version: 66.04
glider: 5
mission: 5
dive: 469
start: 2 20 109 1 52 3
data:
$ID,5
$MISSION,5
$DIVE,469
$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,-96580.422
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,014456,6116.416,-753.630,69,1.2,69,-8.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-62.9
$GPS2,015143,6116.379,-753.572,16,1.5,33,-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,159.8,2913,-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,-28.8,0.0,0.0,0,77,0.00,0.00,-55.47,0.000,6,0.000,0.000,427,1969,2951
$GC,81,-1.88,-39.3,3.9,-4.6,3,98,9.90,2.62,-1.23,0.000,4,0.133,0.073,2328,3415,2994
$GC,328,-1.76,-39.3,47.8,-17.5,13,333,0.17,2.55,0.00,0.000,6,0.108,0.051,2360,1996,2993
$GC,651,-1.76,-39.3,87.8,-12.0,29,655,0.00,2.53,0.00,0.000,4,0.000,0.064,2361,583,2994
$GC,828,-1.69,-39.3,111.1,-13.0,37,833,0.00,2.47,0.00,0.000,6,0.000,0.051,2360,1973,2994
$GC,1158,-1.69,-39.3,152.7,-12.8,53,1162,0.00,2.50,0.00,0.000,4,0.000,0.067,2360,592,2994
$GC,1237,-1.64,-39.3,163.6,-13.8,56,1242,0.12,2.42,0.00,0.000,6,0.112,0.051,2382,1956,2994
$GC,1554,-1.70,-39.3,200.7,-11.8,71,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1957,2994
$GC,1864,-1.74,-39.3,235.7,-11.4,86,1868,0.00,2.47,0.00,0.000,4,0.000,0.064,2382,592,2994
$GC,1891,-1.74,-39.3,239.3,-11.8,87,1895,0.00,2.40,0.00,0.000,6,0.000,0.051,2382,1941,2994
$GC,2211,-1.79,-39.3,275.6,-11.5,102,2215,0.15,2.47,0.00,0.000,4,0.057,0.063,2345,588,2994
$GC,2300,-1.69,-39.3,288.3,-13.7,106,2305,0.15,2.40,0.00,0.000,6,0.107,0.051,2373,1940,2994
$GC,2624,-1.69,-39.3,326.2,-11.7,122,2628,0.00,2.45,0.00,0.000,4,0.000,0.064,2374,590,2994
$GC,2679,-1.69,-39.3,333.5,-12.6,124,2685,0.00,2.38,0.00,0.000,6,0.000,0.051,2373,1930,2994
$GC,2995,-1.69,-39.3,371.8,-12.4,140,3000,0.00,2.65,0.00,0.000,4,0.000,0.065,2373,3402,2994
$GC,3040,-1.69,-39.3,377.5,-12.3,142,3044,0.00,2.65,0.00,0.000,6,0.000,0.055,2373,1927,2993
$GC,3362,-1.69,-39.3,413.8,-11.0,158,3366,0.00,2.70,0.00,0.000,4,0.000,0.065,2373,3406,2994
$GC,3446,-1.69,-39.3,424.4,-12.7,162,3451,0.00,2.65,0.00,0.000,6,0.000,0.055,2373,1927,2994
$GC,3780,-1.69,-39.3,462.0,-10.6,178,3784,0.00,2.40,0.00,0.000,4,0.000,0.065,2374,581,2994
$GC,3903,-1.69,-39.3,476.3,-10.8,183,3911,0.00,2.38,0.00,0.000,6,0.000,0.053,2373,1919,2994
$GC,4219,-1.69,-39.3,510.7,-11.5,199,4223,0.00,2.67,0.00,0.000,4,0.000,0.067,2373,3402,2994
$GC,4277,-1.69,-39.3,517.4,-11.9,201,4283,0.00,2.67,0.00,0.000,6,0.000,0.058,2373,1918,2994
