version: 66.04
glider: 5
mission: 5
dive: 474
start: 2 21 109 6 55 14
data:
$ID,5
$MISSION,5
$DIVE,474
$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,-96656.281
$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,39
$R_STBD_OVSHOOT,26
$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
$GPS1,064737,6116.388,-752.925,36,1.2,36,-8.5
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-57.9
$GPS2,065455,6116.363,-752.759,15,1.3,15,-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,173.5,2614,-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,17,-1.87,-28.8,0.0,0.0,0,78,0.00,0.00,-57.28,0.000,6,0.000,0.000,424,1994,2950
$GC,81,-1.88,-36.4,3.5,-5.0,3,98,10.02,2.60,-0.95,0.000,4,0.135,0.073,2330,3412,2980
$GC,351,-1.74,-36.4,40.2,-13.2,14,356,0.17,2.50,0.00,0.000,6,0.112,0.051,2361,2013,2981
$GC,674,-1.74,-36.4,79.1,-12.3,30,678,0.00,2.53,0.00,0.000,4,0.000,0.061,2361,594,2981
$GC,702,-1.68,-36.4,83.1,-13.3,31,706,0.00,2.47,0.00,0.000,6,0.000,0.051,2361,1982,2981
$GC,1024,-1.68,-36.4,121.1,-11.9,47,1029,0.00,2.53,0.00,0.000,4,0.000,0.061,2361,587,2981
$GC,1070,-1.61,-36.4,127.2,-13.3,49,1075,0.17,2.47,0.00,0.000,6,0.110,0.051,2392,1984,2981
$GC,1392,-1.68,-36.4,162.7,-11.0,65,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1985,2981
$GC,1703,-1.74,-36.4,195.9,-10.6,80,1708,0.12,2.55,0.00,0.000,4,0.059,0.061,2361,586,2981
$GC,1798,-1.66,-36.4,207.9,-12.7,84,1803,0.10,2.47,0.00,0.000,6,0.115,0.051,2377,1970,2981
$GC,2115,-1.66,-36.4,242.2,-10.7,99,2119,0.00,2.50,0.00,0.000,4,0.000,0.063,2377,591,2982
$GC,2193,-1.66,-36.4,251.4,-11.3,102,2199,0.00,2.42,0.00,0.000,6,0.000,0.050,2377,1958,2982
$GC,2509,-1.66,-36.4,284.8,-11.1,118,2513,0.00,2.47,0.00,0.000,4,0.000,0.063,2377,591,2982
$GC,2565,-1.66,-36.4,291.2,-11.6,120,2572,0.00,2.40,0.00,0.000,6,0.000,0.051,2377,1946,2982
$GC,2882,-1.66,-36.4,323.8,-10.0,136,2886,0.00,2.45,0.00,0.000,4,0.000,0.063,2377,594,2982
$GC,2931,-1.66,-36.4,329.8,-11.2,138,2936,0.00,2.40,0.00,0.000,6,0.000,0.051,2377,1945,2982
$GC,3249,-1.66,-36.4,364.0,-11.4,153,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1948,2981
$GC,3557,-1.66,-36.4,395.9,-10.2,168,3561,0.00,2.45,0.00,0.000,4,0.000,0.064,2377,594,2982
$GC,3635,-1.66,-36.4,404.3,-10.8,171,3641,0.00,2.40,0.00,0.000,6,0.000,0.051,2377,1945,2982
$GC,3951,-1.71,-36.4,433.1,-9.0,187,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1945,2982
$GC,4260,-1.71,-36.4,463.8,-10.7,202,4264,0.00,2.47,0.00,0.000,4,0.000,0.066,2377,583,2982
$GC,4300,-1.71,-36.4,468.7,-12.8,204,4305,0.00,2.38,0.00,0.000,6,0.000,0.051,2377,1924,2982
$GC,4628,-1.77,-36.4,502.6,-9.6,220,4632,0.00,2.67,0.00,0.000,4,0.000,0.064,2377,3414,2982
