version: 66.04
glider: 5
mission: 5
dive: 366
start: 1 23 109 20 58 54
data:
$ID,5
$MISSION,5
$DIVE,366
$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,-94594.109
$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,36
$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
$GPS1,205025,6028.968,-501.860,46,1.7,46,-6.8
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-58.3
$GPS2,205834,6029.004,-501.926,13,2.2,32,-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,173.4,7621,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.85,0.000,2,0.000,0.000,423,1988,3319
$GC,123,-0.97,-146.6,3.9,-3.7,5,145,10.95,2.62,-2.67,0.000,4,0.133,0.076,2527,3406,3431
$GC,280,-0.88,-146.6,25.7,-7.6,11,287,0.12,2.50,0.00,0.000,6,0.097,0.049,2553,2010,3432
$GC,596,-0.88,-146.6,48.1,-6.4,27,600,0.00,2.55,0.00,0.000,4,0.000,0.065,2553,594,3432
$GC,651,-0.88,-146.6,52.0,-8.6,29,657,0.00,2.50,0.00,0.000,6,0.000,0.053,2553,1996,3432
$GC,968,-0.83,-146.6,80.3,-9.7,45,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1996,3432
$GC,1278,-0.83,-146.6,105.8,-7.4,60,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1996,3432
$GC,1586,-0.83,-146.6,130.4,-7.7,75,1590,0.00,2.58,0.00,0.000,4,0.000,0.067,2553,590,3432
$GC,1630,-0.83,-146.6,134.0,-8.1,77,1634,0.00,2.50,0.00,0.000,6,0.000,0.054,2552,1990,3432
$GC,1952,-0.83,-146.6,156.1,-6.9,93,1956,0.00,2.58,0.00,0.000,4,0.000,0.068,2553,585,3433
$GC,1984,-0.83,-146.6,158.7,-7.5,94,1990,0.00,2.47,0.00,0.000,6,0.000,0.054,2552,1970,3432
$GC,2301,-0.83,-146.6,181.4,-7.2,110,2305,0.00,2.58,0.00,0.000,4,0.000,0.064,2553,3404,3432
$GC,2322,-0.83,-146.6,183.3,-7.8,111,2327,0.00,2.58,0.00,0.000,6,0.000,0.051,2552,1967,3432
$GC,2644,-0.83,-146.6,210.8,-9.1,127,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1968,3432
$GC,2954,-0.83,-146.6,240.9,-10.0,142,2958,0.00,2.62,0.00,0.000,4,0.000,0.064,2553,3404,3432
$GC,2993,-0.83,-146.6,245.1,-10.3,144,2998,0.00,2.55,0.00,0.000,6,0.000,0.051,2553,1977,3433
$GC,3321,-0.83,-146.6,275.3,-8.8,160,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1976,3432
$GC,3630,-0.83,-146.6,302.0,-8.9,175,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1976,3432
$GC,3939,-0.83,-146.6,329.1,-8.8,190,3943,0.00,2.62,0.00,0.000,4,0.000,0.065,2553,3407,3433
$GC,3988,-0.83,-146.6,333.8,-9.0,192,3993,0.00,2.55,0.00,0.000,6,0.000,0.053,2553,1984,3433
$GC,4305,-0.83,-146.6,361.2,-8.4,207,4309,0.00,2.50,0.00,0.000,4,0.000,0.068,2552,594,3433
$GC,4338,-0.83,-146.6,364.0,-8.1,208,4344,0.00,2.47,0.00,0.000,6,0.000,0.054,2553,1983,3433
$GC,4654,-0.83,-146.6,385.1,-5.9,224,4658,0.00,2.58,0.00,0.000,4,0.000,0.067,2552,3410,3433
$GC,4688,-0.83,-146.6,387.2,-7.0,225,4694,0.00,2.55,0.00,0.000,6,0.000,0.056,2553,1994,3433
$GC,5004,-0.83,-146.6,411.2,-9.0,241,5008,0.00,2.53,0.00,0.000,4,0.000,0.071,2553,594,3433
$GC,5082,-0.83,-146.6,417.9,-9.4,244,5089,0.00,2.47,0.00,0.000,6,0.000,0.054,2553,1983,3433
$GC,5399,-0.83,-146.6,440.1,-6.4,260,5403,0.00,2.58,0.00,0.000,4,0.000,0.069,2552,3404,3433
$GC,5449,-0.83,-146.6,442.9,-5.6,262,5453,0.00,2.58,0.00,0.000,6,0.000,0.058,2552,1980,3433
$GC,5765,-0.83,-146.6,460.2,-5.7,277,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1980,3433
$GC,6075,-0.83,-146.6,478.1,-5.6,292,6080,0.00,2.65,0.00,0.000,4,0.000,0.072,2552,3410,3433
$GC,6125,-0.83,-146.6,481.2,-6.3,294,6129,0.00,2.55,0.00,0.000,6,0.000,0.062,2552,2011,3432
$GC,6441,-0.83,-146.6,498.7,-5.7,309,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2012,3432
$GC,6750,-0.83,-146.6,518.2,-6.6,324,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2012,3431
