version: 66.04
glider: 5
mission: 5
dive: 214
start: 12 21 108 17 1 23
data:
$ID,5
$MISSION,5
$DIVE,214
$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,-91506.453
$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,27
$R_STBD_OVSHOOT,21
$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
$GPS1,165328,6049.423,-406.807,31,3.6,50,-6.4
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-49.7
$GPS2,170105,6049.497,-406.607,19,3.7,38,-6.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6041.861,-422.209
$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,231.4,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.97,-146.6,0.0,0.0,0,120,0.00,0.00,-98.20,0.000,6,0.000,0.000,422,1962,3430
$GC,123,-0.97,-146.6,6.1,-6.1,5,139,10.35,2.65,0.00,0.000,4,0.134,0.064,2431,3413,3431
$GC,382,-0.61,-146.6,53.1,-14.4,15,389,0.40,2.58,0.00,0.000,6,0.088,0.057,2515,1996,3432
$GC,698,-0.45,-146.6,85.7,-8.6,31,700,0.17,0.00,0.00,0.000,6,0.095,0.000,2550,1996,3433
$GC,1007,-0.45,-146.6,106.6,-6.8,46,1011,0.00,2.55,0.00,0.000,4,0.000,0.068,2550,589,3433
$GC,1070,-0.45,-146.6,111.9,-9.0,49,1074,0.00,2.53,0.00,0.000,6,0.000,0.054,2549,1997,3433
$GC,1397,-0.45,-146.6,134.4,-5.9,65,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2017,3433
$GC,1706,-0.39,-146.6,160.4,-10.0,80,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2003,3433
$GC,2015,-0.39,-146.6,185.0,-6.3,95,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2011,3433
$GC,2324,-0.39,-146.6,204.4,-6.3,110,2328,0.00,2.55,0.00,0.000,4,0.000,0.066,2550,3415,3433
$GC,2408,-0.39,-146.6,210.7,-7.9,114,2413,0.00,2.55,0.00,0.000,6,0.000,0.054,2550,1985,3433
$GC,2736,-0.39,-146.6,233.7,-7.3,130,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1984,3434
$GC,3044,-0.39,-146.6,254.3,-6.4,145,3049,0.00,2.53,0.00,0.000,4,0.000,0.071,2550,585,3434
$GC,3100,-0.39,-146.6,258.4,-7.6,147,3106,0.00,2.55,0.00,0.000,6,0.000,0.057,2550,2006,3434
$GC,3416,-0.39,-146.6,279.6,-6.3,163,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2006,3434
$GC,3725,-0.39,-146.6,302.1,-8.2,178,3729,0.00,2.58,0.00,0.000,4,0.000,0.074,2550,3410,3434
$GC,3752,-0.39,-146.6,304.6,-8.7,179,3756,0.00,2.55,0.00,0.000,6,0.000,0.062,2550,2012,3434
$GC,4068,-0.39,-146.6,327.9,-6.7,194,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2011,3434
$GC,4377,-0.39,-146.6,349.7,-7.1,209,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2011,3433
$GC,4687,-0.39,-146.6,370.5,-6.6,224,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2011,3432
$GC,4995,-0.39,-146.6,391.1,-6.8,239,5000,0.00,2.62,0.00,0.000,4,0.000,0.083,2550,595,3432
$GC,5017,-0.39,-146.6,392.7,-6.8,240,5022,0.00,2.58,0.00,0.000,6,0.000,0.068,2549,2001,3431
$GC,5340,-0.39,-146.6,415.6,-7.3,256,5344,0.00,2.62,0.00,0.000,4,0.000,0.085,2549,3405,3430
$GC,5389,-0.39,-146.6,419.9,-8.4,258,5394,0.00,2.60,0.00,0.000,6,0.000,0.073,2549,2009,3430
$GC,5705,-0.39,-146.6,443.9,-7.5,273,5709,0.00,2.65,0.00,0.000,4,0.000,0.084,2550,3405,3429
$GC,5734,-0.39,-146.6,446.2,-8.0,274,5738,0.00,2.60,0.00,0.000,6,0.000,0.074,2550,2012,3429
$GC,6050,-0.39,-146.6,471.1,-7.9,289,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2012,3428
$GC,6359,-0.39,-146.6,494.7,-7.5,304,6363,0.00,2.67,0.00,0.000,4,0.000,0.087,2549,3413,3427
$GC,6403,-0.39,-146.6,498.4,-7.5,306,6408,0.00,2.60,0.00,0.000,6,0.000,0.075,2550,2023,3427
$GC,6724,-0.39,-146.6,522.2,-7.2,322,6729,0.00,2.67,0.00,0.000,4,0.000,0.091,2550,591,3426
$GC,6757,-0.39,-146.6,524.8,-8.0,323,6765,0.00,2.65,0.00,0.000,6,0.000,0.074,2550,2022,3426
