version: 66.04
glider: 5
mission: 5
dive: 205
start: 12 18 108 14 21 16
data:
$ID,5
$MISSION,5
$DIVE,205
$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,315
$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,-91258.281
$T_RSLEEP,27
$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,29
$R_STBD_OVSHOOT,18
$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
$GPS1,141107,6059.606,-326.567,41,1.0,46,-6.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-57.4
$GPS2,142057,6059.753,-326.362,11,1.3,11,-6.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6107.389,-342.174
$TGT_RADIUS,1852.000
$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,321.1,20000,-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,-146.6,0.0,0.0,0,137,0.00,0.00,-112.40,0.000,6,0.000,0.000,421,1970,3431
$GC,141,-0.97,-146.6,7.0,-6.7,6,157,10.40,2.47,0.00,0.000,4,0.137,0.058,2431,597,3432
$GC,388,-0.61,-146.6,56.3,-12.0,16,393,0.40,2.53,0.00,0.000,6,0.087,0.051,2515,2009,3433
$GC,710,-0.49,-146.6,77.8,-6.9,32,712,0.12,0.00,0.00,0.000,6,0.095,0.000,2541,2018,3433
$GC,1019,-0.43,-146.6,113.9,-10.1,47,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2029,3432
$GC,1329,-0.36,-146.6,140.3,-8.0,62,1334,0.15,2.60,0.00,0.000,4,0.085,0.064,2575,596,3433
$GC,1385,-0.40,-146.6,145.4,-7.5,64,1391,0.00,2.50,0.00,0.000,6,0.000,0.051,2574,2007,3433
$GC,1700,-0.40,-146.6,159.6,-6.3,80,1705,0.00,2.50,0.00,0.000,4,0.000,0.063,2574,3409,3433
$GC,1764,-0.47,-146.6,163.7,-7.2,83,1769,0.12,2.53,0.00,0.000,6,0.056,0.052,2538,1995,3433
$GC,2091,-0.40,-146.6,185.6,-8.6,99,2093,0.10,0.00,0.00,0.000,6,0.093,0.000,2560,1995,3433
$GC,2400,-0.40,-146.6,214.9,-8.9,114,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1994,3433
$GC,2709,-0.40,-146.6,237.9,-6.8,129,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1994,3433
$GC,3018,-0.40,-146.6,260.0,-7.3,144,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1994,3432
$GC,3328,-0.40,-146.6,282.1,-7.0,159,3332,0.00,2.58,0.00,0.000,4,0.000,0.061,2560,3411,3432
$GC,3361,-0.40,-146.6,284.6,-7.6,160,3367,0.00,2.50,0.00,0.000,6,0.000,0.051,2560,2007,3433
$GC,3677,-0.40,-146.6,305.5,-6.4,176,3681,0.00,2.53,0.00,0.000,4,0.000,0.066,2560,597,3432
$GC,3727,-0.40,-146.6,309.2,-7.4,178,3732,0.00,2.50,0.00,0.000,6,0.000,0.051,2560,2008,3433
$GC,4043,-0.40,-146.6,328.6,-5.6,193,4048,0.00,2.60,0.00,0.000,4,0.000,0.068,2560,590,3433
$GC,4099,-0.40,-146.6,332.2,-6.8,195,4105,0.00,2.50,0.00,0.000,6,0.000,0.051,2560,1998,3433
$GC,4416,-0.40,-146.6,352.2,-6.3,211,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1998,3433
$GC,4724,-0.40,-146.6,373.6,-7.0,226,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1998,3433
$GC,5034,-0.40,-146.6,393.1,-6.0,241,5038,0.00,2.58,0.00,0.000,4,0.000,0.069,2560,593,3433
$GC,5101,-0.40,-146.6,397.8,-7.7,244,5105,0.00,2.47,0.00,0.000,6,0.000,0.053,2560,1984,3433
$GC,5421,-0.40,-146.6,420.0,-7.2,260,5426,0.00,2.58,0.00,0.000,4,0.000,0.068,2560,3409,3432
$GC,5443,-0.40,-146.6,421.8,-7.7,261,5448,0.00,2.58,0.00,0.000,6,0.000,0.058,2560,1981,3432
$GC,5766,-0.40,-146.6,443.5,-5.9,277,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1981,3433
$GC,6074,-0.40,-146.6,463.4,-6.8,292,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1981,3432
$GC,6383,-0.40,-146.6,485.8,-7.0,307,6388,0.00,2.65,0.00,0.000,4,0.000,0.071,2560,3412,3431
$GC,6423,-0.45,-146.6,488.5,-6.8,309,6428,0.00,2.60,0.00,0.000,6,0.000,0.064,2560,1985,3431
$GC,6751,-0.49,-146.6,505.4,-4.7,325,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1984,3430
$GC,7060,-0.54,-146.6,523.5,-6.3,340,7062,0.12,0.00,0.00,0.000,6,0.064,0.000,2525,1984,3429
