version: 66.04
glider: 5
mission: 5
dive: 207
start: 12 19 108 6 49 52
data:
$ID,5
$MISSION,5
$DIVE,207
$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,225
$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,-91311.078
$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,24
$R_STBD_OVSHOOT,20
$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
$GPS1,064258,6104.710,-334.818,26,3.0,45,-6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-60.0
$GPS2,064933,6104.734,-334.638,16,1.3,16,-6.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6057.098,-350.365
$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,231.2,20000,-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,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,-81.32,0.000,2,0.000,0.000,416,1977,3234
$GC,103,-0.97,-146.6,3.7,-4.4,4,125,10.32,2.60,-4.95,0.000,4,0.130,0.071,2431,3412,3430
$GC,210,-0.66,-146.6,25.7,-14.5,8,217,0.35,2.53,0.00,0.000,6,0.087,0.049,2505,1998,3430
$GC,527,-0.48,-146.6,54.8,-10.9,24,532,0.17,2.53,0.00,0.000,4,0.084,0.065,2546,597,3430
$GC,600,-0.48,-146.6,62.1,-9.6,27,604,0.00,2.50,0.00,0.000,6,0.000,0.051,2546,1999,3430
$GC,917,-0.48,-146.6,88.1,-7.8,42,921,0.00,2.53,0.00,0.000,4,0.000,0.062,2546,3408,3431
$GC,985,-0.48,-146.6,94.0,-8.4,45,989,0.00,2.53,0.00,0.000,6,0.000,0.048,2546,1990,3431
$GC,1306,-0.48,-146.6,121.5,-8.0,61,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1990,3431
$GC,1616,-0.44,-146.6,144.5,-7.6,76,1620,0.00,2.58,0.00,0.000,4,0.000,0.062,2546,3404,3431
$GC,1656,-0.44,-146.6,148.0,-7.9,78,1661,0.00,2.50,0.00,0.000,6,0.000,0.049,2546,1998,3431
$GC,1984,-0.44,-146.6,175.4,-8.8,94,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1998,3431
$GC,2293,-0.44,-146.6,199.3,-7.6,109,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1997,3432
$GC,2602,-0.44,-146.6,223.5,-7.9,124,2607,0.00,2.58,0.00,0.000,4,0.000,0.063,2546,3407,3432
$GC,2646,-0.44,-146.6,227.0,-7.9,126,2650,0.00,2.50,0.00,0.000,6,0.000,0.051,2546,2006,3432
$GC,2968,-0.44,-146.6,250.2,-7.1,142,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2005,3432
$GC,3277,-0.44,-146.6,270.4,-6.6,157,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2005,3432
$GC,3585,-0.44,-146.6,292.7,-7.9,172,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2005,3432
$GC,3895,-0.44,-146.6,319.0,-8.6,187,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2005,3432
$GC,4204,-0.44,-146.6,342.7,-6.9,202,4209,0.00,2.58,0.00,0.000,4,0.000,0.065,2546,3412,3432
$GC,4300,-0.44,-146.6,349.8,-7.1,206,4307,0.00,2.50,0.00,0.000,6,0.000,0.054,2546,2018,3431
$GC,4623,-0.44,-146.6,371.9,-6.7,222,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2017,3432
$GC,4933,-0.44,-146.6,393.6,-7.4,237,4937,0.00,2.55,0.00,0.000,4,0.000,0.068,2546,3403,3431
$GC,4988,-0.44,-146.6,398.2,-8.5,239,4995,0.00,2.47,0.00,0.000,6,0.000,0.056,2546,2027,3431
$GC,5304,-0.44,-146.6,422.2,-7.4,255,5308,0.00,2.60,0.00,0.000,4,0.000,0.072,2546,594,3431
$GC,5345,-0.44,-146.6,425.2,-8.3,257,5349,0.00,2.60,0.00,0.000,6,0.000,0.057,2546,2045,3431
$GC,5671,-0.44,-146.6,447.2,-6.7,273,5675,0.00,2.47,0.00,0.000,4,0.000,0.073,2546,3404,3431
$GC,5704,-0.44,-146.6,449.6,-6.9,274,5711,0.00,2.47,0.00,0.000,6,0.000,0.063,2546,2047,3431
$GC,6020,-0.44,-146.6,469.9,-6.0,290,6024,0.00,2.65,0.00,0.000,4,0.000,0.078,2546,595,3430
$GC,6047,-0.44,-146.6,471.7,-6.6,291,6052,0.00,2.60,0.00,0.000,6,0.000,0.062,2546,2036,3430
$GC,6363,-0.44,-146.6,493.2,-7.1,306,6368,0.00,2.72,0.00,0.000,4,0.000,0.083,2546,590,3430
$GC,6391,-0.44,-146.6,495.3,-7.6,307,6395,0.00,2.65,0.00,0.000,6,0.000,0.065,2546,2043,3430
