version: 66.04
glider: 5
mission: 5
dive: 285
start: 1 6 109 17 19 57
data:
$ID,5
$MISSION,5
$DIVE,285
$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,270
$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,-92835.922
$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,37
$R_STBD_OVSHOOT,17
$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,0
$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,4
$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
$GPS1,171300,6035.270,-414.590,39,1.3,40,-6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-60.5
$GPS2,171938,6035.192,-414.811,14,1.2,14,-6.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6035.192,-436.800
$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,276.4,20000,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.97,-146.6,0.0,0.0,0,98,0.00,0.00,-79.88,0.000,6,0.000,0.000,421,1988,3431
$GC,102,-0.97,-146.6,5.5,-6.8,4,118,10.73,2.60,0.00,0.000,4,0.133,0.060,2482,3416,3432
$GC,236,-0.78,-146.6,32.7,-12.7,9,242,0.22,2.53,0.00,0.000,6,0.083,0.048,2529,2000,3433
$GC,559,-0.70,-146.6,61.5,-8.6,25,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2000,3433
$GC,868,-0.62,-146.6,85.3,-8.2,40,873,0.17,2.60,0.00,0.000,4,0.091,0.061,2570,3416,3433
$GC,918,-0.67,-146.6,88.8,-6.2,42,922,0.00,2.50,0.00,0.000,6,0.000,0.047,2570,2005,3433
$GC,1235,-0.67,-146.6,109.6,-6.2,57,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2005,3434
$GC,1544,-0.67,-146.6,128.7,-6.3,72,1548,0.00,2.58,0.00,0.000,4,0.000,0.061,2570,3419,3434
$GC,1606,-0.72,-146.6,132.7,-6.5,75,1611,0.12,2.50,0.00,0.000,6,0.057,0.048,2534,2012,3434
$GC,1935,-0.65,-146.6,158.1,-8.0,91,1937,0.10,0.00,0.00,0.000,6,0.091,0.000,2555,2010,3434
$GC,2243,-0.65,-146.6,181.1,-7.5,106,2247,0.00,2.55,0.00,0.000,4,0.000,0.066,2555,588,3434
$GC,2292,-0.65,-146.6,185.1,-8.0,108,2297,0.00,2.55,0.00,0.000,6,0.000,0.051,2555,2024,3434
$GC,2609,-0.65,-146.6,208.3,-7.4,123,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2024,3434
$GC,2917,-0.65,-146.6,231.4,-7.4,138,2921,0.00,2.62,0.00,0.000,4,0.000,0.068,2555,590,3434
$GC,2950,-0.65,-146.6,234.2,-8.3,139,2956,0.00,2.53,0.00,0.000,6,0.000,0.053,2555,2011,3434
$GC,3266,-0.65,-146.6,257.1,-7.6,155,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2012,3434
$GC,3574,-0.65,-146.6,280.3,-7.7,170,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2012,3434
$GC,3885,-0.65,-146.6,304.5,-8.0,185,3889,0.00,2.50,0.00,0.000,4,0.000,0.066,2555,3405,3434
$GC,3952,-0.65,-146.6,309.8,-8.3,188,3956,0.00,2.50,0.00,0.000,6,0.000,0.052,2555,2005,3433
$GC,4273,-0.65,-146.6,335.7,-8.5,204,4277,0.00,2.58,0.00,0.000,4,0.000,0.065,2555,3411,3433
$GC,4300,-0.65,-146.6,337.8,-8.1,205,4304,0.00,2.53,0.00,0.000,6,0.000,0.054,2555,2003,3433
$GC,4616,-0.65,-146.6,364.2,-8.5,220,4617,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2003,3433
$GC,4925,-0.65,-146.6,387.5,-6.8,235,4929,0.00,2.58,0.00,0.000,4,0.000,0.067,2555,3408,3433
$GC,4987,-0.65,-146.6,391.9,-7.3,238,4992,0.00,2.50,0.00,0.000,6,0.000,0.055,2555,2015,3433
$GC,5314,-0.65,-146.6,412.4,-5.8,254,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2015,3433
$GC,5624,-0.65,-146.6,429.9,-5.8,269,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2015,3433
$GC,5933,-0.65,-146.6,448.3,-6.3,284,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2015,3433
$GC,6242,-0.65,-146.6,468.8,-6.7,299,6246,0.00,2.58,0.00,0.000,4,0.000,0.074,2555,3404,3432
$GC,6286,-0.70,-146.6,472.2,-7.7,301,6290,0.00,2.53,0.00,0.000,6,0.000,0.062,2555,2018,3432
$GC,6607,-0.70,-146.6,495.0,-7.0,317,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2018,3431
