version: 66.04
glider: 5
mission: 5
dive: 168
start: 12 10 108 0 56 55
data:
$ID,5
$MISSION,5
$DIVE,168
$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,1
$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,-90498.562
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2650
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,15
$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,20
$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,0
$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
$GPS1,004837,6044.207,-406.059,25,1.7,25,-6.4
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-55.1
$GPS2,005603,6044.142,-405.971,14,1.6,14,-6.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.208,-0.077
$KALMAN_X,93415.3,-267.3,-585.0,4486.0,6680.4
$KALMAN_Y,35048.1,-344.3,-644.8,-360213.2,4149.4
$MHEAD_RNG_PITCHd_Wd,256.2,52511,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.97,-146.6,0.0,0.0,0,102,0.00,0.00,-81.72,0.000,2,0.000,0.000,422,2004,3250
$GC,105,-0.97,-146.6,4.2,-5.0,4,128,10.32,2.62,-4.57,0.000,4,0.131,0.077,2429,3421,3432
$GC,336,-0.63,-146.6,37.9,-10.6,14,342,0.40,2.53,0.00,0.000,6,0.090,0.052,2513,2006,3432
$GC,659,-0.49,-146.6,65.3,-7.0,30,661,0.15,0.00,0.00,0.000,6,0.091,0.000,2544,1994,3432
$GC,968,-0.44,-146.6,94.3,-11.0,45,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1994,3432
$GC,1278,-0.44,-146.6,118.1,-7.2,60,1283,0.00,2.60,0.00,0.000,4,0.000,0.063,2544,3419,3432
$GC,1323,-0.44,-146.6,121.6,-7.7,62,1327,0.00,2.53,0.00,0.000,6,0.000,0.050,2544,2001,3432
$GC,1644,-0.38,-146.6,145.2,-8.6,78,1646,0.10,0.00,0.00,0.000,6,0.098,0.000,2565,2001,3432
$GC,1954,-0.38,-146.6,166.0,-5.9,93,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1988,3432
$GC,2262,-0.38,-146.6,186.2,-6.7,108,2266,0.00,2.55,0.00,0.000,4,0.000,0.068,2565,589,3433
$GC,2295,-0.38,-146.6,188.7,-7.6,109,2302,0.00,2.55,0.00,0.000,6,0.000,0.053,2565,2020,3432
$GC,2612,-0.38,-146.6,205.9,-5.8,125,2615,0.00,2.50,0.00,0.000,4,0.000,0.064,2565,3410,3432
$GC,2658,-0.43,-146.6,208.8,-6.3,127,2662,0.00,2.53,0.00,0.000,6,0.000,0.051,2565,1996,3432
$GC,2984,-0.43,-146.6,229.6,-6.4,143,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1995,3432
$GC,3294,-0.43,-146.6,251.7,-7.2,158,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1996,3432
$GC,3603,-0.43,-146.6,274.0,-7.1,173,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1994,3433
$GC,3912,-0.43,-146.6,297.2,-7.4,188,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1994,3433
$GC,4222,-0.43,-146.6,319.2,-7.1,203,4226,0.00,2.58,0.00,0.000,4,0.000,0.064,2565,3406,3432
$GC,4266,-0.48,-146.6,322.4,-7.4,205,4271,0.00,2.50,0.00,0.000,6,0.000,0.052,2564,2003,3432
$GC,4589,-0.48,-146.6,341.1,-5.1,221,4590,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2003,3433
$GC,4898,-0.48,-146.6,356.6,-5.3,236,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2003,3433
$GC,5207,-0.48,-146.6,375.6,-6.3,251,5212,0.00,2.58,0.00,0.000,4,0.000,0.067,2565,3407,3433
$GC,5248,-0.54,-146.6,378.3,-6.4,253,5253,0.15,2.50,0.00,0.000,6,0.056,0.056,2524,2014,3433
$GC,5575,-0.46,-146.6,402.1,-7.0,269,5577,0.12,0.00,0.00,0.000,6,0.090,0.000,2551,2014,3433
$GC,5884,-0.46,-146.6,424.4,-7.8,284,5888,0.00,2.58,0.00,0.000,4,0.000,0.073,2550,597,3433
$GC,5924,-0.46,-146.6,427.6,-8.7,286,5928,0.00,2.53,0.00,0.000,6,0.000,0.056,2551,2009,3433
$GC,6251,-0.46,-146.6,450.3,-7.4,302,6252,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2010,3433
$GC,6559,-0.46,-146.6,478.9,-9.1,317,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2010,3432
$GC,6869,-0.46,-146.6,498.2,-4.9,332,6874,0.00,2.65,0.00,0.000,4,0.000,0.081,2551,596,3431
$GC,6904,-0.46,-146.6,500.1,-5.7,333,6910,0.00,2.55,0.00,0.000,6,0.000,0.064,2551,2000,3431