$GC,7073,-0.39,-146.6,546.7,-6.6,339,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2022,3424
$GC,7382,-0.39,-146.6,565.6,-5.9,354,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2022,3423
$GC,7691,-0.39,-146.6,584.7,-6.1,369,7696,0.00,2.60,0.00,0.000,4,0.000,0.088,2550,3406,3423
$GC,7720,-0.39,-146.6,586.6,-6.4,370,7725,0.00,2.60,0.00,0.000,6,0.000,0.077,2550,2022,3422
$GC,8037,-0.39,-146.6,605.5,-5.9,385,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2022,3422
$GC,8345,-0.39,-146.6,624.2,-6.1,400,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2022,3421
$GC,8655,-0.39,-146.6,643.3,-6.2,415,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2022,3421
$GC,8964,-0.39,-146.6,662.4,-6.0,430,8965,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2022,3420
$GC,9273,-0.39,-146.6,681.0,-6.3,445,9274,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2022,3419
$GC,9584,-0.39,-146.6,700.9,-6.6,460,9585,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2022,3418
$GC,9892,-0.39,-146.6,721.6,-6.5,475,9893,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2022,3418
$GC,10201,-0.39,-146.6,742.2,-6.6,490,10202,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2022,3417
$GC,10511,-0.39,-146.6,763.0,-6.9,505,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2022,3416
$GC,10819,-0.39,-146.6,784.1,-6.9,520,10821,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2022,3416
$GC,11129,-0.43,-146.6,804.8,-6.5,535,11130,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2022,3416
$GC,11438,-0.43,-146.6,824.4,-6.2,550,11440,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2022,3416
$GC,11747,-0.43,-146.6,845.2,-6.9,565,11748,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2022,3416
$GC,12057,-0.47,-146.6,865.1,-6.4,580,12058,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2021,3415
$GC,12367,-0.52,-146.6,884.0,-5.9,595,12371,0.00,2.72,0.00,0.000,4,0.000,0.097,2550,587,3415
$GC,12394,-0.52,-146.6,885.8,-6.2,596,12399,0.00,2.70,0.00,0.000,6,0.000,0.078,2549,2029,3415
$GC,12711,-0.56,-146.6,904.1,-5.5,611,12712,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2030,3415
$GC,13021,-0.61,-146.6,921.1,-5.4,626,13023,0.15,0.00,0.00,0.000,6,0.075,0.000,2515,2030,3415
$GC,13329,-0.56,-146.6,942.4,-7.3,641,13334,0.00,2.80,0.00,0.000,4,0.000,0.100,2514,590,3414
$GC,13363,-0.50,-146.6,945.0,-8.2,642,13369,0.12,2.70,0.00,0.000,6,0.110,0.080,2539,2027,3415
$GC,13678,-0.50,-146.6,965.1,-6.2,658,13679,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2028,3414
$GC,13988,-0.50,-146.6,983.9,-5.8,673,13989,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2027,3414
$STATE,14088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14088,begin apogee
$GC,14096,-0.33,0.0,990.1,5.9,678,14231,0.17,0.00,132.00,1.672,6,0.113,0.000,2573,2205,2832
$STATE,14232,end apogee,CONTROL_FINISHED_OK
$STATE,14232,begin climb
$GC,14235,0.97,146.6,995.7,0.0,685,14375,1.40,0.00,134.48,1.615,6,0.094,0.000,2856,2205,2234
$GC,14687,1.14,146.6,973.0,6.1,706,14692,0.17,2.70,0.00,0.000,4,0.068,0.092,2901,3610,2233
$GC,14782,1.07,146.6,966.5,6.3,710,14787,0.00,2.67,0.00,0.000,6,0.000,0.080,2901,2203,2233
$GC,15099,1.02,146.6,947.3,6.0,725,15104,0.15,2.72,0.00,0.000,4,0.106,0.098,2874,793,2233
$GC,15149,1.04,153.9,944.3,5.8,727,15163,0.00,2.62,8.43,1.376,6,0.000,0.078,2874,2189,2204
$GC,15495,1.13,184.1,926.4,5.2,744,15530,0.10,2.85,28.40,1.562,4,0.079,0.094,2897,790,2081
$GC,15560,1.13,184.1,922.0,7.2,747,15564,0.00,2.67,0.00,0.000,6,0.000,0.078,2897,2187,2081
