version: 66.04
glider: 5
mission: 5
dive: 326
start: 1 14 109 22 22 32
data:
$ID,5
$MISSION,5
$DIVE,326
$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,-93774.836
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2725
$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,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,24
$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,0
$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,6
$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
$GPS1,221436,6110.047,-318.763,48,1.6,48,-6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-51.8
$GPS2,222213,6110.074,-319.126,12,1.5,17,-6.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_NW
$TGT_LATLONG,6058.000,-547.000
$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,266.6,134778,-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,16,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-80.68,0.000,2,0.000,0.000,419,1974,3010
$GC,102,-0.97,-146.6,3.1,-3.3,4,133,10.80,2.53,-11.62,0.000,4,0.134,0.076,2507,597,3431
$GC,387,-0.79,-146.6,36.3,-11.7,16,394,0.20,2.50,0.00,0.000,6,0.087,0.051,2549,2000,3431
$GC,705,-0.73,-146.6,61.0,-8.0,32,709,0.00,2.55,0.00,0.000,4,0.000,0.063,2549,597,3431
$GC,760,-0.69,-146.6,65.0,-7.2,34,768,0.12,2.50,0.00,0.000,6,0.092,0.051,2575,2004,3431
$GC,1077,-0.69,-146.6,87.9,-6.7,50,1082,0.00,2.58,0.00,0.000,4,0.000,0.064,2576,589,3431
$GC,1122,-0.69,-146.6,91.5,-7.2,52,1126,0.00,2.50,0.00,0.000,6,0.000,0.051,2575,1996,3431
$GC,1443,-0.69,-146.6,110.6,-6.2,68,1448,0.00,2.55,0.00,0.000,4,0.000,0.064,2575,597,3431
$GC,1472,-0.69,-146.6,112.8,-7.6,69,1476,0.00,2.45,0.00,0.000,6,0.000,0.051,2575,1977,3431
$GC,1788,-0.69,-146.6,132.8,-6.2,84,1792,0.00,2.55,0.00,0.000,4,0.000,0.061,2575,3404,3431
$GC,1828,-0.74,-146.6,135.5,-7.2,86,1833,0.00,2.50,0.00,0.000,6,0.000,0.048,2575,1993,3431
$GC,2156,-0.74,-146.6,154.0,-5.0,102,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1992,3431
$GC,2465,-0.74,-146.6,170.1,-5.5,117,2469,0.00,2.58,0.00,0.000,4,0.000,0.062,2575,3405,3431
$GC,2492,-0.79,-146.6,172.0,-6.3,118,2497,0.00,2.53,0.00,0.000,6,0.000,0.048,2575,1981,3431
$GC,2809,-0.79,-146.6,191.4,-6.3,133,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1981,3431
$GC,3118,-0.83,-146.6,210.4,-6.1,148,3123,0.15,2.62,0.00,0.000,4,0.054,0.062,2534,3411,3431
$GC,3182,-0.76,-146.6,215.2,-7.9,151,3187,0.12,2.53,0.00,0.000,6,0.091,0.050,2560,1990,3431
$GC,3508,-0.76,-146.6,237.1,-6.5,167,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1991,3431
$GC,3817,-0.76,-146.6,258.4,-7.3,182,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1991,3431
$GC,4127,-0.76,-146.6,283.6,-8.4,197,4132,0.00,2.60,0.00,0.000,4,0.000,0.064,2560,3412,3431
$GC,4161,-0.76,-146.6,286.8,-9.3,198,4167,0.00,2.53,0.00,0.000,6,0.000,0.052,2560,2000,3431
$GC,4476,-0.76,-146.6,314.2,-8.2,214,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1999,3431
$GC,4786,-0.76,-146.6,337.1,-7.1,229,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1999,3431
$GC,5095,-0.76,-146.6,359.0,-7.2,244,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1999,3431
$GC,5404,-0.76,-146.6,382.0,-7.1,259,5408,0.00,2.58,0.00,0.000,4,0.000,0.067,2560,3402,3431
$GC,5445,-0.76,-146.6,384.8,-6.9,261,5449,0.00,2.50,0.00,0.000,6,0.000,0.054,2560,2005,3431
$GC,5774,-0.76,-146.6,400.9,-4.3,277,5778,0.00,2.55,0.00,0.000,4,0.000,0.068,2560,585,3431
$GC,5840,-0.76,-146.6,404.9,-6.2,280,5845,0.00,2.55,0.00,0.000,6,0.000,0.056,2560,2015,3431
$GC,6163,-0.76,-146.6,426.2,-7.0,296,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2015,3431
$GC,6470,-0.76,-146.6,446.6,-6.0,311,6475,0.00,2.55,0.00,0.000,4,0.000,0.072,2560,3413,3430