$GC,6916,-0.70,-146.6,516.1,-6.9,332,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2018,3431
$GC,7225,-0.70,-146.6,536.6,-6.6,347,7227,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2018,3429
$GC,7535,-0.70,-146.6,556.2,-6.0,362,7540,0.00,2.60,0.00,0.000,4,0.000,0.084,2555,3402,3428
$GC,7580,-0.74,-146.6,559.1,-6.6,364,7585,0.00,2.55,0.00,0.000,6,0.000,0.071,2555,2025,3428
$GC,7902,-0.74,-146.6,577.0,-5.2,380,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2024,3427
$GC,8212,-0.74,-146.6,592.4,-4.9,395,8213,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2025,3425
$GC,8520,-0.74,-146.6,608.4,-5.4,410,8525,0.00,2.62,0.00,0.000,4,0.000,0.086,2555,3403,3424
$GC,8561,-0.78,-146.6,610.8,-6.9,412,8566,0.12,2.55,0.00,0.000,6,0.071,0.074,2524,2033,3424
$GC,8891,-0.74,-146.6,632.6,-6.9,428,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2033,3423
$GC,9197,-0.74,-146.6,653.9,-6.7,443,9201,0.00,2.62,0.00,0.000,4,0.000,0.087,2524,3404,3421
$GC,9231,-0.70,-146.6,656.4,-7.8,444,9237,0.12,2.55,0.00,0.000,6,0.108,0.074,2549,2039,3421
$GC,9546,-0.70,-146.6,676.6,-6.5,460,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2039,3419
$GC,9855,-0.70,-146.6,697.3,-6.8,475,9857,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2039,3419
$GC,10165,-0.70,-146.6,718.7,-7.1,490,10167,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2039,3418
$GC,10474,-0.70,-146.6,740.0,-6.7,505,10475,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2039,3417
$GC,10783,-0.70,-146.6,760.8,-6.5,520,10784,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2039,3416
$GC,11093,-0.70,-146.6,780.7,-6.4,535,11094,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2039,3416
$GC,11402,-0.70,-146.6,799.4,-5.8,550,11403,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2040,3415
$GC,11711,-0.70,-146.6,817.2,-5.6,565,11713,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2039,3415
$GC,12021,-0.70,-146.6,834.2,-5.4,580,12023,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2040,3414
$GC,12330,-0.70,-146.6,851.9,-6.0,595,12331,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2039,3414
$GC,12639,-0.70,-146.6,870.3,-6.0,610,12643,0.00,2.75,0.00,0.000,4,0.000,0.097,2549,590,3413
$GC,12667,-0.70,-146.6,872.2,-7.1,611,12671,0.00,2.70,0.00,0.000,6,0.000,0.077,2549,2041,3414
$GC,12983,-0.70,-146.6,891.1,-5.8,626,12984,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2042,3413
$GC,13293,-0.70,-146.6,909.1,-5.8,641,13298,0.00,2.80,0.00,0.000,4,0.000,0.098,2549,591,3413
$GC,13321,-0.70,-146.6,910.9,-5.6,642,13325,0.00,2.70,0.00,0.000,6,0.000,0.079,2549,2036,3413
$GC,13636,-0.70,-146.6,929.9,-5.9,657,13638,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2037,3412
$GC,13947,-0.70,-146.6,948.0,-5.8,672,13948,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2037,3412
$GC,14255,-0.70,-146.6,966.1,-5.9,687,14260,0.00,2.80,0.00,0.000,4,0.000,0.100,2549,593,3412
$GC,14282,-0.70,-146.6,967.8,-6.7,688,14287,0.00,2.70,0.00,0.000,6,0.000,0.080,2549,2035,3412
$GC,14599,-0.70,-146.6,986.9,-6.4,703,14600,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2036,3411
$STATE,14657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14657,begin apogee
$GC,14664,-0.33,0.0,990.9,6.5,706,14800,0.38,0.00,130.98,1.668,6,0.091,0.000,2624,2211,2832
$STATE,14801,end apogee,CONTROL_FINISHED_OK
$STATE,14801,begin climb
$GC,14804,0.97,146.6,995.8,0.0,713,14950,1.35,2.75,133.52,1.614,4,0.082,0.091,2906,3593,2234
$GC,14970,0.89,146.6,990.4,6.2,720,14976,0.00,2.67,0.00,0.000,6,0.000,0.078,2906,2200,2234
$GC,15286,0.84,149.4,971.9,5.9,736,15297,0.12,2.78,4.53,1.068,4,0.103,0.097,2883,784,2222
