version: 66.04
glider: 5
mission: 5
dive: 473
start: 2 21 109 0 55 5
data:
$ID,5
$MISSION,5
$DIVE,473
$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,-96640.656
$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,18
$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
$GPS1,004507,6114.216,-752.591,33,1.5,33,-8.5
$_CALLS,1
$_XMS_NAKs,49
$_XMS_TOUTs,1
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-62.4
$GPS2,005444,6114.128,-752.556,15,1.7,15,-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,25.5,1688,-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,-57.42,0.000,6,0.000,0.000,423,1959,2950
$GC,81,-1.89,-46.5,3.0,-3.5,3,103,10.07,2.53,-2.47,0.000,4,0.139,0.071,2325,602,3023
$GC,356,-1.76,-46.5,44.9,-15.0,15,362,0.20,2.53,0.00,0.000,6,0.105,0.051,2361,2007,3023
$GC,681,-1.76,-46.5,90.4,-13.8,31,685,0.00,2.55,0.00,0.000,4,0.000,0.063,2362,597,3023
$GC,888,-1.69,-46.5,120.3,-14.0,40,892,0.00,2.47,0.00,0.000,6,0.000,0.051,2362,1990,3023
$GC,1205,-1.69,-46.5,162.6,-13.0,55,1209,0.00,2.53,0.00,0.000,4,0.000,0.061,2361,594,3023
$GC,1278,-1.64,-46.5,173.0,-14.4,58,1283,0.12,2.47,0.00,0.000,6,0.114,0.051,2383,1987,3023
$GC,1597,-1.70,-46.5,210.4,-11.3,73,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1987,3023
$GC,1903,-1.76,-46.5,245.6,-11.3,88,1907,0.00,2.53,0.00,0.000,4,0.000,0.061,2383,590,3023
$GC,1943,-1.76,-46.5,250.4,-11.8,90,1948,0.00,2.47,0.00,0.000,6,0.000,0.051,2383,1987,3023
$GC,2272,-1.82,-46.5,289.3,-12.1,106,2274,0.17,0.00,0.00,0.000,6,0.053,0.000,2341,1987,3023
$GC,2581,-1.76,-46.5,331.0,-13.5,121,2584,0.00,2.50,0.00,0.000,4,0.000,0.062,2341,602,3023
$GC,2676,-1.65,-46.5,344.8,-14.3,125,2681,0.22,2.47,0.00,0.000,6,0.100,0.051,2381,1988,3023
$GC,3002,-1.73,-46.5,383.4,-11.8,141,3006,0.00,2.50,0.00,0.000,4,0.000,0.063,2381,602,3023
$GC,3079,-1.73,-46.5,393.5,-12.5,144,3085,0.00,2.47,0.00,0.000,6,0.000,0.052,2381,1987,3024
$GC,3397,-1.79,-46.5,429.3,-11.2,160,3402,0.12,2.53,0.00,0.000,4,0.063,0.063,2349,600,3024
$GC,3498,-1.73,-46.5,441.6,-11.8,164,3504,0.00,2.42,0.00,0.000,6,0.000,0.052,2349,1965,3023
$GC,3815,-1.73,-46.5,478.8,-11.6,180,3819,0.00,2.47,0.00,0.000,4,0.000,0.064,2349,596,3023
$GC,4005,-1.66,-46.5,502.1,-11.7,188,4010,0.17,2.40,0.00,0.000,6,0.107,0.051,2380,1951,3023
$GC,4323,-1.74,-46.5,534.4,-10.0,203,4327,0.00,2.45,0.00,0.000,4,0.000,0.064,2380,601,3023
$GC,4430,-1.74,-46.5,544.9,-9.8,208,4434,0.00,2.35,0.00,0.000,6,0.000,0.054,2380,1921,3024
$GC,4763,-1.82,-46.5,572.5,-8.0,224,4768,0.15,2.45,0.00,0.000,4,0.058,0.067,2343,592,3023
$GC,4849,-1.74,-46.5,581.3,-11.0,228,4854,0.12,2.38,0.00,0.000,6,0.113,0.055,2365,1922,3024
