version: 66.04
glider: 5
mission: 5
dive: 477
start: 2 22 109 0 48 45
data:
$ID,5
$MISSION,5
$DIVE,477
$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,-96731.508
$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,55
$R_STBD_OVSHOOT,25
$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
$GPS1,002651,6115.795,-752.828,41,2.1,60,-8.5
$_CALLS,5
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-55.4
$GPS2,004827,6115.542,-752.378,23,2.6,42,-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,169.9,1058,-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,15,-1.87,-28.8,0.0,0.0,0,58,0.00,0.00,-40.88,0.000,2,0.000,0.000,419,1967,2683
$GC,61,-1.87,-28.8,3.5,-7.0,2,87,10.15,2.62,-9.23,0.000,4,0.141,0.073,2329,3404,2951
$GC,340,-1.75,-28.8,43.9,-11.4,14,346,0.17,2.47,0.00,0.000,6,0.114,0.050,2361,2021,2950
$GC,656,-1.75,-28.8,79.5,-10.6,29,661,0.00,2.55,0.00,0.000,4,0.000,0.061,2360,3409,2951
$GC,837,-1.75,-28.8,99.5,-11.5,37,841,0.00,2.53,0.00,0.000,6,0.000,0.050,2361,1995,2951
$GC,1159,-1.75,-28.8,134.1,-11.4,53,1163,0.00,2.50,0.00,0.000,4,0.000,0.061,2360,591,2951
$GC,1177,-1.75,-28.8,136.6,-12.7,54,1181,0.00,2.50,0.00,0.000,6,0.000,0.050,2360,2001,2951
$GC,1506,-1.75,-28.8,175.2,-11.6,70,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2006,2951
$GC,1813,-1.75,-28.8,211.8,-11.5,85,1817,0.00,2.58,0.00,0.000,4,0.000,0.061,2361,581,2951
$GC,1922,-1.67,-28.8,224.5,-12.7,90,1927,0.00,2.53,0.00,0.000,6,0.000,0.051,2361,2004,2951
$GC,2254,-1.67,-28.8,264.8,-11.8,106,2259,0.00,2.55,0.00,0.000,4,0.000,0.062,2360,594,2951
$GC,2299,-1.60,-28.8,270.8,-13.9,108,2305,0.20,2.47,0.00,0.000,6,0.111,0.051,2396,1985,2951
$GC,2625,-1.68,-28.8,308.9,-11.6,124,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1986,2951
$GC,2930,-1.76,-28.8,344.1,-11.9,139,2932,0.17,0.00,0.00,0.000,6,0.054,0.000,2354,1986,2951
$GC,3240,-1.76,-28.8,382.3,-11.6,154,3245,0.00,2.53,0.00,0.000,4,0.000,0.064,2353,591,2951
$GC,3438,-1.68,-28.8,404.9,-11.3,163,3443,0.12,2.45,0.00,0.000,6,0.108,0.051,2375,1979,2951
$GC,3766,-1.68,-28.8,432.7,-7.8,179,3770,0.00,2.53,0.00,0.000,4,0.000,0.064,2375,582,2952
$GC,3911,-1.68,-28.8,445.1,-8.7,185,3918,0.00,2.42,0.00,0.000,6,0.000,0.052,2375,1954,2952
$GC,4229,-1.68,-28.8,472.5,-9.1,201,4233,0.00,2.47,0.00,0.000,4,0.000,0.064,2375,587,2951
$GC,4486,-1.68,-28.8,499.3,-11.1,212,4492,0.00,2.40,0.00,0.000,6,0.000,0.052,2375,1931,2952
$GC,4803,-1.73,-28.8,530.1,-10.5,228,4808,0.00,2.65,0.00,0.000,4,0.000,0.065,2375,3402,2951
