version: 66.04
glider: 5
mission: 5
dive: 270
start: 1 2 109 20 4 45
data:
$ID,5
$MISSION,5
$DIVE,270
$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,-92550.648
$T_RSLEEP,27
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,21
$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
$GPS1,195455,6026.402,-503.939,41,1.0,41,-6.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-61.8
$GPS2,200426,6026.360,-503.824,11,1.2,11,-6.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCS_SE
$TGT_LATLONG,6010.000,-425.000
$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,137.1,46877,-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,-98.57,0.000,6,0.000,0.000,425,1994,3430
$GC,122,-0.97,-146.6,5.9,-5.5,5,138,10.65,2.60,0.00,0.000,4,0.136,0.063,2481,3408,3430
$GC,304,-0.78,-146.6,36.1,-11.8,12,309,0.22,2.53,0.00,0.000,6,0.088,0.049,2528,1999,3431
$GC,626,-0.68,-146.6,67.7,-9.6,28,628,0.10,0.00,0.00,0.000,6,0.100,0.000,2549,1998,3432
$GC,935,-0.63,-146.6,92.3,-8.0,43,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1998,3433
$GC,1246,-0.63,-146.6,118.8,-9.1,58,1250,0.00,2.60,0.00,0.000,4,0.000,0.064,2549,3416,3432
$GC,1269,-0.63,-146.6,121.1,-9.0,59,1273,0.00,2.53,0.00,0.000,6,0.000,0.049,2549,2005,3432
$GC,1592,-0.59,-146.6,149.3,-8.8,75,1594,0.10,0.00,0.00,0.000,6,0.101,0.000,2569,2004,3432
$GC,1900,-0.59,-146.6,174.6,-7.9,90,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2004,3432
$GC,2209,-0.59,-146.6,197.5,-7.1,105,2213,0.00,2.58,0.00,0.000,4,0.000,0.064,2569,3409,3432
$GC,2230,-0.63,-146.6,199.2,-7.4,106,2235,0.00,2.53,0.00,0.000,6,0.000,0.051,2569,2000,3432
$GC,2553,-0.63,-146.6,226.2,-8.3,122,2557,0.00,2.55,0.00,0.000,4,0.000,0.070,2569,593,3433
$GC,2621,-0.68,-146.6,233.2,-10.9,125,2625,0.00,2.53,0.00,0.000,6,0.000,0.054,2569,2006,3433
$GC,2943,-0.68,-146.6,259.4,-7.3,141,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2017,3433
$GC,3251,-0.68,-146.6,283.7,-7.0,156,3256,0.00,2.55,0.00,0.000,4,0.000,0.067,2569,3414,3433
$GC,3280,-0.73,-146.6,285.5,-5.9,157,3285,0.12,2.53,0.00,0.000,6,0.058,0.054,2534,2009,3433
$GC,3597,-0.66,-146.6,311.3,-7.7,172,3601,0.10,2.58,0.00,0.000,4,0.094,0.069,2555,586,3433
$GC,3669,-0.66,-146.6,317.9,-10.4,175,3673,0.00,2.53,0.00,0.000,6,0.000,0.054,2555,1995,3433
$GC,3986,-0.66,-146.6,340.1,-5.7,190,3990,0.00,2.55,0.00,0.000,4,0.000,0.068,2555,3414,3433
$GC,4018,-0.66,-146.6,342.0,-6.1,191,4024,0.00,2.58,0.00,0.000,6,0.000,0.054,2556,1982,3433
$GC,4334,-0.66,-146.6,356.2,-4.1,207,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1981,3433
$GC,4644,-0.66,-146.6,371.5,-5.3,222,4648,0.00,2.62,0.00,0.000,4,0.000,0.069,2555,3406,3433
