version: 66.04
glider: 5
mission: 5
dive: 483
start: 2 23 109 11 19 59
data:
$ID,5
$MISSION,5
$DIVE,483
$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,330
$T_MISSION,360
$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,-96846.844
$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,24
$R_STBD_OVSHOOT,22
$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
$GPS1,111331,6116.931,-751.123,41,1.3,41,-8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-64.0
$GPS2,111938,6116.938,-751.023,15,1.5,15,-8.5
$SPEED_LIMITS,0.173,0.264
$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,202.1,3694,-26.0,-10.000
$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,-1.85,-71.5,0.0,0.0,0,83,0.00,0.00,-64.65,0.000,6,0.000,0.000,420,1970,3125
$GC,87,-1.96,-141.2,3.7,-3.5,4,111,10.18,2.67,-7.90,0.000,4,0.141,0.074,2313,3408,3409
$GC,181,-1.96,-141.2,23.6,-20.8,8,185,0.00,2.55,0.00,0.000,6,0.000,0.051,2313,1990,3408
$GC,508,-1.91,-141.2,92.6,-20.9,24,512,0.00,2.50,0.00,0.000,4,0.000,0.062,2314,592,3409
$GC,566,-1.85,-141.2,105.0,-22.3,26,573,0.12,2.50,0.00,0.000,6,0.117,0.051,2337,1993,3409
$GC,882,-1.85,-141.2,165.7,-18.8,42,886,0.00,2.55,0.00,0.000,4,0.000,0.062,2337,588,3409
$GC,948,-1.85,-141.2,178.8,-19.4,45,953,0.00,2.50,0.00,0.000,6,0.000,0.052,2337,1981,3409
$GC,1272,-1.85,-141.2,237.6,-18.0,61,1276,0.00,2.53,0.00,0.000,4,0.000,0.062,2336,591,3409
$GC,1349,-1.85,-141.2,252.7,-19.2,64,1355,0.00,2.47,0.00,0.000,6,0.000,0.052,2337,1979,3409
$GC,1666,-1.85,-141.2,311.5,-18.5,80,1670,0.00,2.50,0.00,0.000,4,0.000,0.063,2336,594,3409
$GC,1772,-1.85,-141.2,332.2,-18.6,84,1778,0.00,2.45,0.00,0.000,6,0.000,0.051,2336,1962,3409
$GC,2088,-1.85,-141.2,389.4,-17.8,100,2092,0.00,2.50,0.00,0.000,4,0.000,0.064,2336,585,3409
$GC,2122,-1.85,-141.2,395.7,-18.3,101,2128,0.00,2.42,0.00,0.000,6,0.000,0.052,2336,1940,3409
$GC,2438,-1.85,-141.2,455.5,-19.1,117,2442,0.00,2.47,0.00,0.000,4,0.000,0.065,2336,580,3409
$GC,2560,-1.85,-141.2,478.5,-18.9,122,2566,0.00,2.35,0.00,0.000,6,0.000,0.053,2336,1899,3410
$GC,2877,-1.85,-141.2,533.4,-17.1,138,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1900,3410
$GC,3185,-1.85,-141.2,583.9,-16.0,153,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1918,3410
$GC,3495,-1.85,-141.2,631.5,-15.7,168,3500,0.00,2.75,0.00,0.000,4,0.000,0.075,2336,3403,3410
$GC,3562,-1.90,-141.2,642.5,-16.1,171,3567,0.00,2.78,0.00,0.000,6,0.000,0.066,2336,1890,3410
$GC,3883,-1.90,-141.2,693.3,-15.6,187,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1890,3409
$GC,4194,-1.90,-141.2,740.8,-15.5,202,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1890,3408
$GC,4502,-1.90,-141.2,788.7,-15.5,217,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1890,3407
$STATE,4788,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4788,begin apogee
$GC,4797,-0.33,0.0,833.4,15.8,231,4931,1.65,0.00,129.65,1.467,6,0.100,0.000,2667,2134,2833
$STATE,4932,end apogee,CONTROL_FINISHED_OK
$STATE,4932,begin climb
$GC,4935,1.96,141.2,839.4,0.0,238,5075,2.33,2.78,129.18,1.424,4,0.067,0.086,3170,3527,2256
$GC,5337,1.82,141.2,787.3,16.6,256,5342,0.17,2.65,0.00,0.000,6,0.127,0.075,3142,2128,2255
$GC,5664,1.82,141.2,740.1,13.9,272,5669,0.00,2.72,0.00,0.000,4,0.000,0.087,3142,3534,2254
$GC,5789,1.75,141.2,721.7,14.7,277,5795,0.00,2.65,0.00,0.000,6,0.000,0.074,3142,2131,2253
