version: 66.04
glider: 5
mission: 5
dive: 208
start: 12 19 108 15 10 16
data:
$ID,5
$MISSION,5
$DIVE,208
$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,-91329.023
$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,36
$R_STBD_OVSHOOT,19
$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
$GPS1,145502,6101.068,-337.871,43,1.6,43,-6.2
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-58.9
$GPS2,150957,6101.308,-338.061,17,1.3,17,-6.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6053.672,-353.760
$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,-81.30,0.000,2,0.000,0.000,422,1969,3417
$GC,102,-0.97,-146.6,5.2,-6.3,4,119,10.40,2.50,-0.25,0.000,4,0.134,0.074,2430,598,3430
$GC,333,-0.61,-146.6,41.5,-12.6,13,339,0.40,2.53,0.00,0.000,6,0.086,0.051,2515,2015,3431
$GC,650,-0.47,-146.6,76.4,-9.6,28,655,0.15,2.60,0.00,0.000,4,0.089,0.065,2546,608,3432
$GC,700,-0.47,-146.6,80.4,-7.4,30,704,0.00,2.50,0.00,0.000,6,0.000,0.052,2546,2006,3432
$GC,1017,-0.43,-146.6,102.4,-7.0,45,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2007,3432
$GC,1326,-0.38,-146.6,123.0,-6.9,60,1330,0.00,2.58,0.00,0.000,4,0.000,0.066,2547,601,3432
$GC,1367,-0.38,-146.6,126.3,-8.2,62,1371,0.00,2.50,0.00,0.000,6,0.000,0.051,2547,2004,3432
$GC,1693,-0.34,-146.6,151.8,-7.8,78,1695,0.15,0.00,0.00,0.000,6,0.086,0.000,2578,2005,3432
$GC,2003,-0.38,-146.6,172.0,-6.5,93,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2005,3432
$GC,2313,-0.42,-146.6,188.4,-5.2,108,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2005,3432
$GC,2622,-0.48,-146.6,202.6,-4.3,123,2623,0.15,0.00,0.00,0.000,6,0.055,0.000,2536,2005,3432
$GC,2931,-0.42,-146.6,222.3,-6.9,138,2933,0.10,0.00,0.00,0.000,6,0.094,0.000,2556,2005,3432
$GC,3239,-0.42,-146.6,241.5,-6.8,153,3244,0.00,2.55,0.00,0.000,4,0.000,0.068,2556,605,3432
$GC,3284,-0.42,-146.6,244.3,-6.0,155,3288,0.00,2.47,0.00,0.000,6,0.000,0.052,2556,1993,3432
$GC,3611,-0.42,-146.6,262.9,-6.5,171,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1994,3432
$GC,3920,-0.42,-146.6,283.7,-7.5,186,3925,0.00,2.55,0.00,0.000,4,0.000,0.070,2556,607,3432
$GC,3960,-0.42,-146.6,287.0,-8.3,188,3964,0.00,2.45,0.00,0.000,6,0.000,0.054,2556,1981,3432
$GC,4287,-0.42,-146.6,308.2,-5.4,204,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1981,3431
$GC,4596,-0.42,-146.6,328.0,-7.1,219,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1982,3432
$GC,4906,-0.42,-146.6,351.2,-8.3,234,4910,0.00,2.55,0.00,0.000,4,0.000,0.072,2556,601,3432
$GC,4933,-0.42,-146.6,353.9,-9.5,235,4937,0.00,2.47,0.00,0.000,6,0.000,0.056,2556,1981,3432
$GC,5249,-0.42,-146.6,381.5,-7.0,250,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1982,3432
$GC,5558,-0.42,-146.6,390.5,-2.1,265,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1982,3431
$GC,5868,-0.42,-146.6,406.0,-6.9,280,5872,0.00,2.60,0.00,0.000,4,0.000,0.075,2556,3402,3430
$GC,5917,-0.42,-146.6,410.3,-8.9,282,5922,0.00,2.60,0.00,0.000,6,0.000,0.064,2556,1981,3430
$GC,6233,-0.42,-146.6,437.4,-8.0,297,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1981,3429
$GC,6543,-0.42,-146.6,460.5,-7.1,312,6547,0.00,2.67,0.00,0.000,4,0.000,0.077,2556,3408,3428
$GC,6582,-0.42,-146.6,463.5,-8.1,314,6587,0.00,2.62,0.00,0.000,6,0.000,0.068,2556,1980,3428
$GC,6909,-0.42,-146.6,487.5,-7.4,330,6913,0.00,2.67,0.00,0.000,4,0.000,0.080,2556,3402,3427
$GC,6936,-0.42,-146.6,489.7,-7.8,331,6941,0.00,2.62,0.00,0.000,6,0.000,0.069,2556,1979,3427
$GC,7253,-0.42,-146.6,508.3,-5.4,346,7257,0.00,2.67,0.00,0.000,4,0.000,0.081,2556,3405,3426
