version: 66.04
glider: 5
mission: 5
dive: 163
start: 12 8 108 7 20 28
data:
$ID,5
$MISSION,5
$DIVE,163
$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,-90388.023
$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,32
$R_STBD_OVSHOOT,18
$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
$GPS1,071240,6053.708,-423.149,31,2.0,33,-6.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-63.8
$GPS2,071937,6053.670,-423.018,14,1.1,30,-6.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.117,-0.188
$KALMAN_X,71780.9,511.5,858.7,9850.8,-724.5
$KALMAN_Y,18988.5,480.9,198.4,-328213.3,-4941.3
$MHEAD_RNG_PITCHd_Wd,154.5,73171,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.43,0.000,2,0.000,0.000,421,1979,3141
$GC,103,-0.97,-146.6,3.5,-4.1,4,128,10.73,2.65,-7.90,0.000,4,0.139,0.074,2482,3410,3432
$GC,382,-0.79,-146.6,39.7,-7.9,16,387,0.20,2.53,0.00,0.000,6,0.094,0.052,2524,2006,3433
$GC,699,-0.66,-146.6,69.1,-9.8,31,704,0.15,2.58,0.00,0.000,4,0.091,0.069,2556,587,3433
$GC,754,-0.66,-146.6,75.1,-8.6,33,761,0.00,2.53,0.00,0.000,6,0.000,0.054,2556,1994,3433
$GC,1071,-0.66,-146.6,97.6,-7.0,49,1075,0.00,2.60,0.00,0.000,4,0.000,0.070,2556,595,3433
$GC,1098,-0.66,-146.6,99.7,-7.2,50,1102,0.00,2.47,0.00,0.000,6,0.000,0.054,2556,1972,3433
$GC,1415,-0.66,-146.6,120.9,-7.5,65,1420,0.00,2.60,0.00,0.000,4,0.000,0.065,2556,3412,3433
$GC,1433,-0.66,-146.6,123.1,-9.8,66,1438,0.00,2.58,0.00,0.000,6,0.000,0.051,2556,1961,3433
$GC,1761,-0.66,-146.6,151.4,-9.1,82,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1961,3434
$GC,2071,-0.66,-146.6,175.4,-6.8,97,2075,0.00,2.65,0.00,0.000,4,0.000,0.064,2556,3408,3434
$GC,2115,-0.66,-146.6,178.8,-7.7,99,2119,0.00,2.60,0.00,0.000,6,0.000,0.051,2556,1953,3434
$GC,2436,-0.66,-146.6,203.4,-8.0,115,2440,0.00,2.65,0.00,0.000,4,0.000,0.064,2556,3405,3434
$GC,2475,-0.66,-146.6,206.6,-8.7,117,2480,0.00,2.55,0.00,0.000,6,0.000,0.051,2556,1976,3434
$GC,2803,-0.66,-146.6,231.4,-7.6,133,2807,0.00,2.62,0.00,0.000,4,0.000,0.065,2556,3413,3434
$GC,2858,-0.66,-146.6,236.3,-8.7,135,2864,0.00,2.58,0.00,0.000,6,0.000,0.053,2556,1972,3434
$GC,3174,-0.66,-146.6,259.2,-7.5,151,3178,0.00,2.62,0.00,0.000,4,0.000,0.066,2556,3412,3434
$GC,3207,-0.66,-146.6,262.0,-7.9,152,3213,0.00,2.55,0.00,0.000,6,0.000,0.054,2557,1992,3434
$GC,3523,-0.66,-146.6,283.4,-7.0,168,3527,0.00,2.55,0.00,0.000,4,0.000,0.071,2556,585,3435
$GC,3562,-0.66,-146.6,286.5,-8.0,170,3566,0.00,2.53,0.00,0.000,6,0.000,0.055,2556,1999,3435
$GC,3890,-0.66,-146.6,308.3,-5.9,186,3894,0.00,2.55,0.00,0.000,4,0.000,0.071,2556,3405,3435
$GC,3934,-0.70,-146.6,311.0,-6.0,188,3939,0.00,2.55,0.00,0.000,6,0.000,0.058,2556,1995,3435
$GC,4256,-0.70,-146.6,329.7,-6.6,204,4260,0.00,2.60,0.00,0.000,4,0.000,0.072,2556,3405,3435
$GC,4289,-0.70,-146.6,332.2,-7.5,205,4296,0.00,2.53,0.00,0.000,6,0.000,0.060,2556,2011,3435
$GC,4605,-0.70,-146.6,353.6,-6.4,221,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2011,3434
$GC,4914,-0.70,-146.6,372.5,-6.2,236,4919,0.00,2.60,0.00,0.000,4,0.000,0.076,2556,3403,3434
$GC,4936,-0.70,-146.6,373.7,-5.5,237,4941,0.00,2.55,0.00,0.000,6,0.000,0.064,2556,2008,3434
$GC,5258,-0.70,-146.6,391.7,-5.5,253,5263,0.00,2.62,0.00,0.000,4,0.000,0.077,2556,3410,3433
$GC,5285,-0.70,-146.6,393.4,-6.2,254,5290,0.00,2.58,0.00,0.000,6,0.000,0.066,2556,2010,3433
$GC,5601,-0.70,-146.6,414.5,-6.8,269,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2009,3432
$GC,5910,-0.70,-146.6,434.0,-5.8,284,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2009,3431
