version: 66.04
glider: 5
mission: 5
dive: 213
start: 12 21 108 9 3 26
data:
$ID,5
$MISSION,5
$DIVE,213
$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,225
$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,-91466.703
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2650
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,37
$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,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
$GPS1,085532,6050.843,-404.558,39,1.4,39,-6.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-51.6
$GPS2,090308,6050.860,-404.298,30,1.1,30,-6.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6043.224,-419.912
$TGT_RADIUS,1852.000
$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,231.4,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.97,-146.6,0.0,0.0,0,120,0.00,0.00,-98.47,0.000,6,0.000,0.000,422,1978,3430
$GC,123,-0.97,-146.6,6.6,-6.9,5,139,10.38,2.62,0.00,0.000,4,0.135,0.064,2431,3407,3431
$GC,202,-0.60,-146.6,28.0,-17.7,7,209,0.40,2.50,0.00,0.000,6,0.086,0.049,2515,2011,3432
$GC,520,-0.47,-146.6,60.7,-10.4,23,525,0.15,2.60,0.00,0.000,4,0.093,0.064,2547,3412,3432
$GC,564,-0.47,-146.6,66.1,-11.1,25,569,0.00,2.53,0.00,0.000,6,0.000,0.051,2547,2005,3432
$GC,886,-0.47,-146.6,92.3,-8.9,41,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2003,3432
$GC,1196,-0.47,-146.6,119.0,-8.4,56,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2003,3432
$GC,1505,-0.43,-146.6,143.6,-7.4,71,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2004,3433
$GC,1814,-0.43,-146.6,166.8,-7.4,86,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2003,3433
$GC,2124,-0.43,-146.6,188.4,-6.7,101,2128,0.00,2.58,0.00,0.000,4,0.000,0.064,2547,3408,3433
$GC,2168,-0.43,-146.6,191.6,-7.4,103,2172,0.00,2.50,0.00,0.000,6,0.000,0.051,2546,2009,3433
$GC,2489,-0.43,-146.6,215.4,-7.6,119,2493,0.00,2.55,0.00,0.000,4,0.000,0.068,2547,588,3433
$GC,2551,-0.43,-146.6,220.5,-8.8,122,2556,0.00,2.53,0.00,0.000,6,0.000,0.054,2547,2002,3433
$GC,2877,-0.43,-146.6,246.5,-7.8,138,2882,0.00,2.55,0.00,0.000,4,0.000,0.067,2547,3413,3433
$GC,2917,-0.43,-146.6,249.8,-7.7,140,2922,0.00,2.53,0.00,0.000,6,0.000,0.054,2547,2007,3433
$GC,3250,-0.43,-146.6,274.7,-7.1,156,3255,0.00,2.58,0.00,0.000,4,0.000,0.067,2547,3405,3433
$GC,3334,-0.43,-146.6,280.8,-7.1,159,3340,0.00,2.50,0.00,0.000,6,0.000,0.054,2547,2017,3433
$GC,3651,-0.43,-146.6,300.6,-6.0,175,3655,0.00,2.55,0.00,0.000,4,0.000,0.069,2547,3407,3434
$GC,3701,-0.43,-146.6,304.0,-7.2,177,3705,0.00,2.50,0.00,0.000,6,0.000,0.057,2546,2026,3433
$GC,4017,-0.43,-146.6,323.7,-6.2,192,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2025,3433
$GC,4326,-0.43,-146.6,343.4,-6.6,207,4331,0.00,2.62,0.00,0.000,4,0.000,0.077,2547,592,3433
$GC,4354,-0.43,-146.6,345.5,-7.8,208,4358,0.00,2.62,0.00,0.000,6,0.000,0.061,2547,2042,3433
$GC,4669,-0.43,-146.6,366.6,-6.5,223,4674,0.00,2.53,0.00,0.000,4,0.000,0.076,2547,3415,3433
$GC,4703,-0.43,-146.6,369.1,-7.4,224,4709,0.00,2.53,0.00,0.000,6,0.000,0.064,2546,2039,3433
$GC,5019,-0.43,-146.6,390.8,-7.1,240,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2038,3432
$GC,5328,-0.43,-146.6,413.0,-7.1,255,5332,0.00,2.67,0.00,0.000,4,0.000,0.082,2546,592,3431
$GC,5361,-0.43,-146.6,415.7,-7.7,256,5367,0.00,2.62,0.00,0.000,6,0.000,0.066,2547,2029,3431
$GC,5677,-0.43,-146.6,437.7,-6.8,272,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2030,3430
$GC,5985,-0.43,-146.6,459.0,-6.8,287,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2030,3429
$GC,6295,-0.43,-146.6,480.5,-7.0,302,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2030,3428
$GC,6605,-0.43,-146.6,502.6,-7.4,317,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2030,3427
$GC,6916,-0.43,-146.6,525.8,-7.5,332,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2029,3426
$GC,7223,-0.43,-146.6,549.5,-7.6,347,7224,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2029,3425
