version: 66.04
glider: 5
mission: 5
dive: 162
start: 12 7 108 23 16 7
data:
$ID,5
$MISSION,5
$DIVE,162
$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,1
$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,-90357.094
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,19
$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,6
$VBD_PUMP_AD_RATE_APOGEE,4
$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,20
$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,0
$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
$GPS1,230838,6058.338,-431.372,38,1.0,38,-6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-57.3
$GPS2,231515,6058.266,-431.343,13,1.1,13,-6.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.112,-0.191
$KALMAN_X,69588.2,214.5,-54.7,6411.8,-841.9
$KALMAN_Y,23002.5,-581.6,-524.1,-321915.7,-2050.9
$MHEAD_RNG_PITCHd_Wd,156.4,83725,-11.0,-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,-0.97,-146.6,0.0,0.0,0,118,0.00,0.00,-99.25,0.000,6,0.000,0.000,422,1972,3431
$GC,122,-0.97,-146.6,5.8,-5.5,5,138,10.62,2.65,0.00,0.000,4,0.134,0.065,2479,3413,3432
$GC,369,-0.76,-146.6,43.2,-11.8,15,374,0.25,2.53,0.00,0.000,6,0.087,0.050,2532,2001,3433
$GC,691,-0.68,-146.6,68.9,-7.9,31,695,0.00,2.55,0.00,0.000,4,0.000,0.068,2532,594,3433
$GC,719,-0.60,-146.6,71.4,-8.4,32,724,0.17,2.53,0.00,0.000,6,0.084,0.054,2570,2005,3433
$GC,1035,-0.60,-146.6,93.3,-7.7,47,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2006,3433
$GC,1344,-0.60,-146.6,119.2,-8.7,62,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2006,3434
$GC,1653,-0.60,-146.6,145.4,-8.0,77,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2006,3433
$GC,1962,-0.60,-146.6,163.8,-5.0,92,1967,0.00,2.53,0.00,0.000,4,0.000,0.066,2570,3412,3434
$GC,1997,-0.65,-146.6,165.5,-4.9,93,2003,0.00,2.55,0.00,0.000,6,0.000,0.052,2570,1987,3434
$GC,2313,-0.65,-146.6,182.3,-6.4,109,2317,0.00,2.60,0.00,0.000,4,0.000,0.064,2570,3406,3434
$GC,2334,-0.65,-146.6,183.9,-6.9,110,2338,0.00,2.50,0.00,0.000,6,0.000,0.052,2570,2001,3434
$GC,2655,-0.65,-146.6,206.8,-7.0,126,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2000,3434
$GC,2965,-0.69,-146.6,230.4,-7.2,141,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2001,3434
$GC,3275,-0.73,-146.6,251.6,-6.8,156,3280,0.15,2.60,0.00,0.000,4,0.058,0.065,2529,3405,3434
$GC,3319,-0.67,-146.6,255.5,-8.8,158,3324,0.12,2.50,0.00,0.000,6,0.093,0.054,2555,2013,3434
$GC,3640,-0.67,-146.6,277.7,-6.8,174,3645,0.00,2.58,0.00,0.000,4,0.000,0.072,2555,586,3434
$GC,3674,-0.67,-146.6,280.1,-7.2,175,3681,0.00,2.58,0.00,0.000,6,0.000,0.056,2555,2028,3435
$GC,3990,-0.67,-146.6,303.3,-7.6,191,3994,0.00,2.67,0.00,0.000,4,0.000,0.074,2555,587,3434
$GC,4017,-0.67,-146.6,305.6,-7.9,192,4021,0.00,2.55,0.00,0.000,6,0.000,0.058,2555,2005,3434
$GC,4333,-0.67,-146.6,328.0,-7.1,207,4337,0.00,2.55,0.00,0.000,4,0.000,0.074,2555,3405,3434
$GC,4401,-0.67,-146.6,333.3,-8.2,210,4406,0.00,2.53,0.00,0.000,6,0.000,0.061,2555,2015,3434
$GC,4728,-0.67,-146.6,356.0,-6.7,226,4732,0.00,2.60,0.00,0.000,4,0.000,0.073,2555,3412,3433
$GC,4750,-0.67,-146.6,357.6,-6.6,227,4754,0.00,2.53,0.00,0.000,6,0.000,0.062,2555,2027,3433
$GC,5071,-0.67,-146.6,378.7,-6.7,243,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2027,3433
$GC,5382,-0.67,-146.6,400.8,-7.4,258,5387,0.00,2.65,0.00,0.000,4,0.000,0.081,2555,594,3432
$GC,5405,-0.67,-146.6,402.9,-8.2,259,5409,0.00,2.62,0.00,0.000,6,0.000,0.064,2555,2031,3432
$GC,5725,-0.67,-146.6,428.7,-8.2,275,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2033,3431
