version: 66.04
glider: 5
mission: 5
dive: 472
start: 2 20 109 19 9 51
data:
$ID,5
$MISSION,5
$DIVE,472
$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,-96624.734
$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,33
$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
$GPS1,190007,6115.312,-752.259,29,1.4,29,-8.5
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-62.7
$GPS2,190932,6115.233,-752.118,10,1.8,10,-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,174.8,444,-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,-28.8,0.0,0.0,0,78,0.00,0.00,-58.17,0.000,6,0.000,0.000,422,1971,2950
$GC,81,-1.90,-48.3,3.0,-3.3,3,104,10.05,2.65,-2.70,0.000,4,0.138,0.074,2324,3416,3031
$GC,358,-1.78,-48.3,47.8,-16.3,15,363,0.15,2.53,0.00,0.000,6,0.109,0.051,2353,2009,3031
$GC,680,-1.78,-48.3,94.8,-14.0,31,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1987,3031
$GC,991,-1.78,-48.3,137.5,-13.1,46,995,0.00,2.53,0.00,0.000,4,0.000,0.062,2353,594,3031
$GC,1087,-1.71,-48.3,151.6,-14.9,50,1092,0.00,2.50,0.00,0.000,6,0.000,0.051,2353,2003,3031
$GC,1403,-1.71,-48.3,195.2,-13.1,65,1407,0.00,2.58,0.00,0.000,4,0.000,0.062,2353,583,3031
$GC,1477,-1.67,-48.3,205.6,-14.1,68,1483,0.15,2.47,0.00,0.000,6,0.110,0.051,2379,1981,3031
$GC,1794,-1.73,-48.3,242.7,-11.4,83,1798,0.00,2.53,0.00,0.000,4,0.000,0.063,2380,587,3031
$GC,1912,-1.73,-48.3,258.6,-14.3,88,1916,0.00,2.45,0.00,0.000,6,0.000,0.051,2380,1965,3031
$GC,2234,-1.78,-48.3,300.5,-12.5,104,2238,0.00,2.60,0.00,0.000,4,0.000,0.064,2380,3411,3031
$GC,2302,-1.82,-48.3,309.3,-12.8,107,2307,0.15,2.60,0.00,0.000,6,0.057,0.054,2344,1960,3031
$GC,2631,-1.76,-48.3,351.5,-12.5,123,2635,0.00,2.45,0.00,0.000,4,0.000,0.064,2344,585,3031
$GC,2776,-1.69,-48.3,373.8,-14.0,129,2783,0.17,2.42,0.00,0.000,6,0.106,0.052,2375,1954,3031
$GC,3094,-1.73,-48.3,411.9,-11.2,145,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1955,3031
$GC,3402,-1.77,-48.3,446.6,-11.0,160,3406,0.00,2.50,0.00,0.000,4,0.000,0.064,2376,583,3031
$GC,3503,-1.77,-48.3,458.8,-12.3,164,3509,0.00,2.45,0.00,0.000,6,0.000,0.052,2375,1955,3031
$GC,3819,-1.82,-48.3,494.7,-10.7,180,3824,0.12,2.62,0.00,0.000,4,0.059,0.065,2343,3413,3031
$GC,3905,-1.74,-48.3,504.8,-12.2,184,3910,0.12,2.62,0.00,0.000,6,0.111,0.057,2364,1955,3031
$GC,4232,-1.74,-48.3,538.7,-10.2,200,4236,0.00,2.45,0.00,0.000,4,0.000,0.067,2364,582,3031
$GC,4423,-1.74,-48.3,560.8,-11.7,208,4429,0.00,2.40,0.00,0.000,6,0.000,0.054,2364,1931,3031
$GC,4739,-1.74,-48.3,595.6,-10.7,224,4743,0.00,2.45,0.00,0.000,4,0.000,0.071,2364,594,3031
