version: 66.04
glider: 5
mission: 5
dive: 193
start: 12 15 108 19 20 13
data:
$ID,5
$MISSION,5
$DIVE,193
$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,-91068.086
$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,26
$R_STBD_OVSHOOT,16
$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
$GPS1,191232,6057.040,-323.163,41,1.4,41,-6.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-52.8
$GPS2,191921,6057.112,-323.138,13,1.7,13,-6.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.199,-0.098
$KALMAN_X,183775.3,-226.1,-2176.8,-49112.1,9184.2
$KALMAN_Y,115116.4,33.9,-2653.2,-414593.0,10030.4
$MHEAD_RNG_PITCHd_Wd,249.9,82959,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.18,0.000,2,0.000,0.000,423,1963,3049
$GC,103,-0.97,-146.6,3.6,-4.6,4,125,10.55,0.00,-9.57,0.000,6,0.136,0.000,2431,1970,3431
$GC,429,-0.60,-146.6,54.4,-12.8,20,434,0.38,2.50,0.00,0.000,4,0.091,0.066,2513,594,3431
$GC,560,-0.46,-146.6,67.4,-9.2,26,566,0.17,2.53,0.00,0.000,6,0.094,0.052,2549,2011,3432
$GC,888,-0.41,-146.6,98.7,-10.2,42,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2030,3431
$GC,1197,-0.41,-146.6,124.1,-7.3,57,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2019,3432
$GC,1508,-0.41,-146.6,144.9,-6.8,72,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2018,3432
$GC,1815,-0.41,-146.6,163.5,-6.0,87,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2018,3432
$GC,2124,-0.41,-146.6,182.8,-6.1,102,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2019,3432
$GC,2435,-0.41,-146.6,201.0,-6.0,117,2439,0.00,2.60,0.00,0.000,4,0.000,0.069,2550,594,3432
$GC,2462,-0.41,-146.6,203.0,-7.0,118,2466,0.00,2.50,0.00,0.000,6,0.000,0.054,2549,1995,3432
$GC,2777,-0.41,-146.6,224.1,-7.1,133,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1995,3432
$GC,3087,-0.41,-146.6,245.4,-6.6,148,3091,0.00,2.58,0.00,0.000,4,0.000,0.070,2549,590,3432
$GC,3114,-0.41,-146.6,247.6,-7.7,149,3118,0.00,2.50,0.00,0.000,6,0.000,0.054,2550,1991,3432
$GC,3430,-0.41,-146.6,272.1,-7.6,164,3434,0.00,2.55,0.00,0.000,4,0.000,0.067,2549,3405,3432
$GC,3457,-0.41,-146.6,274.3,-7.9,165,3462,0.00,2.53,0.00,0.000,6,0.000,0.054,2549,1986,3432
$GC,3774,-0.41,-146.6,301.6,-8.6,180,3778,0.00,2.60,0.00,0.000,4,0.000,0.064,2549,3413,3432
$GC,3802,-0.41,-146.6,304.2,-8.6,181,3806,0.00,2.58,0.00,0.000,6,0.000,0.054,2549,1974,3432
$GC,4119,-0.41,-146.6,328.6,-7.9,196,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1975,3432
$GC,4427,-0.41,-146.6,353.1,-7.8,211,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1975,3432
$GC,4736,-0.41,-146.6,374.2,-6.6,226,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1975,3432
$GC,5046,-0.41,-146.6,393.5,-6.3,241,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1975,3432
$GC,5355,-0.41,-146.6,414.2,-7.1,256,5360,0.00,2.62,0.00,0.000,4,0.000,0.068,2549,3404,3432
$GC,5422,-0.41,-146.6,419.1,-7.2,259,5426,0.00,2.55,0.00,0.000,6,0.000,0.058,2549,1990,3431
$GC,5743,-0.41,-146.6,440.3,-6.8,275,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1989,3432
$GC,6051,-0.41,-146.6,460.9,-6.3,290,6053,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1989,3432
$GC,6361,-0.41,-146.6,479.4,-5.8,305,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1989,3431
$GC,6670,-0.41,-146.6,499.3,-6.5,320,6675,0.00,2.65,0.00,0.000,4,0.000,0.076,2549,3411,3430
$GC,6715,-0.41,-146.6,502.3,-6.7,322,6720,0.00,2.60,0.00,0.000,6,0.000,0.065,2549,1990,3430
$GC,7036,-0.41,-146.6,523.3,-6.3,338,7037,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1990,3429
$GC,7346,-0.41,-146.6,540.9,-5.5,353,7350,0.00,2.67,0.00,0.000,4,0.000,0.081,2549,3408,3428
$GC,7385,-0.41,-146.6,543.2,-6.3,355,7390,0.00,2.62,0.00,0.000,6,0.000,0.070,2550,1983,3428