$GC,6511,-0.81,-146.6,449.3,-6.9,313,6515,0.00,2.55,0.00,0.000,6,0.000,0.060,2560,2003,3430
$GC,6838,-0.81,-146.6,470.1,-6.7,329,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2002,3430
$GC,7146,-0.81,-146.6,490.6,-6.2,344,7151,0.00,2.60,0.00,0.000,4,0.000,0.074,2560,3409,3429
$GC,7197,-0.85,-146.6,494.0,-6.9,346,7201,0.00,2.55,0.00,0.000,6,0.000,0.063,2560,2010,3429
$GC,7514,-0.85,-146.6,512.9,-5.9,361,7515,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2008,3428
$GC,7822,-0.85,-146.6,531.4,-6.1,376,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2009,3427
$GC,8135,-0.85,-146.6,550.7,-6.4,391,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2009,3426
$GC,8441,-0.89,-146.6,570.6,-6.4,406,8443,0.15,0.00,0.00,0.000,6,0.062,0.000,2521,2009,3425
$GC,8750,-0.82,-146.6,594.2,-7.6,421,8755,0.12,2.62,0.00,0.000,4,0.101,0.084,2547,591,3424
$GC,8791,-0.82,-146.6,597.2,-7.2,423,8795,0.00,2.60,0.00,0.000,6,0.000,0.069,2546,2010,3424
$GC,9117,-0.82,-146.6,620.0,-6.6,439,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2011,3423
$GC,9426,-0.82,-146.6,640.7,-6.4,454,9428,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2010,3422
$GC,9737,-0.82,-146.6,660.7,-6.5,469,9738,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2011,3421
$GC,10045,-0.82,-146.6,680.1,-6.2,484,10046,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2011,3420
$GC,10354,-0.82,-146.6,699.6,-6.2,499,10359,0.00,2.72,0.00,0.000,4,0.000,0.092,2546,585,3419
$GC,10382,-0.82,-146.6,701.4,-6.2,500,10387,0.00,2.62,0.00,0.000,6,0.000,0.074,2546,2003,3419
$GC,10704,-0.82,-146.6,721.5,-6.4,516,10709,0.00,2.65,0.00,0.000,4,0.000,0.091,2546,3409,3418
$GC,10733,-0.82,-146.6,723.4,-7.0,517,10738,0.00,2.62,0.00,0.000,6,0.000,0.077,2546,2008,3418
$GC,11050,-0.82,-146.6,743.7,-6.4,532,11051,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2008,3417
$GC,11358,-0.82,-146.6,763.1,-6.2,547,11360,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2008,3416
$GC,11668,-0.82,-146.6,781.4,-6.1,562,11669,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2008,3415
$GC,11978,-0.82,-146.6,800.2,-6.2,577,11980,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2008,3414
$GC,12287,-0.82,-146.6,818.7,-5.8,592,12288,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2008,3413
$GC,12595,-0.82,-146.6,837.5,-6.4,607,12597,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2008,3412
$GC,12905,-0.82,-146.6,857.3,-6.1,622,12910,0.00,2.70,0.00,0.000,4,0.000,0.090,2546,3414,3412
$GC,12933,-0.82,-146.6,859.1,-6.3,623,12937,0.00,2.65,0.00,0.000,6,0.000,0.079,2546,2004,3412
$GC,13249,-0.82,-146.6,877.9,-6.0,638,13250,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2003,3411
$GC,13558,-0.82,-146.6,897.2,-6.4,653,13560,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2003,3411
$GC,13867,-0.82,-146.6,916.4,-6.2,668,13868,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2003,3410
$GC,14177,-0.82,-146.6,936.2,-6.5,683,14181,0.00,2.70,0.00,0.000,4,0.000,0.092,2546,3405,3410
$GC,14210,-0.82,-146.6,938.7,-7.2,684,14217,0.00,2.62,0.00,0.000,6,0.000,0.080,2546,2007,3410
$GC,14525,-0.82,-146.6,959.8,-6.7,700,14526,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2007,3410
$GC,14835,-0.82,-146.6,981.0,-6.9,715,14836,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2006,3410
$STATE,14976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14976,begin apogee
$GC,14983,-0.33,0.0,991.1,7.0,722,15121,0.50,0.00,135.10,1.657,6,0.093,0.000,2648,2126,2833
$STATE,15122,end apogee,CONTROL_FINISHED_OK
$STATE,15122,begin climb
$GC,15125,0.97,146.6,996.8,0.0,729,15278,1.38,0.00,142.88,1.575,6,0.078,0.000,2935,2126,2234
$GC,15591,0.95,168.8,976.4,5.4,751,15626,0.00,2.83,24.17,1.405,4,0.000,0.094,2935,717,2143