$GC,7286,-0.46,-146.6,510.4,-6.3,347,7292,0.00,2.60,0.00,0.000,6,0.000,0.073,2556,1998,3426
$GC,7602,-0.46,-146.6,526.7,-5.2,363,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1998,3424
$GC,7911,-0.46,-146.6,541.9,-5.1,378,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1997,3423
$GC,8221,-0.50,-146.6,559.9,-6.2,393,8225,0.00,2.67,0.00,0.000,4,0.000,0.087,2556,3407,3422
$GC,8248,-0.55,-146.6,561.7,-6.3,394,8253,0.12,2.62,0.00,0.000,6,0.071,0.075,2525,2001,3423
$GC,8564,-0.50,-146.6,583.2,-6.7,409,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2001,3422
$GC,8874,-0.45,-146.6,603.4,-6.8,424,8876,0.12,0.00,0.00,0.000,6,0.107,0.000,2550,2000,3421
$GC,9183,-0.45,-146.6,620.9,-5.4,439,9184,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2000,3419
$GC,9492,-0.45,-146.6,638.5,-5.7,454,9497,0.00,2.67,0.00,0.000,4,0.000,0.089,2551,3401,3418
$GC,9533,-0.45,-146.6,640.9,-6.1,456,9538,0.00,2.62,0.00,0.000,6,0.000,0.077,2551,2000,3417
$GC,9860,-0.45,-146.6,659.0,-5.6,472,9861,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2000,3417
$GC,10169,-0.45,-146.6,677.2,-6.1,487,10170,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2000,3416
$GC,10478,-0.45,-146.6,697.0,-6.5,502,10483,0.00,2.70,0.00,0.000,4,0.000,0.091,2551,3405,3415
$GC,10505,-0.45,-146.6,698.9,-7.2,503,10510,0.00,2.62,0.00,0.000,6,0.000,0.079,2551,2011,3415
$GC,10821,-0.45,-146.6,721.3,-7.3,518,10822,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2011,3414
$GC,11131,-0.45,-146.6,743.1,-7.1,533,11132,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2011,3413
$GC,11440,-0.45,-146.6,764.7,-7.1,548,11441,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2011,3413
$GC,11749,-0.45,-146.6,786.1,-6.8,563,11750,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2011,3412
$GC,12059,-0.45,-146.6,806.7,-6.5,578,12060,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2011,3412
$GC,12367,-0.45,-146.6,826.2,-6.1,593,12369,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2011,3411
$GC,12678,-0.50,-146.6,844.7,-6.0,608,12682,0.00,2.67,0.00,0.000,4,0.000,0.090,2551,3404,3411
$GC,12706,-0.54,-146.6,846.6,-6.0,609,12710,0.00,2.62,0.00,0.000,6,0.000,0.079,2551,2009,3411
$GC,13022,-0.58,-146.6,865.3,-5.9,624,13024,0.12,0.00,0.00,0.000,6,0.075,0.000,2519,2009,3411
$GC,13332,-0.53,-146.6,886.0,-6.5,639,13333,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2009,3411
$GC,13641,-0.49,-146.6,906.9,-6.8,654,13642,0.10,0.00,0.00,0.000,6,0.111,0.000,2539,2009,3410
$GC,13950,-0.49,-146.6,926.9,-6.5,669,13954,0.00,2.67,0.00,0.000,4,0.000,0.091,2539,3401,3410
$GC,13982,-0.49,-146.6,929.2,-7.0,670,13989,0.00,2.62,0.00,0.000,6,0.000,0.080,2539,2010,3409
$GC,14301,-0.49,-146.6,950.2,-6.7,686,14302,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2009,3409
$GC,14608,-0.49,-146.6,971.1,-6.7,701,14609,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2009,3408
$STATE,14893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14893,begin apogee
$GC,14901,-0.33,0.0,990.7,6.8,715,15036,0.17,0.00,129.62,1.663,6,0.106,0.000,2574,2206,2832
$STATE,15037,end apogee,CONTROL_FINISHED_OK
$STATE,15037,begin climb
$GC,15040,0.97,146.6,997.2,0.0,722,15177,1.42,0.00,132.70,1.618,6,0.087,0.000,2861,2205,2234
$GC,15489,1.15,175.4,977.4,5.2,744,15525,0.17,2.80,27.05,1.528,4,0.067,0.090,2903,3608,2117
$GC,15565,1.13,188.8,972.6,5.6,747,15584,0.00,2.70,14.05,1.450,6,0.000,0.078,2903,2193,2062
$GC,15907,1.13,188.8,952.3,6.2,764,15911,0.00,2.70,0.00,0.000,4,0.000,0.094,2903,787,2062