$GC,5175,-1.74,-46.5,614.2,-10.0,244,5180,0.00,2.42,0.00,0.000,4,0.000,0.071,2365,602,3023
$GC,5204,-1.74,-46.5,617.1,-10.5,245,5208,0.00,2.33,0.00,0.000,6,0.000,0.058,2365,1888,3023
$GC,5521,-1.79,-46.5,647.1,-9.1,260,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1896,3023
$GC,5831,-1.83,-46.5,676.3,-9.5,275,5835,0.00,2.40,0.00,0.000,4,0.000,0.076,2365,595,3023
$GC,5882,-1.83,-46.5,681.5,-9.9,277,5886,0.00,2.30,0.00,0.000,6,0.000,0.062,2365,1865,3022
$GC,6198,-1.87,-46.5,710.7,-9.4,292,6200,0.12,0.00,0.00,0.000,6,0.067,0.000,2335,1876,3021
$GC,6508,-1.87,-46.5,741.2,-9.5,307,6513,0.00,2.88,0.00,0.000,4,0.000,0.083,2335,3411,3020
$GC,6541,-1.81,-46.5,744.7,-10.7,308,6548,0.00,2.85,0.00,0.000,6,0.000,0.074,2335,1880,3020
$GC,6858,-1.81,-46.5,775.4,-9.9,324,6862,0.00,2.38,0.00,0.000,4,0.000,0.086,2335,600,3019
$GC,6928,-1.72,-46.5,782.8,-10.7,327,6932,0.17,2.30,0.00,0.000,6,0.121,0.070,2365,1852,3019
$GC,7251,-1.78,-46.5,814.0,-9.7,343,7256,0.00,2.90,0.00,0.000,4,0.000,0.088,2365,3402,3017
$GC,7291,-1.78,-46.5,818.1,-10.3,345,7295,0.00,2.85,0.00,0.000,6,0.000,0.077,2365,1878,3017
$GC,7619,-1.84,-46.5,851.6,-10.4,361,7623,0.00,2.38,0.00,0.000,4,0.000,0.089,2365,606,3016
$GC,7686,-1.84,-46.5,858.9,-11.3,364,7690,0.00,2.30,0.00,0.000,6,0.000,0.074,2366,1849,3015
$STATE,7825,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7825,begin apogee
$GC,7834,-0.33,0.0,874.8,11.9,371,7881,1.52,0.00,43.00,1.499,6,0.108,0.000,2667,2124,2833
$STATE,7882,end apogee,CONTROL_FINISHED_OK
$STATE,7882,begin climb
$GC,7885,1.89,46.5,876.8,0.0,373,7940,2.22,2.80,44.70,1.480,4,0.067,0.088,3155,3531,2642
$GC,8196,1.70,56.7,859.9,4.6,387,8217,0.22,2.62,11.10,1.335,6,0.127,0.076,3116,2137,2600
$GC,8528,1.65,56.7,837.8,6.8,403,8533,0.00,2.70,0.00,0.000,4,0.000,0.087,3117,3531,2599
$GC,8603,1.55,56.7,832.4,6.7,406,8608,0.17,2.70,0.00,0.000,6,0.127,0.076,3086,2104,2599
$GC,8919,1.59,56.7,812.3,6.3,421,8924,0.00,2.75,0.00,0.000,4,0.000,0.087,3086,3531,2598
$GC,8997,1.59,56.7,807.0,6.8,424,9003,0.00,2.67,0.00,0.000,6,0.000,0.075,3086,2108,2597
$GC,9315,1.64,59.5,788.9,5.6,440,9319,0.00,2.75,0.00,0.000,4,0.000,0.088,3086,3537,2597
$GC,9422,1.64,59.5,782.1,6.4,445,9426,0.00,2.67,0.00,0.000,6,0.000,0.076,3086,2113,2596
$GC,9750,1.69,59.5,761.1,6.8,461,9756,0.12,2.72,0.00,0.000,4,0.074,0.087,3113,3530,2596
$GC,9829,1.61,59.5,755.1,7.4,464,9835,0.00,2.65,0.00,0.000,6,0.000,0.075,3113,2118,2595
$GC,10145,1.61,59.5,733.1,6.7,480,10146,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2118,2594
$GC,10456,1.61,60.3,714.3,5.9,495,10460,0.00,2.72,0.00,0.000,4,0.000,0.088,3113,3533,2593
