version: 66.04
glider: 5
mission: 5
dive: 478
start: 2 22 109 6 48 38
data:
$ID,5
$MISSION,5
$DIVE,478
$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,-96747.633
$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,30
$R_STBD_OVSHOOT,15
$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
$GPS1,063706,6115.588,-753.256,36,1.5,36,-8.5
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-59.8
$GPS2,064819,6115.558,-753.047,10,1.6,15,-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,146.4,1392,-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,-28.8,0.0,0.0,0,77,0.00,0.00,-56.12,0.000,6,0.000,0.000,423,1960,2948
$GC,81,-1.88,-38.3,3.6,-4.7,3,103,10.00,2.65,-1.25,0.000,4,0.133,0.074,2330,3421,2988
$GC,357,-1.70,-38.3,48.6,-12.1,15,362,0.22,2.55,0.00,0.000,6,0.106,0.051,2371,1999,2988
$GC,680,-1.70,-38.3,86.4,-12.4,31,684,0.00,2.60,0.00,0.000,4,0.000,0.062,2371,3423,2988
$GC,915,-1.70,-38.3,118.0,-14.0,41,922,0.00,2.58,0.00,0.000,6,0.000,0.051,2372,1983,2988
$GC,1232,-1.70,-38.3,157.7,-9.9,57,1236,0.00,2.47,0.00,0.000,4,0.000,0.061,2372,591,2989
$GC,1450,-1.70,-38.3,185.9,-15.2,66,1456,0.00,2.42,0.00,0.000,6,0.000,0.050,2372,1963,2989
$GC,1768,-1.70,-38.3,226.3,-12.0,82,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1977,2989
$GC,2075,-1.70,-38.3,264.1,-12.7,97,2079,0.00,2.50,0.00,0.000,4,0.000,0.062,2372,591,2989
$GC,2130,-1.70,-38.3,271.3,-13.4,99,2136,0.00,2.40,0.00,0.000,6,0.000,0.051,2372,1938,2989
$GC,2447,-1.70,-38.3,308.8,-11.5,115,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1938,2989
$GC,2755,-1.70,-38.3,343.2,-11.1,130,2760,0.00,2.62,0.00,0.000,4,0.000,0.064,2372,3401,2989
$GC,2811,-1.70,-38.3,349.7,-11.3,132,2821,0.00,2.60,0.00,0.000,6,0.000,0.054,2371,1948,2989
$GC,3128,-1.70,-38.3,383.8,-10.9,148,3132,0.00,2.42,0.00,0.000,4,0.000,0.063,2371,584,2989
$GC,3236,-1.70,-38.3,396.4,-11.6,153,3240,0.00,2.40,0.00,0.000,6,0.000,0.052,2371,1931,2989
$GC,3570,-1.70,-38.3,434.3,-11.5,169,3574,0.00,2.42,0.00,0.000,4,0.000,0.064,2372,594,2989
$GC,3654,-1.70,-38.3,445.0,-12.5,173,3658,0.00,2.35,0.00,0.000,6,0.000,0.051,2372,1921,2989
$GC,3981,-1.70,-38.3,482.7,-11.4,189,3986,0.00,2.42,0.00,0.000,4,0.000,0.064,2371,583,2989
$GC,4045,-1.70,-38.3,489.4,-10.5,192,4049,0.00,2.33,0.00,0.000,6,0.000,0.051,2372,1897,2990
$GC,4372,-1.75,-38.3,522.4,-8.3,208,4377,0.00,2.70,0.00,0.000,4,0.000,0.067,2372,3401,2989
$GC,4632,-1.75,-38.3,545.9,-9.0,219,4638,0.00,2.65,0.00,0.000,6,0.000,0.065,2371,1932,2989
$GC,4948,-1.79,-38.3,572.6,-8.8,235,4952,0.00,2.70,0.00,0.000,4,0.000,0.070,2371,3401,2989