$GC,7369,-0.48,-146.6,547.2,-7.6,355,7373,0.00,2.67,0.00,0.000,4,0.000,0.078,2525,3411,3428
$GC,7402,-0.44,-146.6,549.9,-8.5,356,7413,0.12,2.60,0.00,0.000,6,0.101,0.072,2551,1999,3428
$GC,7718,-0.44,-146.6,568.7,-5.4,372,7719,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2000,3427
$GC,8027,-0.44,-146.6,584.8,-5.3,387,8028,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1999,3426
$GC,8336,-0.44,-146.6,604.7,-6.9,402,8340,0.00,2.65,0.00,0.000,4,0.000,0.084,2551,3403,3424
$GC,8380,-0.44,-146.6,608.0,-8.2,404,8385,0.00,2.62,0.00,0.000,6,0.000,0.074,2551,1995,3424
$GC,8701,-0.44,-146.6,629.8,-6.6,420,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1995,3423
$GC,9011,-0.44,-146.6,648.9,-5.9,435,9015,0.00,2.70,0.00,0.000,4,0.000,0.088,2551,3406,3421
$GC,9044,-0.44,-146.6,651.1,-7.1,436,9050,0.00,2.62,0.00,0.000,6,0.000,0.076,2551,2001,3422
$GC,9360,-0.44,-146.6,669.6,-5.7,452,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2001,3420
$GC,9669,-0.44,-146.6,688.9,-6.4,467,9670,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2001,3419
$GC,9979,-0.44,-146.6,709.2,-6.6,482,9983,0.00,2.67,0.00,0.000,4,0.000,0.087,2551,3402,3418
$GC,10018,-0.44,-146.6,712.0,-7.0,484,10023,0.00,2.62,0.00,0.000,6,0.000,0.077,2551,1999,3418
$GC,10345,-0.44,-146.6,731.7,-5.9,500,10346,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1998,3416
$GC,10655,-0.44,-146.6,750.2,-6.0,515,10656,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1998,3416
$GC,10963,-0.44,-146.6,769.1,-6.0,530,10964,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1999,3415
$GC,11273,-0.44,-146.6,788.3,-6.3,545,11277,0.00,2.70,0.00,0.000,4,0.000,0.090,2551,3406,3414
$GC,11306,-0.49,-146.6,790.4,-6.6,546,11312,0.00,2.62,0.00,0.000,6,0.000,0.079,2551,2009,3414
$GC,11622,-0.49,-146.6,809.6,-6.0,562,11623,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2009,3413
$GC,11932,-0.53,-146.6,827.4,-5.9,577,11933,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2009,3413
$GC,12241,-0.57,-146.6,845.2,-5.8,592,12243,0.12,0.00,0.00,0.000,6,0.074,0.000,2519,2009,3413
$GC,12550,-0.53,-146.6,866.6,-7.0,607,12554,0.00,2.67,0.00,0.000,4,0.000,0.090,2518,3407,3413
$GC,12583,-0.49,-146.6,869.2,-7.5,608,12590,0.12,2.62,0.00,0.000,6,0.110,0.079,2544,2011,3413
$GC,12899,-0.49,-146.6,889.5,-6.3,624,12900,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2011,3412
$GC,13208,-0.49,-146.6,909.3,-6.5,639,13210,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2011,3411
$GC,13517,-0.49,-146.6,929.0,-6.4,654,13518,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2011,3410
$GC,13827,-0.49,-146.6,948.0,-6.0,669,13831,0.00,2.65,0.00,0.000,4,0.000,0.090,2544,3401,3410
$GC,13854,-0.49,-146.6,949.7,-6.2,670,13859,0.00,2.62,0.00,0.000,6,0.000,0.080,2544,2008,3410
$GC,14177,-0.49,-146.6,969.1,-6.0,686,14178,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2008,3409
$GC,14485,-0.49,-146.6,987.6,-6.1,701,14486,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2009,3409
$STATE,14523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14523,begin apogee
$GC,14530,-0.33,0.0,990.1,6.1,703,14665,0.15,0.00,128.12,1.658,6,0.108,0.000,2574,2205,2832
$STATE,14666,end apogee,CONTROL_FINISHED_OK
$STATE,14666,begin climb
$GC,14669,0.97,146.6,996.2,0.0,710,14806,1.38,0.00,132.10,1.606,6,0.090,0.000,2856,2205,2234
$GC,15103,1.18,176.2,976.7,5.2,731,15139,0.20,2.78,27.83,1.526,4,0.066,0.089,2907,3595,2113
$GC,15201,1.11,176.2,970.2,6.2,735,15206,0.00,2.90,0.00,0.000,6,0.000,0.079,2907,2081,2113
$GC,15517,1.11,176.2,949.8,6.4,750,15518,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2081,2113
