version: 66.04
glider: 5
mission: 5
dive: 471
start: 2 20 109 13 24 3
data:
$ID,5
$MISSION,5
$DIVE,471
$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,-96611.445
$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,28
$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
$GPS1,131354,6115.617,-752.696,42,1.5,42,-8.5
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-61.5
$GPS2,132344,6115.557,-752.598,12,1.5,12,-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,161.2,1160,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.87,-28.8,0.0,0.0,0,78,0.00,0.00,-57.30,0.000,6,0.000,0.000,420,1972,2950
$GC,81,-1.91,-53.2,2.6,-2.6,3,104,10.10,2.67,-3.33,0.000,4,0.140,0.073,2324,3417,3050
$GC,340,-1.81,-53.2,44.2,-15.3,14,345,0.12,2.55,0.00,0.000,6,0.114,0.050,2345,1994,3050
$GC,658,-1.81,-53.2,88.6,-13.4,29,662,0.00,2.50,0.00,0.000,4,0.000,0.061,2345,594,3050
$GC,745,-1.73,-53.2,100.9,-14.7,33,750,0.12,2.50,0.00,0.000,6,0.114,0.051,2368,2001,3050
$GC,1072,-1.73,-53.2,143.1,-12.8,49,1076,0.00,2.55,0.00,0.000,4,0.000,0.061,2368,594,3050
$GC,1185,-1.73,-53.2,158.7,-14.1,54,1189,0.00,2.45,0.00,0.000,6,0.000,0.051,2368,1973,3050
$GC,1507,-1.73,-53.2,200.7,-13.0,70,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1973,3050
$GC,1815,-1.73,-53.2,239.5,-12.7,85,1819,0.00,2.50,0.00,0.000,4,0.000,0.062,2368,594,3050
$GC,1850,-1.73,-53.2,244.1,-13.1,86,1856,0.00,2.45,0.00,0.000,6,0.000,0.051,2368,1972,3050
$GC,2166,-1.73,-53.2,285.3,-12.6,102,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1973,3050
$GC,2475,-1.73,-53.2,324.9,-12.9,117,2483,0.00,2.50,0.00,0.000,4,0.000,0.063,2368,593,3050
$GC,2607,-1.73,-53.2,343.1,-13.8,122,2615,0.00,2.45,0.00,0.000,6,0.000,0.051,2368,1975,3050
$GC,2923,-1.73,-53.2,384.6,-13.0,138,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1977,3051
$GC,3233,-1.73,-53.2,424.0,-12.4,153,3238,0.00,2.50,0.00,0.000,4,0.000,0.064,2368,593,3050
$GC,3404,-1.73,-53.2,445.7,-12.5,160,3410,0.00,2.38,0.00,0.000,6,0.000,0.052,2368,1936,3051
$GC,3722,-1.77,-53.2,482.7,-11.7,176,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1936,3051
$GC,4030,-1.81,-53.2,516.7,-10.4,191,4034,0.00,2.45,0.00,0.000,4,0.000,0.065,2368,588,3050
$GC,4141,-1.81,-53.2,529.5,-11.6,196,4146,0.00,2.40,0.00,0.000,6,0.000,0.053,2368,1929,3050
$GC,4464,-1.86,-53.2,563.3,-9.8,212,4469,0.12,2.45,0.00,0.000,4,0.063,0.067,2336,593,3050
$GC,4561,-1.77,-53.2,574.6,-12.2,216,4566,0.12,2.28,0.00,0.000,6,0.114,0.055,2357,1869,3050
$GC,4884,-1.77,-53.2,609.5,-10.9,232,4888,0.00,2.78,0.00,0.000,4,0.000,0.071,2357,3402,3050
$GC,4916,-1.77,-53.2,613.4,-11.2,233,4923,0.00,2.78,0.00,0.000,6,0.000,0.063,2357,1878,3050
$GC,5233,-1.82,-53.2,647.9,-10.2,249,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1878,3049
$GC,5543,-1.86,-53.2,678.5,-10.1,264,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1878,3049
$GC,5851,-1.92,-53.2,709.2,-9.9,279,5856,0.15,2.85,0.00,0.000,4,0.065,0.076,2322,3405,3048
$GC,6078,-1.86,-53.2,733.1,-10.2,289,6083,0.00,2.72,0.00,0.000,6,0.000,0.066,2322,1916,3047
$GC,6400,-1.81,-53.2,766.7,-11.1,305,6406,0.15,2.80,0.00,0.000,4,0.123,0.079,2347,3409,3046
$GC,6491,-1.81,-53.2,776.6,-10.5,309,6495,0.00,2.72,0.00,0.000,6,0.000,0.068,2347,1928,3046
