version: 66.04
glider: 5
mission: 5
dive: 327
start: 1 15 109 6 38 27
data:
$ID,5
$MISSION,5
$DIVE,327
$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,-93790.695
$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,23
$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
$GPS1,062937,6107.281,-333.968,36,1.5,36,-6.2
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-49.3
$GPS2,063808,6107.291,-334.326,15,1.5,15,-6.2
$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,268.0,120484,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-100.97,0.000,2,0.000,0.000,418,2027,3294
$GC,123,-0.97,-146.6,5.1,-4.7,5,145,10.77,2.62,-3.15,0.000,4,0.133,0.074,2506,594,3431
$GC,376,-0.81,-146.6,51.4,-10.5,16,381,0.20,2.53,0.00,0.000,6,0.089,0.054,2547,2003,3431
$GC,698,-0.76,-146.6,75.0,-6.9,32,702,0.00,2.60,0.00,0.000,4,0.000,0.066,2547,584,3431
$GC,738,-0.71,-146.6,78.1,-8.4,34,744,0.12,2.53,0.00,0.000,6,0.094,0.053,2573,1999,3431
$GC,1066,-0.71,-146.6,97.0,-5.7,50,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1999,3431
$GC,1375,-0.71,-146.6,120.2,-8.6,65,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1999,3431
$GC,1686,-0.71,-146.6,147.9,-9.3,80,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1999,3431
$GC,1993,-0.71,-146.6,172.4,-7.0,95,1997,0.00,2.58,0.00,0.000,4,0.000,0.066,2573,588,3431
$GC,2039,-0.71,-146.6,175.4,-6.6,97,2043,0.00,2.50,0.00,0.000,6,0.000,0.052,2573,1986,3431
$GC,2362,-0.71,-146.6,188.8,-3.3,113,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1987,3431
$GC,2670,-0.71,-146.6,203.5,-5.5,128,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1987,3432
$GC,2981,-0.71,-146.6,225.8,-7.6,143,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1987,3432
$GC,3289,-0.75,-146.6,248.6,-7.1,158,3294,0.00,2.55,0.00,0.000,4,0.000,0.065,2573,3404,3432
$GC,3318,-0.81,-146.6,250.9,-7.7,159,3323,0.12,2.55,0.00,0.000,6,0.056,0.053,2538,1981,3431
$GC,3634,-0.74,-146.6,279.3,-8.9,174,3639,0.12,2.50,0.00,0.000,4,0.093,0.067,2564,592,3433
$GC,3719,-0.74,-146.6,286.6,-9.1,178,3723,0.00,2.47,0.00,0.000,6,0.000,0.054,2564,1982,3432
$GC,4051,-0.74,-146.6,313.2,-8.2,194,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1983,3432
$GC,4361,-0.74,-146.6,339.1,-7.5,209,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1983,3433
$GC,4670,-0.74,-146.6,357.3,-5.0,224,4674,0.00,2.58,0.00,0.000,4,0.000,0.069,2564,3402,3433
$GC,4765,-0.81,-146.6,362.7,-6.1,228,4769,0.00,2.60,0.00,0.000,6,0.000,0.057,2564,1961,3432
$GC,5082,-0.85,-146.6,381.1,-6.9,243,5087,0.12,2.50,0.00,0.000,4,0.057,0.072,2529,582,3433
$GC,5122,-0.77,-146.6,384.1,-8.1,245,5127,0.12,2.47,0.00,0.000,6,0.094,0.058,2554,1961,3432
$GC,5450,-0.77,-146.6,405.2,-6.2,261,5454,0.00,2.62,0.00,0.000,4,0.000,0.073,2554,3401,3432
$GC,5482,-0.77,-146.6,407.4,-6.7,262,5488,0.00,2.62,0.00,0.000,6,0.000,0.062,2555,1959,3431
$GC,5798,-0.77,-146.6,424.9,-5.8,278,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1959,3432
$GC,6108,-0.77,-146.6,442.9,-5.5,293,6113,0.00,2.70,0.00,0.000,4,0.000,0.074,2554,3408,3430
$GC,6164,-0.77,-146.6,446.1,-5.1,295,6170,0.00,2.65,0.00,0.000,6,0.000,0.065,2554,1961,3430
$GC,6481,-0.77,-146.6,463.9,-5.9,311,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1961,3430
$GC,6790,-0.77,-146.6,482.4,-6.3,326,6795,0.00,2.70,0.00,0.000,4,0.000,0.077,2554,3404,3429
$GC,6835,-0.77,-146.6,485.3,-6.5,328,6839,0.00,2.62,0.00,0.000,6,0.000,0.066,2554,1973,3429
$GC,7156,-0.77,-146.6,504.8,-6.1,344,7160,0.00,2.70,0.00,0.000,4,0.000,0.081,2554,3404,3427