$GC,6034,-0.67,-146.6,452.1,-7.1,290,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2033,3430
$GC,6345,-0.67,-146.6,471.2,-5.7,305,6349,0.00,2.72,0.00,0.000,4,0.000,0.088,2555,598,3429
$GC,6372,-0.67,-146.6,472.8,-5.6,306,6376,0.00,2.65,0.00,0.000,6,0.000,0.070,2555,2037,3428
$GC,6688,-0.67,-146.6,489.7,-5.6,321,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2038,3428
$GC,6998,-0.67,-146.6,509.7,-7.1,336,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2038,3427
$GC,7307,-0.67,-146.6,532.0,-7.3,351,7311,0.00,2.75,0.00,0.000,4,0.000,0.092,2555,598,3426
$GC,7340,-0.67,-146.6,534.6,-7.7,352,7346,0.00,2.65,0.00,0.000,6,0.000,0.073,2555,2028,3426
$GC,7656,-0.71,-146.6,557.2,-6.9,368,7660,0.00,2.60,0.00,0.000,4,0.000,0.088,2555,3410,3424
$GC,7689,-0.76,-146.6,559.6,-7.7,369,7695,0.00,2.60,0.00,0.000,6,0.000,0.079,2555,2025,3424
$GC,8005,-0.80,-146.6,580.4,-6.5,385,8007,0.15,0.00,0.00,0.000,6,0.070,0.000,2519,2024,3423
$GC,8315,-0.74,-146.6,603.4,-7.4,400,8319,0.00,2.65,0.00,0.000,4,0.000,0.088,2519,3410,3422
$GC,8355,-0.69,-146.6,606.7,-7.7,402,8360,0.15,2.60,0.00,0.000,6,0.104,0.077,2549,2024,3422
$GC,8682,-0.69,-146.6,627.6,-6.5,418,8683,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2024,3421
$GC,8991,-0.69,-146.6,648.0,-6.8,433,8995,0.00,2.65,0.00,0.000,4,0.000,0.088,2549,3415,3421
$GC,9018,-0.69,-146.6,650.0,-7.5,434,9023,0.00,2.60,0.00,0.000,6,0.000,0.077,2549,2029,3421
$GC,9335,-0.69,-146.6,672.8,-7.3,449,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2029,3420
$GC,9643,-0.69,-146.6,694.0,-6.6,464,9648,0.00,2.65,0.00,0.000,4,0.000,0.088,2549,3413,3419
$GC,9665,-0.69,-146.6,695.6,-6.7,465,9670,0.00,2.58,0.00,0.000,6,0.000,0.076,2549,2041,3419
$GC,9988,-0.69,-146.6,715.5,-5.9,481,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2040,3418
$GC,10298,-0.69,-146.6,733.3,-5.7,496,10299,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2040,3418
$GC,10607,-0.69,-146.6,750.9,-5.9,511,10611,0.00,2.62,0.00,0.000,4,0.000,0.090,2549,3416,3417
$GC,10629,-0.69,-146.6,752.4,-6.0,512,10633,0.00,2.58,0.00,0.000,6,0.000,0.077,2549,2043,3417
$GC,10950,-0.69,-146.6,769.9,-5.3,528,10951,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2043,3416
$GC,11259,-0.69,-146.6,786.7,-5.6,543,11260,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2043,3416
$GC,11569,-0.69,-146.6,804.6,-5.8,558,11573,0.00,2.65,0.00,0.000,4,0.000,0.092,2549,3416,3416
$GC,11596,-0.73,-146.6,806.3,-6.1,559,11601,0.00,2.60,0.00,0.000,6,0.000,0.079,2549,2036,3416
$GC,11912,-0.73,-146.6,825.0,-6.1,574,11913,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2036,3415
$GC,12222,-0.73,-146.6,842.7,-5.5,589,12223,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2036,3415
$GC,12531,-0.73,-146.6,859.3,-5.3,604,12535,0.00,2.65,0.00,0.000,4,0.000,0.090,2549,3415,3415
$GC,12553,-0.73,-146.6,860.6,-5.2,605,12557,0.00,2.58,0.00,0.000,6,0.000,0.078,2549,2047,3415
$GC,12874,-0.73,-146.6,878.3,-6.1,621,12876,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2027,3414
$GC,13184,-0.77,-146.6,894.5,-5.2,636,13185,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2027,3414
$GC,13494,-0.82,-146.6,911.2,-5.3,651,13499,0.12,2.65,0.00,0.000,4,0.074,0.090,2518,3415,3414
$GC,13516,-0.82,-146.6,912.7,-5.9,652,13520,0.00,2.58,0.00,0.000,6,0.000,0.078,2518,2050,3414
$GC,13837,-0.77,-146.6,934.2,-7.0,668,13838,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2048,3414
$GC,14146,-0.77,-146.6,955.6,-7.1,683,14151,0.00,2.78,0.00,0.000,4,0.000,0.096,2518,585,3414
$GC,14174,-0.72,-146.6,957.7,-7.3,684,14180,0.12,2.75,0.00,0.000,6,0.109,0.077,2542,2055,3414