$GC,4594,-1.74,-39.3,550.7,-9.3,217,4598,0.00,2.38,0.00,0.000,4,0.000,0.067,2373,591,2994
$GC,4662,-1.74,-39.3,556.8,-8.5,220,4666,0.00,2.28,0.00,0.000,6,0.000,0.054,2373,1873,2994
$GC,4991,-1.79,-39.3,583.1,-8.1,236,4996,0.00,2.78,0.00,0.000,4,0.000,0.070,2373,3401,2994
$GC,5121,-1.79,-39.3,595.6,-9.9,242,5125,0.00,2.75,0.00,0.000,6,0.000,0.061,2374,1883,2994
$GC,5449,-1.84,-39.3,629.5,-10.9,258,5453,0.15,2.35,0.00,0.000,4,0.062,0.074,2336,585,2994
$GC,5645,-1.74,-39.3,654.2,-12.4,266,5652,0.15,2.25,0.00,0.000,6,0.114,0.061,2363,1835,2993
$GC,5961,-1.74,-39.3,687.0,-9.8,282,5965,0.00,2.35,0.00,0.000,4,0.000,0.080,2363,587,2993
$GC,6034,-1.74,-39.3,695.2,-11.4,285,6038,0.00,2.22,0.00,0.000,6,0.000,0.065,2363,1810,2993
$GC,6352,-1.74,-39.3,726.5,-9.6,300,6356,0.00,2.95,0.00,0.000,4,0.000,0.082,2363,3409,2991
$GC,6482,-1.74,-39.3,739.9,-10.4,306,6486,0.00,2.95,0.00,0.000,6,0.000,0.073,2363,1818,2991
$GC,6809,-1.74,-39.3,772.0,-10.0,322,6814,0.00,3.00,0.00,0.000,4,0.000,0.084,2363,3400,2990
$GC,6858,-1.74,-39.3,777.0,-9.7,324,6863,0.00,2.90,0.00,0.000,6,0.000,0.076,2363,1844,2990
$GC,7174,-1.74,-39.3,806.7,-9.4,339,7179,0.00,2.95,0.00,0.000,4,0.000,0.084,2363,3399,2990
$GC,7225,-1.74,-39.3,811.6,-9.4,341,7230,0.00,2.90,0.00,0.000,6,0.000,0.077,2363,1849,2989
$GC,7541,-1.74,-39.3,839.2,-8.1,356,7546,0.00,2.95,0.00,0.000,4,0.000,0.086,2363,3399,2987
$GC,7626,-1.74,-39.3,847.4,-9.4,360,7631,0.00,2.88,0.00,0.000,6,0.000,0.076,2363,1860,2987
$STATE,7723,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7723,begin apogee
$GC,7730,-0.33,0.0,856.0,8.7,365,7771,1.52,0.00,36.50,1.475,6,0.107,0.000,2668,2115,2832
$STATE,7771,end apogee,CONTROL_FINISHED_OK
$STATE,7772,begin climb
$GC,7775,1.88,39.3,857.4,0.0,367,7818,2.22,0.00,38.22,1.457,6,0.067,0.000,3154,2114,2671
$GC,8130,1.74,43.2,840.2,5.5,384,8141,0.15,2.72,4.85,1.055,4,0.127,0.087,3129,3530,2656
$GC,8397,1.62,51.6,827.1,4.8,396,8413,0.17,2.60,9.35,1.301,6,0.118,0.074,3098,2147,2621
$GC,8725,1.62,53.5,808.6,5.7,411,8729,0.00,2.65,0.00,0.000,4,0.000,0.086,3098,3520,2620
$GC,8955,1.57,53.5,793.9,6.8,421,8960,0.00,2.58,0.00,0.000,6,0.000,0.074,3098,2150,2619
$GC,9272,1.57,53.5,774.7,6.0,436,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2150,2618
$GC,9581,1.58,55.8,756.3,5.7,451,9591,0.00,2.67,5.15,1.104,4,0.000,0.087,3098,3523,2603
$GC,9759,1.58,55.8,744.7,6.5,459,9764,0.00,2.55,0.00,0.000,6,0.000,0.073,3098,2165,2603
$GC,10081,1.58,57.8,725.9,5.7,475,10086,0.00,2.62,0.00,0.000,4,0.000,0.087,3098,3527,2602