$GC,15827,1.11,176.2,929.7,6.7,765,15828,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2081,2113
$GC,16135,1.11,176.2,909.8,6.5,780,16140,0.00,2.95,0.00,0.000,4,0.000,0.091,2908,3602,2113
$GC,16163,1.06,176.2,907.9,6.5,781,16168,0.15,2.90,0.00,0.000,6,0.110,0.080,2881,2072,2113
$GC,16480,1.16,208.9,890.9,5.1,796,16518,0.10,0.00,31.12,1.555,6,0.078,0.000,2904,2072,1980
$GC,16827,1.16,208.9,869.0,6.3,813,16832,0.00,2.97,0.00,0.000,4,0.000,0.091,2903,3606,1979
$GC,16872,1.16,208.9,865.8,6.1,815,16877,0.00,2.88,0.00,0.000,6,0.000,0.078,2904,2087,1979
$GC,17193,1.16,208.9,845.7,6.3,831,17194,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2087,1978
$GC,17503,1.16,209.2,826.6,6.0,846,17507,0.00,2.92,0.00,0.000,4,0.000,0.091,2904,3605,1978
$GC,17536,1.16,209.2,824.2,6.9,847,17542,0.00,2.88,0.00,0.000,6,0.000,0.077,2904,2083,1978
$GC,17852,1.16,209.2,804.9,6.2,863,17853,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2083,1978
$GC,18161,1.16,209.2,785.3,6.3,878,18165,0.00,2.95,0.00,0.000,4,0.000,0.090,2904,3609,1978
$GC,18211,1.16,209.2,781.7,7.4,880,18215,0.00,2.85,0.00,0.000,6,0.000,0.077,2904,2099,1978
$GC,18527,1.16,209.2,761.4,6.5,895,18528,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2097,1978
$GC,18836,1.16,209.2,740.5,6.9,910,18840,0.00,2.90,0.00,0.000,4,0.000,0.090,2904,3609,1978
$GC,18863,1.16,209.2,738.4,6.8,911,18868,0.00,2.83,0.00,0.000,6,0.000,0.076,2904,2105,1978
$GC,19179,1.16,209.2,717.2,6.6,926,19180,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2104,1978
$GC,19488,1.16,209.2,697.3,6.4,941,19493,0.00,2.90,0.00,0.000,4,0.000,0.090,2904,3609,1978
$GC,19522,1.16,209.2,694.9,6.8,942,19528,0.00,2.83,0.00,0.000,6,0.000,0.075,2905,2104,1978
$GC,19838,1.17,212.7,675.6,5.9,958,19844,0.00,0.00,4.80,1.093,6,0.000,0.000,2904,2104,1964
$GC,20147,1.18,220.8,657.8,5.8,973,20158,0.00,0.00,9.18,1.305,6,0.000,0.000,2904,2104,1931
$GC,20456,1.19,222.6,639.5,6.0,988,20457,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2104,1931
$GC,20765,1.19,222.6,620.9,6.2,1003,20770,0.00,2.90,0.00,0.000,4,0.000,0.089,2905,3609,1931
$GC,20805,1.19,222.6,618.2,6.1,1005,20809,0.00,2.78,0.00,0.000,6,0.000,0.075,2904,2117,1931
$GC,21132,1.23,222.6,597.9,6.1,1021,21137,0.00,2.53,0.00,0.000,4,0.000,0.090,2904,782,1931
$GC,21154,1.23,222.6,596.2,6.9,1022,21159,0.00,2.50,0.00,0.000,6,0.000,0.074,2904,2121,1931
$GC,21476,1.30,237.4,577.3,5.6,1038,21496,0.12,0.00,15.70,1.338,6,0.072,0.000,2937,2122,1864
$GC,21805,1.30,237.4,555.6,6.7,1054,21806,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2122,1863
$GC,22114,1.30,237.4,533.6,7.2,1069,22115,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2122,1863
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$STATE,29336,end climb,SURFACE_DEPTH_REACHED
$STATE,29336,begin surface coast
$FINISH,1.6,1.027326
$STATE,29377,end surface coast,CONTROL_FINISHED_OK
$STATE,29378,begin surface
$SM_CCo,29461,0.00,0.000,0,0,1806,251.68
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1782
$TCM_TEMP,17.30
$XPDR_PINGS,305
$ALTIM_TOP_PING,19.9,19.9
$24V_AH,23.6,36.207
$10V_AH,10.1,17.628
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$DEVICE_SECS,25.275,186.375,366.050,0.000,0.000,75.526,132.077,183.828,85.250,0.000,0.000,11.163,2494.662,23408.338,608.277,2687.965,841.048,0.000,1935.219,0.000,2643.550,0.000,58.509,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1056.359,964.495,722.860,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72498,1420
$CAP_FILE_SIZE,191846,0
$CFSIZE,254472192,239738880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,60,0,0
$GPS,181208,223337,6102.408,-333.421,37,1.4,42,-6.2