$GC,4775,-1.82,-36.4,515.5,-10.8,226,4782,0.15,2.65,0.00,0.000,6,0.058,0.057,2341,1934,2981
$GC,5091,-1.82,-36.4,547.2,-9.0,242,5095,0.00,2.40,0.00,0.000,4,0.000,0.067,2341,594,2981
$GC,5164,-1.73,-36.4,554.1,-9.5,245,5169,0.15,2.40,0.00,0.000,6,0.107,0.054,2368,1943,2982
$GC,5481,-1.73,-36.4,580.6,-8.6,260,5485,0.00,2.47,0.00,0.000,4,0.000,0.071,2368,595,2981
$GC,5668,-1.73,-36.4,597.3,-8.7,268,5672,0.00,2.38,0.00,0.000,6,0.000,0.058,2367,1916,2981
$GC,5987,-1.77,-36.4,625.7,-8.5,283,5992,0.00,2.45,0.00,0.000,4,0.000,0.074,2368,596,2981
$GC,6072,-1.77,-36.4,633.5,-10.0,287,6077,0.00,2.40,0.00,0.000,6,0.000,0.061,2367,1924,2980
$GC,6401,-1.81,-36.4,662.0,-8.6,303,6405,0.00,2.50,0.00,0.000,4,0.000,0.077,2367,588,2979
$GC,6457,-1.81,-36.4,667.2,-9.8,305,6461,0.00,2.42,0.00,0.000,6,0.000,0.065,2367,1919,2979
$GC,6773,-1.81,-36.4,694.5,-8.7,320,6778,0.00,2.75,0.00,0.000,4,0.000,0.081,2368,3403,2978
$GC,6814,-1.81,-36.4,698.0,-9.3,322,6818,0.00,2.72,0.00,0.000,6,0.000,0.072,2368,1935,2978
$GC,7142,-1.85,-36.4,726.0,-8.6,338,7147,0.12,2.78,0.00,0.000,4,0.073,0.082,2338,3404,2977
$GC,7198,-1.78,-36.4,731.8,-10.4,340,7204,0.00,2.70,0.00,0.000,6,0.000,0.072,2339,1948,2977
$GC,7515,-1.78,-36.4,762.5,-9.9,356,7519,0.00,2.53,0.00,0.000,4,0.000,0.087,2338,588,2976
$GC,7572,-1.69,-36.4,768.7,-10.9,358,7577,0.20,2.50,0.00,0.000,6,0.120,0.072,2373,1941,2976
$GC,7891,-1.76,-36.4,798.9,-9.5,373,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1941,2975
$GC,8197,-1.82,-36.4,827.1,-9.3,388,8202,0.12,2.75,0.00,0.000,4,0.077,0.089,2345,3402,2974
$GC,8237,-1.82,-36.4,831.2,-10.8,390,8242,0.00,2.75,0.00,0.000,6,0.000,0.080,2345,1939,2973
$STATE,8458,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8458,begin apogee
$GC,8467,-0.33,0.0,853.9,9.9,401,8504,1.65,0.00,33.38,1.471,6,0.111,0.000,2670,2125,2832
$STATE,8505,end apogee,CONTROL_FINISHED_OK
$STATE,8505,begin climb
$GC,8508,1.88,36.4,855.7,0.0,403,8552,2.22,2.83,35.42,1.455,4,0.068,0.085,3153,714,2683
$GC,8591,1.67,36.4,852.1,6.4,406,8599,0.25,2.67,0.00,0.000,6,0.117,0.073,3109,2130,2683
$GC,8909,1.65,53.3,840.4,3.7,422,8931,0.00,2.80,17.10,1.401,4,0.000,0.087,3109,3534,2614
$GC,9114,1.57,53.3,828.4,7.1,431,9119,0.10,2.65,0.00,0.000,6,0.137,0.075,3092,2133,2613
$GC,9441,1.58,56.4,808.1,5.6,447,9450,0.00,2.75,4.00,0.953,4,0.000,0.087,3092,3537,2602
$GC,9606,1.58,56.4,797.8,6.1,454,9611,0.00,2.62,0.00,0.000,6,0.000,0.075,3092,2142,2602
$GC,9927,1.58,56.4,777.9,6.3,470,9931,0.00,2.70,0.00,0.000,4,0.000,0.088,3092,3537,2601
$GC,10027,1.58,56.4,771.2,6.4,474,10033,0.00,2.60,0.00,0.000,6,0.000,0.077,3092,2161,2602
