version: 66.04
glider: 5
mission: 5
dive: 475
start: 2 21 109 13 5 47
data:
$ID,5
$MISSION,5
$DIVE,475
$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,599.02258
$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,-96668.594
$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,29
$R_STBD_OVSHOOT,16
$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
$GPS1,124536,6115.299,-752.294,53,1.5,58,-8.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-56.5
$GPS2,130526,6115.188,-751.958,11,1.7,11,-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,194.6,351,-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,-50.92,0.000,2,0.000,0.000,422,1976,2829
$GC,73,-1.90,-47.8,3.2,-3.4,3,96,10.12,2.55,-7.45,0.000,4,0.140,0.071,2325,590,3028
$GC,102,-0.99,-47.8,5.7,-8.2,4,108,1.02,2.55,0.00,0.000,6,0.100,0.052,2526,2008,3028
$GC,428,-1.43,-54.9,29.7,-5.0,20,431,0.43,0.00,-0.45,0.000,6,0.042,0.000,2422,2017,3059
$GC,734,-1.59,-54.9,65.3,-11.1,35,739,0.12,2.58,0.00,0.000,4,0.059,0.061,2389,597,3059
$GC,836,-1.64,-54.9,80.4,-14.9,39,843,0.00,2.55,0.00,0.000,6,0.000,0.052,2389,2025,3059
$GC,1153,-1.71,-54.9,118.4,-11.4,55,1158,0.00,2.60,0.00,0.000,4,0.000,0.061,2389,590,3059
$GC,1181,-1.71,-54.9,121.9,-11.9,56,1185,0.00,2.55,0.00,0.000,6,0.000,0.051,2389,2014,3059
$GC,1499,-1.77,-54.9,158.6,-11.7,71,1504,0.15,2.60,0.00,0.000,4,0.054,0.061,2350,587,3059
$GC,1539,-1.69,-54.9,164.3,-13.8,73,1544,0.12,2.55,0.00,0.000,6,0.110,0.051,2373,2014,3059
$GC,1866,-1.69,-54.9,205.6,-12.4,89,1871,0.00,2.58,0.00,0.000,4,0.000,0.064,2373,595,3059
$GC,1968,-1.69,-54.9,219.3,-13.8,93,1974,0.00,2.47,0.00,0.000,6,0.000,0.051,2373,1990,3059
$GC,2284,-1.69,-54.9,257.8,-12.0,109,2288,0.00,2.53,0.00,0.000,4,0.000,0.063,2373,597,3059
$GC,2318,-1.69,-54.9,262.2,-13.1,110,2324,0.00,2.47,0.00,0.000,6,0.000,0.051,2373,1987,3059
$GC,2635,-1.69,-54.9,300.5,-11.9,126,2640,0.00,2.53,0.00,0.000,4,0.000,0.063,2373,587,3059
$GC,2675,-1.69,-54.9,305.7,-13.3,128,2680,0.00,2.50,0.00,0.000,6,0.000,0.052,2373,1987,3059
$GC,3004,-1.69,-54.9,345.7,-11.9,144,3008,0.00,2.53,0.00,0.000,4,0.000,0.064,2373,595,3059
$GC,3048,-1.69,-54.9,351.5,-12.4,146,3052,0.00,2.45,0.00,0.000,6,0.000,0.051,2373,1965,3059
$GC,3369,-1.69,-54.9,391.3,-12.6,162,3373,0.00,2.50,0.00,0.000,4,0.000,0.064,2373,587,3059
$GC,3425,-1.69,-54.9,399.2,-14.2,164,3431,0.00,2.45,0.00,0.000,6,0.000,0.052,2373,1957,3059
$GC,3741,-1.73,-54.9,438.2,-12.6,180,3746,0.00,2.62,0.00,0.000,4,0.000,0.065,2373,3415,3059
$GC,3764,-1.73,-54.9,441.2,-12.0,181,3768,0.00,2.62,0.00,0.000,6,0.000,0.056,2373,1954,3059