$GC,6706,-0.44,-146.6,516.3,-6.4,322,6710,0.00,2.53,0.00,0.000,4,0.000,0.081,2546,3406,3429
$GC,6729,-0.44,-146.6,517.9,-7.2,323,6734,0.00,2.55,0.00,0.000,6,0.000,0.071,2546,2028,3428
$GC,7057,-0.44,-146.6,539.5,-6.7,339,7061,0.00,2.67,0.00,0.000,4,0.000,0.085,2545,586,3427
$GC,7089,-0.44,-146.6,541.9,-7.6,340,7096,0.00,2.67,0.00,0.000,6,0.000,0.071,2546,2045,3427
$GC,7406,-0.44,-146.6,562.9,-6.6,356,7407,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2046,3425
$GC,7715,-0.44,-146.6,581.8,-5.7,371,7720,0.00,2.75,0.00,0.000,4,0.000,0.087,2546,596,3424
$GC,7748,-0.44,-146.6,583.9,-6.3,372,7754,0.00,2.65,0.00,0.000,6,0.000,0.071,2546,2032,3424
$GC,8064,-0.44,-146.6,602.1,-6.2,388,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2032,3423
$GC,8374,-0.44,-146.6,622.8,-6.8,403,8375,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2032,3422
$GC,8683,-0.44,-146.6,641.8,-5.9,418,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2032,3421
$GC,8992,-0.44,-146.6,659.1,-5.5,433,8997,0.00,2.75,0.00,0.000,4,0.000,0.095,2546,593,3420
$GC,9032,-0.44,-146.6,661.7,-6.9,435,9037,0.00,2.65,0.00,0.000,6,0.000,0.076,2546,2027,3420
$GC,9359,-0.44,-146.6,682.8,-6.8,451,9360,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2027,3419
$GC,9668,-0.44,-146.6,703.6,-6.7,466,9669,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2027,3418
$GC,9978,-0.44,-146.6,724.2,-6.8,481,9979,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2028,3417
$GC,10286,-0.44,-146.6,743.7,-6.2,496,10288,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2028,3416
$GC,10596,-0.44,-146.6,762.5,-6.2,511,10597,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2027,3414
$GC,10906,-0.44,-146.6,781.9,-6.4,526,10907,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2027,3414
$GC,11214,-0.44,-146.6,801.9,-6.6,541,11219,0.00,2.78,0.00,0.000,4,0.000,0.098,2546,592,3414
$GC,11242,-0.44,-146.6,803.8,-6.4,542,11246,0.00,2.67,0.00,0.000,6,0.000,0.078,2546,2024,3413
$GC,11558,-0.44,-146.6,823.8,-6.3,557,11559,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2025,3413
$GC,11867,-0.44,-146.6,843.3,-6.3,572,11868,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2025,3412
$GC,12176,-0.44,-146.6,862.6,-6.2,587,12181,0.00,2.78,0.00,0.000,4,0.000,0.097,2546,587,3411
$GC,12204,-0.44,-146.6,864.4,-6.6,588,12208,0.00,2.67,0.00,0.000,6,0.000,0.077,2546,2022,3411
$GC,12520,-0.44,-146.6,882.6,-5.8,603,12521,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2022,3410
$GC,12832,-0.44,-146.6,901.0,-6.0,618,12833,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2022,3410
$GC,13138,-0.44,-146.6,920.3,-6.3,633,13139,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2022,3410
$GC,13447,-0.44,-146.6,939.7,-6.4,648,13448,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2022,3410
$GC,13757,-0.44,-146.6,959.1,-6.4,663,13758,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2023,3409
$GC,14066,-0.44,-146.6,978.6,-6.4,678,14067,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2023,3409
$STATE,14248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14248,begin apogee
$GC,14255,-0.33,0.0,990.4,6.2,687,14391,0.15,0.00,130.52,1.657,6,0.104,0.000,2577,2200,2831
$STATE,14392,end apogee,CONTROL_FINISHED_OK
$STATE,14392,begin climb
$GC,14396,0.97,146.6,996.6,0.0,694,14541,1.38,2.80,133.05,1.609,4,0.087,0.091,2856,3599,2234
$GC,14555,1.11,166.8,991.4,5.4,701,14581,0.15,2.70,19.58,1.492,6,0.071,0.080,2890,2202,2152
$GC,14900,1.19,166.8,971.3,6.0,718,14905,0.00,2.75,0.00,0.000,4,0.000,0.094,2890,3606,2152
$GC,14968,1.22,185.2,967.1,5.5,721,14994,0.10,2.90,18.27,1.487,6,0.079,0.081,2914,2087,2077