$GC,4717,-0.66,-146.6,375.8,-5.8,225,4721,0.00,2.55,0.00,0.000,6,0.000,0.058,2555,1996,3432
$GC,5033,-0.66,-146.6,395.1,-5.9,240,5037,0.00,2.62,0.00,0.000,4,0.000,0.073,2556,3408,3432
$GC,5105,-0.66,-146.6,399.9,-7.2,243,5110,0.00,2.53,0.00,0.000,6,0.000,0.061,2555,2022,3432
$GC,5427,-0.66,-146.6,425.7,-8.5,259,5431,0.00,2.62,0.00,0.000,4,0.000,0.079,2555,595,3432
$GC,5482,-0.66,-146.6,430.8,-9.2,261,5488,0.00,2.58,0.00,0.000,6,0.000,0.061,2555,2015,3432
$GC,5798,-0.66,-146.6,457.0,-8.3,277,5802,0.00,2.58,0.00,0.000,4,0.000,0.079,2555,3410,3431
$GC,5842,-0.66,-146.6,460.7,-8.7,279,5847,0.00,2.58,0.00,0.000,6,0.000,0.066,2555,2010,3430
$GC,6164,-0.66,-146.6,482.7,-5.9,295,6168,0.00,2.62,0.00,0.000,4,0.000,0.082,2555,585,3430
$GC,6198,-0.66,-146.6,484.8,-6.3,296,6204,0.00,2.62,0.00,0.000,6,0.000,0.068,2555,2024,3430
$GC,6514,-0.66,-146.6,501.1,-5.0,312,6518,0.00,2.58,0.00,0.000,4,0.000,0.082,2555,3408,3428
$GC,6541,-0.66,-146.6,502.7,-5.8,313,6546,0.00,2.58,0.00,0.000,6,0.000,0.069,2555,2016,3428
$GC,6858,-0.66,-146.6,520.4,-6.0,328,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2016,3427
$GC,7166,-0.66,-146.6,541.5,-7.3,343,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2016,3426
$GC,7476,-0.66,-146.6,564.4,-7.3,358,7480,0.00,2.65,0.00,0.000,4,0.000,0.085,2555,3410,3425
$GC,7516,-0.70,-146.6,567.4,-7.7,360,7521,0.00,2.60,0.00,0.000,6,0.000,0.073,2555,2014,3425
$GC,7843,-0.70,-146.6,589.3,-6.6,376,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2013,3424
$GC,8153,-0.70,-146.6,610.3,-7.0,391,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2013,3423
$GC,8462,-0.74,-146.6,632.4,-7.4,406,8466,0.00,2.65,0.00,0.000,4,0.000,0.088,2555,3405,3422
$GC,8502,-0.79,-146.6,635.4,-8.1,408,8507,0.12,2.58,0.00,0.000,6,0.072,0.074,2524,2025,3421
$GC,8829,-0.75,-146.6,663.4,-8.5,424,8834,0.00,2.70,0.00,0.000,4,0.000,0.091,2525,591,3420
$GC,8863,-0.69,-146.6,666.5,-9.1,425,8870,0.12,2.67,0.00,0.000,6,0.105,0.074,2550,2028,3420
$GC,9179,-0.69,-146.6,690.5,-7.4,441,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2028,3419
$GC,9489,-0.69,-146.6,714.0,-7.6,456,9490,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2028,3418
$GC,9797,-0.69,-146.6,736.8,-7.3,471,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2028,3417
$GC,10106,-0.69,-146.6,758.8,-6.9,486,10108,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2028,3416
$GC,10417,-0.69,-146.6,780.0,-6.6,501,10418,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2028,3416
$GC,10725,-0.69,-146.6,799.3,-6.1,516,10730,0.00,2.78,0.00,0.000,4,0.000,0.097,2550,595,3415
$GC,10758,-0.69,-146.6,801.4,-6.7,517,10764,0.00,2.67,0.00,0.000,6,0.000,0.077,2550,2025,3415
$GC,11074,-0.69,-146.6,819.3,-5.5,533,11079,0.00,2.62,0.00,0.000,4,0.000,0.092,2550,3414,3414