$GC,4831,-1.73,-28.8,533.0,-9.9,229,4836,0.00,2.62,0.00,0.000,6,0.000,0.058,2375,1946,2951
$GC,5148,-1.77,-28.8,559.1,-7.5,244,5151,0.00,2.42,0.00,0.000,4,0.000,0.068,2375,590,2951
$GC,5403,-1.77,-28.8,579.6,-8.1,255,5407,0.00,2.33,0.00,0.000,6,0.000,0.056,2375,1897,2952
$GC,5732,-1.82,-28.8,605.7,-8.6,271,5737,0.12,2.75,0.00,0.000,4,0.061,0.071,2343,3405,2951
$GC,5887,-1.77,-28.8,621.3,-10.5,278,5891,0.00,2.72,0.00,0.000,6,0.000,0.064,2344,1911,2951
$GC,6214,-1.77,-28.8,652.2,-9.7,294,6219,0.00,2.40,0.00,0.000,4,0.000,0.076,2343,595,2951
$GC,6370,-1.68,-28.8,667.5,-10.0,301,6375,0.17,2.30,0.00,0.000,6,0.114,0.062,2374,1866,2950
$GC,6704,-1.73,-28.8,695.8,-8.1,317,6709,0.00,2.85,0.00,0.000,4,0.000,0.080,2374,3407,2949
$GC,6782,-1.73,-28.8,702.6,-8.5,320,6789,0.00,2.85,0.00,0.000,6,0.000,0.078,2375,1871,2948
$GC,7099,-1.78,-28.8,729.1,-8.4,336,7103,0.00,2.35,0.00,0.000,4,0.000,0.083,2374,595,2947
$GC,7150,-1.78,-28.8,733.8,-9.6,338,7154,0.00,2.35,0.00,0.000,6,0.000,0.068,2375,1872,2947
$GC,7466,-1.84,-28.8,761.7,-8.4,353,7472,0.15,2.88,0.00,0.000,4,0.071,0.084,2340,3408,2946
$GC,7507,-1.77,-28.8,765.6,-10.0,355,7512,0.00,2.85,0.00,0.000,6,0.000,0.076,2341,1883,2946
$GC,7835,-1.77,-28.8,795.1,-8.8,371,7839,0.00,2.42,0.00,0.000,4,0.000,0.090,2340,586,2945
$GC,7868,-1.68,-28.8,798.3,-9.3,372,7875,0.20,2.38,0.00,0.000,6,0.120,0.073,2375,1867,2945
$GC,8186,-1.72,-28.8,824.5,-8.2,388,8190,0.00,2.88,0.00,0.000,4,0.000,0.088,2375,3399,2943
$GC,8230,-1.77,-28.8,827.8,-7.2,390,8235,0.00,2.80,0.00,0.000,6,0.000,0.076,2374,1902,2943
$GC,8553,-1.81,-28.8,855.7,-9.1,406,8558,0.12,2.45,0.00,0.000,4,0.080,0.091,2346,598,2941
$STATE,8628,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8628,begin apogee
$GC,8640,-0.33,0.0,864.9,11.1,409,8670,1.60,0.00,26.55,1.474,6,0.111,0.000,2674,2114,2833
$STATE,8671,end apogee,CONTROL_FINISHED_OK
$STATE,8671,begin climb
$GC,8674,1.87,28.8,866.3,0.0,411,8707,2.25,0.00,28.77,1.460,6,0.065,0.000,3153,2114,2714
$GC,9017,1.70,28.8,845.4,7.6,428,9022,0.17,2.72,0.00,0.000,4,0.125,0.087,3120,3542,2712
$GC,9073,1.57,28.8,840.5,7.7,430,9080,0.17,2.67,0.00,0.000,6,0.126,0.077,3090,2127,2712
$GC,9390,1.59,42.5,823.0,4.1,446,9411,0.00,2.72,13.85,1.394,4,0.000,0.085,3089,714,2658
$GC,9664,1.61,54.4,807.9,4.4,458,9683,0.00,2.88,12.27,1.371,6,0.000,0.072,3089,2247,2610
$GC,10013,1.61,54.4,787.2,6.1,475,10018,0.00,2.92,0.00,0.000,4,0.000,0.084,3089,714,2609
$GC,10233,1.61,54.4,772.7,6.3,485,10237,0.00,2.88,0.00,0.000,6,0.000,0.074,3089,2246,2609