$GC,7184,-0.77,-146.6,506.7,-6.6,345,7188,0.00,2.62,0.00,0.000,6,0.000,0.069,2554,1982,3427
$GC,7499,-0.77,-146.6,531.8,-8.7,360,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1981,3427
$GC,7809,-0.77,-146.6,556.0,-7.2,375,7813,0.00,2.67,0.00,0.000,4,0.000,0.081,2554,3401,3426
$GC,7836,-0.77,-146.6,557.9,-7.2,376,7841,0.00,2.62,0.00,0.000,6,0.000,0.071,2554,1983,3426
$GC,8153,-0.77,-146.6,573.6,-4.1,391,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1983,3424
$GC,8462,-0.77,-146.6,586.6,-4.4,406,8467,0.00,2.70,0.00,0.000,4,0.000,0.084,2555,3404,3424
$GC,8496,-0.81,-146.6,588.3,-5.4,407,8502,0.00,2.65,0.00,0.000,6,0.000,0.072,2554,1977,3423
$GC,8812,-0.81,-146.6,605.0,-5.5,423,8813,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1977,3423
$GC,9122,-0.81,-146.6,622.5,-5.9,438,9124,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1977,3422
$GC,9431,-0.81,-146.6,640.0,-5.6,453,9435,0.00,2.72,0.00,0.000,4,0.000,0.087,2554,3402,3421
$GC,9486,-0.86,-146.6,643.6,-6.1,455,9493,0.00,2.65,0.00,0.000,6,0.000,0.074,2555,1983,3421
$GC,9803,-0.86,-146.6,664.2,-6.6,471,9805,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1983,3420
$GC,10112,-0.86,-146.6,683.4,-6.1,486,10113,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1983,3419
$GC,10421,-0.86,-146.6,703.7,-6.8,501,10426,0.00,2.72,0.00,0.000,4,0.000,0.088,2555,3405,3418
$GC,10450,-0.90,-146.6,705.9,-7.7,502,10455,0.12,2.65,0.00,0.000,6,0.073,0.076,2524,1994,3418
$GC,10768,-0.85,-146.6,730.8,-7.8,517,10770,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1994,3417
$GC,11075,-0.81,-146.6,752.0,-6.6,532,11077,0.12,0.00,0.00,0.000,6,0.106,0.000,2549,1994,3416
$GC,11385,-0.81,-146.6,770.4,-5.7,547,11390,0.00,2.70,0.00,0.000,4,0.000,0.090,2548,3400,3416
$GC,11418,-0.81,-146.6,772.6,-6.6,548,11424,0.00,2.65,0.00,0.000,6,0.000,0.078,2549,1993,3416
$GC,11735,-0.81,-146.6,790.2,-5.4,564,11739,0.00,2.67,0.00,0.000,4,0.000,0.097,2549,584,3415
$GC,11768,-0.81,-146.6,792.2,-6.0,565,11774,0.00,2.62,0.00,0.000,6,0.000,0.077,2549,1994,3415
$GC,12084,-0.81,-146.6,809.0,-5.6,581,12085,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1994,3414
$GC,12394,-0.81,-146.6,826.4,-5.7,596,12395,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1994,3414
$GC,12702,-0.81,-146.6,843.4,-5.4,611,12704,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1994,3414
$GC,13012,-0.81,-146.6,860.5,-5.6,626,13013,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1994,3413
$GC,13322,-0.81,-146.6,877.2,-5.4,641,13323,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1994,3413
$GC,13630,-0.81,-146.6,893.1,-4.8,656,13631,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1994,3412
$GC,13940,-0.81,-146.6,906.6,-4.4,671,13941,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1994,3412
$GC,14250,-0.81,-146.6,921.7,-5.4,686,14251,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1994,3412
$GC,14558,-0.81,-146.6,939.3,-5.8,701,14559,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1994,3411
$GC,14867,-0.81,-146.6,958.3,-6.3,716,14868,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1994,3412
$GC,15178,-0.85,-146.6,979.0,-6.7,731,15179,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1994,3411
$STATE,15358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15358,begin apogee
$GC,15366,-0.33,0.0,991.0,6.4,740,15503,0.50,0.00,134.60,1.662,6,0.091,0.000,2651,2132,2832
$STATE,15504,end apogee,CONTROL_FINISHED_OK
$STATE,15504,begin climb
$GC,15507,0.97,146.6,996.0,0.0,747,15660,1.33,2.80,141.38,1.596,4,0.077,0.092,2931,3533,2234