$GC,6812,-1.81,-53.2,809.1,-10.2,325,6816,0.00,2.47,0.00,0.000,4,0.000,0.084,2347,590,3044
$GC,6857,-1.81,-53.2,814.4,-11.9,327,6861,0.00,2.45,0.00,0.000,6,0.000,0.069,2347,1924,3044
$GC,7184,-1.81,-53.2,851.7,-10.4,343,7188,0.00,2.75,0.00,0.000,4,0.000,0.085,2347,3400,3042
$STATE,7281,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7281,begin apogee
$GC,7292,-0.33,0.0,863.0,12.2,347,7345,1.58,0.00,49.08,1.486,6,0.111,0.000,2664,2109,2832
$STATE,7346,end apogee,CONTROL_FINISHED_OK
$STATE,7346,begin climb
$GC,7349,1.91,53.2,865.6,0.0,350,7412,2.28,2.80,50.47,1.464,4,0.067,0.084,3159,3530,2615
$GC,7665,1.70,53.2,845.8,8.2,364,7670,0.25,2.65,0.00,0.000,6,0.123,0.073,3116,2120,2613
$GC,7986,1.70,53.2,824.8,6.6,380,7991,0.00,2.72,0.00,0.000,4,0.000,0.086,3116,3532,2613
$GC,8244,1.61,53.2,807.0,7.7,391,8251,0.00,2.60,0.00,0.000,6,0.000,0.074,3116,2149,2612
$GC,8560,1.61,53.2,786.0,6.8,407,8565,0.00,2.65,0.00,0.000,4,0.000,0.086,3116,3523,2611
$GC,8814,1.53,53.2,768.3,7.0,418,8820,0.20,2.55,0.00,0.000,6,0.123,0.072,3079,2159,2610
$GC,9131,1.59,58.6,751.0,5.2,433,9142,0.00,2.75,5.55,1.132,4,0.000,0.086,3079,713,2591
$GC,9199,1.59,59.9,747.0,5.8,436,9204,0.00,2.70,0.00,0.000,6,0.000,0.074,3079,2149,2591
$GC,9522,1.66,61.6,728.3,5.8,452,9531,0.12,2.67,4.20,0.978,4,0.071,0.088,3108,3538,2581
$GC,9653,1.59,61.6,719.7,6.6,457,9659,0.00,2.60,0.00,0.000,6,0.000,0.074,3108,2158,2580
$GC,9969,1.59,61.6,699.8,6.1,473,9974,0.00,2.65,0.00,0.000,4,0.000,0.087,3108,3537,2579
$GC,10060,1.54,61.6,694.1,6.4,477,10065,0.15,2.60,0.00,0.000,6,0.125,0.074,3082,2153,2579
$GC,10382,1.60,66.0,676.2,5.4,493,10393,0.00,2.70,5.57,1.119,4,0.000,0.086,3082,3539,2562
$GC,10438,1.60,66.0,672.9,6.5,495,10445,0.00,2.58,0.00,0.000,6,0.000,0.074,3082,2172,2561
$GC,10756,1.68,66.0,653.2,7.0,511,10761,0.12,2.62,0.00,0.000,4,0.075,0.085,3109,3535,2562
$GC,10796,1.61,66.0,650.1,7.9,513,10801,0.00,2.55,0.00,0.000,6,0.000,0.074,3110,2177,2561
$GC,11124,1.61,66.0,627.1,6.5,529,11128,0.00,2.60,0.00,0.000,4,0.000,0.085,3110,3535,2561
$GC,11179,1.56,66.0,623.1,7.2,531,11186,0.12,2.47,0.00,0.000,6,0.132,0.073,3088,2205,2561
$GC,11496,1.62,66.0,604.2,6.0,547,11500,0.00,2.78,0.00,0.000,4,0.000,0.083,3088,711,2560
$GC,11693,1.62,70.7,592.9,5.4,556,11704,0.00,2.72,5.55,1.083,6,0.000,0.070,3088,2187,2543
$GC,12023,1.69,71.6,574.1,5.9,572,12028,0.12,2.55,0.00,0.000,4,0.073,0.084,3116,3541,2542
$GC,12110,1.63,71.6,568.0,6.7,576,12114,0.00,2.53,0.00,0.000,6,0.000,0.068,3116,2178,2542
$GC,12436,1.63,71.6,547.0,6.8,592,12441,0.00,2.72,0.00,0.000,4,0.000,0.079,3116,703,2542
$GC,12471,1.55,71.6,544.4,7.1,593,12479,0.15,2.70,0.00,0.000,6,0.107,0.068,3086,2177,2542
$GC,12788,1.62,73.8,526.1,5.7,609,12797,0.00,2.58,4.28,0.912,4,0.000,0.080,3086,3542,2531
$GC,12865,1.63,80.5,522.1,5.1,612,12880,0.00,2.50,8.07,1.134,6,0.000,0.064,3086,2171,2502
$GC,13212,1.72,80.5,500.7,6.5,629,13214,0.15,0.00,0.00,0.000,6,0.065,0.000,3119,2172,2503
$GC,13518,1.72,80.5,478.6,7.1,644,13519,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2172,2503
$GC,13828,1.72,80.5,455.5,7.3,659,13832,0.00,2.55,0.00,0.000,4,0.000,0.073,3120,3541,2503
$GC,14053,1.68,80.5,439.0,7.8,669,14057,0.00,2.42,0.00,0.000,6,0.000,0.058,3119,2197,2504
$GC,14381,1.68,80.5,415.7,6.9,685,14385,0.00,2.47,0.00,0.000,4,0.000,0.069,3119,3537,2504