$GC,7712,-0.41,-146.6,563.8,-6.7,371,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1983,3427
$GC,8022,-0.41,-146.6,585.2,-7.1,386,8026,0.00,2.70,0.00,0.000,4,0.000,0.084,2549,3405,3427
$GC,8054,-0.41,-146.6,587.8,-8.0,387,8060,0.00,2.62,0.00,0.000,6,0.000,0.074,2549,1996,3426
$GC,8370,-0.41,-146.6,610.1,-6.8,403,8371,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1997,3425
$GC,8680,-0.41,-146.6,630.5,-6.3,418,8684,0.00,2.70,0.00,0.000,4,0.000,0.089,2549,3402,3423
$GC,8712,-0.41,-146.6,632.8,-6.8,419,8719,0.00,2.62,0.00,0.000,6,0.000,0.077,2549,2001,3422
$GC,9028,-0.41,-146.6,653.2,-6.5,435,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2001,3422
$GC,9338,-0.41,-146.6,672.9,-6.3,450,9342,0.00,2.70,0.00,0.000,4,0.000,0.089,2549,3408,3421
$GC,9371,-0.41,-146.6,675.1,-6.3,451,9377,0.00,2.62,0.00,0.000,6,0.000,0.078,2549,2009,3421
$GC,9687,-0.41,-146.6,693.5,-5.7,467,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2009,3420
$GC,9997,-0.41,-146.6,711.8,-6.2,482,9998,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2009,3420
$GC,10305,-0.41,-146.6,732.1,-6.5,497,10310,0.00,2.67,0.00,0.000,4,0.000,0.088,2549,3405,3417
$GC,10345,-0.41,-146.6,734.6,-6.9,499,10349,0.00,2.60,0.00,0.000,6,0.000,0.077,2549,2016,3418
$GC,10672,-0.45,-146.6,755.0,-5.7,515,10674,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2016,3417
$GC,10980,-0.45,-146.6,773.9,-6.3,530,10982,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2015,3416
$GC,11290,-0.45,-146.6,792.5,-5.8,545,11291,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2016,3416
$GC,11600,-0.45,-146.6,810.9,-5.7,560,11604,0.00,2.67,0.00,0.000,4,0.000,0.092,2549,3405,3415
$GC,11640,-0.50,-146.6,813.3,-6.3,562,11644,0.00,2.60,0.00,0.000,6,0.000,0.081,2550,2026,3415
$GC,11967,-0.54,-146.6,831.4,-5.4,578,11969,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2025,3414
$GC,12276,-0.58,-146.6,847.9,-5.5,593,12278,0.12,0.00,0.00,0.000,6,0.073,0.000,2519,2025,3412
$GC,12585,-0.54,-146.6,868.1,-6.5,608,12586,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2025,3412
$GC,12894,-0.54,-146.6,887.6,-6.2,623,12896,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2025,3412
$GC,13203,-0.54,-146.6,908.2,-6.8,638,13204,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2025,3411
$GC,13513,-0.48,-146.6,928.4,-7.0,653,13518,0.10,2.72,0.00,0.000,4,0.112,0.096,2540,586,3411
$GC,13546,-0.48,-146.6,930.7,-6.5,654,13553,0.00,2.67,0.00,0.000,6,0.000,0.078,2540,2021,3411
$GC,13862,-0.48,-146.6,949.5,-6.7,670,13867,0.00,2.72,0.00,0.000,4,0.000,0.095,2540,593,3410
$GC,13884,-0.48,-146.6,951.1,-6.6,671,13888,0.00,2.67,0.00,0.000,6,0.000,0.078,2540,2028,3410
$STATE,13913,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13913,begin apogee
$GC,13921,-0.33,0.0,952.8,6.3,673,14049,0.17,0.00,125.88,1.647,6,0.106,0.000,2575,2207,2832
$STATE,14050,end apogee,CONTROL_FINISHED_OK
$STATE,14050,begin climb
$GC,14053,0.97,146.6,956.0,0.0,679,14191,1.38,2.90,128.25,1.592,4,0.081,0.092,2857,787,2234
$GC,14302,1.16,212.5,946.3,4.2,690,14368,0.20,2.67,58.65,1.539,6,0.062,0.076,2905,2198,1965
$GC,14685,1.27,212.5,919.9,7.3,709,14690,0.00,2.72,0.00,0.000,4,0.000,0.094,2905,3613,1966
$GC,14759,1.27,212.5,914.1,7.8,712,14764,0.00,2.92,0.00,0.000,6,0.000,0.082,2905,2085,1966
$GC,15075,1.27,212.5,892.8,6.9,727,15079,0.00,2.50,0.00,0.000,4,0.000,0.097,2905,787,1966
$GC,15103,1.27,212.5,890.6,8.1,728,15108,0.00,2.47,0.00,0.000,6,0.000,0.077,2905,2091,1966
$GC,15419,1.27,212.5,869.2,6.4,743,15423,0.00,2.90,0.00,0.000,4,0.000,0.093,2905,3610,1966
$GC,15451,1.27,212.5,867.0,6.8,744,15458,0.00,2.90,0.00,0.000,6,0.000,0.082,2905,2090,1966