$GC,7059,-0.83,-146.6,539.2,-6.7,339,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2012,3430
$GC,7368,-0.83,-146.6,560.2,-6.2,354,7373,0.00,2.62,0.00,0.000,4,0.000,0.081,2553,3406,3429
$GC,7391,-0.83,-146.6,561.6,-6.4,355,7396,0.00,2.58,0.00,0.000,6,0.000,0.071,2553,2021,3429
$GC,7712,-0.83,-146.6,580.0,-6.1,371,7717,0.00,2.67,0.00,0.000,4,0.000,0.086,2553,583,3428
$GC,7746,-0.83,-146.6,582.4,-7.2,372,7752,0.00,2.65,0.00,0.000,6,0.000,0.072,2553,2019,3428
$GC,8062,-0.83,-146.6,604.6,-7.4,388,8063,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2020,3426
$GC,8373,-0.83,-146.6,626.2,-6.8,403,8374,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2020,3426
$GC,8680,-0.83,-146.6,645.7,-6.2,418,8684,0.00,2.72,0.00,0.000,4,0.000,0.089,2552,588,3424
$GC,8702,-0.83,-146.6,647.1,-6.4,419,8707,0.00,2.65,0.00,0.000,6,0.000,0.075,2552,2015,3424
$GC,9024,-0.83,-146.6,667.1,-6.0,435,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2016,3422
$GC,9333,-0.83,-146.6,684.8,-5.4,450,9338,0.00,2.72,0.00,0.000,4,0.000,0.092,2553,594,3422
$GC,9362,-0.83,-146.6,686.3,-5.3,451,9366,0.00,2.62,0.00,0.000,6,0.000,0.076,2553,2003,3422
$GC,9678,-0.83,-146.6,706.5,-6.9,466,9679,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2003,3421
$GC,9987,-0.83,-146.6,729.0,-7.5,481,9992,0.00,2.72,0.00,0.000,4,0.000,0.092,2552,583,3420
$GC,10010,-0.83,-146.6,730.9,-8.1,482,10014,0.00,2.62,0.00,0.000,6,0.000,0.076,2553,1995,3420
$GC,10330,-0.83,-146.6,755.9,-7.8,498,10331,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1996,3419
$GC,10640,-0.83,-146.6,779.4,-7.7,513,10641,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1996,3418
$GC,10950,-0.83,-146.6,802.0,-6.8,528,10951,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1995,3417
$GC,11259,-0.87,-146.6,823.0,-6.8,543,11260,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1996,3416
$GC,11569,-0.92,-146.6,843.1,-6.1,558,11570,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1996,3416
$GC,11878,-0.96,-146.6,862.3,-5.9,573,11879,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1996,3416
$GC,12186,-1.00,-146.6,880.0,-6.1,588,12188,0.12,0.00,0.00,0.000,6,0.078,0.000,2524,1996,3415
$GC,12499,-0.96,-146.6,900.3,-6.4,603,12501,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1996,3414
$GC,12805,-0.92,-146.6,920.0,-6.5,618,12807,0.10,0.00,0.00,0.000,6,0.112,0.000,2543,1996,3414
$GC,13115,-0.92,-146.6,938.6,-6.1,633,13119,0.00,2.67,0.00,0.000,4,0.000,0.093,2542,3409,3413
$GC,13147,-0.92,-146.6,940.9,-6.7,634,13154,0.00,2.67,0.00,0.000,6,0.000,0.083,2542,2000,3413
$GC,13463,-0.92,-146.6,960.4,-6.2,650,13464,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2000,3413
$GC,13774,-0.99,-146.6,980.2,-6.0,665,13778,0.00,2.70,0.00,0.000,4,0.000,0.100,2542,584,3413
$GC,13881,-1.45,-146.6,980.0,0.6,670,13887,0.52,2.58,0.00,0.000,6,0.061,0.078,2421,1966,3413
$STATE,14103,end dive,NO_VERTICAL_VELOCITY
$STATE,14103,begin apogee
$GC,14111,-0.33,0.0,980.2,0.0,681,14251,1.17,0.00,135.45,1.647,6,0.077,0.000,2673,2131,2833
$STATE,14251,end apogee,CONTROL_FINISHED_OK
$STATE,14251,begin climb
$GC,14254,0.97,146.6,979.9,0.0,688,14406,1.30,2.90,139.90,1.582,4,0.074,0.097,2948,713,2234
$GC,14525,0.77,146.6,963.6,8.1,700,14530,0.20,2.67,0.00,0.000,6,0.101,0.078,2911,2118,2234
$GC,14841,0.73,155.2,945.4,5.8,715,14853,0.00,0.00,9.82,1.361,6,0.000,0.000,2911,2118,2199
$GC,15151,0.68,157.2,927.4,5.9,730,15153,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2118,2199
$GC,15461,0.66,173.4,909.8,5.6,745,15482,0.10,0.00,18.27,1.494,6,0.113,0.000,2893,2118,2126