$GC,4856,-1.74,-48.3,609.1,-11.6,229,4860,0.00,2.33,0.00,0.000,6,0.000,0.057,2365,1891,3031
$GC,5179,-1.79,-48.3,641.0,-9.4,245,5183,0.00,2.40,0.00,0.000,4,0.000,0.073,2364,594,3031
$GC,5200,-1.79,-48.3,643.4,-9.9,246,5204,0.00,2.33,0.00,0.000,6,0.000,0.059,2364,1885,3031
$GC,5523,-1.79,-48.3,673.9,-10.2,262,5527,0.00,2.80,0.00,0.000,4,0.000,0.077,2364,3409,3030
$GC,5601,-1.79,-48.3,682.1,-10.2,265,5607,0.00,2.80,0.00,0.000,6,0.000,0.068,2364,1884,3030
$GC,5917,-1.83,-48.3,712.9,-9.4,281,5921,0.00,2.38,0.00,0.000,4,0.000,0.082,2364,594,3029
$GC,6026,-1.83,-48.3,724.0,-10.7,285,6033,0.00,2.35,0.00,0.000,6,0.000,0.067,2364,1883,3029
$GC,6343,-1.87,-48.3,754.8,-9.6,301,6348,0.12,2.83,0.00,0.000,4,0.073,0.084,2335,3400,3027
$GC,6365,-1.87,-48.3,757.3,-10.7,302,6370,0.00,2.83,0.00,0.000,6,0.000,0.075,2335,1887,3027
$GC,6687,-1.87,-48.3,790.9,-10.3,318,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1887,3026
$GC,6995,-1.87,-48.3,823.9,-10.8,333,7000,0.00,2.88,0.00,0.000,4,0.000,0.085,2335,3399,3024
$GC,7023,-1.82,-48.3,827.1,-11.1,334,7028,0.00,2.83,0.00,0.000,6,0.000,0.077,2335,1893,3024
$GC,7340,-1.82,-48.3,861.9,-11.1,349,7345,0.00,2.88,0.00,0.000,4,0.000,0.087,2335,3400,3023
$STATE,7387,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7387,begin apogee
$GC,7397,-0.33,0.0,866.6,8.3,351,7449,1.65,0.00,44.97,1.496,6,0.110,0.000,2664,2101,2832
$STATE,7449,end apogee,CONTROL_FINISHED_OK
$STATE,7449,begin climb
$GC,7454,1.90,48.3,868.6,0.0,354,7509,2.28,2.75,46.20,1.473,4,0.067,0.087,3160,713,2636
$GC,7615,1.69,48.3,859.0,9.5,361,7620,0.25,2.65,0.00,0.000,6,0.114,0.072,3116,2123,2634
$GC,7938,1.64,49.9,839.8,5.8,377,7942,0.00,2.67,0.00,0.000,4,0.000,0.087,3115,3534,2633
$GC,8197,1.54,49.9,823.6,6.2,388,8204,0.20,2.65,0.00,0.000,6,0.120,0.074,3079,2127,2632
$GC,8515,1.59,55.1,807.2,5.3,404,8529,0.00,2.78,7.40,1.250,4,0.000,0.086,3079,3525,2607
$GC,8680,1.59,55.1,796.7,6.4,411,8685,0.00,2.62,0.00,0.000,6,0.000,0.074,3079,2133,2606
$GC,9003,1.65,55.1,776.4,6.3,427,9008,0.12,2.70,0.00,0.000,4,0.072,0.087,3108,3532,2606
$GC,9127,1.58,55.1,767.5,7.6,432,9133,0.00,2.60,0.00,0.000,6,0.000,0.074,3108,2148,2606
$GC,9444,1.58,55.1,746.5,6.7,448,9448,0.00,2.67,0.00,0.000,4,0.000,0.087,3108,3535,2604
$GC,9589,1.52,55.1,736.1,7.6,454,9596,0.17,2.58,0.00,0.000,6,0.125,0.074,3077,2163,2604
$GC,9907,1.59,59.5,718.0,5.4,470,9917,0.00,2.67,5.00,1.085,4,0.000,0.087,3077,3534,2589
$GC,10001,1.59,59.5,712.3,6.1,474,10006,0.00,2.58,0.00,0.000,6,0.000,0.074,3077,2167,2589