$GC,7532,-0.43,-146.6,572.4,-7.4,362,7537,0.00,2.78,0.00,0.000,4,0.000,0.094,2546,588,3424
$GC,7559,-0.43,-146.6,574.6,-7.6,363,7564,0.00,2.70,0.00,0.000,6,0.000,0.074,2546,2039,3424
$GC,7875,-0.43,-146.6,597.8,-7.4,378,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2040,3423
$GC,8185,-0.43,-146.6,619.1,-6.6,393,8190,0.00,2.80,0.00,0.000,4,0.000,0.095,2546,586,3422
$GC,8212,-0.43,-146.6,621.1,-7.2,394,8217,0.00,2.70,0.00,0.000,6,0.000,0.075,2547,2035,3421
$GC,8528,-0.43,-146.6,641.2,-6.3,409,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2036,3421
$GC,8838,-0.43,-146.6,660.8,-6.6,424,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2036,3421
$GC,9146,-0.43,-146.6,681.3,-6.8,439,9151,0.00,2.80,0.00,0.000,4,0.000,0.096,2546,585,3420
$GC,9174,-0.43,-146.6,683.2,-7.2,440,9178,0.00,2.67,0.00,0.000,6,0.000,0.076,2546,2022,3420
$GC,9490,-0.43,-146.6,704.2,-6.8,455,9491,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2023,3419
$GC,9800,-0.43,-146.6,725.1,-6.8,470,9801,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2023,3418
$GC,10108,-0.43,-146.6,746.2,-6.6,485,10109,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2023,3417
$GC,10418,-0.43,-146.6,767.5,-6.9,500,10422,0.00,2.62,0.00,0.000,4,0.000,0.091,2547,3413,3417
$GC,10445,-0.43,-146.6,769.6,-7.9,501,10449,0.00,2.62,0.00,0.000,6,0.000,0.078,2546,2020,3416
$GC,10761,-0.43,-146.6,792.2,-7.2,516,10762,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2021,3416
$GC,11071,-0.43,-146.6,814.3,-7.0,531,11072,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2020,3415
$GC,11379,-0.43,-146.6,836.4,-7.2,546,11381,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2020,3415
$GC,11689,-0.43,-146.6,858.3,-7.0,561,11693,0.00,2.67,0.00,0.000,4,0.000,0.093,2547,3415,3415
$GC,11723,-0.47,-146.6,860.9,-8.3,562,11729,0.00,2.62,0.00,0.000,6,0.000,0.081,2546,2024,3415
$GC,12039,-0.47,-146.6,883.1,-6.9,578,12040,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2024,3415
$GC,12348,-0.47,-146.6,904.4,-6.7,593,12349,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2024,3414
$GC,12658,-0.47,-146.6,924.8,-6.4,608,12659,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2024,3414
$GC,12967,-0.51,-146.6,944.0,-6.0,623,12968,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2024,3414
$GC,13277,-0.55,-146.6,962.6,-5.8,638,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2024,3414
$GC,13586,-0.60,-146.6,980.9,-5.8,653,13588,0.12,0.00,0.00,0.000,6,0.076,0.000,2516,2024,3413
$STATE,13726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13726,begin apogee
$GC,13734,-0.33,0.0,990.8,6.9,660,13870,0.28,0.00,131.85,1.667,6,0.104,0.000,2572,2207,2832
$STATE,13871,end apogee,CONTROL_FINISHED_OK
$STATE,13871,begin climb
$GC,13874,0.97,146.6,997.2,0.0,667,14013,1.42,0.00,135.02,1.614,6,0.087,0.000,2860,2207,2234
$GC,14324,1.15,163.1,976.8,5.5,689,14347,0.17,2.78,16.33,1.483,4,0.067,0.090,2906,3602,2167
$GC,14405,1.06,165.9,971.3,5.9,692,14417,0.12,2.90,4.43,1.056,6,0.111,0.080,2885,2088,2155
$GC,14726,1.10,189.3,954.0,5.4,708,14751,0.00,0.00,22.77,1.541,6,0.000,0.000,2885,2089,2060
$GC,15056,1.17,204.8,935.6,5.6,724,15075,0.00,0.00,15.52,1.511,6,0.000,0.000,2885,2089,1997
$GC,15385,1.25,216.8,916.8,5.7,740,15407,0.17,3.05,12.30,1.467,4,0.070,0.091,2926,3601,1949
$GC,15431,1.20,216.8,913.5,7.6,742,15436,0.00,2.90,0.00,0.000,6,0.000,0.081,2926,2095,1949
$GC,15758,1.20,216.8,890.0,7.1,758,15760,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2095,1949
$GC,16067,1.16,216.8,868.2,6.9,773,16073,0.12,2.95,0.00,0.000,4,0.110,0.093,2902,3611,1949
$GC,16096,1.16,216.8,866.3,6.5,774,16100,0.00,2.88,0.00,0.000,6,0.000,0.080,2902,2099,1948
$GC,16412,1.16,222.7,848.0,5.8,789,16421,0.00,0.00,7.47,1.346,6,0.000,0.000,2902,2099,1923
$GC,16721,1.21,222.7,829.3,6.0,804,16722,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2099,1923
