version: 66.04
glider: 5
mission: 5
dive: 271
start: 1 3 109 3 33 18
data:
$ID,5
$MISSION,5
$DIVE,271
$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,-92592.594
$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,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
$GPS1,032555,6024.328,-501.279,48,1.3,48,-6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-58.9
$GPS2,033300,6024.346,-501.118,36,1.5,41,-6.8
$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,135.4,42582,-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,-146.6,0.0,0.0,0,136,0.00,0.00,-114.70,0.000,6,0.000,0.000,421,1973,3430
$GC,140,-0.97,-146.6,6.7,-6.2,6,156,10.60,2.62,0.00,0.000,4,0.133,0.061,2480,3418,3431
$GC,409,-0.79,-146.6,49.5,-12.4,17,415,0.22,2.53,0.00,0.000,6,0.086,0.049,2526,2008,3432
$GC,732,-0.68,-146.6,79.2,-9.5,33,737,0.10,2.60,0.00,0.000,4,0.094,0.061,2548,3419,3433
$GC,765,-0.68,-146.6,82.3,-9.1,34,772,0.00,2.53,0.00,0.000,6,0.000,0.049,2548,2005,3432
$GC,1083,-0.68,-146.6,106.1,-7.9,50,1087,0.00,2.58,0.00,0.000,4,0.000,0.063,2548,3411,3432
$GC,1133,-0.68,-146.6,108.9,-5.0,52,1138,0.00,2.47,0.00,0.000,6,0.000,0.049,2548,2025,3432
$GC,1450,-0.64,-146.6,130.5,-7.4,67,1454,0.00,2.58,0.00,0.000,4,0.000,0.067,2548,595,3432
$GC,1490,-0.64,-146.6,133.6,-7.6,69,1494,0.00,2.55,0.00,0.000,6,0.000,0.051,2548,2030,3432
$GC,1817,-0.64,-146.6,155.9,-6.4,85,1821,0.00,2.50,0.00,0.000,4,0.000,0.065,2548,3416,3432
$GC,1850,-0.64,-146.6,158.2,-6.6,86,1854,0.00,2.47,0.00,0.000,6,0.000,0.051,2548,2029,3432
$GC,2171,-0.64,-146.6,178.3,-6.2,102,2175,0.00,2.60,0.00,0.000,4,0.000,0.067,2548,587,3432
$GC,2193,-0.64,-146.6,179.7,-6.2,103,2197,0.00,2.58,0.00,0.000,6,0.000,0.052,2548,2031,3433
$GC,2514,-0.64,-146.6,199.4,-6.2,119,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2032,3432
$GC,2823,-0.64,-146.6,219.9,-6.7,134,2827,0.00,2.65,0.00,0.000,4,0.000,0.068,2548,589,3432
$GC,2885,-0.64,-146.6,224.6,-8.2,137,2893,0.00,2.58,0.00,0.000,6,0.000,0.054,2548,2032,3432
$GC,3220,-0.64,-146.6,247.6,-6.8,153,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2032,3432
$GC,3530,-0.64,-146.6,271.0,-8.4,168,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2032,3432
$GC,3840,-0.64,-146.6,298.4,-8.4,183,3844,0.00,2.65,0.00,0.000,4,0.000,0.071,2548,593,3432
$GC,3884,-0.64,-146.6,302.3,-8.7,185,3888,0.00,2.55,0.00,0.000,6,0.000,0.054,2548,2021,3432
$GC,4205,-0.64,-146.6,328.4,-8.1,201,4210,0.00,2.50,0.00,0.000,4,0.000,0.066,2548,3406,3432
$GC,4239,-0.64,-146.6,331.2,-7.8,202,4245,0.00,2.50,0.00,0.000,6,0.000,0.053,2548,2012,3432
$GC,4554,-0.64,-146.6,352.4,-6.6,218,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2012,3432
