0.075,3113,2173,2510
$GC,10707,1.63,78.6,640.8,7.5,507,10711,0.00,2.62,0.00,0.000,4,0.000,0.086,3113,3534,2509
$GC,10964,1.58,78.6,618.9,7.3,518,10971,0.12,2.45,0.00,0.000,6,0.126,0.073,3093,2225,2509
$GC,11282,1.64,78.6,597.6,7.8,534,11283,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2212,2509
$GC,11590,1.70,78.6,571.6,8.3,549,11594,0.00,2.83,0.00,0.000,4,0.000,0.081,3093,705,2509
$GC,11702,1.70,78.6,562.1,8.4,554,11707,0.00,2.85,0.00,0.000,6,0.000,0.071,3093,2239,2508
$GC,12024,1.76,79.6,540.6,5.9,570,12029,0.15,2.42,0.00,0.000,4,0.071,0.082,3127,3535,2508
$GC,12282,1.69,79.6,520.2,8.0,581,12288,0.00,2.35,0.00,0.000,6,0.000,0.066,3127,2254,2508
$GC,12598,1.69,79.6,500.1,6.7,597,12602,0.00,2.42,0.00,0.000,4,0.000,0.078,3127,3541,2508
$GC,12828,1.62,79.6,483.9,7.4,607,12833,0.17,2.30,0.00,0.000,6,0.114,0.061,3097,2278,2508
$GC,13149,1.69,79.6,463.6,6.4,623,13154,0.00,2.85,0.00,0.000,4,0.000,0.071,3097,703,2509
$GC,13235,1.69,79.6,457.5,6.8,627,13239,0.00,2.88,0.00,0.000,6,0.000,0.061,3097,2290,2509
$GC,13562,1.75,79.6,435.6,6.9,643,13566,0.15,2.30,0.00,0.000,4,0.064,0.074,3131,3542,2510
$GC,13619,1.67,79.6,431.0,8.2,645,13626,0.12,2.25,0.00,0.000,6,0.120,0.058,3112,2281,2509
$GC,13935,1.67,79.6,406.0,8.1,661,13940,0.00,2.85,0.00,0.000,4,0.000,0.069,3112,709,2510
$GC,13974,1.67,79.6,402.7,8.1,663,13979,0.00,2.88,0.00,0.000,6,0.000,0.059,3112,2306,2510
$GC,14303,1.71,79.6,377.3,7.7,679,14304,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2306,2511
$GC,14610,1.71,79.6,354.0,7.3,694,14611,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2306,2513
$GC,14919,1.71,79.6,332.9,6.4,709,14923,0.00,2.22,0.00,0.000,4,0.000,0.068,3112,3538,2513
$GC,14977,1.71,79.6,329.1,6.7,711,14981,0.00,2.25,0.00,0.000,6,0.000,0.054,3112,2275,2513
$GC,15294,1.76,79.6,308.9,6.6,726,15299,0.00,2.83,0.00,0.000,4,0.000,0.068,3112,701,2513
$GC,15334,1.76,79.6,306.1,6.7,728,15338,0.00,2.85,0.00,0.000,6,0.000,0.055,3112,2297,2514
$GC,15661,1.80,79.6,284.3,6.2,744,15663,0.12,0.00,0.00,0.000,6,0.061,0.000,3145,2296,2515
$GC,15969,1.80,79.6,261.9,7.5,759,15971,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2297,2515
$GC,16278,1.80,79.6,239.4,7.1,774,16284,0.00,0.00,3.95,0.667,6,0.000,0.000,3145,2297,2507
$GC,16589,1.80,79.6,216.1,7.6,789,16590,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2296,2507
$GC,16897,1.80,79.6,192.4,7.5,804,16898,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2297,2508
$GC,17206,1.80,79.6,168.6,7.8,819,17211,0.00,2.88,0.00,0.000,4,0.000,0.062,3145,708,2509
$GC,17258,1.72,79.6,164.3,9.3,821,17263,0.12,2.80,0.00,0.000,6,0.114,0.056,3121,2280,2509
$GC,17574,1.72,79.6,140.7,7.2,836,17578,0.00,2.28,0.00,0.000,4,0.000,0.067,3121,3545,2510
$GC,17646,1.72,79.6,135.0,7.7,839,17650,0.00,2.28,0.00,0.000,6,0.000,0.051,3121,2258,2510
$GC,17965,1.72,79.6,112.2,6.6,854,17969,0.00,2.35,0.00,0.000,4,0.000,0.066,3121,3546,2510
$GC,18009,1.72,79.6,109.0,7.0,856,18013,0.00,2.28,0.00,0.000,6,0.000,0.048,3121,2257,2510
$GC,18331,1.72,79.6,88.7,6.1,872,18333,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2257,2510
$GC,18640,1.72,79.6,69.5,6.8,887,18641,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2257,2510
$GC,18949,1.76,79.6,49.1,6.9,902,18953,0.00,2.33,0.00,0.000,4,0.000,0.061,3121,3538,2511
$GC,18983,1.76,79.6,46.5,6.2,903,18989,0.00,2.22,0.00,0.000,6,0.000,0.052,3121,2278,2511
$GC,19302,1.76,79.6,20.0,9.0,919,19306,0.00,2.33,0.00,0.000,4,0.000,0.066,3121,3545,2512
$STATE,19477,end climb,SURFACE_DEPTH_REACHED
$STATE,19477,begin surface coast
$FINISH,0.6,1.027415
$STATE,19514,end surface coast,CONTROL_FINISHED_OK
$STATE,19514,begin surface
$SM_CCo,19541,100.62,0.816,0,0,1811,250.21
$SM_GC,1.74,0.00,0.00,100.62,0.000,0.000,0.816,420,1958,1811,-10.70,-1.19,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1784
$TCM_TEMP,18.80
$XPDR_PINGS,53
$ALTIM_BOTTOM_PING,775.0,89.7
$24V_AH,23.3,82.123
$10V_AH,10.1,41.350
$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,29.300,174.200,128.000,100.625,0.000,78.899,74.992,243.037,20.250,0.000,0.000,16.998,1820.764,14907.917,413.492,2299.484,807.898,0.000,1515.914,0.000,2239.785,0.000,46.990,0.000
$DEVICE_MAMPS,137.293,88.205,1483.378,816.088,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,687.854,630.455,530.786,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47443,928
$CAP_FILE_SIZE,157789,0
$CFSIZE,254472192,222273536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,50,0,0
$GPS,200209,131354,6115.617,-752.696,42,1.5,42,-8.5