version: 66.04
glider: 5
mission: 5
dive: 365
start: 1 23 109 13 28 51
data:
$ID,5
$MISSION,5
$DIVE,365
$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,-94560.375
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$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,33
$R_STBD_OVSHOOT,25
$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
$GPS1,132106,6031.611,-503.737,28,1.1,28,-6.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-49.0
$GPS2,132832,6031.645,-503.767,13,1.2,13,-6.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSC_S
$TGT_LATLONG,6025.000,-500.000
$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,171.2,12779,-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,-146.6,0.0,0.0,0,138,0.00,0.00,-119.82,0.000,6,0.000,0.000,420,1971,3430
$GC,142,-0.97,-146.6,4.9,-4.7,6,158,10.98,2.65,0.00,0.000,4,0.132,0.063,2527,3414,3431
$GC,198,-0.84,-146.6,23.6,-18.9,7,205,0.15,2.53,0.00,0.000,6,0.086,0.046,2559,1995,3432
$GC,515,-0.80,-146.6,57.9,-11.6,23,519,0.00,2.53,0.00,0.000,4,0.000,0.063,2559,585,3433
$GC,556,-0.80,-146.6,62.0,-9.9,25,560,0.00,2.53,0.00,0.000,6,0.000,0.054,2559,1998,3432
$GC,882,-0.80,-146.6,80.3,-6.2,41,887,0.00,2.55,0.00,0.000,4,0.000,0.064,2559,3412,3433
$GC,911,-0.80,-146.6,82.0,-5.5,42,916,0.00,2.58,0.00,0.000,6,0.000,0.051,2559,1978,3432
$GC,1229,-0.80,-146.6,103.7,-12.9,57,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1978,3432
$GC,1536,-0.80,-146.6,135.4,-7.6,72,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1978,3433
$GC,1846,-0.80,-146.6,162.7,-9.7,87,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1978,3433
$GC,2155,-0.80,-146.6,187.7,-8.6,102,2159,0.00,2.62,0.00,0.000,4,0.000,0.063,2559,3414,3433
$GC,2217,-0.80,-146.6,193.0,-8.4,105,2221,0.00,2.58,0.00,0.000,6,0.000,0.051,2559,1971,3433
$GC,2543,-0.80,-146.6,218.4,-8.0,121,2548,0.00,2.47,0.00,0.000,4,0.000,0.066,2558,593,3433
$GC,2566,-0.80,-146.6,220.3,-8.1,122,2570,0.00,2.47,0.00,0.000,6,0.000,0.054,2559,1979,3433
$GC,2887,-0.80,-146.6,246.2,-7.5,138,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1980,3433
$GC,3197,-0.80,-146.6,270.6,-8.0,153,3201,0.00,2.58,0.00,0.000,4,0.000,0.064,2559,3411,3433
$GC,3218,-0.80,-146.6,272.4,-8.2,154,3223,0.00,2.58,0.00,0.000,6,0.000,0.054,2559,1974,3433
$GC,3540,-0.80,-146.6,296.5,-7.4,170,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1974,3433
$GC,3851,-0.80,-146.6,319.6,-7.3,185,3856,0.00,2.62,0.00,0.000,4,0.000,0.066,2559,3404,3433
$GC,3891,-0.80,-146.6,322.9,-8.1,187,3896,0.00,2.58,0.00,0.000,6,0.000,0.054,2559,1968,3433
$GC,4218,-0.80,-146.6,348.6,-8.1,203,4223,0.00,2.62,0.00,0.000,4,0.000,0.065,2559,3404,3433
$GC,4252,-0.80,-146.6,351.7,-8.8,204,4259,0.00,2.55,0.00,0.000,6,0.000,0.053,2559,1983,3433
$GC,4568,-0.80,-146.6,377.1,-7.8,220,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1983,3433
$GC,4880,-0.80,-146.6,401.4,-7.4,235,4884,0.00,2.60,0.00,0.000,4,0.000,0.066,2559,3404,3433
$GC,4936,-0.80,-146.6,405.8,-8.0,237,4942,0.00,2.53,0.00,0.000,6,0.000,0.054,2559,1998,3433
$GC,5254,-0.80,-146.6,425.2,-5.8,253,5259,0.00,2.60,0.00,0.000,4,0.000,0.067,2559,3411,3433
$GC,5298,-0.80,-146.6,428.3,-6.7,255,5302,0.00,2.50,0.00,0.000,6,0.000,0.056,2559,2022,3433
$GC,5620,-0.80,-146.6,449.5,-6.8,271,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2022,3433
$GC,5929,-0.80,-146.6,471.4,-7.6,286,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2022,3433
$GC,6238,-0.80,-146.6,495.1,-7.8,301,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2022,3433
$GC,6548,-0.85,-146.6,517.9,-7.1,316,6553,0.00,2.60,0.00,0.000,4,0.000,0.077,2559,597,3433
