version: 66.04
glider: 5
mission: 5
dive: 462
start: 2 18 109 8 50 10
data:
$ID,5
$MISSION,5
$DIVE,462
$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,-96448.305
$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,26
$R_STBD_OVSHOOT,24
$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
$GPS1,084330,6116.278,-754.496,41,1.5,46,-8.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-60.8
$GPS2,084949,6116.276,-754.473,12,1.5,17,-8.6
$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,145.6,3231,-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,-57.15,0.000,6,0.000,0.000,423,2030,2950
$GC,81,-1.89,-42.1,3.2,-4.2,3,103,9.98,2.58,-1.83,0.000,4,0.134,0.074,2327,3415,3005
$GC,311,-1.78,-42.1,37.3,-14.1,13,316,0.15,2.55,0.00,0.000,6,0.115,0.051,2353,1993,3005
$GC,634,-1.78,-42.1,75.8,-12.1,29,638,0.00,2.50,0.00,0.000,4,0.000,0.062,2353,594,3006
$GC,735,-1.70,-42.1,89.0,-13.3,33,740,0.10,2.47,0.00,0.000,6,0.116,0.051,2371,1984,3006
$GC,1053,-1.70,-42.1,126.2,-11.8,48,1058,0.00,2.53,0.00,0.000,4,0.000,0.061,2371,591,3006
$GC,1095,-1.66,-42.1,131.5,-12.6,50,1100,0.00,2.45,0.00,0.000,6,0.000,0.051,2371,1970,3006
$GC,1423,-1.66,-42.1,170.7,-11.9,66,1427,0.00,2.50,0.00,0.000,4,0.000,0.061,2371,593,3006
$GC,1501,-1.66,-42.1,180.3,-12.4,69,1507,0.00,2.40,0.00,0.000,6,0.000,0.051,2371,1943,3006
$GC,1817,-1.66,-42.1,218.6,-12.4,85,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1944,3006
$GC,2126,-1.66,-42.1,257.1,-11.9,100,2130,0.00,2.47,0.00,0.000,4,0.000,0.064,2371,584,3006
$GC,2158,-1.66,-42.1,261.2,-12.4,101,2164,0.00,2.42,0.00,0.000,6,0.000,0.051,2371,1946,3006
$GC,2475,-1.66,-42.1,298.3,-11.6,117,2479,0.00,2.45,0.00,0.000,4,0.000,0.064,2371,593,3006
$GC,2576,-1.66,-42.1,311.1,-12.9,121,2580,0.00,2.35,0.00,0.000,6,0.000,0.051,2371,1916,3006
$GC,2893,-1.66,-42.1,347.3,-11.3,136,2898,0.00,2.67,0.00,0.000,4,0.000,0.065,2371,3409,3006
$GC,2910,-1.66,-42.1,349.6,-11.6,137,2915,0.00,2.67,0.00,0.000,6,0.000,0.056,2371,1919,3006
$GC,3243,-1.66,-42.1,388.7,-12.2,153,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1920,3006
$GC,3553,-1.66,-42.1,423.3,-10.8,168,3557,0.00,2.38,0.00,0.000,4,0.000,0.064,2371,588,3006
$GC,3660,-1.66,-42.1,435.8,-11.5,173,3664,0.00,2.33,0.00,0.000,6,0.000,0.051,2371,1889,3006
$GC,3986,-1.66,-42.1,470.8,-10.0,189,3991,0.00,2.72,0.00,0.000,4,0.000,0.065,2371,3403,3007
$GC,4034,-1.66,-42.1,475.3,-10.5,191,4039,0.00,2.72,0.00,0.000,6,0.000,0.055,2371,1886,3006
$GC,4355,-1.66,-42.1,505.0,-9.0,207,4359,0.00,2.33,0.00,0.000,4,0.000,0.066,2371,588,3007