$GC,4086,-1.78,-54.9,479.0,-11.8,197,4090,0.00,2.45,0.00,0.000,4,0.000,0.065,2372,581,3059
$GC,4181,-1.78,-54.9,490.7,-12.5,201,4185,0.00,2.40,0.00,0.000,6,0.000,0.053,2373,1931,3059
$GC,4499,-1.85,-54.9,525.0,-10.9,216,4504,0.15,2.67,0.00,0.000,4,0.057,0.067,2333,3414,3059
$GC,4550,-1.78,-54.9,531.5,-13.1,218,4555,0.12,2.62,0.00,0.000,6,0.109,0.058,2354,1962,3059
$GC,4871,-1.78,-54.9,566.7,-10.6,234,4875,0.00,2.47,0.00,0.000,4,0.000,0.068,2354,581,3059
$GC,5090,-1.78,-54.9,591.7,-11.4,243,5096,0.00,2.38,0.00,0.000,6,0.000,0.058,2354,1905,3059
$GC,5407,-1.78,-54.9,625.3,-10.0,259,5411,0.00,2.75,0.00,0.000,4,0.000,0.074,2354,3410,3058
$GC,5626,-1.78,-54.9,648.7,-10.2,269,5630,0.00,2.70,0.00,0.000,6,0.000,0.064,2354,1927,3058
$GC,5953,-1.78,-54.9,681.5,-10.5,285,5957,0.00,2.47,0.00,0.000,4,0.000,0.081,2354,581,3057
$GC,6067,-1.78,-54.9,695.0,-11.8,290,6071,0.00,2.42,0.00,0.000,6,0.000,0.066,2354,1909,3057
$GC,6394,-1.78,-54.9,730.3,-10.8,306,6398,0.00,2.78,0.00,0.000,4,0.000,0.084,2354,3401,3056
$GC,6450,-1.78,-54.9,736.8,-11.9,308,6456,0.00,2.75,0.00,0.000,6,0.000,0.074,2354,1922,3055
$GC,6766,-1.78,-54.9,770.2,-10.5,324,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1922,3054
$GC,7080,-1.78,-54.9,802.0,-10.3,339,7081,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1922,3053
$GC,7386,-1.78,-54.9,834.1,-10.7,354,7390,0.00,2.83,0.00,0.000,4,0.000,0.087,2354,3402,3052
$GC,7413,-1.78,-54.9,837.5,-12.3,355,7417,0.00,2.78,0.00,0.000,6,0.000,0.076,2354,1922,3052
$STATE,7726,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7726,begin apogee
$GC,7735,-0.33,0.0,868.9,9.8,370,7790,1.60,0.00,51.00,1.497,6,0.112,0.000,2669,2124,2832
$STATE,7791,end apogee,CONTROL_FINISHED_OK
$STATE,7791,begin climb
$GC,7794,1.91,54.9,871.3,0.0,373,7854,2.33,2.80,52.50,1.473,4,0.065,0.086,3164,709,2607
$GC,8007,1.72,54.9,853.8,8.3,383,8012,0.25,2.65,0.00,0.000,6,0.118,0.071,3121,2123,2606
$GC,8330,1.68,54.9,833.4,6.8,399,8334,0.00,2.67,0.00,0.000,4,0.000,0.087,3121,3531,2605
$GC,8588,1.58,54.9,814.0,7.3,410,8596,0.17,2.62,0.00,0.000,6,0.117,0.074,3090,2133,2604
$GC,8905,1.58,54.9,794.4,6.1,426,8909,0.00,2.70,0.00,0.000,4,0.000,0.087,3089,3531,2603
$GC,9140,1.58,55.2,779.2,6.0,436,9146,0.00,2.60,0.00,0.000,6,0.000,0.074,3090,2146,2603
$GC,9456,1.59,59.0,761.1,5.5,452,9462,0.00,0.00,4.20,0.987,6,0.000,0.000,3089,2146,2591
$GC,9766,1.59,59.4,743.4,5.9,467,9770,0.00,2.67,0.00,0.000,4,0.000,0.087,3090,3535,2590
$GC,9862,1.59,60.9,737.4,5.8,471,9867,0.00,2.62,0.00,0.000,6,0.000,0.075,3090,2140,2590