$GC,4989,-1.79,-38.3,576.6,-10.4,237,4993,0.00,2.67,0.00,0.000,6,0.000,0.061,2371,1924,2989
$GC,5316,-1.84,-38.3,608.1,-9.7,253,5320,0.12,2.42,0.00,0.000,4,0.067,0.073,2342,586,2989
$GC,5449,-1.77,-38.3,621.8,-10.9,259,5453,0.00,2.40,0.00,0.000,6,0.000,0.060,2342,1922,2989
$GC,5781,-1.77,-38.3,654.4,-9.6,275,5786,0.00,2.70,0.00,0.000,4,0.000,0.076,2342,3400,2988
$GC,5959,-1.71,-38.3,672.2,-10.3,283,5965,0.15,2.67,0.00,0.000,6,0.118,0.067,2367,1943,2988
$GC,6289,-1.76,-38.3,702.9,-9.4,299,6293,0.00,2.47,0.00,0.000,4,0.000,0.078,2368,590,2988
$GC,6333,-1.76,-38.3,707.6,-10.1,301,6337,0.00,2.45,0.00,0.000,6,0.000,0.068,2367,1929,2987
$GC,6661,-1.81,-38.3,736.4,-8.7,317,6666,0.00,2.72,0.00,0.000,4,0.000,0.082,2367,3396,2986
$GC,6706,-1.81,-38.3,740.8,-10.0,319,6710,0.00,2.67,0.00,0.000,6,0.000,0.074,2367,1958,2986
$GC,7028,-1.85,-38.3,769.2,-9.1,335,7033,0.12,2.53,0.00,0.000,4,0.074,0.083,2339,591,2985
$GC,7056,-1.78,-38.3,772.2,-10.8,336,7060,0.00,2.50,0.00,0.000,6,0.000,0.071,2339,1946,2985
$GC,7372,-1.78,-38.3,802.8,-9.6,351,7377,0.00,2.70,0.00,0.000,4,0.000,0.087,2339,3401,2984
$GC,7407,-1.72,-38.3,806.2,-10.3,352,7413,0.15,2.72,0.00,0.000,6,0.127,0.077,2364,1948,2983
$GC,7723,-1.76,-38.3,836.0,-9.4,368,7727,0.00,2.53,0.00,0.000,4,0.000,0.087,2364,588,2982
$GC,7762,-1.76,-38.3,839.8,-9.1,369,7768,0.00,2.50,0.00,0.000,6,0.000,0.073,2364,1938,2982
$STATE,8034,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8034,begin apogee
$GC,8042,-0.33,0.0,865.2,9.8,383,8081,1.52,0.00,34.88,1.483,6,0.108,0.000,2667,2119,2832
$STATE,8082,end apogee,CONTROL_FINISHED_OK
$STATE,8082,begin climb
$GC,8085,1.88,38.3,866.9,0.0,385,8131,2.25,2.80,36.90,1.470,4,0.067,0.085,3157,712,2675
$GC,8161,1.67,57.7,864.2,3.3,388,8186,0.25,2.67,19.23,1.412,6,0.119,0.073,3112,2128,2597
$GC,8503,1.67,57.7,839.2,6.7,405,8507,0.00,2.67,0.00,0.000,4,0.000,0.087,3113,3534,2594
$GC,8755,1.59,57.7,820.8,7.1,416,8759,0.00,2.58,0.00,0.000,6,0.000,0.076,3112,2167,2593
$GC,9071,1.59,57.7,800.6,6.4,431,9075,0.00,2.65,0.00,0.000,4,0.000,0.088,3112,3539,2593
$GC,9149,1.52,57.7,794.9,7.4,434,9156,0.20,2.58,0.00,0.000,6,0.120,0.077,3076,2179,2592
$GC,9467,1.59,63.6,777.1,5.2,450,9480,0.00,2.67,6.30,1.192,4,0.000,0.086,3076,3537,2572
$GC,9520,1.59,63.6,773.7,6.8,452,9525,0.00,2.58,0.00,0.000,6,0.000,0.076,3076,2178,2572
$GC,9837,1.66,63.6,754.2,6.4,467,9843,0.15,2.62,0.00,0.000,4,0.074,0.087,3110,3538,2571
$GC,9871,1.59,63.6,751.6,6.8,468,9877,0.00,2.58,0.00,0.000,6,0.000,0.077,3109,2176,2570
$GC,10189,1.59,63.6,729.2,7.2,484,10193,0.00,2.62,0.00,0.000,4,0.000,0.087,3109,3535,2570