$GC,15349,0.84,149.4,968.0,6.5,739,15354,0.00,2.67,0.00,0.000,6,0.000,0.078,2883,2190,2222
$GC,15676,0.92,195.1,951.6,4.8,755,15724,0.00,2.83,42.45,1.577,4,0.000,0.095,2883,788,2035
$GC,15748,0.99,213.9,947.8,5.5,758,15773,0.15,2.67,18.83,1.504,6,0.065,0.078,2918,2186,1959
$GC,16092,0.99,213.9,924.9,6.7,775,16093,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2186,1960
$GC,16399,0.99,213.9,904.6,6.3,790,16403,0.00,2.72,0.00,0.000,4,0.000,0.096,2919,792,1961
$GC,16433,0.95,213.9,902.2,7.4,791,16439,0.00,2.65,0.00,0.000,6,0.000,0.079,2919,2188,1961
$GC,16748,0.95,213.9,882.2,6.2,807,16749,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2187,1961
$GC,17057,0.95,213.9,862.7,6.3,822,17062,0.00,2.72,0.00,0.000,4,0.000,0.095,2919,791,1961
$GC,17108,0.90,213.9,859.2,7.6,824,17113,0.12,2.62,0.00,0.000,6,0.106,0.078,2895,2178,1961
$GC,17424,1.00,245.5,842.6,5.1,839,17456,0.00,0.00,29.85,1.541,6,0.000,0.000,2896,2179,1831
$GC,17754,1.13,282.1,825.9,5.0,855,17797,0.20,2.80,34.17,1.529,4,0.063,0.094,2947,788,1682
$GC,17844,1.05,282.1,819.4,7.5,859,17848,0.00,2.65,0.00,0.000,6,0.000,0.078,2947,2175,1682
$GC,18171,1.00,282.1,795.8,7.4,875,18176,0.15,2.70,0.00,0.000,4,0.101,0.094,2917,792,1682
$GC,18211,1.00,282.1,793.0,6.7,877,18216,0.00,2.58,0.00,0.000,6,0.000,0.078,2917,2157,1682
$GC,18537,1.00,282.1,772.4,6.8,893,18539,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2157,1682
$GC,18848,1.04,282.1,749.3,7.9,908,18852,0.00,2.67,0.00,0.000,4,0.000,0.094,2917,785,1682
$GC,18887,1.04,282.1,745.9,9.5,910,18892,0.00,2.60,0.00,0.000,6,0.000,0.077,2917,2162,1681
$GC,19214,1.09,282.1,717.3,8.9,926,19216,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2163,1682
$GC,19524,1.14,282.1,689.0,9.0,941,19529,0.12,2.67,0.00,0.000,4,0.071,0.091,2948,789,1682
$GC,19564,1.06,282.1,684.7,10.9,943,19569,0.00,2.55,0.00,0.000,6,0.000,0.077,2948,2146,1682
$GC,19892,1.01,282.1,653.9,8.7,959,19897,0.15,2.65,0.00,0.000,4,0.101,0.092,2918,785,1682
$GC,19920,1.01,282.1,651.4,8.6,960,19925,0.00,2.55,0.00,0.000,6,0.000,0.076,2918,2141,1682
$GC,20237,1.09,300.8,632.8,5.5,975,20256,0.00,0.00,17.75,1.388,6,0.000,0.000,2918,2141,1605
$GC,20568,1.16,300.8,612.8,6.6,991,20573,0.15,2.62,0.00,0.000,4,0.067,0.090,2956,792,1606
$GC,20597,1.16,300.8,610.2,8.8,992,20601,0.00,2.53,0.00,0.000,6,0.000,0.074,2956,2135,1605
$GC,20913,1.11,300.8,578.0,10.7,1007,20914,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2137,1605
$GC,21223,1.06,300.8,545.6,10.2,1022,21228,0.12,2.60,0.00,0.000,4,0.104,0.090,2932,786,1605
$GC,21263,1.06,300.8,541.5,10.3,1024,21267,0.00,2.53,0.00,0.000,6,0.000,0.075,2932,2133,1605
$GC,21589,1.06,300.8,517.8,6.1,1040,21594,0.00,2.60,0.00,0.000,4,0.000,0.089,2932,781,1605
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$STATE,27976,end climb,SURFACE_DEPTH_REACHED
$STATE,27976,begin surface coast
$FINISH,0.4,1.027825
$STATE,28020,end surface coast,CONTROL_FINISHED_OK
$STATE,28020,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1809
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$XPDR_PINGS,81
$ALTIM_BOTTOM_PING,925.1,90.3
$24V_AH,23.4,49.985
$10V_AH,10.0,24.713
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$DEVICE_SECS,26.825,192.350,452.450,0.000,0.000,37.762,29.851,182.746,28.750,0.000,0.000,14.687,2408.323,22146.660,622.355,2609.028,706.790,0.000,1927.600,0.000,2554.964,0.000,57.043,0.000
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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,69431,1350
$CAP_FILE_SIZE,192592,0
$CFSIZE,254472192,234528768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,59,0,0
$GPS,070109,010937,6033.355,-426.043,38,1.8,38,-6.5