$GC,10561,1.62,57.4,753.5,5.6,501,10567,0.00,0.00,4.07,0.973,6,0.000,0.000,3089,2245,2598
$GC,10869,1.62,61.6,735.8,5.4,516,10880,0.00,2.47,5.60,1.144,4,0.000,0.087,3089,3534,2579
$GC,11018,1.62,61.6,726.8,6.5,522,11024,0.00,2.40,0.00,0.000,6,0.000,0.075,3089,2261,2579
$GC,11334,1.67,61.6,707.7,6.0,538,11339,0.00,2.92,0.00,0.000,4,0.000,0.087,3089,707,2579
$GC,11396,1.67,61.6,703.7,6.1,541,11401,0.00,2.92,0.00,0.000,6,0.000,0.074,3089,2270,2578
$GC,11725,1.72,64.3,685.3,5.6,557,11731,0.12,0.00,3.85,0.926,6,0.076,0.000,3117,2270,2569
$GC,12032,1.72,64.3,664.9,6.9,572,12033,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2270,2569
$GC,12343,1.72,64.3,643.9,6.8,587,12346,0.00,2.40,0.00,0.000,4,0.000,0.089,3117,3538,2568
$GC,12376,1.63,64.3,641.6,6.2,588,12381,0.00,2.42,0.00,0.000,6,0.000,0.076,3117,2248,2568
$GC,12692,1.63,64.3,621.6,6.4,603,12697,0.00,2.88,0.00,0.000,4,0.000,0.086,3116,713,2568
$GC,12883,1.55,67.5,610.1,5.6,611,12894,0.17,2.85,4.65,1.016,6,0.119,0.072,3086,2244,2556
$GC,13218,1.63,78.5,594.1,4.5,628,13235,0.00,0.00,11.70,1.280,6,0.000,0.000,3085,2244,2510
$GC,13546,1.71,78.5,573.7,6.6,644,13551,0.12,2.45,0.00,0.000,4,0.074,0.085,3113,3542,2510
$GC,13709,1.66,78.5,560.7,8.2,651,13713,0.00,2.42,0.00,0.000,6,0.000,0.069,3113,2236,2510
$GC,14026,1.66,78.5,536.4,7.5,666,14030,0.00,2.47,0.00,0.000,4,0.000,0.081,3113,3540,2510
$GC,14286,1.63,85.9,519.7,5.0,677,14300,0.00,2.40,8.15,1.152,6,0.000,0.068,3113,2241,2481
$GC,14629,1.63,85.9,496.7,9.2,694,14633,0.00,2.45,0.00,0.000,4,0.000,0.076,3113,3540,2481
$GC,14785,1.63,85.9,481.5,9.4,701,14790,0.00,2.35,0.00,0.000,6,0.000,0.061,3113,2250,2480
$GC,15108,1.63,85.9,454.6,7.9,717,15112,0.00,2.42,0.00,0.000,4,0.000,0.074,3113,3545,2481
$GC,15193,1.63,85.9,448.5,7.5,721,15197,0.00,2.30,0.00,0.000,6,0.000,0.060,3113,2274,2481
$GC,15522,1.63,85.9,426.6,6.5,737,15523,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2261,2481
$GC,15830,1.63,85.9,404.9,7.4,752,15834,0.00,2.83,0.00,0.000,4,0.000,0.067,3113,710,2482
$GC,15875,1.63,85.9,401.3,7.6,754,15880,0.00,2.83,0.00,0.000,6,0.000,0.058,3113,2278,2482
$GC,16196,1.63,85.9,378.0,7.0,770,16197,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2278,2483
$GC,16506,1.67,85.9,353.4,8.6,785,16510,0.00,2.28,0.00,0.000,4,0.000,0.067,3113,3537,2484
$GC,16550,1.67,85.9,349.2,8.7,787,16554,0.00,2.28,0.00,0.000,6,0.000,0.054,3112,2264,2484