$GC,10601,1.53,60.3,704.5,6.7,501,10608,0.20,2.62,0.00,0.000,6,0.120,0.074,3078,2133,2594
$GC,10919,1.60,64.9,686.4,5.4,517,10933,0.00,2.78,7.47,1.229,4,0.000,0.087,3078,3529,2567
$GC,10985,1.60,65.1,682.5,6.0,520,10990,0.00,2.60,0.00,0.000,6,0.000,0.074,3078,2149,2566
$GC,11314,1.68,71.7,664.8,5.1,536,11329,0.15,2.78,8.00,1.234,4,0.073,0.084,3111,713,2539
$GC,11364,1.62,71.7,661.7,7.1,538,11369,0.00,2.70,0.00,0.000,6,0.000,0.072,3111,2147,2539
$GC,11685,1.62,71.7,641.1,7.1,554,11689,0.00,2.75,0.00,0.000,4,0.000,0.084,3111,702,2539
$GC,11758,1.57,71.7,635.8,7.1,557,11764,0.15,2.72,0.00,0.000,6,0.123,0.074,3086,2162,2538
$GC,12075,1.63,71.7,614.9,6.5,572,12079,0.00,2.78,0.00,0.000,4,0.000,0.084,3086,703,2538
$GC,12154,1.63,71.7,609.2,6.9,575,12160,0.00,2.70,0.00,0.000,6,0.000,0.074,3086,2149,2537
$GC,12472,1.70,76.7,591.0,5.3,591,12480,0.12,0.00,5.88,1.103,6,0.074,0.000,3114,2150,2519
$GC,12779,1.70,76.7,569.2,7.5,606,12784,0.00,2.60,0.00,0.000,4,0.000,0.084,3114,3535,2519
$GC,12889,1.65,76.7,560.8,7.4,611,12894,0.00,2.62,0.00,0.000,6,0.000,0.070,3114,2121,2519
$GC,13216,1.65,76.7,535.7,7.1,627,13220,0.00,2.60,0.00,0.000,4,0.000,0.077,3114,709,2519
$GC,13440,1.61,76.7,520.2,6.4,637,13444,0.00,2.53,0.00,0.000,6,0.000,0.065,3113,2087,2519
$GC,13760,1.61,76.7,500.9,6.4,653,13765,0.00,2.67,0.00,0.000,4,0.000,0.077,3114,3533,2519
$GC,13957,1.61,76.7,487.1,6.9,662,13962,0.00,2.65,0.00,0.000,6,0.000,0.062,3114,2079,2519
$GC,14285,1.61,76.7,464.2,7.4,678,14286,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2078,2520
$GC,14595,1.61,76.7,443.3,6.6,693,14599,0.00,2.70,0.00,0.000,4,0.000,0.070,3114,3533,2520
$GC,14724,1.61,76.7,433.5,7.8,699,14729,0.00,2.62,0.00,0.000,6,0.000,0.058,3114,2078,2520
$GC,15051,1.61,76.7,412.2,6.1,715,15052,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2077,2521
$GC,15361,1.61,76.7,390.5,7.3,730,15365,0.00,2.45,0.00,0.000,4,0.000,0.066,3114,708,2522
$GC,15549,1.61,76.7,376.0,7.6,738,15553,0.00,2.47,0.00,0.000,6,0.000,0.055,3114,2090,2522
$GC,15871,1.61,76.7,353.8,6.8,754,15875,0.00,2.53,0.00,0.000,4,0.000,0.065,3114,704,2523
$GC,15926,1.61,76.7,349.6,7.1,756,15932,0.00,2.45,0.00,0.000,6,0.000,0.055,3114,2069,2523
$GC,16243,1.61,76.7,327.9,7.2,772,16244,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2070,2524
$GC,16552,1.61,76.7,306.7,6.4,787,16556,0.00,2.62,0.00,0.000,4,0.000,0.065,3113,3527,2525
$GC,16787,1.61,76.7,289.7,7.0,797,16793,0.00,2.60,0.00,0.000,6,0.000,0.051,3114,2067,2526
$GC,17104,1.61,76.7,269.2,6.7,813,17105,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2067,2526
