version: 66.04
glider: 5
mission: 5
dive: 167
start: 12 9 108 16 42 8
data:
$ID,5
$MISSION,5
$DIVE,167
$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,-90483.094
$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,27
$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
$GPS1,163338,6046.416,-403.560,33,1.4,33,-6.4
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-56.1
$GPS2,164115,6046.405,-403.444,32,1.3,32,-6.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.171,-0.142
$KALMAN_X,89620.9,-460.5,-140.6,10098.0,5528.8
$KALMAN_Y,34886.9,-685.4,-568.7,-355633.2,6541.8
$MHEAD_RNG_PITCHd_Wd,236.7,56458,-10.9,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,118,0.00,0.00,-98.38,0.000,6,0.000,0.000,422,1984,3431
$GC,122,-0.96,-146.6,5.9,-5.5,5,138,10.68,2.62,0.00,0.000,4,0.135,0.063,2482,3413,3432
$GC,392,-0.76,-146.6,57.2,-13.3,16,397,0.25,2.55,0.00,0.000,6,0.088,0.051,2535,1992,3433
$GC,714,-0.71,-146.6,91.3,-4.6,32,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1970,3433
$GC,1024,-0.63,-146.6,116.9,-9.8,47,1029,0.12,2.53,0.00,0.000,4,0.096,0.066,2561,595,3433
$GC,1052,-0.63,-146.6,119.6,-8.9,48,1057,0.00,2.53,0.00,0.000,6,0.000,0.053,2561,2006,3433
$GC,1369,-0.63,-146.6,150.3,-9.6,63,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2007,3433
$GC,1677,-0.63,-146.6,171.3,-6.0,78,1681,0.00,2.60,0.00,0.000,4,0.000,0.071,2561,595,3433
$GC,1723,-0.63,-146.6,174.1,-6.6,80,1727,0.00,2.50,0.00,0.000,6,0.000,0.052,2561,1998,3433
$GC,2044,-0.63,-146.6,195.6,-6.8,96,2048,0.00,2.53,0.00,0.000,4,0.000,0.064,2561,3408,3433
$GC,2071,-0.63,-146.6,197.1,-5.2,97,2076,0.00,2.53,0.00,0.000,6,0.000,0.051,2561,1995,3433
$GC,2388,-0.63,-146.6,217.8,-7.0,112,2392,0.00,2.58,0.00,0.000,4,0.000,0.064,2561,3401,3433
$GC,2465,-0.63,-146.6,223.5,-7.6,115,2472,0.00,2.50,0.00,0.000,6,0.000,0.051,2561,2001,3433
$GC,2782,-0.63,-146.6,246.6,-8.1,131,2786,0.00,2.58,0.00,0.000,4,0.000,0.064,2561,3409,3434
$GC,2814,-0.63,-146.6,249.4,-8.0,132,2820,0.00,2.50,0.00,0.000,6,0.000,0.053,2561,2013,3434
$GC,3130,-0.63,-146.6,272.8,-7.2,148,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2012,3434
$GC,3440,-0.63,-146.6,291.7,-5.4,163,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2012,3434
$GC,3749,-0.63,-146.6,310.1,-6.9,178,3753,0.00,2.55,0.00,0.000,4,0.000,0.067,2561,3402,3434
$GC,3826,-0.63,-146.6,315.0,-6.2,181,3832,0.00,2.47,0.00,0.000,6,0.000,0.054,2561,2025,3434
$GC,4142,-0.63,-146.6,334.1,-6.4,197,4146,0.00,2.53,0.00,0.000,4,0.000,0.068,2561,3401,3434
$GC,4188,-0.63,-146.6,337.3,-6.9,199,4192,0.00,2.47,0.00,0.000,6,0.000,0.057,2561,2023,3434
$GC,4520,-0.63,-146.6,358.3,-6.1,215,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2022,3434
$GC,4829,-0.63,-146.6,378.9,-6.6,230,4834,0.00,2.58,0.00,0.000,4,0.000,0.074,2561,3405,3434
$GC,4892,-0.68,-146.6,383.2,-6.7,233,4897,0.00,2.50,0.00,0.000,6,0.000,0.061,2560,2028,3433
$GC,5219,-0.68,-146.6,402.8,-5.9,249,5223,0.00,2.58,0.00,0.000,4,0.000,0.074,2561,3409,3432
$GC,5247,-0.68,-146.6,404.4,-5.6,250,5251,0.00,2.50,0.00,0.000,6,0.000,0.062,2561,2037,3432
$GC,5563,-0.68,-146.6,422.9,-5.8,265,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2035,3432
$GC,5873,-0.73,-146.6,441.1,-5.8,280,5877,0.00,2.55,0.00,0.000,4,0.000,0.077,2561,3401,3431
$GC,5912,-0.73,-146.6,443.6,-5.7,281,5918,0.00,2.47,0.00,0.000,6,0.000,0.065,2561,2053,3431
$GC,6228,-0.73,-146.6,462.3,-5.8,297,6233,0.00,2.55,0.00,0.000,4,0.000,0.080,2561,3405,3430