$GC,10179,1.59,63.4,719.7,5.7,486,10186,0.00,0.00,5.40,1.117,6,0.000,0.000,3089,2140,2573
$GC,10490,1.64,66.6,702.4,5.5,501,10500,0.00,2.72,4.82,1.055,4,0.000,0.087,3089,3531,2560
$GC,10624,1.64,66.6,694.0,6.6,507,10629,0.00,2.60,0.00,0.000,6,0.000,0.074,3090,2149,2560
$GC,10948,1.69,71.8,677.1,5.3,523,10962,0.12,2.80,6.35,1.167,4,0.074,0.084,3117,703,2539
$GC,10992,1.61,71.8,674.3,6.8,525,10996,0.00,2.72,0.00,0.000,6,0.000,0.074,3117,2151,2539
$GC,11320,1.61,71.8,652.9,6.1,541,11324,0.00,2.62,0.00,0.000,4,0.000,0.087,3117,3535,2538
$GC,11405,1.53,71.8,647.0,6.8,545,11410,0.20,2.58,0.00,0.000,6,0.116,0.075,3082,2166,2538
$GC,11733,1.61,71.8,625.5,6.5,561,11737,0.00,2.65,0.00,0.000,4,0.000,0.087,3082,3538,2538
$GC,11784,1.61,71.8,622.2,6.1,563,11788,0.00,2.55,0.00,0.000,6,0.000,0.074,3082,2177,2538
$GC,12100,1.70,76.9,604.8,5.3,578,12114,0.15,2.78,6.10,1.127,4,0.074,0.083,3115,711,2518
$GC,12150,1.64,76.9,602.1,6.1,580,12154,0.00,2.75,0.00,0.000,6,0.000,0.071,3115,2174,2518
$GC,12472,1.64,76.9,581.8,6.5,596,12477,0.00,2.58,0.00,0.000,4,0.000,0.086,3115,3537,2518
$GC,12676,1.59,76.9,567.2,7.2,605,12681,0.15,2.50,0.00,0.000,6,0.123,0.071,3090,2194,2517
$GC,12998,1.65,76.9,547.4,6.1,621,13002,0.00,2.75,0.00,0.000,4,0.000,0.078,3090,705,2517
$GC,13070,1.65,76.9,542.6,6.4,624,13075,0.00,2.80,0.00,0.000,6,0.000,0.067,3090,2220,2518
$GC,13388,1.73,82.9,524.8,5.2,639,13402,0.12,2.55,7.10,1.111,4,0.069,0.079,3119,3538,2493
$GC,13595,1.68,82.9,510.2,6.8,648,13599,0.00,2.40,0.00,0.000,6,0.000,0.064,3119,2235,2493
$GC,13916,1.68,82.9,489.5,6.4,664,13917,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2232,2494
$GC,14225,1.68,82.9,467.8,7.0,679,14229,0.00,2.47,0.00,0.000,4,0.000,0.073,3119,3545,2493
$GC,14334,1.63,82.9,459.4,6.8,684,14338,0.00,2.33,0.00,0.000,6,0.000,0.060,3119,2263,2493
$GC,14661,1.63,82.9,433.8,7.9,700,14662,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2245,2494
$GC,14970,1.63,82.9,407.0,8.4,715,14974,0.00,2.38,0.00,0.000,4,0.000,0.068,3119,3539,2495
$GC,15027,1.58,82.9,402.3,8.3,717,15034,0.17,2.28,0.00,0.000,6,0.116,0.056,3089,2272,2495
$GC,15343,1.69,82.9,377.3,7.9,733,15348,0.12,2.38,0.00,0.000,4,0.064,0.067,3118,3547,2496
$GC,15435,1.69,82.9,369.5,8.2,737,15439,0.00,2.25,0.00,0.000,6,0.000,0.054,3119,2288,2496
$GC,15767,1.69,82.9,343.6,7.8,753,15772,0.00,2.83,0.00,0.000,4,0.000,0.064,3119,708,2497
$GC,15811,1.69,82.9,340.1,8.8,755,15816,0.00,2.85,0.00,0.000,6,0.000,0.054,3119,2302,2498
$GC,16134,1.69,82.9,316.4,7.3,771,16135,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2302,2499