$GC,10279,1.53,63.6,722.1,8.2,488,10284,0.17,2.53,0.00,0.000,6,0.123,0.075,3079,2193,2570
$GC,10601,1.60,63.6,701.2,6.3,504,10605,0.00,2.58,0.00,0.000,4,0.000,0.087,3078,3534,2569
$GC,10675,1.60,63.6,696.1,6.7,507,10679,0.00,2.47,0.00,0.000,6,0.000,0.075,3078,2212,2569
$GC,10991,1.68,63.6,676.9,6.2,522,10993,0.15,0.00,0.00,0.000,6,0.074,0.000,3112,2212,2568
$GC,11300,1.68,63.6,655.1,7.4,537,11301,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2212,2568
$GC,11610,1.68,63.6,634.0,6.7,552,11614,0.00,2.53,0.00,0.000,4,0.000,0.086,3111,3532,2567
$GC,11798,1.62,65.1,622.1,5.8,560,11803,0.00,2.47,0.00,0.000,6,0.000,0.072,3111,2204,2566
$GC,12122,1.64,79.9,607.8,3.9,576,12144,0.00,2.62,14.93,1.315,4,0.000,0.084,3111,3537,2506
$GC,12397,1.59,79.9,589.7,7.1,588,12401,0.00,2.42,0.00,0.000,6,0.000,0.069,3111,2236,2506
$GC,12719,1.59,79.9,561.9,9.2,604,12723,0.00,2.47,0.00,0.000,4,0.000,0.082,3111,3533,2505
$GC,12962,1.59,79.9,539.7,8.7,615,12966,0.00,2.40,0.00,0.000,6,0.000,0.067,3111,2235,2505
$GC,13289,1.59,79.9,516.0,7.0,631,13293,0.00,2.45,0.00,0.000,4,0.000,0.079,3111,3534,2505
$GC,13373,1.55,79.9,509.2,7.6,634,13379,0.15,2.33,0.00,0.000,6,0.120,0.066,3085,2271,2505
$GC,13690,1.62,82.2,490.0,5.7,650,13700,0.00,2.88,3.97,0.858,4,0.000,0.074,3085,710,2496
$GC,13807,1.62,82.2,482.3,6.9,655,13812,0.00,2.85,0.00,0.000,6,0.000,0.064,3085,2261,2496
$GC,14130,1.72,82.2,461.0,6.4,671,14135,0.15,2.90,0.00,0.000,4,0.064,0.071,3120,702,2496
$GC,14181,1.66,82.2,457.0,8.0,673,14186,0.00,2.78,0.00,0.000,6,0.000,0.063,3120,2220,2496
$GC,14497,1.66,82.2,433.6,7.6,688,14502,0.00,2.78,0.00,0.000,4,0.000,0.069,3120,709,2497
$GC,14531,1.60,82.2,430.9,8.3,689,14538,0.15,2.75,0.00,0.000,6,0.115,0.061,3094,2226,2497
$GC,14848,1.69,82.2,411.3,6.2,705,14852,0.00,2.40,0.00,0.000,4,0.000,0.072,3095,3539,2497
$GC,14909,1.69,82.2,406.7,7.2,707,14917,0.00,2.40,0.00,0.000,6,0.000,0.058,3094,2209,2497
$GC,15227,1.78,82.2,384.2,7.0,723,15232,0.17,2.45,0.00,0.000,4,0.061,0.068,3140,3538,2499
$GC,15267,1.68,82.2,380.9,8.6,725,15272,0.15,2.38,0.00,0.000,6,0.110,0.056,3113,2212,2498
$GC,15595,1.68,82.2,357.4,6.9,741,15599,0.00,2.45,0.00,0.000,4,0.000,0.067,3113,3542,2499
$GC,15628,1.68,82.2,354.7,7.5,742,15634,0.00,2.38,0.00,0.000,6,0.000,0.054,3113,2217,2499
$GC,15944,1.68,82.2,330.8,7.4,758,15948,0.00,2.42,0.00,0.000,4,0.000,0.065,3113,3538,2500
$GC,16052,1.68,82.2,322.5,7.6,762,16058,0.00,2.33,0.00,0.000,6,0.000,0.051,3113,2231,2501
$GC,16368,1.73,82.2,301.6,6.8,778,16372,0.00,2.40,0.00,0.000,4,0.000,0.064,3113,3539,2502