$GC,4864,-0.64,-146.6,378.7,-10.1,233,4868,0.00,2.58,0.00,0.000,4,0.000,0.067,2548,3414,3432
$GC,4959,-0.64,-146.6,389.8,-11.6,237,4963,0.00,2.53,0.00,0.000,6,0.000,0.054,2548,2009,3432
$GC,5275,-0.64,-146.6,413.0,-4.3,252,5279,0.00,2.58,0.00,0.000,4,0.000,0.068,2548,3409,3432
$GC,5315,-0.64,-146.6,414.5,-4.0,254,5319,0.00,2.50,0.00,0.000,6,0.000,0.057,2548,2019,3432
$GC,5641,-0.64,-146.6,429.7,-6.2,270,5646,0.00,2.60,0.00,0.000,4,0.000,0.076,2548,595,3432
$GC,5669,-0.64,-146.6,431.7,-7.0,271,5673,0.00,2.55,0.00,0.000,6,0.000,0.058,2548,2014,3432
$GC,5986,-0.64,-146.6,455.8,-7.9,286,5990,0.00,2.55,0.00,0.000,4,0.000,0.074,2548,3405,3431
$GC,6036,-0.64,-146.6,460.5,-9.5,288,6040,0.00,2.55,0.00,0.000,6,0.000,0.063,2548,2012,3431
$GC,6352,-0.64,-146.6,489.9,-9.5,303,6356,0.00,2.62,0.00,0.000,4,0.000,0.080,2548,584,3431
$GC,6374,-0.64,-146.6,492.3,-10.1,304,6378,0.00,2.60,0.00,0.000,6,0.000,0.062,2548,2019,3431
$GC,6694,-0.64,-146.6,521.6,-8.3,320,6699,0.00,2.55,0.00,0.000,4,0.000,0.079,2548,3404,3430
$GC,6734,-0.64,-146.6,524.8,-7.9,322,6739,0.00,2.55,0.00,0.000,6,0.000,0.067,2548,2018,3430
$GC,7067,-0.64,-146.6,543.5,-4.6,338,7072,0.00,2.62,0.00,0.000,4,0.000,0.082,2548,3403,3428
$GC,7090,-0.64,-146.6,544.7,-4.7,339,7094,0.00,2.55,0.00,0.000,6,0.000,0.069,2548,2026,3428
$GC,7411,-0.64,-146.6,562.3,-6.3,355,7415,0.00,2.67,0.00,0.000,4,0.000,0.086,2547,585,3427
$GC,7439,-0.64,-146.6,564.3,-6.6,356,7443,0.00,2.65,0.00,0.000,6,0.000,0.068,2548,2029,3428
$GC,7755,-0.64,-146.6,585.2,-6.5,371,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2030,3426
$GC,8064,-0.64,-146.6,606.0,-6.7,386,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2030,3425
$GC,8375,-0.64,-146.6,626.3,-6.3,401,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2030,3424
$GC,8682,-0.64,-146.6,646.5,-6.5,416,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2030,3422
$GC,8992,-0.64,-146.6,668.6,-7.4,431,8996,0.00,2.60,0.00,0.000,4,0.000,0.091,2548,3408,3421
$GC,9026,-0.64,-146.6,671.4,-8.3,432,9032,0.00,2.58,0.00,0.000,6,0.000,0.079,2548,2035,3420
$GC,9341,-0.64,-146.6,694.9,-7.3,448,9346,0.00,2.65,0.00,0.000,4,0.000,0.090,2548,3414,3419
$GC,9368,-0.64,-146.6,697.1,-7.9,449,9373,0.00,2.58,0.00,0.000,6,0.000,0.075,2549,2039,3419
$GC,9685,-0.64,-146.6,719.1,-6.7,464,9689,0.00,2.62,0.00,0.000,4,0.000,0.090,2548,3408,3418
$GC,9717,-0.64,-146.6,721.5,-7.3,465,9724,0.00,2.55,0.00,0.000,6,0.000,0.076,2548,2045,3418
$GC,10034,-0.64,-146.6,742.6,-6.4,481,10035,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2045,3418
$GC,10344,-0.64,-146.6,762.5,-6.8,496,10348,0.00,2.62,0.00,0.000,4,0.000,0.091,2548,3408,3417