$GC,15789,0.71,201.9,892.9,5.2,761,15819,0.00,0.00,28.48,1.530,6,0.000,0.000,2892,2118,2008
$GC,16119,0.77,205.7,873.6,5.9,777,16126,0.00,0.00,5.40,1.180,6,0.000,0.000,2893,2118,1993
$GC,16428,0.85,220.2,855.8,5.6,792,16447,0.17,0.00,15.20,1.466,6,0.067,0.000,2935,2119,1934
$GC,16759,0.79,220.2,833.5,6.6,808,16760,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2119,1934
$GC,17066,0.74,220.2,813.1,6.8,823,17068,0.15,0.00,0.00,0.000,6,0.102,0.000,2905,2119,1934
$GC,17375,0.74,220.2,793.8,6.5,838,17379,0.00,2.72,0.00,0.000,4,0.000,0.094,2905,715,1934
$GC,17403,0.74,220.2,791.8,7.7,839,17407,0.00,2.67,0.00,0.000,6,0.000,0.077,2905,2131,1934
$GC,17718,0.74,220.2,771.4,6.3,854,17720,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2131,1934
$GC,18028,0.78,220.2,751.4,6.4,869,18029,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2131,1934
$GC,18338,0.78,220.2,731.9,6.2,884,18342,0.00,2.75,0.00,0.000,4,0.000,0.094,2905,709,1934
$GC,18365,0.78,220.2,729.7,7.5,885,18369,0.00,2.67,0.00,0.000,6,0.000,0.079,2905,2124,1934
$GC,18681,0.82,220.2,709.1,6.5,900,18682,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2124,1934
$GC,18991,0.87,220.5,689.6,6.0,915,18993,0.12,0.00,0.00,0.000,6,0.071,0.000,2936,2124,1934
$GC,19301,0.82,220.5,669.3,6.3,930,19302,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2124,1934
$GC,19610,0.78,223.7,651.0,5.9,945,19617,0.12,0.00,4.90,1.086,6,0.104,0.000,2911,2124,1920
$GC,19918,0.82,247.6,635.1,5.3,960,19948,0.00,2.85,22.88,1.401,4,0.000,0.091,2911,710,1822
$GC,19965,0.82,247.6,632.4,6.0,962,19970,0.00,2.67,0.00,0.000,6,0.000,0.077,2911,2112,1822
$GC,20288,0.88,255.2,614.6,5.8,978,20301,0.10,0.00,8.88,1.260,6,0.077,0.000,2937,2113,1791
$GC,20618,0.88,255.2,591.8,6.9,994,20623,0.00,2.72,0.00,0.000,4,0.000,0.093,2937,707,1791
$GC,20651,0.88,255.2,589.3,7.4,995,20657,0.00,2.65,0.00,0.000,6,0.000,0.077,2937,2110,1790
$GC,20968,0.88,255.2,567.6,7.2,1011,20969,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2112,1791
$GC,21276,0.96,304.0,549.1,4.7,1026,21326,0.00,2.80,43.92,1.365,4,0.000,0.091,2937,719,1592
$GC,21345,0.97,314.1,545.5,5.7,1029,21362,0.00,2.62,10.55,1.220,6,0.000,0.074,2937,2099,1551
$GC,21674,0.97,314.1,525.1,7.3,1045,21678,0.00,2.72,0.00,0.000,4,0.000,0.086,2937,3532,1551
$GC,21696,0.97,314.1,523.3,7.2,1046,21700,0.00,2.72,0.00,0.000,6,0.000,0.075,2937,2094,1551
$GC,22017,0.97,314.1,500.3,7.7,1062,22022,0.00,2.62,0.00,0.000,4,0.000,0.089,2937,705,1551
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$GC,22764,0.90,345.6,447.9,7.1,1098,22768,0.00,2.65,0.00,0.000,6,0.000,0.071,2941,2122,1423
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$STATE,27619,end climb,SURFACE_DEPTH_REACHED
$STATE,27619,begin surface coast
$FINISH,-0.1,1.027460
$STATE,27660,end surface coast,CONTROL_FINISHED_OK
$STATE,27660,begin surface
$SM_CCo,27744,0.00,0.000,0,0,1423,345.38
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1801
$TCM_TEMP,16.90
$XPDR_PINGS,47
$ALTIM_BOTTOM_PING,900.3,90.9
$24V_AH,23.3,63.338
$10V_AH,10.0,31.222
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$DEVICE_SECS,27.900,189.400,476.175,0.000,0.000,37.757,29.709,253.545,20.000,0.000,0.000,33.108,2373.134,21816.002,661.595,2591.476,779.658,0.000,1961.037,0.000,2518.341,0.000,55.432,0.000
$DEVICE_MAMPS,132.691,99.710,1646.749,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,994.359,904.635,685.161,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66297,1334
$CAP_FILE_SIZE,190475,0
$CFSIZE,254472192,229785600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,55,0,0
$GPS,240109,044237,6024.961,-505.392,41,1.7,41,-6.8