$GC,17030,1.21,222.7,810.1,6.6,819,17031,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2099,1923
$GC,17340,1.25,222.7,789.4,6.7,834,17344,0.00,2.90,0.00,0.000,4,0.000,0.090,2902,3609,1923
$GC,17373,1.30,222.7,786.8,7.7,835,17380,0.15,2.85,0.00,0.000,6,0.072,0.077,2938,2097,1922
$GC,17690,1.24,222.7,761.9,8.0,851,17691,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2097,1922
$GC,17999,1.18,222.7,737.0,8.2,866,18000,0.15,0.00,0.00,0.000,6,0.107,0.000,2907,2097,1923
$GC,18307,1.18,222.7,715.9,6.5,881,18312,0.00,2.90,0.00,0.000,4,0.000,0.091,2908,3605,1923
$GC,18341,1.18,222.7,713.5,7.8,882,18347,0.00,2.83,0.00,0.000,6,0.000,0.075,2908,2100,1922
$GC,18656,1.18,222.7,692.9,6.5,898,18658,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2101,1922
$GC,18965,1.18,222.7,673.1,6.4,913,18970,0.00,2.90,0.00,0.000,4,0.000,0.090,2907,3603,1922
$GC,18993,1.18,222.7,671.1,7.4,914,18998,0.00,2.80,0.00,0.000,6,0.000,0.075,2907,2110,1922
$GC,19309,1.18,222.7,650.2,6.7,929,19310,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2112,1922
$GC,19618,1.18,222.7,628.3,7.2,944,19619,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2111,1922
$GC,19928,1.18,222.7,605.4,7.5,959,19929,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2111,1922
$GC,20237,1.22,222.7,581.9,8.0,974,20238,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2111,1922
$GC,20546,1.27,222.7,557.7,7.9,989,20547,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2111,1922
$GC,20856,1.31,222.7,534.0,7.4,1004,20861,0.12,2.88,0.00,0.000,4,0.074,0.089,2939,3607,1922
$GC,20878,1.31,222.7,531.9,8.8,1005,20883,0.00,2.80,0.00,0.000,6,0.000,0.074,2939,2107,1922
$GC,21200,1.27,222.7,506.9,7.2,1021,21201,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2107,1922
$GC,21509,1.27,222.7,486.2,6.2,1036,21514,0.00,2.88,0.00,0.000,4,0.000,0.088,2938,3603,1922
$GC,21559,1.27,222.7,482.9,7.0,1038,21563,0.00,2.78,0.00,0.000,6,0.000,0.071,2939,2112,1922
$GC,21876,1.27,222.7,463.8,6.2,1053,21877,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2112,1922
$GC,22184,1.27,222.7,443.2,7.0,1068,22185,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2111,1922
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$GC,23730,1.27,225.6,333.9,5.9,1143,23736,0.00,0.00,4.15,0.872,6,0.000,0.000,2939,2113,1912
$GC,24040,1.28,232.6,318.5,5.8,1158,24049,0.00,0.00,7.88,1.078,6,0.000,0.000,2939,2113,1883
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$GC,27241,1.46,341.5,79.9,3.4,1312,27321,0.12,0.00,74.85,0.940,6,0.058,0.000,2974,2095,1439
$GC,27635,1.46,341.5,44.4,14.7,1331,27639,0.00,2.45,0.00,0.000,4,0.000,0.068,2974,780,1439
$GC,27668,1.46,341.5,37.9,15.8,1332,27674,0.00,2.42,0.00,0.000,6,0.000,0.054,2974,2125,1439
$GC,27986,1.39,341.5,4.4,14.3,1348,27990,0.00,2.20,0.00,0.000,3,0.000,0.065,2974,3351,1440
$STATE,27991,end climb,SURFACE_DEPTH_REACHED
$STATE,27991,begin surface coast
$FINISH,0.3,1.017005
$STATE,28028,end surface coast,CONTROL_FINISHED_OK
$STATE,28028,begin surface
$SM_CCo,28114,0.00,0.000,0,0,1439,341.46
$SM_GC,0.65,11.23,0.00,0.00,0.041,0.000,0.000,423,1965,1439,-10.16,-0.99,341.46
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1774
$TCM_TEMP,16.30
$XPDR_PINGS,171
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,23.5,37.904
$10V_AH,10.1,18.581
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$DEVICE_SECS,25.125,170.950,447.125,0.000,0.000,39.017,34.525,221.426,51.750,0.000,0.000,30.223,2359.432,22280.303,663.468,2527.475,724.260,0.000,1898.935,0.000,2465.396,0.000,58.616,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.670,916.559,681.539,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69400,1350
$CAP_FILE_SIZE,178934,0
$CFSIZE,254472192,239083520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,54,0,0
$GPS,211208,165328,6049.423,-406.807,31,3.6,50,-6.4