$GC,15318,1.18,185.2,945.9,6.1,738,15320,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2087,2077
$GC,15625,1.14,189.0,927.6,5.9,753,15632,0.00,0.00,5.57,1.214,6,0.000,0.000,2914,2087,2061
$GC,15934,1.11,197.9,909.4,5.8,768,15950,0.12,3.00,9.60,1.410,4,0.109,0.091,2892,3602,2025
$GC,15979,1.14,216.1,906.8,5.5,769,16004,0.00,2.90,18.02,1.504,6,0.000,0.079,2892,2088,1950
$GC,16330,1.20,219.6,887.4,5.9,786,16337,0.00,0.00,5.12,1.175,6,0.000,0.000,2892,2088,1936
$GC,16637,1.27,223.7,869.1,5.9,801,16651,0.15,2.97,5.85,1.240,4,0.071,0.092,2927,3603,1918
$GC,16668,1.22,223.7,866.7,6.9,802,16673,0.00,2.88,0.00,0.000,6,0.000,0.079,2927,2098,1919
$GC,16985,1.22,223.7,844.4,6.8,817,16986,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2099,1918
$GC,17293,1.22,223.7,822.4,7.2,832,17295,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2099,1918
$GC,17603,1.22,223.7,799.2,7.6,847,17607,0.00,2.92,0.00,0.000,4,0.000,0.091,2927,3612,1919
$GC,17630,1.17,223.7,796.9,9.0,848,17635,0.10,2.85,0.00,0.000,6,0.114,0.077,2907,2104,1918
$GC,17946,1.17,223.7,776.0,6.4,863,17948,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2104,1918
$GC,18255,1.17,223.7,756.1,6.6,878,18256,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2105,1918
$GC,18565,1.17,223.7,736.5,6.1,893,18569,0.00,2.90,0.00,0.000,4,0.000,0.091,2907,3606,1918
$GC,18597,1.17,223.7,734.2,6.6,894,18604,0.00,2.83,0.00,0.000,6,0.000,0.076,2907,2104,1917
$GC,18913,1.18,229.9,715.6,5.8,910,18922,0.00,0.00,6.88,1.258,6,0.000,0.000,2907,2103,1894
$GC,19223,1.20,238.5,697.8,5.8,925,19238,0.00,2.97,9.18,1.328,4,0.000,0.090,2907,3608,1859
$GC,19263,1.24,238.5,695.4,6.5,926,19268,0.00,2.85,0.00,0.000,6,0.000,0.075,2907,2107,1859
$GC,19590,1.29,238.5,675.6,6.4,942,19592,0.10,0.00,0.00,0.000,6,0.077,0.000,2932,2107,1859
$GC,19899,1.29,238.5,652.6,7.3,957,19900,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2107,1859
$GC,20208,1.29,238.5,630.3,7.2,972,20209,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2107,1859
$GC,20517,1.29,238.5,607.3,7.7,987,20522,0.00,2.90,0.00,0.000,4,0.000,0.089,2932,3610,1859
$GC,20539,1.29,238.5,605.4,8.4,988,20544,0.00,2.83,0.00,0.000,6,0.000,0.074,2932,2105,1859
$GC,20860,1.29,238.5,582.0,7.5,1004,20861,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2105,1859
$GC,21169,1.29,238.5,559.8,7.2,1019,21174,0.00,2.88,0.00,0.000,4,0.000,0.089,2932,3606,1859
$GC,21196,1.29,238.5,557.7,7.7,1020,21201,0.00,2.80,0.00,0.000,6,0.000,0.074,2932,2108,1859
$GC,21512,1.29,238.5,533.3,7.9,1035,21513,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2107,1859
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$STATE,28905,end climb,SURFACE_DEPTH_REACHED
$STATE,28905,begin surface coast
$FINISH,-0.0,1.021733
$STATE,28946,end surface coast,CONTROL_FINISHED_OK
$STATE,28946,begin surface
$SM_CCo,29029,0.00,0.000,0,0,1727,270.81
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1768
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$XPDR_PINGS,278
$ALTIM_TOP_PING,20.0,19.2
$24V_AH,23.5,36.610
$10V_AH,10.0,17.863
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$DEVICE_SECS,24.475,186.675,397.175,0.000,0.000,37.756,30.263,178.858,78.500,0.000,0.000,16.866,2448.307,23040.795,574.345,2651.160,696.094,0.000,1901.433,0.000,2600.454,0.000,58.541,0.000
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$SENSOR_SECS,1043.049,945.201,717.749,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69389,1391
$CAP_FILE_SIZE,187348,0
$CFSIZE,254472192,239575040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,56,0,0
$GPS,191208,145502,6101.068,-337.871,43,1.6,43,-6.2