version: 66.04
glider: 5
mission: 5
dive: 268
start: 1 2 109 3 45 57
data:
$ID,5
$MISSION,5
$DIVE,268
$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,-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,-92522.859
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$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,35
$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
$GPS1,033827,6033.562,-507.557,30,3.1,49,-6.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-64.1
$GPS2,034540,6033.566,-507.593,13,3.4,32,-6.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCS_SE
$TGT_LATLONG,6010.000,-425.000
$TGT_RADIUS,5000.000
$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,144.9,58692,-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,13,begin dive
$GC,16,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-80.88,0.000,2,0.000,0.000,421,1960,3107
$GC,102,-0.97,-146.6,3.3,-3.5,4,128,10.73,2.67,-9.18,0.000,4,0.136,0.076,2480,3421,3431
$GC,224,-0.77,-146.6,21.1,-12.0,9,229,0.25,2.55,0.00,0.000,6,0.085,0.052,2532,2006,3431
$GC,541,-0.68,-146.6,47.8,-8.5,24,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2005,3431
$GC,851,-0.60,-146.6,74.8,-8.4,39,853,0.17,0.00,0.00,0.000,6,0.090,0.000,2569,2005,3431
$GC,1158,-0.60,-146.6,95.5,-6.5,54,1163,0.00,2.60,0.00,0.000,4,0.000,0.064,2569,3423,3432
$GC,1187,-0.65,-146.6,97.6,-6.6,55,1191,0.00,2.55,0.00,0.000,6,0.000,0.050,2569,1996,3431
$GC,1503,-0.65,-146.6,119.5,-7.0,70,1507,0.00,2.55,0.00,0.000,4,0.000,0.068,2569,587,3432
$GC,1530,-0.65,-146.6,121.8,-8.5,71,1534,0.00,2.55,0.00,0.000,6,0.000,0.053,2569,2011,3432
$GC,1847,-0.65,-146.6,146.2,-7.7,86,1851,0.00,2.53,0.00,0.000,4,0.000,0.065,2569,3409,3432
$GC,1880,-0.69,-146.6,149.2,-8.3,87,1886,0.00,2.53,0.00,0.000,6,0.000,0.051,2569,1999,3432
$GC,2196,-0.69,-146.6,173.6,-7.6,103,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1998,3432
$GC,2505,-0.69,-146.6,194.9,-6.8,118,2510,0.00,2.55,0.00,0.000,4,0.000,0.069,2569,589,3432
$GC,2523,-0.69,-146.6,196.2,-7.1,119,2527,0.00,2.55,0.00,0.000,6,0.000,0.054,2569,2013,3432
$GC,2849,-0.69,-146.6,221.5,-8.1,135,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2014,3432
$GC,3159,-0.73,-146.6,245.9,-7.6,150,3164,0.15,2.53,0.00,0.000,4,0.056,0.067,2527,3407,3433
$GC,3222,-0.66,-146.6,251.8,-9.6,153,3227,0.12,2.53,0.00,0.000,6,0.091,0.054,2553,2000,3433
$GC,3549,-0.66,-146.6,274.9,-6.7,169,3553,0.00,2.60,0.00,0.000,4,0.000,0.067,2553,3412,3433
$GC,3572,-0.66,-146.6,276.5,-7.3,170,3576,0.00,2.55,0.00,0.000,6,0.000,0.054,2553,1996,3433
$GC,3899,-0.66,-146.6,299.5,-7.4,186,3904,0.00,2.60,0.00,0.000,4,0.000,0.069,2553,3412,3433
$GC,3944,-0.66,-146.6,302.9,-7.5,188,3949,0.00,2.50,0.00,0.000,6,0.000,0.056,2553,2027,3433
$GC,4272,-0.66,-146.6,323.7,-5.9,204,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2027,3433
$GC,4581,-0.66,-146.6,342.9,-5.8,219,4585,0.00,2.58,0.00,0.000,4,0.000,0.073,2553,3410,3433
$GC,4620,-0.66,-146.6,346.2,-8.2,221,4625,0.00,2.50,0.00,0.000,6,0.000,0.060,2553,2033,3433
$GC,4948,-0.66,-146.6,364.7,-5.9,237,4953,0.00,2.65,0.00,0.000,4,0.000,0.079,2553,592,3432
$GC,5027,-0.66,-146.6,370.2,-7.2,240,5034,0.00,2.58,0.00,0.000,6,0.000,0.064,2553,2016,3433
$GC,5343,-0.66,-146.6,389.8,-6.4,256,5348,0.00,2.58,0.00,0.000,4,0.000,0.080,2553,3405,3432
$GC,5371,-0.66,-146.6,392.0,-7.4,257,5375,0.00,2.58,0.00,0.000,6,0.000,0.066,2553,2004,3432
$GC,5687,-0.66,-146.6,414.5,-7.1,272,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2004,3431
$GC,5997,-0.66,-146.6,437.6,-7.3,287,6001,0.00,2.65,0.00,0.000,4,0.000,0.080,2553,3409,3430
$GC,6018,-0.66,-146.6,439.3,-7.7,288,6023,0.00,2.58,0.00,0.000,6,0.000,0.069,2553,2014,3430