$GC,6219,-0.70,-146.6,453.8,-6.7,299,6224,0.00,2.62,0.00,0.000,4,0.000,0.081,2556,3403,3429
$GC,6253,-0.75,-146.6,456.1,-7.1,300,6260,0.00,2.58,0.00,0.000,6,0.000,0.072,2556,2012,3429
$GC,6570,-0.79,-146.6,479.4,-7.8,316,6572,0.15,0.00,0.00,0.000,6,0.069,0.000,2520,2011,3428
$GC,6880,-0.73,-146.6,504.6,-7.9,331,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2011,3427
$GC,7188,-0.67,-146.6,528.2,-7.3,346,7190,0.15,0.00,0.00,0.000,6,0.104,0.000,2550,2011,3426
$GC,7497,-0.67,-146.6,549.7,-6.9,361,7502,0.00,2.62,0.00,0.000,4,0.000,0.085,2550,3402,3425
$GC,7525,-0.67,-146.6,551.9,-7.6,362,7530,0.00,2.58,0.00,0.000,6,0.000,0.074,2550,2021,3425
$GC,7846,-0.67,-146.6,574.7,-7.0,378,7847,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2021,3424
$GC,8155,-0.67,-146.6,594.9,-6.1,393,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2021,3424
$GC,8465,-0.67,-146.6,613.8,-6.2,408,8466,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2021,3423
$GC,8774,-0.67,-146.6,634.1,-6.6,423,8775,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2021,3423
$GC,9083,-0.67,-146.6,654.1,-6.1,438,9084,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2021,3421
$GC,9393,-0.67,-146.6,672.6,-5.9,453,9394,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2021,3421
$GC,9701,-0.67,-146.6,690.8,-6.1,468,9706,0.00,2.65,0.00,0.000,4,0.000,0.090,2550,3402,3420
$GC,9731,-0.67,-146.6,692.7,-6.8,469,9735,0.00,2.58,0.00,0.000,6,0.000,0.077,2550,2029,3420
$GC,10047,-0.67,-146.6,713.8,-7.1,484,10048,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2029,3419
$GC,10356,-0.67,-146.6,736.5,-7.4,499,10357,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2029,3419
$GC,10665,-0.67,-146.6,758.1,-6.9,514,10666,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2029,3418
$GC,10974,-0.67,-146.6,778.2,-6.6,529,10975,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2029,3418
$GC,11283,-0.67,-146.6,798.1,-6.3,544,11284,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2029,3417
$GC,11593,-0.72,-146.6,815.8,-5.5,559,11594,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2029,3417
$GC,11903,-0.76,-146.6,833.4,-5.6,574,11904,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2029,3416
$GC,12213,-0.80,-146.6,850.6,-5.6,589,12218,0.12,2.65,0.00,0.000,4,0.073,0.089,2519,3410,3416
$GC,12240,-0.80,-146.6,852.6,-6.1,590,12244,0.00,2.60,0.00,0.000,6,0.000,0.077,2519,2026,3416
$GC,12557,-0.76,-146.6,874.8,-7.2,605,12558,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2026,3415
$GC,12865,-0.72,-146.6,896.7,-7.3,620,12870,0.10,2.65,0.00,0.000,4,0.113,0.090,2537,3405,3415
$GC,12893,-0.72,-146.6,898.7,-6.6,621,12897,0.00,2.58,0.00,0.000,6,0.000,0.076,2537,2033,3415
$GC,13209,-0.72,-146.6,918.1,-6.4,636,13214,0.00,2.70,0.00,0.000,4,0.000,0.094,2537,593,3415
$GC,13248,-0.72,-146.6,920.9,-6.8,638,13253,0.00,2.65,0.00,0.000,6,0.000,0.076,2537,2019,3415
$GC,13575,-0.72,-146.6,943.5,-6.9,654,13576,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2020,3415
$GC,13884,-0.72,-146.6,964.3,-6.8,669,13889,0.00,2.75,0.00,0.000,4,0.000,0.095,2537,585,3414
$GC,13917,-0.72,-146.6,966.8,-7.4,670,13923,0.00,2.67,0.00,0.000,6,0.000,0.077,2537,2021,3414
$GC,14233,-0.72,-146.6,989.0,-7.1,686,14234,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2021,3414
$STATE,14250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14250,begin apogee
$GC,14257,-0.33,0.0,990.5,7.2,687,14385,0.43,0.00,125.07,1.671,6,0.094,0.000,2624,2250,2832
$STATE,14386,end apogee,CONTROL_FINISHED_OK
$STATE,14386,begin climb
$GC,14389,0.97,146.6,995.8,0.0,693,14520,1.35,0.00,126.50,1.623,6,0.084,0.000,2904,2250,2234