$GC,10318,1.67,67.0,696.2,5.0,489,10333,0.15,2.83,8.23,1.253,4,0.071,0.087,3110,714,2558
$GC,10380,1.59,67.2,692.8,6.0,491,10386,0.00,2.72,0.00,0.000,6,0.000,0.074,3110,2158,2558
$GC,10695,1.59,67.2,670.4,7.2,507,10697,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2158,2558
$GC,11006,1.59,67.2,650.4,6.0,522,11010,0.00,2.62,0.00,0.000,4,0.000,0.089,3110,3541,2558
$GC,11225,1.54,67.2,636.1,6.6,532,11230,0.17,2.62,0.00,0.000,6,0.127,0.074,3081,2141,2558
$GC,11554,1.61,68.2,615.9,5.9,548,11559,0.00,2.67,0.00,0.000,4,0.000,0.088,3080,3535,2557
$GC,11709,1.62,75.8,606.8,5.0,555,11723,0.00,2.58,9.15,1.241,6,0.000,0.073,3080,2154,2523
$GC,12042,1.72,81.1,589.6,5.3,571,12056,0.17,2.80,6.55,1.142,4,0.070,0.081,3119,704,2502
$GC,12086,1.65,81.1,586.7,6.2,573,12091,0.00,2.75,0.00,0.000,6,0.000,0.072,3118,2169,2501
$GC,12414,1.65,81.1,564.0,7.4,589,12418,0.00,2.58,0.00,0.000,4,0.000,0.084,3119,3535,2501
$GC,12481,1.59,81.1,558.3,7.9,592,12486,0.15,2.55,0.00,0.000,6,0.124,0.071,3094,2166,2501
$GC,12802,1.65,81.1,533.7,7.7,608,12807,0.00,2.70,0.00,0.000,4,0.000,0.078,3094,704,2501
$GC,12836,1.65,81.1,530.8,8.0,609,12843,0.00,2.70,0.00,0.000,6,0.000,0.067,3094,2169,2501
$GC,13153,1.72,81.1,509.9,6.8,625,13157,0.10,2.53,0.00,0.000,4,0.069,0.079,3117,3534,2501
$GC,13313,1.66,81.1,498.2,7.6,632,13317,0.00,2.53,0.00,0.000,6,0.000,0.064,3117,2158,2501
$GC,13634,1.66,81.1,474.0,7.3,648,13638,0.00,2.60,0.00,0.000,4,0.000,0.074,3117,3542,2501
$GC,13768,1.66,81.1,462.9,8.3,654,13773,0.00,2.47,0.00,0.000,6,0.000,0.060,3117,2182,2501
$GC,14090,1.66,81.1,437.6,7.7,670,14094,0.00,2.53,0.00,0.000,4,0.000,0.071,3117,3538,2502
$GC,14197,1.62,81.1,429.5,8.1,675,14201,0.00,2.40,0.00,0.000,6,0.000,0.058,3117,2210,2502
$GC,14526,1.62,81.1,407.1,6.7,691,14530,0.00,2.45,0.00,0.000,4,0.000,0.069,3117,3535,2503
$GC,14553,1.62,81.1,404.8,7.6,692,14557,0.00,2.38,0.00,0.000,6,0.000,0.056,3117,2217,2503
$GC,14869,1.62,81.1,382.1,6.8,707,14870,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2217,2504
$GC,15179,1.62,81.1,360.3,6.9,722,15184,0.00,2.42,0.00,0.000,4,0.000,0.066,3117,3537,2504
$GC,15265,1.62,81.1,353.7,8.1,726,15269,0.00,2.33,0.00,0.000,6,0.000,0.052,3117,2231,2505
$GC,15591,1.62,81.1,328.7,8.1,742,15592,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2231,2506
$GC,15902,1.62,81.1,304.2,7.6,757,15903,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2231,2507
$GC,16210,1.62,81.1,279.7,8.1,772,16214,0.00,2.72,0.00,0.000,4,0.000,0.063,3117,704,2508
$GC,16249,1.62,81.1,276.5,8.2,774,16254,0.00,2.75,0.00,0.000,6,0.000,0.054,3117,2246,2508