$GC,6339,-0.66,-146.6,462.7,-7.1,304,6343,0.00,2.65,0.00,0.000,4,0.000,0.084,2553,585,3429
$GC,6360,-0.66,-146.6,464.2,-7.0,305,6365,0.00,2.65,0.00,0.000,6,0.000,0.067,2554,2028,3429
$GC,6682,-0.66,-146.6,485.2,-6.4,321,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2029,3427
$GC,6991,-0.66,-146.6,505.0,-6.6,336,6995,0.00,2.60,0.00,0.000,4,0.000,0.087,2553,3414,3427
$GC,7018,-0.66,-146.6,506.9,-7.2,337,7022,0.00,2.60,0.00,0.000,6,0.000,0.073,2553,2018,3426
$GC,7334,-0.66,-146.6,528.7,-7.0,352,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2018,3425
$GC,7644,-0.66,-146.6,549.5,-5.9,367,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2018,3424
$GC,7952,-0.66,-146.6,570.5,-6.6,382,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2018,3424
$GC,8261,-0.66,-146.6,591.6,-6.9,397,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2018,3423
$GC,8570,-0.66,-146.6,612.2,-6.7,412,8571,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2018,3422
$GC,8880,-0.66,-146.6,632.4,-6.5,427,8881,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2018,3421
$GC,9189,-0.66,-146.6,652.7,-6.7,442,9193,0.00,2.67,0.00,0.000,4,0.000,0.092,2553,3406,3420
$GC,9222,-0.70,-146.6,655.0,-7.5,443,9228,0.00,2.58,0.00,0.000,6,0.000,0.078,2553,2036,3420
$GC,9541,-0.70,-146.6,675.6,-6.4,459,9542,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2036,3419
$GC,9847,-0.75,-146.6,694.8,-6.3,474,9852,0.00,2.72,0.00,0.000,4,0.000,0.094,2553,592,3419
$GC,9875,-0.75,-146.6,696.7,-7.2,475,9879,0.00,2.70,0.00,0.000,6,0.000,0.076,2553,2042,3419
$GC,10192,-0.79,-146.6,715.6,-6.0,490,10194,0.12,0.00,0.00,0.000,6,0.072,0.000,2521,2042,3419
$GC,10500,-0.74,-146.6,737.0,-6.9,505,10505,0.00,2.80,0.00,0.000,4,0.000,0.095,2521,589,3418
$GC,10534,-0.69,-146.6,739.7,-7.5,506,10541,0.12,2.70,0.00,0.000,6,0.110,0.077,2546,2036,3418
$GC,10850,-0.69,-146.6,759.3,-6.1,522,10852,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2036,3417
$GC,11159,-0.69,-146.6,777.8,-5.9,537,11164,0.00,2.80,0.00,0.000,4,0.000,0.098,2546,592,3416
$GC,11186,-0.69,-146.6,779.7,-7.3,538,11191,0.00,2.67,0.00,0.000,6,0.000,0.078,2546,2024,3417
$GC,11503,-0.69,-146.6,798.6,-6.1,553,11504,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2024,3416
$GC,11811,-0.69,-146.6,818.0,-6.5,568,11812,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2024,3415
$GC,12121,-0.69,-146.6,837.4,-6.1,583,12122,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2025,3415
$GC,12430,-0.69,-146.6,856.2,-6.2,598,12434,0.00,2.78,0.00,0.000,4,0.000,0.097,2546,587,3415
$GC,12462,-0.69,-146.6,858.4,-6.5,599,12469,0.00,2.67,0.00,0.000,6,0.000,0.077,2546,2020,3415
$GC,12779,-0.69,-146.6,877.2,-5.7,615,12783,0.00,2.65,0.00,0.000,4,0.000,0.094,2546,3417,3414
$GC,12801,-0.69,-146.6,878.6,-5.6,616,12805,0.00,2.65,0.00,0.000,6,0.000,0.080,2546,2014,3414
$GC,13122,-0.69,-146.6,898.9,-6.3,632,13123,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2015,3414
$GC,13432,-0.69,-146.6,921.8,-7.1,647,13436,0.00,2.70,0.00,0.000,4,0.000,0.098,2546,592,3413
$GC,13471,-0.69,-146.6,924.3,-5.5,649,13476,0.00,2.65,0.00,0.000,6,0.000,0.079,2546,2011,3413
$STATE,13734,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13734,begin apogee
$GC,13741,-0.33,0.0,938.7,5.7,662,13877,0.38,0.00,132.52,1.622,6,0.093,0.000,2623,2200,2832
$STATE,13878,end apogee,CONTROL_FINISHED_OK
$STATE,13878,begin climb
$GC,13882,0.97,146.6,943.1,0.0,669,14027,1.38,2.80,135.82,1.568,4,0.090,0.094,2905,3609,2233
$GC,14076,0.91,146.6,934.2,8.2,678,14080,0.00,2.70,0.00,0.000,6,0.000,0.080,2905,2202,2233
$GC,14403,0.87,146.6,914.5,6.7,694,14408,0.00,2.72,0.00,0.000,4,0.000,0.097,2905,791,2232