$GC,4568,-1.66,-42.1,525.7,-8.9,216,4574,0.00,2.25,0.00,0.000,6,0.000,0.054,2371,1855,3007
$GC,4884,-1.66,-42.1,553.9,-9.5,232,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1872,3007
$GC,5194,-1.70,-42.1,582.6,-9.3,247,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1871,3006
$GC,5503,-1.75,-42.1,610.1,-8.8,262,5507,0.00,2.83,0.00,0.000,4,0.000,0.073,2371,3401,3006
$GC,5603,-1.75,-42.1,619.3,-8.8,266,5609,0.00,2.83,0.00,0.000,6,0.000,0.064,2371,1854,3006
$GC,5920,-1.80,-42.1,644.1,-8.2,282,5925,0.00,2.90,0.00,0.000,4,0.000,0.076,2371,3409,3006
$GC,5948,-1.80,-42.1,646.8,-9.4,283,5952,0.00,2.88,0.00,0.000,6,0.000,0.066,2371,1843,3006
$GC,6264,-1.86,-42.1,673.7,-9.0,298,6269,0.15,2.30,0.00,0.000,4,0.064,0.079,2336,587,3005
$GC,6377,-1.76,-42.1,686.0,-11.2,303,6382,0.12,2.22,0.00,0.000,6,0.123,0.066,2357,1809,3005
$GC,6698,-1.76,-42.1,718.6,-10.1,319,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1826,3003
$GC,7009,-1.76,-42.1,750.6,-10.4,334,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1826,3002
$GC,7316,-1.76,-42.1,781.9,-10.2,349,7320,0.00,2.33,0.00,0.000,4,0.000,0.089,2357,592,3001
$GC,7357,-1.76,-42.1,786.2,-11.0,351,7361,0.00,2.25,0.00,0.000,6,0.000,0.073,2357,1813,3000
$GC,7685,-1.76,-42.1,817.9,-9.4,367,7690,0.00,3.00,0.00,0.000,4,0.000,0.088,2357,3406,3000
$GC,7708,-1.76,-42.1,820.2,-9.8,368,7713,0.00,2.97,0.00,0.000,6,0.000,0.078,2357,1824,3000
$GC,8029,-1.76,-42.1,850.4,-9.2,384,8034,0.00,3.03,0.00,0.000,4,0.000,0.087,2357,3407,2998
$STATE,8115,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8116,begin apogee
$GC,8126,-0.33,0.0,859.2,9.5,388,8170,1.52,0.00,39.55,1.490,6,0.109,0.000,2666,2106,2832
$STATE,8170,end apogee,CONTROL_FINISHED_OK
$STATE,8171,begin climb
$GC,8174,1.89,42.1,861.4,0.0,390,8219,2.25,0.00,40.75,1.467,6,0.069,0.000,3154,2106,2660
$GC,8529,1.74,42.1,840.6,6.3,407,8534,0.17,2.72,0.00,0.000,4,0.122,0.085,3125,3533,2659
$GC,8787,1.61,42.1,825.6,6.1,418,8794,0.17,2.65,0.00,0.000,6,0.116,0.074,3094,2121,2659
$GC,9105,1.62,50.4,810.2,4.9,434,9119,0.00,2.80,8.77,1.299,4,0.000,0.087,3094,3526,2626
$GC,9376,1.62,50.4,793.7,6.6,446,9381,0.00,2.60,0.00,0.000,6,0.000,0.074,3094,2143,2626
$GC,9703,1.63,54.5,775.0,5.4,462,9714,0.00,2.70,5.72,1.157,4,0.000,0.088,3094,3523,2608
$GC,9792,1.63,54.5,769.2,6.7,466,9797,0.00,2.60,0.00,0.000,6,0.000,0.076,3094,2148,2608
$GC,10115,1.63,56.8,750.4,5.7,482,10116,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2147,2608