$GC,16879,1.72,85.9,320.2,9.2,803,16880,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2265,2485
$GC,17187,1.77,85.9,291.8,8.9,818,17191,0.00,2.35,0.00,0.000,4,0.000,0.064,3113,3548,2486
$GC,17251,1.77,85.9,286.2,8.8,821,17255,0.00,2.25,0.00,0.000,6,0.000,0.051,3113,2280,2487
$GC,17579,1.82,85.9,261.3,7.0,837,17584,0.12,2.33,0.00,0.000,4,0.060,0.062,3146,3543,2487
$GC,17652,1.73,85.9,254.9,8.9,840,17657,0.12,2.22,0.00,0.000,6,0.119,0.051,3125,2285,2488
$GC,17969,1.73,85.9,231.3,6.4,855,17970,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2272,2489
$GC,18277,1.73,85.9,209.7,9.0,870,18278,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2266,2490
$GC,18587,1.73,85.9,180.7,9.0,885,18591,0.00,2.80,0.00,0.000,4,0.000,0.061,3125,703,2490
$GC,18722,1.73,85.9,169.2,8.6,891,18726,0.00,2.85,0.00,0.000,6,0.000,0.053,3125,2304,2490
$GC,19043,1.73,85.9,131.8,13.6,907,19052,0.00,2.28,3.92,0.617,4,0.000,0.066,3125,3538,2481
$GC,19112,1.73,85.9,121.6,15.4,910,19117,0.00,2.20,0.00,0.000,6,0.000,0.051,3125,2294,2481
$GC,19440,1.73,85.9,84.0,8.0,926,19444,0.00,2.30,0.00,0.000,4,0.000,0.063,3125,3545,2481
$GC,19571,1.74,91.1,73.5,5.3,932,19582,0.00,2.17,6.38,0.732,6,0.000,0.051,3125,2322,2460
$GC,19900,1.75,96.4,62.3,5.3,948,19907,0.00,0.00,6.10,0.716,6,0.000,0.000,3125,2302,2438
$GC,20208,1.75,96.4,45.6,6.9,963,20212,0.00,2.25,0.00,0.000,4,0.000,0.062,3125,3542,2438
$GC,20405,1.78,115.7,32.8,3.3,972,20428,0.00,2.15,17.25,0.819,6,0.000,0.049,3125,2305,2360
$STATE,20692,end climb,SURFACE_DEPTH_REACHED
$STATE,20692,begin surface coast
$FINISH,0.6,1.027429
$STATE,20717,end surface coast,CONTROL_FINISHED_OK
$STATE,20717,begin surface
$SM_CCo,20742,80.40,0.821,0,0,1811,250.21
$SM_GC,1.40,0.00,0.00,80.40,0.000,0.000,0.821,423,1963,1811,-10.68,-1.02,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1796
$TCM_TEMP,16.80
$XPDR_PINGS,47
$ALTIM_BOTTOM_PING,800.7,73.7
$24V_AH,23.2,82.914
$10V_AH,10.1,42.042
$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,28.450,188.450,153.125,80.400,0.000,188.809,207.382,468.879,19.000,0.000,0.000,43.168,1950.766,15804.565,406.112,2638.514,1311.563,0.000,1646.023,0.000,2541.034,0.000,48.552,0.000
$DEVICE_MAMPS,141.128,90.506,1474.174,821.457,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,726.196,671.176,541.040,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50560,987
$CAP_FILE_SIZE,177538,0
$CFSIZE,254472192,221720576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,47,0,0
$GPS,220209,063706,6115.588,-753.256,36,1.5,36,-8.5