$GC,14823,0.97,151.5,975.2,5.9,714,14836,0.00,2.72,6.28,1.246,4,0.000,0.091,2904,3654,2214
$GC,14974,0.91,151.5,965.9,6.4,720,14981,0.00,2.65,0.00,0.000,6,0.000,0.077,2904,2252,2214
$GC,15291,0.85,151.5,947.2,6.2,736,15295,0.00,2.72,0.00,0.000,4,0.000,0.097,2904,841,2213
$GC,15369,0.79,151.5,941.7,6.7,739,15376,0.17,2.65,0.00,0.000,6,0.099,0.076,2872,2238,2213
$GC,15686,0.88,175.4,924.6,5.3,755,15713,0.00,2.80,21.62,1.548,4,0.000,0.091,2872,840,2115
$GC,15758,0.94,175.4,920.2,6.0,758,15763,0.15,2.62,0.00,0.000,6,0.068,0.076,2906,2218,2116
$GC,16074,0.94,175.4,898.2,7.1,773,16079,0.00,2.67,0.00,0.000,4,0.000,0.092,2907,843,2115
$GC,16102,0.90,175.4,896.1,7.3,774,16106,0.00,2.60,0.00,0.000,6,0.000,0.077,2907,2215,2116
$GC,16418,0.90,175.4,875.6,6.2,789,16422,0.00,2.65,0.00,0.000,4,0.000,0.093,2907,843,2116
$GC,16451,0.85,175.4,873.4,7.3,790,16458,0.12,2.55,0.00,0.000,6,0.109,0.077,2884,2195,2116
$GC,16768,0.93,198.9,856.4,5.4,806,16797,0.00,2.75,21.83,1.536,4,0.000,0.091,2883,844,2021
$GC,16821,1.02,222.1,853.2,5.4,808,16852,0.17,2.58,21.73,1.510,6,0.067,0.076,2925,2188,1926
$GC,17165,1.02,222.1,829.6,6.7,825,17170,0.00,2.62,0.00,0.000,4,0.000,0.094,2925,844,1926
$GC,17199,0.96,222.1,826.8,7.2,826,17205,0.00,2.53,0.00,0.000,6,0.000,0.076,2925,2175,1926
$GC,17515,0.96,222.1,806.9,6.3,842,17520,0.00,2.60,0.00,0.000,4,0.000,0.093,2925,843,1927
$GC,17538,0.92,222.1,805.4,6.6,843,17543,0.12,2.50,0.00,0.000,6,0.104,0.076,2901,2164,1926
$GC,17859,0.92,222.1,786.3,6.2,859,17863,0.00,2.55,0.00,0.000,4,0.000,0.093,2901,845,1926
$GC,17886,0.92,222.1,784.5,7.0,860,17890,0.00,2.47,0.00,0.000,6,0.000,0.075,2901,2154,1926
$GC,18202,0.92,225.6,765.9,5.9,875,18212,0.00,2.55,5.15,1.170,4,0.000,0.092,2901,843,1911
$GC,18235,0.92,225.6,763.8,6.0,876,18241,0.00,2.47,0.00,0.000,6,0.000,0.075,2901,2143,1911
$GC,18551,1.01,252.8,746.4,5.3,892,18583,0.00,2.67,24.35,1.481,4,0.000,0.092,2901,836,1801
$GC,18596,1.06,252.8,743.9,6.0,894,18601,0.15,2.47,0.00,0.000,6,0.069,0.075,2937,2125,1801
$GC,18917,1.02,252.8,722.7,6.8,910,18922,0.00,2.50,0.00,0.000,4,0.000,0.094,2937,844,1803
$GC,18945,0.97,252.8,720.5,6.8,911,18950,0.12,2.42,0.00,0.000,6,0.106,0.075,2912,2125,1802
$GC,19262,0.97,252.8,701.7,6.1,926,19263,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2126,1802
$GC,19571,0.97,252.8,683.2,6.0,941,19572,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2126,1803
$GC,19881,1.03,264.5,665.8,5.7,956,19902,0.00,2.60,12.02,1.365,4,0.000,0.091,2912,844,1753
$GC,19930,1.03,264.5,662.5,6.7,958,19934,0.00,2.42,0.00,0.000,6,0.000,0.074,2913,2121,1753
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$STATE,29020,end climb,SURFACE_DEPTH_REACHED
$STATE,29020,begin surface coast
$FINISH,0.3,1.027421
$STATE,29061,end surface coast,CONTROL_FINISHED_OK
$STATE,29061,begin surface
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$HUMID,1759
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$XPDR_PINGS,202
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$10V_AH,10.0,13.828
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$DEVICE_SECS,25.925,250.225,409.125,0.000,0.000,37.762,28.245,192.222,59.500,0.000,0.000,30.302,2524.879,22865.119,621.386,2808.315,725.985,33.371,2049.259,0.000,2733.095,0.000,58.577,0.000
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$DATA_FILE_SIZE,72670,1401
$CAP_FILE_SIZE,207002,0
$CFSIZE,254472192,242552832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,85,0,0
$GPS,081208,152732,6051.534,-415.227,42,1.8,42,-6.5