$GC,10252,1.58,57.8,715.0,6.4,482,10258,0.00,2.53,0.00,0.000,6,0.000,0.074,3098,2177,2603
$GC,10568,1.58,58.8,695.9,5.9,498,10578,0.00,2.65,3.85,0.927,4,0.000,0.087,3098,3521,2592
$GC,10682,1.54,58.8,688.6,6.9,503,10686,0.00,2.47,0.00,0.000,6,0.000,0.073,3098,2198,2592
$GC,11015,1.54,58.8,668.1,6.3,519,11016,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2199,2592
$GC,11325,1.54,58.8,648.6,6.5,534,11329,0.00,2.78,0.00,0.000,4,0.000,0.084,3098,710,2591
$GC,11582,1.54,58.8,631.2,6.3,545,11589,0.00,2.70,0.00,0.000,6,0.000,0.073,3098,2168,2591
$GC,11898,1.56,69.9,614.9,4.5,561,11919,0.00,2.83,11.30,1.285,4,0.000,0.081,3098,712,2546
$GC,12012,1.56,73.9,608.7,5.4,566,12022,0.00,2.72,5.43,1.077,6,0.000,0.074,3098,2168,2530
$GC,12339,1.56,73.9,587.9,6.1,582,12343,0.00,2.60,0.00,0.000,4,0.000,0.087,3098,3539,2529
$GC,12596,1.56,73.9,570.7,6.6,593,12602,0.00,2.47,0.00,0.000,6,0.000,0.070,3097,2209,2529
$GC,12912,1.61,73.9,549.0,7.0,609,12916,0.00,2.55,0.00,0.000,4,0.000,0.083,3098,3541,2529
$GC,13171,1.61,73.9,530.7,6.7,620,13177,0.00,2.45,0.00,0.000,6,0.000,0.067,3098,2209,2529
$GC,13489,1.66,81.8,514.7,4.9,636,13503,0.00,2.58,8.40,1.154,4,0.000,0.078,3098,3528,2498
$GC,13627,1.66,81.8,505.7,6.8,642,13631,0.00,2.35,0.00,0.000,6,0.000,0.065,3098,2251,2498
$GC,13950,1.71,81.8,485.5,6.1,658,13955,0.00,2.83,0.00,0.000,4,0.000,0.074,3098,710,2499
$GC,13967,1.71,81.8,484.1,6.6,659,13972,0.00,2.85,0.00,0.000,6,0.000,0.064,3098,2267,2498
$GC,14294,1.78,81.8,462.7,6.6,675,14299,0.15,2.35,0.00,0.000,4,0.064,0.075,3133,3540,2499
$GC,14484,1.70,81.8,447.5,8.0,683,14491,0.00,2.30,0.00,0.000,6,0.000,0.059,3133,2268,2498
$GC,14800,1.70,81.8,425.2,7.5,699,14802,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2258,2499
$GC,15111,1.70,81.8,401.2,7.9,714,15112,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2258,2500
$GC,15419,1.70,81.8,376.5,7.9,729,15420,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2258,2501
$GC,15728,1.70,81.8,352.2,7.8,744,15729,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2258,2502
$GC,16037,1.70,81.8,329.8,6.9,759,16041,0.00,2.33,0.00,0.000,4,0.000,0.066,3133,3537,2503
$GC,16111,1.64,81.8,324.1,7.8,762,16116,0.15,2.22,0.00,0.000,6,0.114,0.052,3107,2283,2503
$GC,16433,1.70,81.8,302.4,6.5,778,16437,0.00,2.33,0.00,0.000,4,0.000,0.065,3107,3544,2504
$GC,16489,1.70,81.8,298.3,8.2,780,16496,0.00,2.22,0.00,0.000,6,0.000,0.051,3107,2288,2504