$GC,11096,-0.69,-146.6,820.6,-5.5,534,11101,0.00,2.62,0.00,0.000,6,0.000,0.078,2549,2020,3414
$GC,11419,-0.69,-146.6,836.9,-5.0,550,11420,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2020,3414
$GC,11727,-0.69,-146.6,853.9,-5.8,565,11728,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2020,3414
$GC,12037,-0.73,-146.6,873.1,-5.7,580,12042,0.00,2.70,0.00,0.000,4,0.000,0.094,2550,3415,3414
$GC,12061,-0.78,-146.6,874.4,-5.5,581,12065,0.00,2.62,0.00,0.000,6,0.000,0.080,2550,2024,3414
$GC,12382,-0.78,-146.6,896.9,-6.4,597,12383,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2025,3414
$GC,12691,-0.83,-146.6,917.3,-7.1,612,12696,0.15,2.75,0.00,0.000,4,0.074,0.100,2513,588,3414
$GC,12714,-0.83,-146.6,918.8,-6.8,613,12718,0.00,2.70,0.00,0.000,6,0.000,0.078,2513,2029,3413
$STATE,12970,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12970,begin apogee
$GC,12978,-0.33,0.0,942.1,9.3,626,13113,0.55,0.00,132.02,1.625,6,0.094,0.000,2626,2205,2832
$STATE,13114,end apogee,CONTROL_FINISHED_OK
$STATE,13114,begin climb
$GC,13118,0.97,146.6,947.1,0.0,633,13261,1.33,0.00,136.38,1.565,6,0.077,0.000,2905,2205,2233
$GC,13571,0.97,146.6,921.7,7.6,655,13572,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2205,2233
$GC,13881,0.91,146.6,904.1,6.8,670,13886,0.00,2.78,0.00,0.000,4,0.000,0.094,2906,783,2232
$GC,13937,0.83,146.6,900.1,6.6,672,13944,0.12,2.70,0.00,0.000,6,0.104,0.079,2884,2202,2232
$GC,14253,0.89,182.0,884.0,5.0,688,14295,0.00,2.80,32.83,1.530,4,0.000,0.092,2883,3605,2090
$GC,14320,0.94,183.1,880.1,6.0,691,14324,0.00,2.72,0.00,0.000,6,0.000,0.077,2883,2182,2090
$GC,14647,1.05,226.5,864.3,4.8,707,14697,0.17,2.83,41.95,1.537,4,0.067,0.097,2930,789,1908
$GC,14752,0.98,226.5,856.6,8.3,711,14758,0.00,2.67,0.00,0.000,6,0.000,0.078,2930,2187,1908
$GC,15068,0.98,226.5,831.3,7.6,727,15072,0.00,2.72,0.00,0.000,4,0.000,0.094,2930,794,1908
$GC,15101,0.92,226.5,828.7,8.1,728,15108,0.15,2.60,0.00,0.000,6,0.104,0.078,2901,2165,1909
$GC,15418,0.96,226.5,807.8,6.4,744,15422,0.00,2.70,0.00,0.000,4,0.000,0.095,2901,785,1909
$GC,15439,0.96,226.5,806.1,6.6,745,15444,0.00,2.60,0.00,0.000,6,0.000,0.077,2901,2163,1909
$GC,15762,1.01,227.9,786.5,6.0,761,15763,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2163,1909
$GC,16072,1.07,236.2,768.2,5.8,776,16088,0.15,2.72,10.82,1.389,4,0.069,0.092,2938,786,1869
$GC,16122,1.00,236.2,764.2,8.2,777,16127,0.00,2.60,0.00,0.000,6,0.000,0.077,2938,2149,1869
$GC,16439,0.95,236.2,740.7,7.3,792,16441,0.15,0.00,0.00,0.000,6,0.101,0.000,2907,2150,1868
$GC,16748,1.00,236.2,720.8,6.3,807,16752,0.00,2.62,0.00,0.000,4,0.000,0.093,2907,791,1868
