version: 66.04
glider: 5
mission: 5
dive: 401
start: 2 4 109 12 29 22
data:
$ID,5
$MISSION,5
$DIVE,401
$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,-95246.617
$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,28
$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,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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
$GPS1,121837,6048.903,-735.358,34,1.2,34,-8.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-55.5
$GPS2,122902,6048.798,-735.567,13,1.4,13,-8.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_1
$TGT_LATLONG,6100.000,-735.000
$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,9.6,20752,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.68,0.000,2,0.000,0.000,420,1975,3128
$GC,102,-0.97,-146.6,3.5,-3.6,4,125,10.98,0.00,-8.12,0.000,6,0.133,0.000,2528,1989,3431
$GC,437,-0.83,-146.6,44.7,-10.9,20,438,0.15,0.00,0.00,0.000,6,0.093,0.000,2560,1990,3431
$GC,743,-0.83,-146.6,69.9,-9.6,35,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1990,3431
$GC,1053,-0.83,-146.6,104.2,-11.1,50,1057,0.00,2.53,0.00,0.000,4,0.000,0.061,2560,585,3431
$GC,1080,-0.83,-146.6,108.3,-14.5,51,1085,0.00,2.55,0.00,0.000,6,0.000,0.052,2560,2005,3431
$GC,1398,-0.83,-146.6,133.2,-9.1,66,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2021,3431
$GC,1705,-0.83,-146.6,166.9,-10.4,81,1710,0.00,2.58,0.00,0.000,4,0.000,0.062,2560,596,3431
$GC,1756,-0.83,-146.6,171.1,-7.0,83,1761,0.00,2.50,0.00,0.000,6,0.000,0.051,2560,2002,3430
$GC,2072,-0.83,-146.6,189.6,-6.4,98,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2003,3431
$GC,2382,-0.83,-146.6,214.7,-12.7,113,2387,0.00,2.58,0.00,0.000,4,0.000,0.062,2560,594,3431
$GC,2416,-0.83,-146.6,218.8,-10.9,114,2422,0.00,2.47,0.00,0.000,6,0.000,0.051,2561,1984,3431
$GC,2732,-0.83,-146.6,244.0,-3.4,130,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2002,3431
$GC,3041,-0.83,-146.6,264.5,-11.0,145,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2004,3431
$GC,3350,-0.83,-146.6,286.6,-8.5,160,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2002,3431
$GC,3659,-0.83,-146.6,311.0,-7.0,175,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2002,3431
$GC,3970,-0.83,-146.6,328.9,-5.1,190,3973,0.00,2.55,0.00,0.000,4,0.000,0.064,2560,588,3431
$GC,4003,-0.83,-146.6,331.0,-5.7,191,4008,0.00,2.47,0.00,0.000,6,0.000,0.051,2560,1983,3431
$GC,4320,-0.83,-146.6,347.5,-4.9,206,4324,0.00,2.58,0.00,0.000,4,0.000,0.065,2560,3412,3431
$GC,4354,-0.83,-146.6,349.2,-5.5,207,4361,0.00,2.58,0.00,0.000,6,0.000,0.053,2560,1975,3431
$GC,4672,-0.83,-146.6,366.8,-5.6,223,4676,0.00,2.60,0.00,0.000,4,0.000,0.064,2560,3405,3430
$GC,4744,-0.83,-146.6,371.5,-6.1,226,4748,0.00,2.53,0.00,0.000,6,0.000,0.051,2560,1989,3430
$GC,5061,-0.83,-146.6,389.2,-5.6,241,5066,0.00,2.58,0.00,0.000,4,0.000,0.063,2560,3405,3430
$GC,5111,-0.83,-146.6,392.4,-5.8,243,5116,0.00,2.50,0.00,0.000,6,0.000,0.051,2560,2003,3430
$GC,5427,-0.83,-146.6,411.7,-6.6,258,5432,0.00,2.55,0.00,0.000,4,0.000,0.064,2560,3405,3430
$GC,5551,-0.83,-146.6,420.6,-7.0,263,5557,0.00,2.42,0.00,0.000,6,0.000,0.051,2560,2042,3430
$GC,5867,-0.83,-146.6,441.3,-5.9,279,5872,0.00,2.50,0.00,0.000,4,0.000,0.066,2560,3406,3430
$GC,5924,-0.83,-146.6,444.6,-5.6,281,5930,0.00,2.42,0.00,0.000,6,0.000,0.054,2560,2052,3430
$GC,6241,-0.83,-146.6,459.4,-4.3,297,6245,0.00,2.47,0.00,0.000,4,0.000,0.066,2560,3405,3430
$GC,6274,-0.83,-146.6,461.2,-4.8,298,6280,0.00,2.40,0.00,0.000,6,0.000,0.054,2560,2068,3430
$GC,6592,-0.88,-146.6,478.1,-5.8,314,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2068,3431