$GC,6611,-0.85,-146.6,522.8,-7.9,319,6615,0.00,2.58,0.00,0.000,6,0.000,0.063,2559,2018,3432
$GC,6938,-0.85,-146.6,545.0,-6.5,335,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2019,3432
$GC,7247,-0.85,-146.6,566.0,-7.0,350,7251,0.00,2.67,0.00,0.000,4,0.000,0.081,2559,594,3431
$GC,7296,-0.89,-146.6,569.7,-8.1,352,7301,0.00,2.58,0.00,0.000,6,0.000,0.067,2559,2006,3431
$GC,7613,-0.94,-146.6,590.9,-6.5,367,7617,0.00,2.62,0.00,0.000,4,0.000,0.084,2559,3413,3430
$GC,7657,-0.99,-146.6,594.1,-7.1,369,7662,0.15,2.60,0.00,0.000,6,0.071,0.072,2523,2015,3429
$GC,7981,-0.94,-146.6,619.0,-7.9,385,7985,0.00,2.65,0.00,0.000,4,0.000,0.086,2523,586,3428
$GC,8026,-0.88,-146.6,623.0,-8.6,387,8031,0.12,2.62,0.00,0.000,6,0.100,0.072,2549,2008,3428
$GC,8348,-0.88,-146.6,647.0,-7.8,403,8352,0.00,2.65,0.00,0.000,4,0.000,0.087,2549,3416,3427
$GC,8392,-0.88,-146.6,650.6,-7.6,405,8397,0.00,2.65,0.00,0.000,6,0.000,0.075,2549,2002,3426
$GC,8714,-0.88,-146.6,677.2,-8.6,421,8719,0.00,2.70,0.00,0.000,4,0.000,0.087,2549,3410,3425
$GC,8736,-0.88,-146.6,679.4,-9.3,422,8741,0.00,2.62,0.00,0.000,6,0.000,0.077,2549,2013,3424
$GC,9058,-0.88,-146.6,705.1,-7.7,438,9063,0.00,2.67,0.00,0.000,4,0.000,0.089,2548,581,3424
$GC,9092,-0.88,-146.6,708.0,-8.7,439,9098,0.00,2.65,0.00,0.000,6,0.000,0.074,2549,2014,3423
$GC,9407,-0.88,-146.6,731.8,-7.1,455,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2015,3422
$GC,9717,-0.88,-146.6,752.6,-6.4,470,9722,0.00,2.75,0.00,0.000,4,0.000,0.093,2549,581,3421
$GC,9744,-0.88,-146.6,754.6,-7.0,471,9749,0.00,2.67,0.00,0.000,6,0.000,0.075,2549,2017,3421
$GC,10061,-0.88,-146.6,774.0,-6.3,486,10065,0.00,2.62,0.00,0.000,4,0.000,0.091,2549,3407,3420
$GC,10082,-0.88,-146.6,775.4,-6.2,487,10087,0.00,2.65,0.00,0.000,6,0.000,0.079,2549,2003,3419
$GC,10404,-0.88,-146.6,795.6,-6.1,503,10405,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2002,3418
$GC,10713,-0.88,-146.6,814.3,-6.0,518,10714,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2003,3418
$GC,11022,-0.88,-146.6,833.4,-6.2,533,11023,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2002,3418
$GC,11331,-0.88,-146.6,852.2,-6.1,548,11332,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2003,3416
$GC,11640,-0.88,-146.6,870.6,-6.2,563,11641,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2003,3416
$GC,11950,-0.88,-146.6,890.5,-6.5,578,11951,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2002,3416
$GC,12258,-0.88,-146.6,910.8,-6.4,593,12263,0.00,2.72,0.00,0.000,4,0.000,0.093,2549,3413,3415
$GC,12292,-0.92,-146.6,913.0,-6.9,594,12298,0.00,2.67,0.00,0.000,6,0.000,0.081,2549,2004,3415
$GC,12608,-0.92,-146.6,932.4,-6.5,610,12609,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2004,3415
$GC,12917,-0.92,-146.6,952.8,-6.7,625,12918,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2004,3415
$GC,13226,-0.97,-146.6,973.8,-6.5,640,13231,0.00,2.72,0.00,0.000,4,0.000,0.092,2549,3416,3414
$GC,13256,-1.01,-146.6,975.5,-5.9,641,13261,0.12,2.67,0.00,0.000,4,0.081,0.081,2520,2000,3414
$STATE,13262,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13262,begin apogee
$GC,13269,-0.33,0.0,976.0,6.3,641,13409,0.70,0.00,136.55,1.638,6,0.093,0.000,2667,2130,2832
$STATE,13409,end apogee,CONTROL_FINISHED_OK
$STATE,13410,begin climb
$GC,13413,0.97,146.6,979.9,0.0,648,13561,1.35,2.80,139.68,1.573,4,0.074,0.091,2953,3528,2234
$GC,13655,0.76,146.6,967.9,8.0,659,13660,0.22,2.70,0.00,0.000,6,0.103,0.080,2910,2126,2234
$GC,13977,0.70,146.6,948.3,6.5,675,13979,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2126,2233