$GC,16442,1.69,82.9,294.5,7.2,786,16443,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2302,2499
$GC,16751,1.69,82.9,272.4,7.2,801,16755,0.00,2.25,0.00,0.000,4,0.000,0.065,3118,3549,2500
$GC,16886,1.69,82.9,261.8,7.6,807,16890,0.00,2.28,0.00,0.000,6,0.000,0.051,3119,2268,2501
$GC,17208,1.69,82.9,239.2,7.0,823,17212,0.00,2.78,0.00,0.000,4,0.000,0.061,3119,707,2501
$GC,17235,1.69,82.9,237.2,7.9,824,17240,0.00,2.83,0.00,0.000,6,0.000,0.052,3119,2296,2501
$GC,17552,1.69,82.9,215.3,7.0,839,17553,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2296,2502
$GC,17860,1.69,82.9,192.9,7.3,854,17866,0.00,0.00,4.07,0.652,6,0.000,0.000,3119,2296,2493
$GC,18171,1.73,82.9,169.9,7.4,869,18172,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2296,2493
$GC,18479,1.77,82.9,144.9,8.6,884,18484,0.00,2.88,0.00,0.000,4,0.000,0.060,3119,703,2493
$GC,18512,1.77,82.9,141.3,9.9,885,18519,0.00,2.83,0.00,0.000,6,0.000,0.052,3119,2290,2494
$GC,18831,1.77,82.9,110.8,9.7,901,18835,0.00,2.25,0.00,0.000,4,0.000,0.064,3119,3544,2494
$GC,18971,1.77,82.9,99.2,7.0,907,18976,0.00,2.25,0.00,0.000,6,0.000,0.048,3119,2269,2495
$GC,19294,1.81,82.9,74.2,8.1,923,19298,0.00,2.35,0.00,0.000,4,0.000,0.062,3119,3549,2495
$GC,19448,1.81,82.9,57.3,11.4,930,19452,0.00,2.25,0.00,0.000,6,0.000,0.049,3119,2278,2495
$GC,19776,1.81,82.9,29.5,7.7,946,19780,0.00,2.33,0.00,0.000,4,0.000,0.064,3119,3544,2495
$GC,19948,1.81,82.9,12.5,12.8,953,19954,0.00,2.15,0.00,0.000,6,0.000,0.048,3119,2323,2496
$STATE,20054,end climb,SURFACE_DEPTH_REACHED
$STATE,20055,begin surface coast
$FINISH,0.5,1.027405
$STATE,20118,end surface coast,CONTROL_FINISHED_OK
$STATE,20118,begin surface
$SM_CCo,20142,310.73,0.795,0,0,389,599.02
$SM_GC,1.03,0.00,0.00,310.73,0.000,0.000,0.795,423,1967,389,-10.68,-0.93,599.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1757
$TCM_TEMP,16.90
$XPDR_PINGS,63
$ALTIM_BOTTOM_PING,802.0,76.8
$24V_AH,23.2,82.692
$10V_AH,10.1,41.839
$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,29.700,201.025,141.550,310.725,0.000,188.809,200.101,386.380,23.000,0.000,0.000,11.685,1883.444,15471.965,651.254,2407.088,1226.061,0.000,1818.741,0.000,2350.585,0.000,48.564,0.000
$DEVICE_MAMPS,139.594,87.438,1497.184,795.379,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,712.339,653.687,534.182,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50525,962
$CAP_FILE_SIZE,173577,0
$CFSIZE,254472192,221868032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,48,0,0
$GPS,210209,184821,6114.674,-753.216,38,2.8,57,-8.5