$GC,6899,-0.88,-146.6,501.6,-7.7,329,6903,0.00,2.50,0.00,0.000,4,0.000,0.069,2560,3412,3430
$GC,6946,-0.94,-146.6,505.2,-8.0,331,6950,0.00,2.42,0.00,0.000,6,0.000,0.058,2560,2066,3430
$GC,7274,-1.00,-146.6,527.9,-6.7,347,7279,0.15,2.67,0.00,0.000,4,0.060,0.073,2520,590,3429
$GC,7410,-0.92,-146.6,539.1,-9.6,353,7415,0.10,2.62,0.00,0.000,6,0.099,0.060,2542,2048,3429
$GC,7732,-0.92,-146.6,559.2,-6.3,369,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2048,3429
$GC,8041,-0.92,-146.6,578.9,-6.4,384,8045,0.00,2.50,0.00,0.000,4,0.000,0.076,2541,3408,3428
$GC,8073,-0.92,-146.6,581.3,-7.1,385,8080,0.00,2.47,0.00,0.000,6,0.000,0.064,2541,2054,3427
$GC,8393,-0.92,-146.6,600.7,-5.5,401,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2054,3427
$GC,8699,-0.92,-146.6,616.7,-7.0,416,8703,0.00,2.53,0.00,0.000,4,0.000,0.078,2541,3404,3426
$GC,8732,-0.92,-146.6,619.2,-7.7,417,8738,0.00,2.50,0.00,0.000,6,0.000,0.067,2541,2045,3425
$GC,9048,-0.92,-146.6,639.3,-6.8,433,9053,0.00,2.67,0.00,0.000,4,0.000,0.081,2541,589,3424
$GC,9111,-0.92,-146.6,644.1,-8.2,436,9116,0.00,2.65,0.00,0.000,6,0.000,0.068,2541,2035,3424
$GC,9438,-0.92,-146.6,665.7,-6.6,452,9442,0.00,2.72,0.00,0.000,4,0.000,0.081,2541,581,3423
$GC,9478,-0.92,-146.6,668.5,-6.9,454,9483,0.00,2.65,0.00,0.000,6,0.000,0.070,2541,2027,3423
$GC,9805,-0.92,-146.6,692.6,-6.3,470,9809,0.00,2.70,0.00,0.000,4,0.000,0.083,2541,592,3422
$GC,9844,-0.92,-146.6,695.3,-7.3,472,9849,0.00,2.62,0.00,0.000,6,0.000,0.071,2541,2020,3423
$GC,10172,-0.92,-146.6,714.4,-5.6,488,10173,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2020,3421
$GC,10480,-0.92,-146.6,730.4,-5.0,503,10485,0.00,2.70,0.00,0.000,4,0.000,0.087,2541,594,3420
$GC,10513,-0.92,-146.6,732.4,-5.7,504,10519,0.00,2.62,0.00,0.000,6,0.000,0.073,2541,2012,3420
$GC,10832,-0.92,-146.6,751.0,-6.5,520,10833,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2012,3419
$GC,11138,-0.92,-146.6,772.9,-6.8,535,11139,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2013,3418
$GC,11447,-0.92,-146.6,794.6,-6.8,550,11448,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2013,3417
$GC,11757,-0.92,-146.6,815.0,-6.1,565,11762,0.00,2.62,0.00,0.000,4,0.000,0.089,2541,3409,3416
$GC,11792,-0.92,-146.6,817.9,-8.1,566,11798,0.00,2.62,0.00,0.000,6,0.000,0.079,2541,2015,3415
$GC,12109,-0.92,-146.6,839.3,-6.3,582,12110,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2015,3414
$GC,12417,-0.92,-146.6,860.1,-8.4,597,12421,0.00,2.70,0.00,0.000,4,0.000,0.093,2541,581,3414
$GC,12479,-0.92,-146.6,865.6,-8.5,600,12483,0.00,2.67,0.00,0.000,6,0.000,0.077,2541,2020,3413
$GC,12806,-0.92,-146.6,885.3,-6.8,616,12811,0.00,2.75,0.00,0.000,4,0.000,0.092,2541,592,3413
$GC,12856,-0.92,-146.6,887.8,-3.6,618,12861,0.00,2.62,0.00,0.000,6,0.000,0.077,2541,1998,3412
$STATE,13149,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13149,begin apogee
$GC,13156,-0.33,0.0,906.3,5.4,632,13294,0.62,0.00,134.68,1.565,6,0.087,0.000,2670,2135,2833
$STATE,13295,end apogee,CONTROL_FINISHED_OK
$STATE,13295,begin climb
$GC,13299,0.97,146.6,910.8,0.0,639,13447,1.33,2.88,138.48,1.505,4,0.075,0.088,2949,709,2234
$GC,13492,0.76,146.6,903.3,9.3,648,13498,0.20,2.70,0.00,0.000,6,0.097,0.076,2912,2125,2234
$GC,13814,0.69,146.6,881.4,6.3,664,13816,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2125,2233
$GC,14123,0.62,146.6,861.2,8.7,679,14129,0.15,2.70,0.00,0.000,4,0.101,0.088,2882,3538,2233
$GC,14169,0.62,146.6,857.8,7.2,681,14173,0.00,2.67,0.00,0.000,6,0.000,0.078,2882,2129,2232