$GC,15768,1.27,212.5,846.5,6.3,760,15769,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2090,1966
$GC,16076,1.27,212.5,826.5,6.5,775,16081,0.00,2.92,0.00,0.000,4,0.000,0.093,2905,3605,1966
$GC,16098,1.27,212.5,824.9,6.8,776,16102,0.00,2.88,0.00,0.000,6,0.000,0.081,2905,2092,1966
$GC,16419,1.27,212.5,805.2,6.2,792,16420,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2093,1966
$GC,16728,1.27,212.5,785.6,6.7,807,16732,0.00,2.95,0.00,0.000,4,0.000,0.093,2905,3615,1966
$GC,16767,1.27,212.5,782.7,8.0,809,16772,0.00,2.88,0.00,0.000,6,0.000,0.080,2905,2094,1965
$GC,17094,1.27,212.5,760.6,6.8,825,17095,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2095,1965
$GC,17403,1.27,212.5,740.4,6.2,840,17407,0.00,2.92,0.00,0.000,4,0.000,0.093,2905,3606,1965
$GC,17435,1.27,212.5,738.0,6.9,841,17441,0.00,2.83,0.00,0.000,6,0.000,0.079,2905,2109,1965
$GC,17751,1.27,212.5,718.1,6.4,857,17753,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2109,1965
$GC,18060,1.27,212.5,697.7,6.7,872,18061,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2110,1965
$GC,18369,1.27,212.5,676.0,7.1,887,18374,0.00,2.88,0.00,0.000,4,0.000,0.091,2905,3611,1965
$GC,18396,1.27,212.5,673.8,8.4,888,18401,0.00,2.83,0.00,0.000,6,0.000,0.077,2905,2108,1965
$GC,18713,1.27,212.5,651.7,6.9,903,18714,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2109,1965
$GC,19021,1.27,212.5,631.7,6.2,918,19023,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2108,1965
$GC,19331,1.27,212.5,610.9,7.0,933,19335,0.00,2.88,0.00,0.000,4,0.000,0.090,2905,3609,1965
$GC,19364,1.27,212.5,608.2,7.8,934,19370,0.00,2.80,0.00,0.000,6,0.000,0.076,2905,2115,1965
$GC,19679,1.27,212.5,586.2,6.7,950,19680,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2115,1965
$GC,19989,1.29,221.2,567.5,5.8,965,20000,0.10,0.00,8.95,1.259,6,0.077,0.000,2931,2115,1930
$GC,20299,1.30,230.0,549.0,5.8,980,20313,0.00,2.95,9.35,1.248,4,0.000,0.090,2931,3613,1894
$GC,20337,1.30,230.0,546.5,6.7,981,20342,0.00,2.85,0.00,0.000,6,0.000,0.077,2931,2115,1894
$GC,20664,1.30,230.0,526.5,6.2,997,20668,0.00,2.53,0.00,0.000,4,0.000,0.090,2931,783,1894
$GC,20693,1.30,230.0,524.4,7.6,998,20697,0.00,2.53,0.00,0.000,6,0.000,0.073,2931,2133,1894
$GC,21008,1.30,230.0,501.9,7.8,1013,21013,0.00,2.80,0.00,0.000,4,0.000,0.090,2931,3612,1894
$GC,21048,1.30,230.0,498.7,7.8,1015,21053,0.00,2.78,0.00,0.000,6,0.000,0.075,2930,2130,1894
$GC,21375,1.30,230.0,474.3,7.2,1031,21379,0.00,2.53,0.00,0.000,4,0.000,0.086,2931,787,1894
$GC,21460,1.30,230.0,467.7,7.5,1035,21464,0.00,2.47,0.00,0.000,6,0.000,0.071,2931,2121,1893
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$STATE,28180,end climb,SURFACE_DEPTH_REACHED
$STATE,28180,begin surface coast
$FINISH,-0.0,1.027174
$STATE,28222,end surface coast,CONTROL_FINISHED_OK
$STATE,28222,begin surface
$SM_CCo,28306,0.00,0.000,0,0,1604,301.23
$SM_GC,0.95,11.27,0.00,0.00,0.041,0.000,0.000,425,1975,1604,-10.15,-0.71,301.23
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1774
$TCM_TEMP,16.70
$XPDR_PINGS,236
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,876.0,86.0
$24V_AH,23.6,34.163
$10V_AH,10.0,16.593
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$DEVICE_SECS,24.650,203.200,394.975,0.000,0.000,37.755,31.974,198.254,67.250,0.000,0.000,13.397,2411.251,22360.742,576.399,2644.548,709.940,33.365,1904.823,0.000,2593.362,0.000,55.156,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1016.006,922.806,707.555,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69449,1359
$CAP_FILE_SIZE,187063,0
$CFSIZE,254472192,240525312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,63,0,0
$GPS,161208,031307,6054.778,-327.728,30,1.2,30,-6.1