$GC,14286,0.64,146.6,929.3,6.1,690,14288,0.15,0.00,0.00,0.000,6,0.106,0.000,2882,2126,2233
$GC,14595,0.70,188.2,913.9,4.9,705,14644,0.00,0.00,42.40,1.495,6,0.000,0.000,2882,2126,2064
$GC,14946,0.82,222.5,896.1,5.1,722,14985,0.20,2.85,33.50,1.526,4,0.067,0.087,2930,3528,1925
$GC,15003,0.74,222.5,892.1,7.4,724,15010,0.12,2.72,0.00,0.000,6,0.104,0.078,2906,2120,1925
$GC,15318,0.74,222.5,872.4,6.2,740,15323,0.00,2.70,0.00,0.000,4,0.000,0.097,2906,715,1926
$GC,15351,0.74,222.5,870.0,7.1,741,15358,0.00,2.67,0.00,0.000,6,0.000,0.078,2906,2126,1926
$GC,15667,0.74,222.5,850.3,6.2,757,15668,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2125,1926
$GC,15977,0.74,222.5,831.3,6.1,772,15978,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2126,1926
$GC,16285,0.74,222.5,812.2,6.3,787,16290,0.00,2.75,0.00,0.000,4,0.000,0.095,2906,712,1926
$GC,16307,0.74,222.5,810.7,6.7,788,16311,0.00,2.67,0.00,0.000,6,0.000,0.079,2905,2124,1926
$GC,16629,0.74,226.1,791.1,5.9,804,16636,0.00,0.00,5.70,1.204,6,0.000,0.000,2906,2124,1910
$GC,16937,0.79,253.3,774.3,5.3,819,16965,0.00,0.00,26.27,1.488,6,0.000,0.000,2905,2124,1799
$GC,17267,0.93,302.2,758.1,4.7,835,17318,0.17,2.85,45.42,1.487,4,0.067,0.095,2952,707,1600
$GC,17353,0.85,302.2,752.2,8.3,839,17358,0.00,2.72,0.00,0.000,6,0.000,0.079,2953,2126,1600
$GC,17675,0.81,302.2,729.6,7.1,855,17677,0.17,0.00,0.00,0.000,6,0.096,0.000,2918,2126,1600
$GC,17985,0.91,323.5,712.6,5.4,870,18013,0.10,2.85,21.12,1.420,4,0.076,0.093,2944,715,1513
$GC,18025,0.91,323.5,709.9,7.5,872,18030,0.00,2.67,0.00,0.000,6,0.000,0.077,2944,2114,1513
$GC,18352,0.91,323.5,685.2,8.0,888,18353,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2113,1513
$GC,18662,0.91,323.5,658.7,8.8,903,18666,0.00,2.72,0.00,0.000,4,0.000,0.094,2944,709,1513
$GC,18689,0.91,323.5,655.9,10.1,904,18693,0.00,2.62,0.00,0.000,6,0.000,0.077,2943,2099,1512
$GC,19006,0.91,323.5,627.6,9.3,919,19007,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2100,1512
$GC,19314,0.91,323.5,597.0,10.0,934,19316,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2100,1512
$GC,19623,0.91,323.5,567.7,9.0,949,19627,0.00,2.67,0.00,0.000,4,0.000,0.092,2944,714,1512
$GC,19644,0.91,323.5,565.7,8.3,950,19649,0.00,2.60,0.00,0.000,6,0.000,0.076,2944,2097,1512
$GC,19967,0.91,323.5,538.4,8.4,966,19968,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2098,1512
$GC,20275,0.91,323.5,513.3,7.8,981,20280,0.00,2.65,0.00,0.000,4,0.000,0.089,2944,714,1512
$GC,20297,0.91,323.5,511.2,9.5,982,20302,0.00,2.58,0.00,0.000,6,0.000,0.074,2944,2087,1512
$GC,20619,0.91,323.5,486.0,7.9,998,20624,0.00,2.65,0.00,0.000,4,0.000,0.089,2944,707,1512
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$STATE,26286,end climb,SURFACE_DEPTH_REACHED
$STATE,26286,begin surface coast
$FINISH,0.2,1.027451
$STATE,26327,end surface coast,CONTROL_FINISHED_OK
$STATE,26327,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1806
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$XPDR_PINGS,46
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$24V_AH,23.3,63.114
$10V_AH,10.0,31.108
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$DEVICE_SECS,26.650,215.975,474.675,0.000,0.000,37.761,26.803,234.370,19.750,0.000,0.000,13.446,2273.654,20654.936,702.159,2463.043,750.737,0.000,1959.167,0.000,2408.034,0.000,55.377,0.000
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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,66256,1273
$CAP_FILE_SIZE,185651,0
$CFSIZE,254472192,229871616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,64,1,0
$GPS,230109,205025,6028.968,-501.860,46,1.7,46,-6.8