$GC,10365,-0.64,-146.6,764.1,-6.7,497,10370,0.00,2.55,0.00,0.000,6,0.000,0.077,2548,2052,3416
$GC,10687,-0.64,-146.6,787.3,-7.5,513,10688,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2051,3415
$GC,10997,-0.64,-146.6,811.9,-7.9,528,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2051,3415
$GC,11305,-0.64,-146.6,836.2,-8.0,543,11310,0.00,2.62,0.00,0.000,4,0.000,0.090,2548,3415,3415
$GC,11327,-0.64,-146.6,838.1,-8.0,544,11331,0.00,2.55,0.00,0.000,6,0.000,0.075,2548,2056,3415
$GC,11648,-0.64,-146.6,864.8,-8.6,560,11652,0.00,2.78,0.00,0.000,4,0.000,0.094,2548,587,3414
$GC,11669,-0.64,-146.6,866.9,-8.9,561,11674,0.00,2.75,0.00,0.000,6,0.000,0.077,2548,2063,3414
$GC,11991,-0.64,-146.6,897.4,-10.1,577,11995,0.00,2.55,0.00,0.000,4,0.000,0.093,2548,3407,3414
$GC,12024,-0.64,-146.6,901.1,-11.0,578,12030,0.00,2.55,0.00,0.000,6,0.000,0.077,2548,2051,3414
$GC,12340,-0.64,-146.6,935.0,-9.7,594,12341,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2051,3413
$GC,12650,-0.64,-146.6,975.5,-18.3,609,12651,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2051,3413
$STATE,12728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12728,begin apogee
$GC,12736,-0.33,0.0,992.8,20.9,613,12872,0.38,0.00,133.23,1.662,6,0.092,0.000,2624,2209,2832
$STATE,12873,end apogee,CONTROL_FINISHED_OK
$STATE,12873,begin climb
$GC,12876,0.97,146.6,1015.3,0.0,620,13023,1.35,2.88,137.32,1.615,4,0.082,0.091,2906,791,2234
$GC,13074,1.15,337.8,1022.6,0.8,629,13261,0.20,2.67,176.27,1.578,6,0.064,0.077,2954,2194,1453
$GC,13584,1.09,337.8,986.4,11.9,654,13589,0.00,2.75,0.00,0.000,4,0.000,0.096,2954,794,1455
$GC,13692,1.01,337.8,971.0,13.9,659,13697,0.17,2.65,0.00,0.000,6,0.098,0.077,2920,2189,1455
$GC,14019,1.05,337.8,937.7,9.6,675,14023,0.00,2.72,0.00,0.000,4,0.000,0.094,2920,794,1455
$GC,14069,1.05,337.8,932.3,10.5,677,14073,0.00,2.58,0.00,0.000,6,0.000,0.077,2920,2155,1454
$GC,14385,1.11,337.8,902.1,9.6,692,14389,0.00,2.67,0.00,0.000,4,0.000,0.095,2920,790,1454
$GC,14434,1.11,337.8,896.8,9.9,694,14439,0.00,2.55,0.00,0.000,6,0.000,0.077,2920,2140,1455
$GC,14751,1.16,337.8,869.5,8.3,709,14756,0.12,2.65,0.00,0.000,4,0.071,0.094,2951,789,1454
$GC,14801,1.10,337.8,864.4,11.6,711,14805,0.00,2.50,0.00,0.000,6,0.000,0.077,2951,2118,1454
$GC,15124,1.06,337.8,833.7,9.4,727,15125,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2119,1454
$GC,15432,1.06,337.8,804.5,9.4,742,15436,0.00,2.58,0.00,0.000,4,0.000,0.094,2951,792,1454
$GC,15459,1.01,337.8,801.4,10.1,743,15464,0.17,2.47,0.00,0.000,6,0.098,0.076,2917,2106,1453
$GC,15776,1.08,337.8,776.4,7.8,758,15781,0.00,2.55,0.00,0.000,4,0.000,0.094,2916,793,1453