$GC,15688,0.82,146.6,989.7,6.0,755,15696,0.15,2.75,0.00,0.000,6,0.104,0.082,2903,2119,2234
$GC,16005,0.82,152.3,972.0,5.8,771,16014,0.00,0.00,6.97,1.262,6,0.000,0.000,2903,2119,2211
$GC,16314,0.82,152.3,952.9,6.1,786,16318,0.00,2.72,0.00,0.000,4,0.000,0.100,2903,712,2211
$GC,16341,0.77,152.3,951.0,7.1,787,16346,0.00,2.67,0.00,0.000,6,0.000,0.078,2903,2121,2211
$GC,16657,0.77,152.3,931.0,6.3,802,16659,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2121,2211
$GC,16966,0.77,152.3,910.2,6.7,817,16967,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2122,2211
$GC,17275,0.77,152.3,888.4,7.0,832,17276,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2122,2210
$GC,17585,0.77,152.3,866.9,7.0,847,17587,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2121,2210
$GC,17894,0.77,152.3,847.2,6.3,862,17898,0.00,2.75,0.00,0.000,4,0.000,0.097,2903,711,2210
$GC,17934,0.74,153.7,844.6,6.0,864,17938,0.00,2.67,0.00,0.000,6,0.000,0.079,2903,2128,2210
$GC,18261,0.74,153.7,824.6,6.2,880,18262,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2129,2209
$GC,18570,0.79,185.1,808.2,5.1,895,18603,0.00,0.00,31.83,1.514,6,0.000,0.000,2903,2129,2077
$GC,18899,0.86,229.8,791.8,4.8,911,18959,0.00,2.90,44.88,1.460,4,0.000,0.096,2903,715,1894
$GC,18971,0.90,256.8,787.7,5.3,914,19004,0.00,2.70,26.40,1.458,6,0.000,0.077,2903,2123,1785
$GC,19317,0.97,256.8,767.7,6.1,931,19319,0.15,0.00,0.00,0.000,6,0.066,0.000,2941,2122,1786
$GC,19623,0.97,256.8,745.2,7.5,946,19624,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2122,1787
$GC,19931,0.97,256.8,721.0,8.0,961,19936,0.00,2.75,0.00,0.000,4,0.000,0.097,2941,714,1787
$GC,19959,0.93,256.8,718.7,8.0,962,19963,0.00,2.65,0.00,0.000,6,0.000,0.078,2941,2115,1787
$GC,20275,0.93,256.8,692.9,8.5,977,20276,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2115,1788
$GC,20585,0.93,256.8,667.2,8.5,992,20590,0.00,2.72,0.00,0.000,4,0.000,0.095,2941,715,1788
$GC,20618,0.88,256.8,663.9,8.9,993,20625,0.12,2.62,0.00,0.000,6,0.103,0.077,2916,2107,1788
$GC,20935,0.88,256.8,640.9,7.4,1009,20936,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2109,1787
$GC,21244,0.92,256.8,620.1,6.2,1024,21245,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2108,1788
$GC,21553,0.96,258.4,600.6,6.0,1039,21559,0.00,0.00,4.00,0.942,6,0.000,0.000,2916,2108,1778
$GC,21865,1.05,286.7,583.8,5.2,1054,21894,0.17,0.00,26.67,1.377,6,0.066,0.000,2958,2108,1663
$GC,22192,1.00,286.7,561.3,6.9,1070,22193,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2108,1663
$GC,22502,0.95,286.7,536.3,8.6,1085,22507,0.15,2.72,0.00,0.000,4,0.101,0.091,2930,705,1663
$GC,22529,0.95,286.7,533.8,8.1,1086,22534,0.00,2.62,0.00,0.000,6,0.000,0.075,2930,2104,1663
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$STATE,29194,end climb,SURFACE_DEPTH_REACHED
$STATE,29195,begin surface coast
$FINISH,0.2,1.027402
$STATE,29237,end surface coast,CONTROL_FINISHED_OK
$STATE,29237,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1806
$TCM_TEMP,16.70
$XPDR_PINGS,34
$24V_AH,23.4,56.664
$10V_AH,10.0,27.982
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$DEVICE_SECS,26.775,184.450,499.525,0.000,0.000,37.761,28.087,295.485,17.250,0.000,0.000,15.238,2490.445,23109.566,682.955,2704.879,830.306,0.000,2038.875,0.000,2646.536,0.000,57.193,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72474,1409
$CAP_FILE_SIZE,197634,0
$CFSIZE,254472192,232157184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,52,1,0
$GPS,150109,144824,6106.537,-345.644,38,1.7,38,-6.3