$GC,15679,0.82,172.0,971.2,5.9,755,15690,0.15,2.67,4.80,1.087,6,0.103,0.078,2906,2118,2130
$GC,16009,0.84,180.6,952.8,5.8,771,16023,0.00,0.00,9.88,1.393,6,0.000,0.000,2906,2118,2095
$GC,16341,0.84,180.6,933.1,6.2,787,16345,0.00,2.72,0.00,0.000,4,0.000,0.092,2906,3536,2095
$GC,16409,0.79,180.6,928.5,6.9,790,16413,0.00,2.67,0.00,0.000,6,0.000,0.080,2906,2137,2095
$GC,16730,0.79,180.6,907.9,6.4,806,16731,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2137,2095
$GC,17039,0.79,180.6,886.6,7.0,821,17040,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2137,2095
$GC,17349,0.79,180.6,865.5,6.7,836,17350,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2137,2095
$GC,17658,0.81,190.1,846.5,5.7,851,17670,0.00,0.00,10.48,1.427,6,0.000,0.000,2906,2137,2058
$GC,17966,0.86,224.6,830.8,5.1,866,18005,0.00,0.00,33.42,1.538,6,0.000,0.000,2906,2137,1916
$GC,18316,0.87,231.2,811.4,5.8,883,18330,0.00,2.83,7.95,1.321,4,0.000,0.095,2906,714,1889
$GC,18353,0.90,250.3,808.9,5.5,884,18381,0.00,2.72,18.85,1.468,6,0.000,0.078,2905,2141,1810
$GC,18691,0.96,250.3,786.9,6.6,901,18693,0.12,0.00,0.00,0.000,6,0.068,0.000,2938,2141,1810
$GC,18999,0.96,250.3,761.0,8.7,916,19004,0.00,2.78,0.00,0.000,4,0.000,0.094,2938,715,1810
$GC,19027,0.91,250.3,758.3,9.8,917,19031,0.00,2.67,0.00,0.000,6,0.000,0.078,2938,2131,1810
$GC,19345,0.91,250.3,730.3,8.9,932,19346,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2131,1810
$GC,19652,0.91,250.3,704.3,7.9,947,19653,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2130,1810
$GC,19961,0.91,250.3,681.8,7.0,962,19966,0.00,2.75,0.00,0.000,4,0.000,0.095,2938,712,1810
$GC,19995,0.86,250.3,679.3,6.9,963,20002,0.12,2.67,0.00,0.000,6,0.107,0.079,2913,2126,1810
$GC,20311,0.96,284.8,662.7,5.1,979,20350,0.00,0.00,32.22,1.443,6,0.000,0.000,2913,2127,1671
$GC,20661,1.08,316.8,644.1,5.1,996,20697,0.17,2.83,29.73,1.414,4,0.067,0.093,2961,711,1540
$GC,20726,1.00,316.8,639.3,7.9,998,20730,0.00,2.70,0.00,0.000,6,0.000,0.077,2961,2123,1540
$GC,21047,0.95,316.8,613.5,8.1,1014,21049,0.15,0.00,0.00,0.000,6,0.100,0.000,2931,2142,1539
$GC,21357,0.95,316.8,593.1,6.7,1029,21361,0.00,2.75,0.00,0.000,4,0.000,0.091,2932,708,1539
$GC,21384,0.95,316.8,591.1,8.5,1030,21388,0.00,2.65,0.00,0.000,6,0.000,0.076,2932,2116,1539
$GC,21701,1.00,316.8,571.3,6.3,1045,21705,0.00,2.72,0.00,0.000,4,0.000,0.091,2931,704,1539
$GC,21728,1.00,316.8,569.2,7.1,1046,21732,0.00,2.62,0.00,0.000,6,0.000,0.075,2932,2102,1539
$GC,22044,1.04,316.8,546.8,7.1,1061,22046,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2102,1539
$GC,22354,1.08,316.8,524.9,7.3,1076,22359,0.12,2.70,0.00,0.000,4,0.071,0.090,2962,706,1539
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$STATE,29051,end climb,SURFACE_DEPTH_REACHED
$STATE,29051,begin surface coast
$FINISH,1.6,1.027422
$STATE,29066,end surface coast,CONTROL_FINISHED_OK
$STATE,29066,begin surface
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$SM_GC,1.27,11.12,0.00,0.00,0.038,0.000,0.000,418,2031,1185,-10.52,0.85,404.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1789
$TCM_TEMP,16.90
$XPDR_PINGS,38
$24V_AH,23.4,56.432
$10V_AH,10.0,27.863
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$DEVICE_SECS,26.800,178.200,522.600,0.000,0.000,37.760,36.211,229.452,18.250,0.000,0.000,17.169,2468.832,22955.207,682.614,2723.307,764.419,0.000,2048.601,0.000,2664.573,0.000,57.146,0.000
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$SENSOR_SECS,1038.573,950.359,735.068,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72516,1401
$CAP_FILE_SIZE,193662,0
$CFSIZE,254472192,232247296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,56,2,0
$GPS,150109,062937,6107.281,-333.968,36,1.5,36,-6.2