$GC,7220,-0.46,-146.6,519.8,-6.7,349,7224,0.00,2.58,0.00,0.000,4,0.000,0.078,2551,3406,3431
$GC,7282,-0.46,-146.6,523.9,-7.1,352,7286,0.00,2.58,0.00,0.000,6,0.000,0.068,2551,2003,3431
$GC,7609,-0.46,-146.6,545.4,-7.1,368,7610,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2003,3430
$GC,7918,-0.46,-146.6,567.6,-6.8,383,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2003,3428
$GC,8227,-0.46,-146.6,588.3,-6.4,398,8231,0.00,2.62,0.00,0.000,4,0.000,0.082,2550,3404,3427
$GC,8259,-0.46,-146.6,590.7,-7.1,399,8266,0.00,2.58,0.00,0.000,6,0.000,0.072,2551,2016,3427
$GC,8575,-0.46,-146.6,611.0,-6.4,415,8576,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2015,3426
$GC,8885,-0.46,-146.6,629.5,-6.0,430,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2015,3425
$GC,9193,-0.46,-146.6,648.9,-6.3,445,9198,0.00,2.65,0.00,0.000,4,0.000,0.087,2551,3404,3424
$GC,9227,-0.46,-146.6,651.3,-7.1,446,9233,0.00,2.60,0.00,0.000,6,0.000,0.076,2551,2014,3424
$GC,9543,-0.46,-146.6,670.8,-6.1,462,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2014,3423
$GC,9852,-0.46,-146.6,689.5,-5.9,477,9853,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2014,3422
$GC,10161,-0.46,-146.6,708.0,-5.6,492,10166,0.00,2.65,0.00,0.000,4,0.000,0.087,2551,3403,3421
$GC,10201,-0.51,-146.6,710.5,-6.2,494,10206,0.00,2.58,0.00,0.000,6,0.000,0.077,2551,2026,3421
$GC,10529,-0.55,-146.6,730.5,-6.3,510,10530,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2026,3420
$GC,10838,-0.59,-146.6,749.8,-6.1,525,10840,0.15,0.00,0.00,0.000,6,0.070,0.000,2514,2026,3419
$GC,11147,-0.54,-146.6,773.1,-7.5,540,11148,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2026,3419
$GC,11457,-0.49,-146.6,797.3,-7.9,555,11462,0.12,2.65,0.00,0.000,4,0.106,0.088,2539,3410,3418
$GC,11484,-0.49,-146.6,799.5,-7.4,556,11489,0.00,2.60,0.00,0.000,6,0.000,0.079,2539,2029,3417
$GC,11800,-0.49,-146.6,822.7,-7.5,571,11801,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2028,3417
$GC,12110,-0.49,-146.6,845.6,-7.6,586,12111,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2028,3416
$GC,12419,-0.49,-146.6,868.2,-7.4,601,12420,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2028,3416
$GC,12728,-0.49,-146.6,891.0,-7.4,616,12729,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2028,3415
$GC,13038,-0.49,-146.6,912.7,-6.9,631,13039,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2028,3414
$GC,13347,-0.49,-146.6,933.0,-6.5,646,13348,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2028,3414
$GC,13658,-0.49,-146.6,953.0,-6.4,661,13662,0.00,2.65,0.00,0.000,4,0.000,0.091,2538,3406,3414
$GC,13697,-0.49,-146.6,955.8,-7.2,663,13702,0.00,2.58,0.00,0.000,6,0.000,0.078,2538,2035,3413
$GC,14024,-0.49,-146.6,977.2,-6.5,679,14029,0.00,2.75,0.00,0.000,4,0.000,0.096,2538,584,3413
$GC,14057,-0.49,-146.6,979.6,-6.7,680,14064,0.00,2.70,0.00,0.000,6,0.000,0.077,2539,2035,3413
$STATE,14226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14226,begin apogee
$GC,14234,-0.33,0.0,990.6,6.1,689,14362,0.17,0.00,125.53,1.665,6,0.107,0.000,2574,2202,2832
$STATE,14362,end apogee,CONTROL_FINISHED_OK
$STATE,14363,begin climb
$GC,14366,0.97,146.6,996.1,0.0,695,14497,1.38,0.00,127.28,1.625,6,0.087,0.000,2855,2202,2234
$GC,14807,1.16,168.1,976.5,5.4,717,14833,0.17,2.75,20.02,1.519,4,0.067,0.093,2902,3602,2146
$GC,14878,1.10,168.1,971.6,6.8,720,14883,0.00,2.92,0.00,0.000,6,0.000,0.079,2902,2074,2146
$GC,15194,1.10,168.1,952.0,6.4,735,15195,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2074,2145
$GC,15503,1.10,168.1,932.1,6.5,750,15504,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2075,2146
$GC,15812,1.10,168.1,912.4,6.4,765,15817,0.00,2.95,0.00,0.000,4,0.000,0.090,2902,3602,2146