$GC,16577,1.62,81.1,250.3,7.8,790,16578,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2246,2509
$GC,16885,1.62,81.1,227.2,7.3,805,16890,0.00,0.00,3.60,0.619,6,0.000,0.000,3117,2246,2501
$GC,17195,1.62,81.1,204.0,7.7,820,17200,0.00,2.78,0.00,0.000,4,0.000,0.061,3117,712,2501
$GC,17307,1.62,81.1,194.8,7.9,825,17311,0.00,2.72,0.00,0.000,6,0.000,0.051,3117,2241,2502
$GC,17629,1.67,81.1,171.0,7.6,841,17633,0.00,2.33,0.00,0.000,4,0.000,0.064,3117,3537,2502
$GC,17674,1.67,81.1,167.3,8.6,843,17678,0.00,2.33,0.00,0.000,6,0.000,0.049,3117,2224,2502
$GC,17996,1.71,81.1,143.1,7.4,859,18000,0.00,2.40,0.00,0.000,4,0.000,0.062,3117,3540,2503
$GC,18085,1.71,81.1,136.0,7.3,863,18089,0.00,2.33,0.00,0.000,6,0.000,0.048,3117,2226,2504
$GC,18408,1.76,81.1,112.9,6.9,879,18412,0.00,2.40,0.00,0.000,4,0.000,0.062,3117,3541,2504
$GC,18463,1.76,81.1,108.6,8.0,881,18470,0.00,2.33,0.00,0.000,6,0.000,0.048,3117,2226,2504
$GC,18781,1.80,81.1,86.8,6.7,897,18782,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2225,2505
$GC,19089,1.85,81.1,66.5,7.2,912,19094,0.12,2.40,0.00,0.000,4,0.059,0.061,3151,3545,2505
$GC,19152,1.76,81.1,61.0,9.6,915,19157,0.12,2.30,0.00,0.000,6,0.112,0.048,3130,2238,2505
$GC,19481,1.76,85.6,36.1,5.4,931,19494,0.00,2.45,6.60,0.711,4,0.000,0.060,3129,3544,2482
$GC,19526,1.71,85.6,33.4,6.3,933,19529,0.00,2.30,0.00,0.000,6,0.000,0.049,3129,2247,2482
$GC,19860,1.78,85.6,4.1,7.8,949,19861,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2218,2482
$STATE,19876,end climb,SURFACE_DEPTH_REACHED
$STATE,19877,begin surface coast
$FINISH,0.6,1.003107
$STATE,19919,end surface coast,CONTROL_FINISHED_OK
$STATE,19919,begin surface
$SM_CCo,19943,98.53,0.819,0,0,1812,250.21
$SM_GC,1.77,0.00,0.00,98.53,0.000,0.000,0.819,424,1969,1812,-10.68,-0.88,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1787
$TCM_TEMP,16.90
$XPDR_PINGS,50
$ALTIM_BOTTOM_PING,801.9,74.6
$24V_AH,23.2,82.325
$10V_AH,10.1,41.540
$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,28.600,205.450,137.700,98.525,0.000,75.524,53.952,225.956,19.750,0.000,0.000,12.663,1887.914,15062.355,441.044,2432.588,777.103,0.000,1623.207,0.000,2372.523,0.000,48.539,0.000
$DEVICE_MAMPS,138.060,88.972,1495.650,819.156,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,703.440,647.052,529.029,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47373,952
$CAP_FILE_SIZE,167132,0
$CFSIZE,254472192,222113792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,62,0,0
$GPS,210209,004507,6114.216,-752.591,33,1.5,33,-8.5