$GC,17412,1.61,76.7,247.4,7.0,828,17416,0.00,2.67,0.00,0.000,4,0.000,0.064,3114,3536,2528
$GC,17541,1.61,76.7,237.6,7.2,834,17551,0.00,2.58,3.75,0.638,6,0.000,0.051,3114,2088,2519
$GC,17877,1.65,76.7,213.3,7.4,850,17879,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2089,2519
$GC,18183,1.65,76.7,192.4,6.5,865,18184,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2089,2520
$GC,18494,1.69,76.7,171.5,6.9,880,18495,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2089,2520
$GC,18801,1.69,76.7,150.6,6.8,895,18806,0.00,2.62,0.00,0.000,4,0.000,0.065,3114,3529,2521
$GC,18829,1.69,76.7,148.5,7.4,896,18833,0.00,2.58,0.00,0.000,6,0.000,0.049,3114,2072,2521
$GC,19148,1.74,76.7,126.9,6.9,911,19153,0.00,2.65,0.00,0.000,4,0.000,0.061,3114,3531,2522
$GC,19216,1.74,76.7,121.6,6.9,914,19220,0.00,2.58,0.00,0.000,6,0.000,0.052,3114,2074,2522
$GC,19539,1.78,76.7,100.6,6.2,930,19543,0.00,2.65,0.00,0.000,4,0.000,0.061,3114,3535,2522
$GC,19604,1.78,76.7,96.4,6.1,933,19608,0.00,2.55,0.00,0.000,6,0.000,0.053,3114,2092,2522
$GC,19932,1.78,76.7,75.9,6.5,949,19937,0.00,2.62,0.00,0.000,4,0.000,0.061,3114,3535,2522
$GC,19999,1.78,76.7,70.8,6.9,952,20004,0.00,2.55,0.00,0.000,6,0.000,0.051,3114,2093,2522
$GC,20323,1.83,76.7,48.2,7.3,968,20328,0.12,2.62,0.00,0.000,4,0.058,0.060,3149,3530,2523
$GC,20373,1.74,76.7,43.9,7.9,970,20378,0.12,2.53,0.00,0.000,6,0.107,0.048,3126,2100,2523
$GC,20692,1.74,76.7,21.2,7.5,985,20696,0.00,2.45,0.00,0.000,4,0.000,0.063,3126,716,2523
$GC,20755,1.74,76.7,15.9,8.0,988,20759,0.00,2.42,0.00,0.000,6,0.000,0.049,3126,2088,2523
$STATE,20894,end climb,SURFACE_DEPTH_REACHED
$STATE,20895,begin surface coast
$FINISH,0.6,1.027401
$STATE,20936,end surface coast,CONTROL_FINISHED_OK
$STATE,20936,begin surface
$SM_CCo,20961,113.70,0.815,0,0,1812,250.21
$SM_GC,1.59,0.00,0.00,113.70,0.000,0.000,0.815,425,1985,1812,-10.67,-0.42,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1792
$TCM_TEMP,16.90
$XPDR_PINGS,50
$ALTIM_BOTTOM_PING,800.1,82.5
$24V_AH,23.2,82.430
$10V_AH,10.1,41.639
$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,28.575,206.775,123.900,113.700,0.000,37.761,27.488,358.890,19.750,0.000,0.000,15.295,1968.261,15819.550,446.041,2545.658,867.001,0.000,1671.137,0.000,2481.148,0.000,48.561,0.000
$DEVICE_MAMPS,138.827,88.972,1498.718,815.321,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,733.803,677.896,551.373,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50548,997
$CAP_FILE_SIZE,173711,0
$CFSIZE,254472192,222027776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,63,0,0
$GPS,210209,064737,6116.388,-752.925,36,1.2,36,-8.5