$GC,14529,1.64,80.5,404.1,8.2,691,14533,0.00,2.38,0.00,0.000,6,0.000,0.054,3119,2215,2504
$GC,14847,1.64,80.5,380.3,7.2,706,14851,0.00,2.45,0.00,0.000,4,0.000,0.067,3119,3542,2505
$GC,14903,1.60,80.5,375.5,8.6,708,14911,0.15,2.35,0.00,0.000,6,0.114,0.054,3094,2233,2506
$GC,15219,1.68,80.5,352.7,6.9,724,15220,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2233,2506
$GC,15530,1.77,80.5,332.8,6.6,739,15531,0.17,0.00,0.00,0.000,6,0.058,0.000,3136,2221,2508
$GC,15837,1.77,80.5,310.7,6.9,754,15842,0.00,2.70,0.00,0.000,4,0.000,0.064,3135,729,2508
$GC,15927,1.69,80.5,304.1,7.2,758,15931,0.00,2.67,0.00,0.000,6,0.000,0.052,3136,2227,2508
$GC,16248,1.69,80.5,281.7,7.4,774,16250,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2227,2509
$GC,16557,1.69,80.5,257.4,7.9,789,16561,0.12,2.38,0.00,0.000,4,0.109,0.064,3114,3546,2510
$GC,16653,1.69,80.5,249.8,7.9,793,16657,0.00,2.33,0.00,0.000,6,0.000,0.051,3114,2235,2511
$GC,16969,1.74,80.5,227.1,7.3,808,16970,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2235,2511
$GC,17278,1.78,80.5,204.9,7.0,823,17279,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2235,2511
$GC,17588,1.83,80.5,183.6,6.6,838,17598,0.12,2.70,3.78,0.620,4,0.059,0.062,3147,734,2503
$GC,17638,1.74,80.5,179.6,7.7,840,17643,0.12,2.70,0.00,0.000,6,0.107,0.051,3125,2242,2503
$GC,17961,1.74,80.5,156.4,6.8,856,17965,0.00,2.33,0.00,0.000,4,0.000,0.063,3125,3538,2504
$GC,18023,1.74,80.5,151.8,6.9,859,18027,0.00,2.28,0.00,0.000,6,0.000,0.049,3125,2250,2504
$GC,18351,1.74,80.5,130.1,7.1,875,18355,0.00,2.72,0.00,0.000,4,0.000,0.062,3125,727,2504
$GC,18407,1.74,80.5,125.8,7.8,877,18413,0.00,2.70,0.00,0.000,6,0.000,0.052,3126,2240,2504
$GC,18723,1.74,80.5,101.3,8.1,893,18724,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2240,2505
$GC,19033,1.74,80.5,75.2,8.6,908,19034,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2241,2505
$GC,19344,1.74,80.5,49.2,9.3,923,19349,0.00,2.72,0.00,0.000,4,0.000,0.061,3125,734,2506
$GC,19395,1.74,80.5,44.0,9.5,925,19399,0.00,2.70,0.00,0.000,6,0.000,0.052,3126,2245,2506
$GC,19712,1.74,80.5,20.4,6.5,940,19716,0.00,2.33,0.00,0.000,4,0.000,0.063,3125,3544,2506
$GC,19769,1.74,80.5,16.9,6.7,942,19776,0.00,2.33,0.00,0.000,6,0.000,0.049,3125,2248,2506
$STATE,19917,end climb,SURFACE_DEPTH_REACHED
$STATE,19918,begin surface coast
$FINISH,1.2,1.027413
$STATE,19960,end surface coast,CONTROL_FINISHED_OK
$STATE,19960,begin surface
$SM_CCo,19984,107.20,0.822,0,0,1812,250.21
$SM_GC,1.60,0.00,0.00,107.20,0.000,0.000,0.822,423,1988,1812,-10.68,-0.34,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1780
$TCM_TEMP,16.90
$XPDR_PINGS,50
$ALTIM_BOTTOM_PING,800.7,71.8
$24V_AH,23.3,82.225
$10V_AH,10.1,41.445
$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,28.800,185.475,136.550,107.200,0.000,76.869,53.807,239.825,19.750,0.000,0.000,12.774,1867.475,15151.641,437.962,2421.772,798.584,0.000,1609.270,0.000,2361.676,0.000,51.928,0.000
$DEVICE_MAMPS,139.594,88.205,1485.679,822.224,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,703.739,646.604,523.929,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50544,952
$CAP_FILE_SIZE,163844,0
$CFSIZE,254472192,222183424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,53,0,0
$GPS,200209,190007,6115.312,-752.259,29,1.4,29,-8.5