$GC,10344,1.58,56.4,752.1,6.0,490,10346,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2161,2601
$GC,10652,1.58,58.9,733.7,5.7,505,10657,0.00,2.65,0.00,0.000,4,0.000,0.088,3092,3534,2599
$GC,10708,1.58,58.9,730.1,6.8,507,10715,0.00,2.58,0.00,0.000,6,0.000,0.077,3092,2166,2599
$GC,11025,1.59,64.9,713.4,5.2,523,11036,0.00,0.00,8.62,1.277,6,0.000,0.000,3092,2166,2567
$GC,11333,1.59,64.9,694.3,6.3,538,11338,0.00,2.65,0.00,0.000,4,0.000,0.088,3092,3535,2566
$GC,11486,1.59,64.9,684.4,6.2,545,11491,0.00,2.53,0.00,0.000,6,0.000,0.075,3092,2189,2566
$GC,11814,1.59,64.9,664.1,6.3,561,11818,0.00,2.60,0.00,0.000,4,0.000,0.088,3092,3534,2565
$GC,11847,1.59,64.9,661.7,6.6,562,11853,0.00,2.53,0.00,0.000,6,0.000,0.076,3092,2192,2565
$GC,12164,1.64,64.9,640.4,7.3,578,12169,0.00,2.58,0.00,0.000,4,0.000,0.087,3092,3535,2565
$GC,12317,1.64,64.9,628.8,8.0,585,12321,0.00,2.47,0.00,0.000,6,0.000,0.074,3092,2212,2565
$GC,12652,1.69,67.4,607.8,5.7,601,12656,0.00,2.55,0.00,0.000,4,0.000,0.087,3093,3538,2565
$GC,12765,1.70,74.7,601.6,5.0,606,12781,0.10,2.45,10.10,1.257,6,0.081,0.073,3113,2213,2527
$GC,13093,1.70,74.7,581.7,6.7,621,13094,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2213,2527
$GC,13401,1.70,74.7,560.4,6.8,636,13405,0.00,2.50,0.00,0.000,4,0.000,0.084,3114,3535,2526
$GC,13434,1.64,74.7,558.0,7.0,637,13439,0.00,2.42,0.00,0.000,6,0.000,0.072,3113,2237,2526
$GC,13751,1.64,74.7,536.0,6.7,652,13755,0.00,2.47,0.00,0.000,4,0.000,0.081,3114,3537,2526
$GC,13866,1.58,74.7,528.3,7.0,657,13871,0.12,2.35,0.00,0.000,6,0.124,0.068,3093,2265,2526
$GC,14194,1.65,84.0,510.2,4.7,673,14209,0.00,2.92,9.95,1.180,4,0.000,0.074,3093,704,2489
$GC,14439,1.65,84.0,494.4,6.0,683,14444,0.00,2.88,0.00,0.000,6,0.000,0.064,3093,2267,2489
$GC,14762,1.73,86.8,475.2,5.6,699,14772,0.12,2.38,4.50,0.906,4,0.070,0.078,3122,3535,2478
$GC,14812,1.67,86.8,471.5,7.5,701,14816,0.00,2.38,0.00,0.000,6,0.000,0.063,3122,2246,2478
$GC,15139,1.67,86.8,446.5,7.9,717,15140,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2234,2478
$GC,15449,1.67,86.8,420.3,8.5,732,15453,0.00,2.40,0.00,0.000,4,0.000,0.071,3122,3537,2478
$GC,15647,1.63,86.8,402.7,9.0,741,15651,0.12,2.33,0.00,0.000,6,0.116,0.057,3101,2247,2479
$GC,15975,1.69,86.8,377.9,7.1,757,15976,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2242,2480
$GC,16284,1.76,87.1,357.8,6.0,772,16290,0.12,2.78,0.00,0.000,4,0.064,0.064,3130,704,2481
$GC,16366,1.69,87.1,351.9,7.2,775,16372,0.00,2.83,0.00,0.000,6,0.000,0.055,3131,2280,2480
$GC,16682,1.69,87.1,329.2,7.6,791,16683,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2280,2482
$GC,16991,1.69,87.1,304.4,7.9,806,16996,0.00,2.85,0.00,0.000,4,0.000,0.062,3130,706,2483