$GC,14475,0.82,146.6,910.1,6.3,697,14481,0.15,2.62,0.00,0.000,6,0.102,0.078,2878,2173,2232
$GC,14792,0.84,162.2,894.6,5.6,712,14814,0.00,2.78,15.60,1.457,4,0.000,0.094,2878,791,2170
$GC,14820,0.84,162.2,893.0,6.4,713,14825,0.00,2.65,0.00,0.000,6,0.000,0.077,2878,2165,2169
$GC,15142,0.94,191.0,875.9,5.2,729,15177,0.12,2.80,27.38,1.517,4,0.071,0.094,2908,791,2054
$GC,15189,0.90,191.0,872.9,6.8,731,15193,0.00,2.62,0.00,0.000,6,0.000,0.077,2908,2154,2053
$GC,15510,0.90,191.0,852.4,6.4,747,15511,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2155,2053
$GC,15820,0.90,191.0,833.6,6.2,762,15824,0.00,2.67,0.00,0.000,4,0.000,0.095,2908,786,2054
$GC,15847,0.90,191.0,831.7,7.1,763,15851,0.00,2.58,0.00,0.000,6,0.000,0.077,2908,2146,2053
$GC,16162,0.90,191.0,811.5,6.4,778,16163,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2146,2053
$GC,16471,0.90,191.0,791.6,6.6,793,16476,0.00,2.62,0.00,0.000,4,0.000,0.094,2908,790,2054
$GC,16500,0.90,191.0,789.7,7.2,794,16504,0.00,2.55,0.00,0.000,6,0.000,0.077,2908,2141,2054
$GC,16815,0.90,191.0,769.8,6.2,809,16817,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2141,2053
$GC,17124,0.90,191.0,750.4,6.2,824,17129,0.00,2.62,0.00,0.000,4,0.000,0.094,2908,791,2053
$GC,17147,0.91,196.2,749.0,5.9,825,17163,0.00,2.55,6.50,1.249,6,0.000,0.077,2908,2140,2032
$GC,17472,0.91,196.2,729.1,6.1,841,17473,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2140,2032
$GC,17781,0.91,196.2,709.8,6.2,856,17783,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2140,2032
$GC,18091,0.91,196.2,690.5,6.2,871,18096,0.00,2.62,0.00,0.000,4,0.000,0.093,2908,788,2032
$GC,18118,0.91,196.2,688.4,7.2,872,18123,0.00,2.55,0.00,0.000,6,0.000,0.077,2908,2140,2031
$GC,18434,0.91,196.2,667.7,6.5,887,18435,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2141,2032
$GC,18744,0.91,196.2,647.3,6.7,902,18745,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2141,2032
$GC,19053,0.91,198.3,627.8,5.9,917,19062,0.00,2.62,3.85,0.939,4,0.000,0.091,2908,792,2023
$GC,19079,0.91,198.3,626.1,6.3,918,19084,0.00,2.53,0.00,0.000,6,0.000,0.076,2907,2127,2023
$GC,19401,0.92,201.7,607.1,5.9,934,19408,0.00,0.00,4.88,1.066,6,0.000,0.000,2908,2128,2009
$GC,19710,0.92,207.3,588.8,5.8,949,19719,0.00,0.00,7.00,1.200,6,0.000,0.000,2908,2128,1986
$GC,20020,0.93,213.6,570.8,5.8,964,20034,0.00,2.67,7.25,1.201,4,0.000,0.090,2908,783,1961
$GC,20052,0.95,222.6,568.6,5.8,965,20067,0.00,2.55,9.90,1.259,6,0.000,0.075,2908,2125,1923
$GC,20395,0.95,223.8,548.3,6.0,982,20400,0.00,2.83,0.00,0.000,4,0.000,0.091,2908,3609,1923
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$STATE,28212,end climb,SURFACE_DEPTH_REACHED
$STATE,28212,begin surface coast
$FINISH,0.3,1.004805
$STATE,28254,end surface coast,CONTROL_FINISHED_OK
$STATE,28254,begin surface
$SM_CCo,28337,0.00,0.000,0,0,1535,318.40
$SM_GC,1.37,11.12,0.00,0.00,0.040,0.000,0.000,425,1979,1535,-10.38,-0.59,318.40
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1787
$TCM_TEMP,16.70
$XPDR_PINGS,203
$ALTIM_TOP_PING,19.0,17.6
$ALTIM_BOTTOM_PING,876.1,72.2
$24V_AH,23.4,46.727
$10V_AH,10.0,23.036
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$DEVICE_SECS,25.775,242.100,435.175,0.000,0.000,37.754,29.707,200.496,59.000,0.000,0.000,33.484,2443.596,22264.387,641.305,2676.408,731.464,0.000,1994.957,0.000,2598.157,0.000,55.193,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1012.761,927.036,729.994,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69371,1365
$CAP_FILE_SIZE,199741,0
$CFSIZE,254472192,235802624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,70,0,0
$GPS,020109,113930,6030.171,-506.503,38,1.5,38,-6.8