$GC,16769,1.00,236.2,719.1,7.0,808,16774,0.00,2.55,0.00,0.000,6,0.000,0.077,2907,2142,1868
$GC,17092,1.04,236.2,699.0,6.4,824,17096,0.00,2.62,0.00,0.000,4,0.000,0.093,2907,785,1868
$GC,17115,1.04,236.2,697.3,6.1,825,17119,0.00,2.55,0.00,0.000,6,0.000,0.076,2907,2139,1868
$GC,17436,1.09,236.2,676.5,6.6,841,17438,0.12,0.00,0.00,0.000,6,0.072,0.000,2938,2140,1868
$GC,17746,1.04,236.2,651.6,8.3,856,17750,0.00,2.60,0.00,0.000,4,0.000,0.092,2939,792,1868
$GC,17779,0.99,236.2,648.5,9.1,857,17786,0.12,2.50,0.00,0.000,6,0.110,0.076,2914,2123,1868
$GC,18095,0.99,236.2,624.5,7.6,873,18100,0.00,2.83,0.00,0.000,4,0.000,0.091,2913,3611,1868
$GC,18117,0.99,236.2,622.7,7.8,874,18121,0.00,2.80,0.00,0.000,6,0.000,0.074,2913,2119,1868
$GC,18438,0.99,236.2,599.3,7.3,890,18442,0.00,2.53,0.00,0.000,4,0.000,0.092,2913,790,1868
$GC,18455,0.99,236.2,598.1,7.0,891,18460,0.00,2.50,0.00,0.000,6,0.000,0.074,2913,2125,1868
$GC,18783,0.99,236.2,577.1,6.2,907,18784,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2125,1868
$GC,19092,1.02,253.6,559.0,5.5,922,19114,0.00,2.70,16.55,1.339,4,0.000,0.088,2913,787,1798
$GC,19138,1.02,253.6,556.3,6.1,924,19142,0.00,2.53,0.00,0.000,6,0.000,0.074,2913,2122,1797
$GC,19465,1.11,281.1,539.1,5.2,940,19493,0.12,0.00,25.42,1.351,6,0.071,0.000,2945,2122,1686
$GC,19794,1.11,281.1,515.7,7.3,956,19795,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2123,1686
$GC,20103,1.11,281.1,491.1,8.1,971,20107,0.00,2.55,0.00,0.000,4,0.000,0.087,2945,794,1686
$GC,20131,1.11,281.1,488.5,9.4,972,20135,0.00,2.50,0.00,0.000,6,0.000,0.074,2945,2123,1686
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$GC,25772,1.36,439.9,61.2,4.2,1242,25835,0.00,2.45,54.80,0.884,4,0.000,0.064,2982,790,1037
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$STATE,26257,end climb,SURFACE_DEPTH_REACHED
$STATE,26257,begin surface coast
$FINISH,0.4,1.016834
$STATE,26300,end surface coast,CONTROL_FINISHED_OK
$STATE,26300,begin surface
$SM_CCo,26384,0.00,0.000,0,0,1036,440.31
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1796
$TCM_TEMP,15.80
$XPDR_PINGS,267
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,875.2,75.2
$24V_AH,23.4,47.181
$10V_AH,10.0,23.272
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$DEVICE_SECS,26.400,250.275,535.250,0.000,0.000,76.780,52.158,229.570,75.000,0.000,0.000,11.491,2312.388,20499.963,724.363,2585.016,818.527,0.000,2071.866,0.000,2526.044,0.000,55.177,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,941.614,858.416,657.674,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66176,1267
$CAP_FILE_SIZE,198666,0
$CFSIZE,254472192,235622400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,72,0,0
$GPS,030109,032555,6024.328,-501.279,48,1.3,48,-6.8