$GC,15804,1.15,337.8,773.8,10.0,759,15809,0.12,2.45,0.00,0.000,6,0.071,0.076,2947,2095,1453
$GC,16120,1.15,337.8,745.8,8.7,774,16121,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2096,1453
$GC,16430,1.15,337.8,720.7,7.7,789,16434,0.00,2.53,0.00,0.000,4,0.000,0.094,2947,794,1453
$GC,16453,1.15,337.8,718.8,7.9,790,16457,0.00,2.42,0.00,0.000,6,0.000,0.077,2948,2080,1453
$GC,16780,1.15,337.8,694.3,7.6,806,16781,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2081,1453
$GC,17089,1.15,337.8,668.8,8.5,821,17094,0.00,2.50,0.00,0.000,4,0.000,0.093,2947,791,1453
$GC,17107,1.15,337.8,667.1,9.0,822,17111,0.00,2.42,0.00,0.000,6,0.000,0.076,2948,2079,1453
$GC,17433,1.15,337.8,639.7,8.3,838,17438,0.00,2.90,0.00,0.000,4,0.000,0.090,2947,3615,1453
$GC,17455,1.15,337.8,637.7,10.1,839,17460,0.00,2.90,0.00,0.000,6,0.000,0.075,2947,2065,1453
$GC,17776,1.15,337.8,611.5,7.8,855,17777,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2066,1452
$GC,18085,1.15,337.8,587.8,7.4,870,18086,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2066,1452
$GC,18395,1.15,337.8,563.9,7.9,885,18400,0.00,2.97,0.00,0.000,4,0.000,0.091,2947,3616,1452
$GC,18422,1.15,337.8,561.4,9.7,886,18427,0.00,2.90,0.00,0.000,6,0.000,0.074,2948,2064,1452
$GC,18738,1.15,337.8,535.6,8.1,901,18742,0.00,2.40,0.00,0.000,4,0.000,0.087,2947,791,1453
$GC,18761,1.15,337.8,533.5,9.4,902,18765,0.00,2.42,0.00,0.000,6,0.000,0.072,2947,2090,1452
$GC,19082,1.15,337.8,506.8,7.8,918,19086,0.00,2.50,0.00,0.000,4,0.000,0.085,2947,784,1452
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$GC,20488,1.19,337.8,395.8,9.3,985,20492,0.00,2.80,0.00,0.000,6,0.000,0.061,2947,2080,1454
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$STATE,25519,end climb,SURFACE_DEPTH_REACHED
$STATE,25519,begin surface coast
$FINISH,0.4,1.008017
$STATE,25583,end surface coast,CONTROL_FINISHED_OK
$STATE,25583,begin surface
$SM_CCo,25665,0.00,0.000,0,0,1454,337.78
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1769
$TCM_TEMP,17.30
$XPDR_PINGS,333
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,23.5,47.412
$10V_AH,10.0,23.381
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$DEVICE_SECS,24.750,228.325,450.875,0.000,0.000,37.759,25.496,186.431,92.250,0.000,0.000,41.324,2215.747,19981.826,652.528,2544.187,682.298,0.000,1939.245,0.000,2455.066,0.000,58.549,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,906.352,833.469,659.270,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63175,1231
$CAP_FILE_SIZE,180702,0
$CFSIZE,254472192,235565056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,67,0,0
$GPS,030109,104207,6019.895,-503.009,26,1.8,26,-6.8