$GC,16806,1.77,81.8,277.5,6.7,796,16811,0.12,2.83,0.00,0.000,4,0.060,0.061,3136,703,2505
$GC,16891,1.70,81.8,270.9,7.5,800,16896,0.00,2.85,0.00,0.000,6,0.000,0.053,3136,2305,2505
$GC,17219,1.70,81.8,245.2,7.8,816,17220,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2305,2506
$GC,17528,1.70,81.8,221.5,7.8,831,17533,0.00,0.00,3.85,0.652,6,0.000,0.000,3136,2305,2498
$GC,17838,1.70,81.8,197.6,7.7,846,17843,0.12,2.90,0.00,0.000,4,0.113,0.060,3115,706,2498
$GC,17928,1.70,81.8,190.2,7.6,850,17932,0.00,2.83,0.00,0.000,6,0.000,0.054,3115,2289,2498
$GC,18249,1.75,81.8,165.7,7.5,866,18253,0.00,2.25,0.00,0.000,4,0.000,0.065,3115,3540,2499
$GC,18312,1.75,81.8,160.5,8.2,869,18316,0.00,2.25,0.00,0.000,6,0.000,0.049,3115,2268,2499
$GC,18640,1.81,81.8,135.8,7.2,885,18642,0.10,0.00,0.00,0.000,6,0.064,0.000,3142,2268,2500
$GC,18950,1.81,81.8,110.6,8.4,900,18954,0.00,2.33,0.00,0.000,4,0.000,0.063,3142,3545,2500
$GC,19128,1.75,81.8,95.3,8.2,908,19132,0.00,2.22,0.00,0.000,6,0.000,0.048,3142,2281,2500
$GC,19458,1.75,81.8,70.7,7.0,924,19462,0.00,2.30,0.00,0.000,4,0.000,0.062,3142,3545,2500
$GC,19523,1.69,81.8,65.0,9.6,927,19527,0.15,2.20,0.00,0.000,6,0.109,0.048,3114,2292,2500
$GC,19850,1.74,81.8,40.1,8.7,943,19854,0.00,2.28,0.00,0.000,4,0.000,0.062,3115,3537,2500
$GC,19884,1.74,81.8,36.8,8.7,944,19890,0.00,2.20,0.00,0.000,6,0.000,0.049,3115,2292,2500
$GC,20200,1.75,91.3,14.3,4.7,960,20215,0.00,2.30,10.30,0.765,4,0.000,0.061,3115,3544,2459
$STATE,20344,end climb,SURFACE_DEPTH_REACHED
$STATE,20344,begin surface coast
$FINISH,2.6,1.027418
$STATE,20354,end surface coast,CONTROL_FINISHED_OK
$STATE,20354,begin surface
$SM_CCo,20381,98.43,0.825,0,0,1812,250.21
$SM_GC,1.21,0.00,0.00,98.43,0.000,0.000,0.825,423,1972,1812,-10.68,-0.79,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1781
$TCM_TEMP,18.90
$XPDR_PINGS,62
$ALTIM_BOTTOM_PING,775.5,90.2
$24V_AH,23.2,82.024
$10V_AH,10.1,41.258
$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,27.950,199.800,137.200,98.425,0.000,37.762,30.430,174.198,22.500,0.000,0.000,35.932,1925.411,15229.396,425.559,2634.217,666.950,0.000,1677.300,0.000,2545.184,0.000,47.000,0.000
$DEVICE_MAMPS,132.691,87.438,1474.941,824.525,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,708.385,656.637,529.203,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50524,966
$CAP_FILE_SIZE,166235,0
$CFSIZE,254472192,222330880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,58,0,0
$GPS,200209,073436,6116.393,-753.438,31,1.3,31,-8.5