$GC,10423,1.63,60.2,733.2,5.5,497,10436,0.00,2.72,6.38,1.190,4,0.000,0.085,3093,709,2586
$GC,10460,1.63,60.2,731.0,6.6,498,10467,0.00,2.72,0.00,0.000,6,0.000,0.075,3094,2150,2586
$GC,10776,1.64,65.2,713.1,5.3,514,10787,0.00,2.67,5.78,1.147,4,0.000,0.089,3094,3536,2566
$GC,10811,1.64,65.2,711.1,6.2,515,10817,0.00,2.62,0.00,0.000,6,0.000,0.077,3094,2152,2567
$GC,11128,1.65,70.9,693.9,5.2,531,11137,0.00,0.00,7.05,1.213,6,0.000,0.000,3094,2152,2543
$GC,11437,1.70,70.9,675.6,6.3,546,11438,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2152,2543
$GC,11746,1.75,70.9,655.0,7.0,561,11748,0.15,0.00,0.00,0.000,6,0.074,0.000,3126,2152,2542
$GC,12056,1.75,70.9,627.9,9.6,576,12060,0.00,2.70,0.00,0.000,4,0.000,0.085,3126,708,2542
$GC,12221,1.65,70.9,609.6,10.8,583,12226,0.12,2.70,0.00,0.000,6,0.130,0.074,3108,2152,2542
$GC,12537,1.65,70.9,585.1,6.5,598,12542,0.00,2.62,0.00,0.000,4,0.000,0.090,3108,3536,2542
$GC,12673,1.62,75.7,577.2,5.3,604,12683,0.00,2.58,5.82,1.104,6,0.000,0.073,3108,2158,2523
$GC,12995,1.63,87.4,561.5,4.4,619,13016,0.00,2.75,12.30,1.266,4,0.000,0.084,3108,3537,2475
$GC,13056,1.63,87.4,557.8,6.0,621,13062,0.00,2.55,0.00,0.000,6,0.000,0.071,3108,2185,2475
$GC,13371,1.63,87.4,534.7,7.7,637,13376,0.00,2.75,0.00,0.000,4,0.000,0.081,3108,706,2475
$GC,13389,1.63,87.4,533.3,8.0,638,13394,0.00,2.75,0.00,0.000,6,0.000,0.069,3108,2191,2475
$GC,13716,1.68,87.4,507.8,8.6,654,13718,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2191,2475
$GC,14026,1.73,87.4,482.5,8.1,669,14030,0.00,2.78,0.00,0.000,4,0.000,0.074,3108,703,2475
$GC,14045,1.73,87.4,481.1,8.1,670,14050,0.00,2.80,0.00,0.000,6,0.000,0.067,3108,2221,2475
$GC,14372,1.78,87.4,454.3,8.4,686,14374,0.12,0.00,0.00,0.000,6,0.070,0.000,3135,2222,2475
$GC,14681,1.78,87.4,429.1,7.9,701,14685,0.00,2.42,0.00,0.000,4,0.000,0.076,3135,3538,2475
$GC,14847,1.71,87.4,414.2,8.6,708,14851,0.00,2.47,0.00,0.000,6,0.000,0.058,3135,2174,2475
$GC,15168,1.71,87.4,388.0,8.1,724,15169,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2174,2477
$GC,15478,1.71,87.4,365.0,7.2,739,15482,0.00,2.62,0.00,0.000,4,0.000,0.065,3135,708,2477
$GC,15528,1.63,87.4,361.1,7.3,741,15533,0.20,2.70,0.00,0.000,6,0.106,0.056,3100,2211,2477
$GC,15846,1.72,87.7,341.7,6.0,756,15850,0.00,2.40,0.00,0.000,4,0.000,0.067,3100,3538,2479
$GC,15931,1.72,87.7,336.2,6.6,760,15935,0.00,2.40,0.00,0.000,6,0.000,0.053,3100,2196,2479
$GC,16259,1.81,87.7,316.5,6.1,776,16264,0.17,2.47,0.00,0.000,4,0.060,0.064,3146,3544,2480
$GC,16310,1.72,87.7,312.7,7.8,778,16315,0.15,2.42,0.00,0.000,6,0.114,0.051,3120,2185,2480