$GC,15962,1.13,188.8,948.5,6.5,766,15968,0.00,2.67,0.00,0.000,6,0.000,0.077,2903,2198,2062
$GC,16279,1.14,199.5,930.2,5.7,782,16299,0.00,2.83,11.55,1.446,4,0.000,0.093,2903,788,2017
$GC,16323,1.15,202.6,927.4,5.9,784,16332,0.00,2.67,4.32,1.060,6,0.000,0.078,2903,2187,2006
$GC,16656,1.16,212.5,908.2,5.7,800,16672,0.00,2.80,10.90,1.440,4,0.000,0.094,2904,790,1964
$GC,16697,1.17,219.4,905.8,5.8,801,16711,0.00,2.65,7.90,1.347,6,0.000,0.078,2903,2177,1937
$GC,17027,1.17,219.4,885.2,6.4,817,17029,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2177,1937
$GC,17337,1.17,219.4,865.5,6.4,832,17341,0.00,2.72,0.00,0.000,4,0.000,0.096,2903,782,1937
$GC,17387,1.17,219.4,861.9,6.9,834,17391,0.00,2.65,0.00,0.000,6,0.000,0.078,2903,2181,1937
$GC,17702,1.17,219.4,841.3,6.3,849,17707,0.00,2.70,0.00,0.000,4,0.000,0.095,2903,789,1936
$GC,17735,1.17,219.4,838.9,6.4,850,17742,0.00,2.60,0.00,0.000,6,0.000,0.079,2904,2164,1936
$GC,18052,1.17,219.4,818.6,6.3,866,18053,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2164,1936
$GC,18360,1.17,219.4,799.5,6.2,881,18365,0.00,2.67,0.00,0.000,4,0.000,0.096,2903,790,1936
$GC,18394,1.17,219.4,797.1,6.7,882,18400,0.00,2.58,0.00,0.000,6,0.000,0.078,2903,2157,1936
$GC,18710,1.18,219.8,778.3,6.0,898,18711,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2157,1936
$GC,19019,1.18,225.5,759.8,5.8,913,19033,0.00,2.75,7.12,1.295,4,0.000,0.095,2903,791,1912
$GC,19056,1.18,225.5,757.4,6.2,914,19062,0.00,2.60,0.00,0.000,6,0.000,0.078,2903,2157,1911
$GC,19372,1.18,225.5,738.4,6.2,930,19373,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2157,1911
$GC,19682,1.23,230.1,719.9,5.9,945,19693,0.00,2.70,5.90,1.210,4,0.000,0.094,2903,792,1892
$GC,19732,1.23,230.1,716.4,6.4,947,19736,0.00,2.58,0.00,0.000,6,0.000,0.077,2903,2152,1892
$GC,20049,1.28,230.1,697.0,6.3,962,20050,0.10,0.00,0.00,0.000,6,0.075,0.000,2930,2152,1892
$GC,20357,1.28,230.1,675.2,6.8,977,20361,0.00,2.65,0.00,0.000,4,0.000,0.095,2930,790,1892
$GC,20390,1.23,230.1,672.6,7.3,978,20396,0.00,2.55,0.00,0.000,6,0.000,0.078,2930,2141,1892
$GC,20708,1.23,230.1,651.5,6.5,994,20709,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2142,1892
$GC,21015,1.23,232.8,632.9,5.9,1009,21021,0.00,0.00,4.10,0.989,6,0.000,0.000,2930,2141,1882
$GC,21325,1.23,232.8,614.3,6.1,1024,21329,0.00,2.62,0.00,0.000,4,0.000,0.094,2930,788,1882
$GC,21358,1.18,232.8,612.0,6.9,1025,21365,0.10,2.55,0.00,0.000,6,0.110,0.077,2910,2142,1882
$GC,21675,1.24,239.9,594.2,5.8,1041,21685,0.00,0.00,8.00,1.246,6,0.000,0.000,2910,2141,1853
$GC,21986,1.28,239.9,575.3,6.1,1056,21990,0.00,2.62,0.00,0.000,4,0.000,0.092,2910,787,1852
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$STATE,30355,end climb,SURFACE_DEPTH_REACHED
$STATE,30355,begin surface coast
$FINISH,-0.1,1.027420
$STATE,30380,end surface coast,CONTROL_FINISHED_OK
$STATE,30380,begin surface
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$HUMID,1762
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$10V_AH,10.1,17.991
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$DEVICE_SECS,25.950,218.850,479.325,0.000,0.000,113.281,97.429,395.891,71.250,0.000,0.000,17.320,2600.827,24136.072,671.219,2833.646,1103.169,0.000,2094.320,0.000,2775.901,0.000,58.555,0.000
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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,72586,1460
$CAP_FILE_SIZE,213571,0
$CFSIZE,254472192,239460352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,72,0,0
$GPS,191208,233928,6058.078,-346.807,31,3.8,50,-6.3