$GC,16412,1.73,82.2,298.2,7.4,780,16416,0.00,2.33,0.00,0.000,6,0.000,0.051,3113,2235,2502
$GC,16735,1.78,82.2,277.1,6.4,796,16739,0.00,2.72,0.00,0.000,4,0.000,0.062,3113,706,2503
$GC,16814,1.78,82.2,271.6,6.4,799,16820,0.00,2.72,0.00,0.000,6,0.000,0.052,3113,2238,2503
$GC,17131,1.82,82.2,251.4,6.5,815,17136,0.12,2.35,0.00,0.000,4,0.058,0.064,3146,3542,2503
$GC,17204,1.74,82.2,245.3,7.6,818,17209,0.12,2.35,0.00,0.000,6,0.111,0.050,3125,2220,2504
$GC,17520,1.74,82.2,221.8,7.7,833,17524,0.00,2.40,0.00,0.000,4,0.000,0.063,3125,3537,2504
$GC,17588,1.74,82.2,216.1,8.4,836,17592,0.00,2.33,0.00,0.000,6,0.000,0.050,3125,2222,2504
$GC,17909,1.74,82.2,190.1,8.2,852,17919,0.00,2.45,4.05,0.650,4,0.000,0.062,3125,3537,2496
$GC,17970,1.74,82.2,184.7,8.2,854,17976,0.00,2.33,0.00,0.000,6,0.000,0.049,3125,2228,2496
$GC,18287,1.74,82.2,161.7,7.5,870,18291,0.00,2.40,0.00,0.000,4,0.000,0.063,3125,3541,2496
$GC,18422,1.74,82.2,148.5,9.8,876,18426,0.00,2.30,0.00,0.000,6,0.000,0.048,3125,2238,2496
$GC,18745,1.74,82.2,123.3,7.3,892,18749,0.00,2.38,0.00,0.000,4,0.000,0.062,3125,3545,2497
$GC,18778,1.74,82.2,120.6,7.1,893,18782,0.00,2.30,0.00,0.000,6,0.000,0.048,3125,2237,2497
$GC,19099,1.74,82.2,95.8,7.6,909,19101,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2236,2498
$GC,19410,1.74,83.7,74.6,5.8,924,19414,0.00,2.38,0.00,0.000,4,0.000,0.061,3125,3542,2498
$GC,19550,1.74,83.7,62.0,10.2,930,19554,0.00,2.33,0.00,0.000,6,0.000,0.050,3125,2228,2498
$GC,19867,1.74,83.7,30.4,10.0,945,19868,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2228,2498
$STATE,20172,end climb,SURFACE_DEPTH_REACHED
$STATE,20172,begin surface coast
$FINISH,0.7,1.027421
$STATE,20215,end surface coast,CONTROL_FINISHED_OK
$STATE,20215,begin surface
$SM_CCo,20238,104.72,0.825,0,0,1811,250.21
$SM_GC,1.69,0.00,0.00,104.72,0.000,0.000,0.825,423,1958,1811,-10.68,-1.27,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1788
$TCM_TEMP,16.90
$XPDR_PINGS,59
$ALTIM_BOTTOM_PING,800.8,73.2
$24V_AH,23.2,83.016
$10V_AH,10.1,42.140
$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,28.400,218.050,120.250,104.725,0.000,75.523,59.413,316.625,22.000,0.000,0.000,15.502,1908.476,15231.919,436.352,2536.214,896.084,0.000,1670.019,0.000,2468.952,0.000,48.547,0.000
$DEVICE_MAMPS,132.691,88.205,1482.611,824.525,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,706.887,653.179,523.905,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50510,962
$CAP_FILE_SIZE,171797,0
$CFSIZE,254472192,221655040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,66,0,0
$GPS,220209,122930,6115.079,-752.387,62,1.4,67,-8.5