$GC,17116,1.63,87.1,293.6,9.4,811,17122,0.17,2.83,0.00,0.000,6,0.110,0.054,3100,2288,2482
$GC,17432,1.70,87.1,270.0,7.3,827,17437,0.00,2.88,0.00,0.000,4,0.000,0.062,3100,701,2483
$GC,17544,1.70,87.1,261.6,8.1,832,17549,0.00,2.80,0.00,0.000,6,0.000,0.054,3100,2268,2484
$GC,17866,1.78,87.1,238.6,7.1,848,17876,0.15,2.85,3.88,0.660,4,0.058,0.061,3136,703,2476
$GC,18004,1.72,87.1,227.1,7.9,854,18009,0.00,2.78,0.00,0.000,6,0.000,0.054,3137,2252,2476
$GC,18331,1.72,87.1,201.0,7.6,870,18335,0.00,2.80,0.00,0.000,4,0.000,0.062,3137,710,2477
$GC,18381,1.64,87.1,196.9,7.5,872,18386,0.20,2.75,0.00,0.000,6,0.104,0.053,3101,2246,2477
$GC,18698,1.73,87.1,174.4,7.3,887,18703,0.00,2.80,0.00,0.000,4,0.000,0.064,3101,701,2477
$GC,18732,1.73,87.1,171.7,7.1,888,18738,0.00,2.75,0.00,0.000,6,0.000,0.053,3101,2241,2477
$GC,19050,1.82,87.1,148.1,7.7,904,19055,0.17,2.33,0.00,0.000,4,0.053,0.063,3146,3538,2478
$GC,19128,1.74,87.1,140.7,10.8,907,19135,0.12,2.33,0.00,0.000,6,0.113,0.049,3124,2224,2478
$GC,19446,1.74,87.1,114.4,8.4,923,19450,0.00,2.40,0.00,0.000,4,0.000,0.061,3125,3541,2479
$GC,19525,1.74,87.1,107.3,8.8,926,19531,0.00,2.33,0.00,0.000,6,0.000,0.049,3125,2228,2479
$GC,19843,1.78,87.1,81.6,7.8,942,19848,0.00,2.40,0.00,0.000,4,0.000,0.062,3125,3546,2479
$GC,19923,1.78,87.1,74.8,8.1,945,19929,0.00,2.30,0.00,0.000,6,0.000,0.048,3125,2240,2480
$GC,20241,1.78,87.1,48.6,8.9,961,20245,0.00,2.35,0.00,0.000,4,0.000,0.061,3125,3538,2480
$GC,20330,1.78,87.1,39.2,9.6,965,20334,0.00,2.25,0.00,0.000,6,0.000,0.047,3125,2260,2480
$GC,20653,1.78,87.1,13.4,8.9,981,20657,0.00,2.35,0.00,0.000,4,0.000,0.061,3125,3544,2480
$STATE,20745,end climb,SURFACE_DEPTH_REACHED
$STATE,20745,begin surface coast
$FINISH,0.6,1.027411
$STATE,20794,end surface coast,CONTROL_FINISHED_OK
$STATE,20794,begin surface
$SM_CCo,20820,102.12,0.825,0,0,1812,250.21
$SM_GC,1.67,0.00,0.00,102.12,0.000,0.000,0.825,423,1980,1812,-10.68,-0.57,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1782
$TCM_TEMP,18.90
$XPDR_PINGS,62
$ALTIM_BOTTOM_PING,775.4,88.3
$24V_AH,23.2,82.524
$10V_AH,10.1,41.736
$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,28.950,220.750,126.950,102.125,0.000,37.762,32.707,220.270,22.500,0.000,0.000,15.003,1953.450,15716.788,436.289,2523.716,724.941,0.000,1665.005,0.000,2455.148,0.000,46.987,0.000
$DEVICE_MAMPS,137.293,88.972,1471.106,824.525,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,731.259,670.826,537.582,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50650,987
$CAP_FILE_SIZE,172870,0
$CFSIZE,254472192,221949952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,71,0,0
$GPS,210209,124536,6115.299,-752.294,53,1.5,58,-8.5