$GC,14490,0.76,208.3,841.8,4.3,697,14556,0.12,2.80,58.17,1.489,4,0.070,0.089,2912,714,1982
$GC,14612,0.86,269.7,836.7,4.3,702,14678,0.00,2.67,58.78,1.464,6,0.000,0.075,2912,2124,1731
$GC,14996,0.90,269.7,811.6,6.6,721,14998,0.12,0.00,0.00,0.000,6,0.068,0.000,2945,2124,1733
$GC,15306,0.86,269.7,787.6,7.8,736,15310,0.00,2.72,0.00,0.000,4,0.000,0.091,2945,712,1733
$GC,15339,0.80,269.7,784.8,7.7,737,15346,0.12,2.65,0.00,0.000,6,0.102,0.077,2920,2115,1733
$GC,15655,0.80,269.7,764.0,6.4,753,15656,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2116,1734
$GC,15965,0.80,269.7,744.4,6.1,768,15966,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2116,1734
$GC,16276,0.80,269.7,725.9,6.3,783,16281,0.00,2.70,0.00,0.000,4,0.000,0.091,2920,712,1733
$GC,16320,0.80,269.7,722.5,7.3,785,16324,0.00,2.62,0.00,0.000,6,0.000,0.076,2920,2106,1733
$GC,16642,0.80,269.7,700.1,7.0,801,16644,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2107,1733
$GC,16950,0.80,269.7,674.8,8.2,816,16955,0.00,2.70,0.00,0.000,4,0.000,0.091,2920,704,1733
$GC,16990,0.80,269.7,671.3,9.0,818,16994,0.00,2.60,0.00,0.000,6,0.000,0.077,2920,2090,1733
$GC,17317,0.84,269.7,648.2,6.4,834,17319,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2090,1733
$GC,17626,0.88,269.7,629.5,6.2,849,17630,0.00,2.72,0.00,0.000,4,0.000,0.087,2920,3530,1733
$GC,17653,0.88,269.7,627.6,6.3,850,17658,0.00,2.72,0.00,0.000,6,0.000,0.076,2920,2085,1733
$GC,17970,0.88,269.7,604.1,8.3,865,17974,0.00,2.78,0.00,0.000,4,0.000,0.087,2920,3529,1732
$GC,18003,0.93,269.7,601.1,9.0,866,18010,0.12,2.67,0.00,0.000,6,0.071,0.074,2950,2102,1732
$GC,18319,0.89,269.7,575.1,7.8,882,18324,0.00,2.75,0.00,0.000,4,0.000,0.085,2950,3537,1732
$GC,18365,0.89,269.7,571.4,7.8,884,18370,0.00,2.67,0.00,0.000,6,0.000,0.072,2950,2109,1733
$GC,18687,0.84,269.7,549.0,6.3,900,18692,0.12,2.60,0.00,0.000,4,0.103,0.082,2927,712,1732
$GC,18714,0.86,282.6,547.4,5.6,901,18734,0.00,2.58,13.62,1.259,6,0.000,0.070,2927,2102,1678
$GC,19060,0.90,282.6,523.8,8.1,918,19065,0.00,2.65,0.00,0.000,4,0.000,0.081,2927,711,1678
$GC,19083,0.90,282.6,521.5,8.5,919,19087,0.00,2.60,0.00,0.000,6,0.000,0.068,2927,2115,1678
$GC,19404,0.90,282.6,496.6,7.6,935,19409,0.00,2.65,0.00,0.000,4,0.000,0.078,2927,3537,1678
$GC,19449,0.95,282.6,492.8,8.4,937,19454,0.10,2.62,0.00,0.000,6,0.072,0.066,2951,2111,1678
$GC,19771,0.94,302.0,471.8,5.5,953,19792,0.00,0.00,18.55,1.197,6,0.000,0.000,2952,2112,1600
$GC,20101,0.94,302.0,451.3,6.2,969,20105,0.00,2.58,0.00,0.000,4,0.000,0.072,2951,703,1600
$GC,20124,0.94,302.0,449.8,6.4,970,20128,0.00,2.60,0.00,0.000,6,0.000,0.061,2952,2129,1600
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$STATE,25444,end climb,SURFACE_DEPTH_REACHED
$STATE,25444,begin surface coast
$FINISH,0.5,1.027408
$STATE,25466,end surface coast,CONTROL_FINISHED_OK
$STATE,25466,begin surface
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$HUMID,1813
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$XPDR_PINGS,68
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$24V_AH,23.3,70.869
$10V_AH,10.1,35.308
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$DEVICE_SECS,26.475,229.200,571.950,0.000,0.000,77.674,64.226,267.497,24.500,0.000,0.000,15.440,2218.213,19798.236,718.192,2544.735,883.712,0.000,2049.070,0.000,2482.302,0.000,50.246,0.000
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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,63079,1229
$CAP_FILE_SIZE,188165,0
$CFSIZE,254472192,226844672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,63,0,0
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