$GC,16626,1.77,87.7,290.8,6.8,793,16631,0.00,2.50,0.00,0.000,4,0.000,0.065,3120,3546,2481
$GC,16706,1.77,87.7,284.7,7.6,796,16712,0.00,2.40,0.00,0.000,6,0.000,0.051,3120,2199,2481
$GC,17022,1.77,87.7,262.4,6.9,812,17026,0.00,2.45,0.00,0.000,4,0.000,0.064,3120,3540,2482
$GC,17117,1.77,87.7,254.9,7.6,816,17128,0.00,2.35,3.88,0.670,6,0.000,0.049,3120,2212,2474
$GC,17439,1.81,87.7,230.1,7.8,832,17443,0.00,2.42,0.00,0.000,4,0.000,0.064,3120,3538,2475
$GC,17540,1.81,87.7,221.7,8.3,836,17544,0.00,2.35,0.00,0.000,6,0.000,0.049,3121,2216,2475
$GC,17857,1.86,87.7,196.7,7.7,851,17859,0.15,0.00,0.00,0.000,6,0.060,0.000,3157,2216,2476
$GC,18166,1.82,87.7,169.9,8.4,866,18170,0.00,2.42,0.00,0.000,4,0.000,0.063,3157,3544,2476
$GC,18284,1.72,87.7,159.4,8.6,871,18289,0.20,2.33,0.00,0.000,6,0.105,0.049,3121,2232,2476
$GC,18602,1.77,87.7,134.9,7.8,886,18606,0.00,2.40,0.00,0.000,4,0.000,0.064,3121,3544,2477
$GC,18736,1.77,87.7,123.3,8.6,892,18740,0.00,2.33,0.00,0.000,6,0.000,0.053,3121,2231,2477
$GC,19059,1.82,87.7,98.0,7.6,908,19063,0.00,2.40,0.00,0.000,4,0.000,0.064,3121,3547,2478
$GC,19105,1.82,87.7,94.3,7.5,910,19109,0.00,2.33,0.00,0.000,6,0.000,0.050,3121,2239,2478
$GC,19433,1.87,87.7,71.7,7.3,926,19434,0.15,0.00,0.00,0.000,6,0.059,0.000,3158,2237,2479
$GC,19743,1.81,87.7,46.6,9.3,941,19747,0.00,2.40,0.00,0.000,4,0.000,0.082,3158,3540,2479
$GC,19986,1.70,87.7,23.4,7.5,952,19991,0.22,2.28,0.00,0.000,6,0.105,0.058,3116,2256,2479
$STATE,20248,end climb,SURFACE_DEPTH_REACHED
$STATE,20248,begin surface coast
$FINISH,0.7,1.009319
$STATE,20293,end surface coast,CONTROL_FINISHED_OK
$STATE,20293,begin surface
$SM_CCo,20317,95.22,0.821,0,0,1812,250.21
$SM_GC,1.53,0.00,0.00,95.22,0.000,0.000,0.821,421,1983,1812,-10.69,-0.48,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1783
$TCM_TEMP,15.70
$XPDR_PINGS,72
$ALTIM_BOTTOM_PING,775.6,93.1
$24V_AH,23.2,81.365
$10V_AH,10.1,40.589
$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,28.175,189.225,136.000,95.225,0.000,37.754,26.924,164.910,25.000,0.000,0.000,17.378,1879.576,15459.452,421.486,2388.423,638.814,0.000,1575.243,0.000,2326.667,0.000,47.007,0.000
$DEVICE_MAMPS,134.225,89.739,1489.514,821.457,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,711.668,657.285,536.025,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50470,967
$CAP_FILE_SIZE,159976,0
$CFSIZE,254472192,222855168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,55,0,0
$GPS,180209,143136,6116.709,-754.002,31,1.0,31,-8.6