$GC,6105,1.75,141.2,678.0,13.5,293,6110,0.00,2.70,0.00,0.000,4,0.000,0.087,3142,3529,2251
$GC,6196,1.69,141.2,665.3,14.1,297,6201,0.15,2.60,0.00,0.000,6,0.127,0.074,3116,2144,2252
$GC,6517,1.69,141.2,626.2,12.1,313,6522,0.00,2.67,0.00,0.000,4,0.000,0.087,3116,3528,2251
$GC,6630,1.69,141.2,611.4,13.1,318,6635,0.00,2.58,0.00,0.000,6,0.000,0.072,3116,2158,2250
$GC,6952,1.69,141.2,572.9,12.1,334,6956,0.00,2.65,0.00,0.000,4,0.000,0.087,3116,3533,2249
$GC,7149,1.69,141.2,547.8,12.2,343,7153,0.00,2.47,0.00,0.000,6,0.000,0.070,3116,2201,2248
$GC,7476,1.69,141.2,508.6,12.2,359,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2201,2248
$GC,7785,1.73,141.2,472.7,11.6,374,7789,0.00,2.53,0.00,0.000,4,0.000,0.080,3116,3528,2248
$GC,8020,1.73,141.2,443.4,12.7,384,8024,0.00,2.45,0.00,0.000,6,0.000,0.062,3115,2192,2248
$GC,8336,1.78,141.2,406.5,11.9,399,8340,0.00,2.70,0.00,0.000,4,0.000,0.070,3116,707,2248
$GC,8369,1.78,141.2,402.1,12.8,400,8376,0.00,2.72,0.00,0.000,6,0.000,0.061,3116,2209,2248
$GC,8686,1.78,141.2,364.9,11.7,416,8691,0.00,2.42,0.00,0.000,4,0.000,0.072,3116,3528,2247
$GC,8794,1.78,141.2,351.4,12.5,421,8799,0.00,2.35,0.00,0.000,6,0.000,0.056,3115,2226,2248
$GC,9123,1.85,141.2,311.7,12.3,437,9125,0.15,0.00,0.00,0.000,6,0.062,0.000,3153,2226,2249
$GC,9431,1.85,141.2,269.9,13.3,452,9435,0.00,2.42,0.00,0.000,4,0.000,0.067,3153,3539,2249
$GC,9493,1.77,141.2,261.3,13.3,455,9498,0.12,2.35,0.00,0.000,6,0.113,0.053,3131,2226,2250
$GC,9822,1.77,141.2,220.9,12.2,471,9826,0.00,2.40,0.00,0.000,4,0.000,0.066,3130,3531,2251
$GC,9861,1.77,141.2,215.8,13.1,473,9865,0.00,2.33,0.00,0.000,6,0.000,0.051,3130,2228,2251
$GC,10188,1.77,141.2,176.3,11.8,489,10192,0.00,2.40,0.00,0.000,4,0.000,0.065,3131,3533,2252
$GC,10251,1.77,141.2,168.6,12.6,491,10257,0.00,2.30,0.00,0.000,6,0.000,0.050,3131,2242,2252
$GC,10567,1.77,141.2,132.1,11.4,507,10572,0.00,2.38,0.00,0.000,4,0.000,0.064,3131,3537,2253
$GC,10635,1.77,141.2,123.7,11.9,510,10639,0.00,2.28,0.00,0.000,6,0.000,0.049,3131,2252,2254
$GC,10958,1.77,141.2,86.8,11.3,526,10962,0.00,2.35,0.00,0.000,4,0.000,0.065,3130,3530,2254
$GC,11002,1.77,141.2,81.1,12.1,528,11006,0.00,2.25,0.00,0.000,6,0.000,0.051,3131,2257,2254
$GC,11331,1.77,141.2,42.5,12.2,544,11335,0.00,2.35,0.00,0.000,4,0.000,0.065,3131,3538,2255
$GC,11431,1.77,141.2,28.6,14.1,548,11438,0.00,2.28,0.00,0.000,6,0.000,0.051,3130,2259,2256
$STATE,11622,end climb,SURFACE_DEPTH_REACHED
$STATE,11622,begin surface coast
$FINISH,0.8,1.027418
$STATE,11643,end surface coast,CONTROL_FINISHED_OK
$STATE,11643,begin surface
$SM_CCo,11667,62.00,0.826,0,0,1812,250.21
$SM_GC,1.61,0.00,0.00,62.00,0.000,0.000,0.826,426,1975,1812,-10.67,-0.68,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1814
$TCM_TEMP,16.80
$XPDR_PINGS,31
$ALTIM_BOTTOM_PING,750.4,92.6
$24V_AH,23.2,83.518
$10V_AH,10.1,42.573
$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,26.775,111.100,258.825,62.000,0.000,37.763,27.204,152.410,14.500,0.000,0.000,15.698,1095.234,8627.954,441.289,1431.987,496.281,0.000,1160.386,0.000,1388.882,0.000,45.402,0.000
$DEVICE_MAMPS,141.128,87.438,1467.271,826.059,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.669,376.367,324.574,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28525,559
$CAP_FILE_SIZE,95385,0
$CFSIZE,254472192,221380608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,0,0
$GPS,230209,143636,6116.104,-750.619,26,1.1,26,-8.5