$GC,15839,1.10,168.1,910.4,7.3,766,15844,0.00,2.88,0.00,0.000,6,0.000,0.078,2902,2075,2146
$GC,16156,1.10,168.1,890.1,6.4,781,16157,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2075,2146
$GC,16465,1.10,168.1,870.4,6.3,796,16466,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2075,2145
$GC,16774,1.12,178.2,852.1,5.7,811,16790,0.00,3.03,10.30,1.431,4,0.000,0.089,2902,3611,2104
$GC,16818,1.12,178.2,849.3,6.2,812,16823,0.00,2.90,0.00,0.000,6,0.000,0.077,2902,2090,2104
$GC,17139,1.13,186.6,831.0,5.8,828,17150,0.00,0.00,9.15,1.394,6,0.000,0.000,2902,2090,2071
$GC,17449,1.16,203.4,813.6,5.5,843,17468,0.00,0.00,16.08,1.483,6,0.000,0.000,2902,2089,2002
$GC,17778,1.17,210.1,794.6,5.8,859,17792,0.00,3.03,7.45,1.322,4,0.000,0.091,2902,3603,1975
$GC,17826,1.17,210.1,791.3,7.4,861,17831,0.00,2.88,0.00,0.000,6,0.000,0.076,2902,2091,1975
$GC,18147,1.17,210.1,772.0,6.1,877,18148,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2092,1974
$GC,18456,1.17,210.1,752.3,6.4,892,18457,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2092,1974
$GC,18765,1.17,210.1,732.0,6.6,907,18770,0.00,2.92,0.00,0.000,4,0.000,0.091,2902,3604,1974
$GC,18793,1.17,210.1,730.0,7.9,908,18798,0.00,2.85,0.00,0.000,6,0.000,0.076,2902,2091,1974
$GC,19108,1.17,210.1,709.3,6.7,923,19110,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2091,1974
$GC,19418,1.17,210.1,688.1,7.0,938,19423,0.00,2.92,0.00,0.000,4,0.000,0.091,2902,3604,1974
$GC,19451,1.17,210.1,685.5,7.9,939,19457,0.00,2.83,0.00,0.000,6,0.000,0.076,2902,2100,1974
$GC,19767,1.17,210.1,663.5,6.7,955,19768,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2100,1974
$GC,20076,1.17,210.1,642.9,6.6,970,20080,0.00,2.90,0.00,0.000,4,0.000,0.089,2902,3606,1974
$GC,20110,1.17,210.1,640.6,6.8,971,20116,0.00,2.80,0.00,0.000,6,0.000,0.074,2902,2110,1974
$GC,20427,1.20,225.2,622.1,5.6,987,20445,0.00,0.00,14.57,1.368,6,0.000,0.000,2902,2110,1913
$GC,20755,1.24,225.2,602.7,6.3,1003,20757,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2110,1913
$GC,21065,1.29,225.2,582.6,6.6,1018,21067,0.12,0.00,0.00,0.000,6,0.071,0.000,2934,2109,1913
$GC,21374,1.25,225.2,559.9,7.2,1033,21378,0.00,2.47,0.00,0.000,4,0.000,0.087,2934,787,1913
$GC,21402,1.19,225.2,557.6,6.7,1034,21407,0.12,2.47,0.00,0.000,6,0.103,0.072,2910,2115,1913
$GC,21723,1.25,261.9,540.0,5.0,1050,21761,0.00,0.00,31.83,1.367,6,0.000,0.000,2910,2115,1764
$GC,22072,1.31,261.9,520.3,6.1,1067,22073,0.12,0.00,0.00,0.000,6,0.070,0.000,2942,2116,1764
$GC,22381,1.31,261.9,497.6,7.2,1082,22385,0.00,2.53,0.00,0.000,4,0.000,0.084,2942,784,1765
$GC,22428,1.26,261.9,494.0,8.7,1084,22432,0.00,2.47,0.00,0.000,6,0.000,0.071,2943,2112,1765
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$STATE,28969,end climb,SURFACE_DEPTH_REACHED
$STATE,28969,begin surface coast
$FINISH,1.6,1.027380
$STATE,29011,end surface coast,CONTROL_FINISHED_OK
$STATE,29011,begin surface
$SM_CCo,29094,0.00,0.000,0,0,1767,261.24
$SM_GC,1.49,11.05,0.00,0.00,0.041,0.000,0.000,425,1960,1767,-10.16,-1.10,261.24
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1770
$TCM_TEMP,16.90
$XPDR_PINGS,251
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,950.4,84.3
$24V_AH,23.5,29.955
$10V_AH,10.1,14.429
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$DEVICE_SECS,24.950,180.200,365.950,0.000,0.000,37.762,37.353,228.533,71.750,0.000,0.000,14.844,2470.611,23101.090,583.012,2633.915,737.276,33.376,1867.468,0.000,2586.714,0.000,59.967,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1048.983,952.844,719.577,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72416,1404
$CAP_FILE_SIZE,187691,0
$CFSIZE,254472192,242143232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,56,0,0
$GPS,101208,090308,6043.259,-408.018,41,2.0,41,-6.4