$GC,6256,-0.77,-146.6,464.1,-6.5,298,6261,0.15,2.47,0.00,0.000,6,0.063,0.067,2523,2062,3429
$GC,6573,-0.71,-146.6,485.9,-7.1,313,6575,0.10,0.00,0.00,0.000,6,0.101,0.000,2545,2062,3428
$GC,6881,-0.71,-146.6,505.1,-6.3,328,6886,0.00,2.55,0.00,0.000,4,0.000,0.082,2544,3405,3428
$GC,6926,-0.71,-146.6,508.0,-6.9,330,6931,0.00,2.47,0.00,0.000,6,0.000,0.070,2544,2068,3428
$GC,7248,-0.71,-146.6,528.3,-6.3,346,7253,0.00,2.53,0.00,0.000,4,0.000,0.085,2544,3399,3427
$GC,7288,-0.71,-146.6,531.1,-7.3,348,7293,0.00,2.47,0.00,0.000,6,0.000,0.073,2544,2067,3427
$GC,7617,-0.71,-146.6,552.7,-6.8,364,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2068,3425
$GC,7924,-0.71,-146.6,575.0,-7.4,379,7929,0.00,2.55,0.00,0.000,4,0.000,0.087,2544,3399,3425
$GC,7986,-0.71,-146.6,579.7,-7.7,381,7992,0.00,2.47,0.00,0.000,6,0.000,0.077,2544,2076,3424
$GC,8302,-0.71,-146.6,601.9,-6.9,397,8303,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2076,3423
$GC,8611,-0.71,-146.6,622.0,-6.4,412,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2076,3422
$GC,8920,-0.71,-146.6,641.0,-6.1,427,8925,0.00,2.53,0.00,0.000,4,0.000,0.088,2544,3398,3421
$GC,8954,-0.71,-146.6,643.3,-6.6,428,8960,0.00,2.45,0.00,0.000,6,0.000,0.075,2544,2089,3421
$GC,9270,-0.71,-146.6,663.2,-6.4,444,9271,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2089,3421
$GC,9579,-0.71,-146.6,683.3,-6.5,459,9580,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2089,3420
$GC,9889,-0.71,-146.6,703.6,-6.6,474,9893,0.00,2.53,0.00,0.000,4,0.000,0.091,2544,3397,3419
$GC,9921,-0.71,-146.6,706.0,-7.1,475,9928,0.00,2.45,0.00,0.000,6,0.000,0.078,2544,2094,3419
$GC,10241,-0.71,-146.6,726.0,-6.2,491,10242,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2094,3418
$GC,10547,-0.71,-146.6,745.5,-6.3,506,10548,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2094,3417
$GC,10856,-0.71,-146.6,765.0,-6.3,521,10857,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2094,3417
$GC,11165,-0.71,-146.6,784.6,-6.4,536,11166,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2094,3416
$GC,11475,-0.71,-146.6,804.3,-6.5,551,11480,0.00,2.83,0.00,0.000,4,0.000,0.094,2544,595,3415
$GC,11519,-0.71,-146.6,807.5,-7.7,553,11524,0.00,2.78,0.00,0.000,6,0.000,0.077,2544,2087,3415
$GC,11840,-0.71,-146.6,828.0,-6.4,569,11844,0.00,2.88,0.00,0.000,4,0.000,0.094,2544,590,3415
$GC,11867,-0.71,-146.6,829.8,-6.8,570,11872,0.00,2.78,0.00,0.000,6,0.000,0.077,2544,2076,3415
$GC,12184,-0.71,-146.6,850.1,-6.3,585,12189,0.00,2.85,0.00,0.000,4,0.000,0.097,2544,598,3414
$GC,12211,-0.71,-146.6,851.9,-6.2,586,12216,0.00,2.75,0.00,0.000,6,0.000,0.077,2544,2071,3414
$GC,12528,-0.71,-146.6,871.9,-6.2,601,12529,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2071,3414
$GC,12837,-0.71,-146.6,890.7,-6.1,616,12841,0.00,2.83,0.00,0.000,4,0.000,0.094,2544,600,3414
$GC,12881,-0.71,-146.6,893.5,-6.1,618,12885,0.00,2.72,0.00,0.000,6,0.000,0.077,2544,2060,3414
$GC,13202,-0.71,-146.6,912.3,-5.8,634,13203,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2060,3414
$GC,13511,-0.71,-146.6,930.0,-5.7,649,13515,0.00,2.83,0.00,0.000,4,0.000,0.097,2544,599,3414
$GC,13543,-0.71,-146.6,932.0,-6.4,650,13550,0.00,2.72,0.00,0.000,6,0.000,0.079,2544,2055,3414
$GC,13860,-0.71,-146.6,949.8,-5.5,666,13862,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2055,3414
$GC,14169,-0.71,-146.6,967.4,-6.0,681,14174,0.00,2.83,0.00,0.000,4,0.000,0.100,2544,599,3413
$GC,14197,-0.71,-146.6,969.4,-6.3,682,14201,0.00,2.72,0.00,0.000,6,0.000,0.079,2544,2054,3413