$GC,14490,-0.72,-146.6,977.5,-6.1,699,14494,0.00,2.55,0.00,0.000,4,0.000,0.094,2542,3407,3414
$GC,14523,-0.72,-146.6,979.6,-6.6,700,14530,0.00,2.58,0.00,0.000,6,0.000,0.081,2542,2042,3414
$STATE,14691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14691,begin apogee
$GC,14699,-0.33,0.0,990.3,6.0,709,14826,0.40,0.00,124.78,1.676,6,0.093,0.000,2624,2249,2832
$STATE,14827,end apogee,CONTROL_FINISHED_OK
$STATE,14827,begin climb
$GC,14830,0.97,146.6,994.1,0.0,715,14961,1.38,0.00,126.57,1.621,6,0.086,0.000,2907,2249,2234
$GC,15264,0.97,146.6,971.2,6.1,736,15269,0.00,2.78,0.00,0.000,4,0.000,0.096,2907,840,2233
$GC,15466,0.92,162.3,958.8,5.6,745,15486,0.00,2.58,15.00,1.479,6,0.000,0.076,2907,2199,2170
$GC,15817,0.90,179.5,938.6,5.5,762,15839,0.00,2.70,16.33,1.509,4,0.000,0.094,2907,845,2100
$GC,15886,0.85,179.5,934.3,6.2,765,15890,0.00,2.55,0.00,0.000,6,0.000,0.077,2907,2177,2099
$GC,16213,0.85,179.5,914.4,6.2,781,16217,0.00,2.62,0.00,0.000,4,0.000,0.095,2907,839,2099
$GC,16246,0.80,179.5,912.2,6.4,782,16253,0.17,2.53,0.00,0.000,6,0.103,0.077,2875,2168,2099
$GC,16563,0.92,211.2,895.7,5.1,798,16595,0.12,0.00,29.15,1.565,6,0.072,0.000,2904,2168,1971
$GC,16891,0.92,211.2,874.4,6.6,814,16895,0.00,2.58,0.00,0.000,4,0.000,0.094,2905,845,1970
$GC,16935,0.92,211.2,871.3,6.2,816,16940,0.00,2.50,0.00,0.000,6,0.000,0.077,2904,2162,1970
$GC,17257,0.92,211.2,850.4,6.4,832,17258,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2162,1970
$GC,17566,0.92,211.2,831.0,6.3,847,17570,0.00,2.55,0.00,0.000,4,0.000,0.094,2904,845,1970
$GC,17593,0.92,211.2,829.1,6.4,848,17597,0.00,2.47,0.00,0.000,6,0.000,0.076,2905,2154,1970
$GC,17909,0.95,230.8,810.5,5.5,863,17934,0.00,2.65,18.33,1.499,4,0.000,0.094,2904,850,1891
$GC,17953,0.99,255.1,807.9,5.3,865,17982,0.00,2.47,22.45,1.494,6,0.000,0.076,2904,2144,1792
$GC,18309,1.09,283.5,788.0,5.2,882,18337,0.12,0.00,26.12,1.493,6,0.072,0.000,2937,2144,1676
$GC,18635,1.09,283.5,765.6,6.9,898,18639,0.00,2.53,0.00,0.000,4,0.000,0.095,2937,845,1677
$GC,18698,1.03,283.5,760.9,7.2,901,18702,0.00,2.45,0.00,0.000,6,0.000,0.077,2937,2139,1677
$GC,19024,1.03,283.5,736.5,7.5,917,19028,0.00,2.53,0.00,0.000,4,0.000,0.095,2937,841,1677
$GC,19064,0.98,283.5,733.2,8.7,919,19069,0.12,2.42,0.00,0.000,6,0.107,0.077,2912,2123,1677
$GC,19391,1.03,283.5,709.7,7.4,935,19392,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2123,1677
$GC,19700,1.09,283.5,687.2,7.3,950,19705,0.12,2.47,0.00,0.000,4,0.073,0.093,2943,845,1677
$GC,19722,1.09,283.5,685.3,9.4,951,19726,0.00,2.40,0.00,0.000,6,0.000,0.076,2943,2119,1677
$GC,20049,1.09,283.5,656.7,8.8,967,20053,0.00,2.47,0.00,0.000,4,0.000,0.094,2943,846,1677
$GC,20077,1.04,283.5,653.9,8.6,968,20081,0.00,2.38,0.00,0.000,6,0.000,0.074,2943,2105,1677
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$STATE,28393,end climb,SURFACE_DEPTH_REACHED
$STATE,28394,begin surface coast
$FINISH,0.2,1.027445
$STATE,28436,end surface coast,CONTROL_FINISHED_OK
$STATE,28439,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1784
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$XPDR_PINGS,181
$ALTIM_TOP_PING,19.2,18.4
$24V_AH,23.5,28.770
$10V_AH,10.0,13.707
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$DEVICE_SECS,26.200,245.175,401.475,0.000,0.000,37.761,38.957,178.425,54.250,0.000,0.000,13.785,2483.417,22344.447,618.330,2741.154,717.714,33.370,2008.873,0.000,2680.520,0.000,58.582,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69507,1372
$CAP_FILE_SIZE,205591,0
$CFSIZE,254472192,242642944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,77,0,0
$GPS,081208,071240,6053.708,-423.149,31,2.0,33,-6.6