$GC,15886,1.13,184.1,900.9,6.6,763,15887,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2187,2081
$GC,16196,1.13,184.1,879.8,6.9,778,16200,0.00,2.72,0.00,0.000,4,0.000,0.094,2897,789,2081
$GC,16245,1.13,184.1,876.1,6.9,780,16250,0.00,2.65,0.00,0.000,6,0.000,0.078,2898,2187,2082
$GC,16561,1.13,184.1,855.3,6.4,795,16565,0.00,2.70,0.00,0.000,4,0.000,0.094,2897,790,2082
$GC,16601,1.13,184.1,852.7,7.4,797,16605,0.00,2.62,0.00,0.000,6,0.000,0.078,2897,2178,2082
$GC,16927,1.13,184.1,832.0,6.0,813,16932,0.00,2.70,0.00,0.000,4,0.000,0.094,2897,791,2082
$GC,16955,1.13,184.1,830.0,6.4,814,16959,0.00,2.60,0.00,0.000,6,0.000,0.078,2897,2166,2081
$GC,17271,1.13,184.1,810.5,6.2,829,17272,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2166,2081
$GC,17580,1.15,192.3,792.5,5.8,844,17594,0.00,2.72,9.15,1.385,4,0.000,0.093,2897,791,2048
$GC,17635,1.15,192.3,789.3,6.1,846,17639,0.00,2.58,0.00,0.000,6,0.000,0.077,2897,2156,2048
$GC,17952,1.19,218.7,772.4,5.3,861,17979,0.00,0.00,25.23,1.501,6,0.000,0.000,2897,2156,1940
$GC,18280,1.28,238.7,754.4,5.5,877,18306,0.12,2.78,18.90,1.460,4,0.073,0.093,2929,788,1859
$GC,18329,1.23,238.7,750.9,7.9,879,18333,0.00,2.60,0.00,0.000,6,0.000,0.077,2929,2149,1859
$GC,18650,1.23,238.7,728.7,7.0,895,18651,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2150,1860
$GC,18959,1.23,238.7,707.6,6.6,910,18963,0.00,2.65,0.00,0.000,4,0.000,0.094,2929,790,1859
$GC,18994,1.19,238.7,705.0,7.0,911,19000,0.00,2.58,0.00,0.000,6,0.000,0.077,2929,2151,1860
$GC,19310,1.19,238.7,683.1,7.0,927,19311,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2152,1860
$GC,19619,1.19,238.7,661.2,7.2,942,19623,0.00,2.65,0.00,0.000,4,0.000,0.093,2928,788,1859
$GC,19652,1.19,238.7,658.5,7.3,943,19658,0.00,2.55,0.00,0.000,6,0.000,0.077,2929,2141,1859
$GC,19968,1.19,238.7,635.2,7.2,959,19969,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2141,1859
$GC,20277,1.19,238.7,612.4,7.4,974,20278,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2141,1860
$GC,20587,1.19,238.7,589.5,7.4,989,20591,0.00,2.62,0.00,0.000,4,0.000,0.092,2929,783,1860
$GC,20614,1.19,238.7,587.3,7.8,990,20618,0.00,2.55,0.00,0.000,6,0.000,0.076,2928,2140,1859
$GC,20929,1.19,238.7,563.8,7.4,1005,20931,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2140,1859
$GC,21239,1.19,238.7,539.5,8.1,1020,21243,0.00,2.60,0.00,0.000,4,0.000,0.091,2929,793,1860
$GC,21279,1.19,238.7,536.1,8.9,1022,21283,0.00,2.53,0.00,0.000,6,0.000,0.076,2929,2140,1859
$GC,21606,1.19,238.7,508.3,8.4,1038,21607,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2140,1859
$GC,21915,1.19,238.7,482.9,7.9,1053,21919,0.00,2.60,0.00,0.000,4,0.000,0.089,2928,784,1859
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$STATE,28738,begin surface coast
$FINISH,0.2,1.027631
$STATE,28782,end surface coast,CONTROL_FINISHED_OK
$STATE,28782,begin surface
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$HUMID,1771
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$24V_AH,23.5,38.104
$10V_AH,10.0,18.699
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$DEVICE_SECS,24.700,189.500,417.000,0.000,0.000,37.761,27.694,222.894,45.750,0.000,0.000,39.122,2449.584,22821.998,587.923,2714.685,736.331,0.000,1936.448,0.000,2638.156,0.000,58.623,0.000
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$DATA_FILE_SIZE,69496,1384
$CAP_FILE_SIZE,189551,0
$CFSIZE,254472192,238985216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,56,0,0
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