$GC,14513,-0.71,-146.6,988.4,-6.2,697,14514,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2054,3413
$STATE,14551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14551,begin apogee
$GC,14558,-0.33,0.0,990.9,6.1,699,14686,0.40,0.00,125.38,1.671,6,0.095,0.000,2625,2241,2832
$STATE,14687,end apogee,CONTROL_FINISHED_OK
$STATE,14687,begin climb
$GC,14690,0.96,146.6,994.8,0.0,705,14822,1.35,0.00,126.68,1.621,6,0.082,0.000,2905,2241,2234
$GC,15124,0.96,146.6,971.6,6.4,726,15129,0.00,2.72,0.00,0.000,4,0.000,0.097,2905,846,2233
$GC,15348,0.89,146.6,956.8,6.6,736,15352,0.00,2.67,0.00,0.000,6,0.000,0.077,2905,2251,2233
$GC,15669,0.84,150.8,937.6,5.9,752,15681,0.12,2.78,5.65,1.233,4,0.105,0.094,2883,849,2217
$GC,15739,0.86,161.3,933.6,5.7,755,15756,0.00,2.65,10.52,1.433,6,0.000,0.077,2882,2238,2174
$GC,16066,0.91,190.1,916.1,5.2,771,16100,0.00,2.80,26.35,1.562,4,0.000,0.093,2882,845,2057
$GC,16146,0.95,190.1,911.4,6.4,774,16153,0.10,2.62,0.00,0.000,6,0.074,0.077,2906,2222,2057
$GC,16462,0.95,190.1,892.2,6.1,790,16466,0.00,2.67,0.00,0.000,4,0.000,0.094,2906,845,2057
$GC,16506,0.95,190.1,889.3,7.1,792,16510,0.00,2.60,0.00,0.000,6,0.000,0.077,2906,2214,2057
$GC,16827,0.95,191.4,869.7,6.0,808,16832,0.00,2.65,0.00,0.000,4,0.000,0.093,2906,852,2056
$GC,16860,0.95,191.4,867.5,6.4,809,16866,0.00,2.55,0.00,0.000,6,0.000,0.076,2906,2199,2057
$GC,17176,0.95,191.4,848.7,6.0,825,17180,0.00,2.60,0.00,0.000,4,0.000,0.094,2906,851,2057
$GC,17226,0.95,193.8,845.6,5.9,827,17238,0.00,2.53,5.12,1.193,6,0.000,0.077,2906,2185,2042
$GC,17547,0.95,193.8,826.2,6.1,843,17548,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2185,2042
$GC,17856,0.95,193.8,807.5,6.1,858,17860,0.00,2.58,0.00,0.000,4,0.000,0.093,2906,851,2042
$GC,17918,0.95,193.8,803.3,6.6,860,17924,0.00,2.53,0.00,0.000,6,0.000,0.077,2906,2188,2042
$GC,18234,0.95,194.3,784.5,6.0,876,18239,0.00,2.58,0.00,0.000,4,0.000,0.091,2906,849,2042
$GC,18262,0.95,194.3,782.6,7.0,877,18266,0.00,2.50,0.00,0.000,6,0.000,0.077,2906,2173,2042
$GC,18578,0.95,194.3,763.2,6.3,892,18579,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2174,2042
$GC,18887,0.95,194.3,743.2,6.5,907,18891,0.00,2.55,0.00,0.000,4,0.000,0.092,2906,848,2042
$GC,18937,0.95,194.3,739.8,8.1,909,18941,0.00,2.47,0.00,0.000,6,0.000,0.076,2906,2166,2041
$GC,19252,0.95,194.3,719.1,6.7,924,19253,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2166,2041
$GC,19561,0.95,194.3,697.7,7.0,939,19566,0.00,2.53,0.00,0.000,4,0.000,0.091,2906,851,2041
$GC,19595,0.95,194.3,695.1,7.1,940,19601,0.00,2.47,0.00,0.000,6,0.000,0.076,2906,2166,2041
$GC,19911,0.95,194.3,673.3,6.9,956,19915,0.00,2.53,0.00,0.000,4,0.000,0.092,2906,851,2041
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$STATE,28999,end climb,SURFACE_DEPTH_REACHED
$STATE,28999,begin surface coast
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$STATE,29042,end surface coast,CONTROL_FINISHED_OK
$STATE,29042,begin surface
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$DEVICE_SECS,25.075,242.325,405.800,0.000,0.000,37.758,27.677,230.546,58.250,0.000,0.000,32.187,2515.510,22804.043,641.127,2850.746,758.623,33.379,2075.436,0.000,2771.617,0.000,61.569,0.000
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$DATA_FILE_SIZE,72483,1395
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$CFSIZE,254472192,242204672
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$GPS,101208,004837,6044.207,-406.059,25,1.7,25,-6.4