version: 66.04
glider: 5
mission: 5
dive: 286
start: 1 7 109 1 19 57
data:
$ID,5
$MISSION,5
$DIVE,286
$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,-92851.586
$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,32
$R_STBD_OVSHOOT,15
$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,5
$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
$GPS1,010937,6033.355,-426.043,38,1.8,38,-6.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-66.0
$GPS2,011938,6033.360,-426.524,15,1.6,15,-6.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6025.724,-441.998
$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,231.5,20000,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.97,-146.6,0.0,0.0,0,102,0.00,0.00,-81.40,0.000,2,0.000,0.000,420,1989,3096
$GC,105,-0.97,-146.6,3.4,-3.6,4,131,10.80,2.65,-9.25,0.000,4,0.134,0.075,2482,3425,3432
$GC,385,-0.77,-146.6,43.1,-12.7,16,390,0.22,2.53,0.00,0.000,6,0.089,0.047,2530,2005,3432
$GC,701,-0.66,-146.6,70.4,-8.6,31,706,0.12,2.60,0.00,0.000,4,0.089,0.059,2556,3421,3432
$GC,734,-0.66,-146.6,74.5,-11.4,32,741,0.00,2.55,0.00,0.000,6,0.000,0.049,2556,1993,3432
$GC,1053,-0.66,-146.6,105.3,-9.9,48,1057,0.00,2.53,0.00,0.000,4,0.000,0.065,2556,585,3432
$GC,1130,-0.66,-146.6,114.1,-11.9,51,1137,0.00,2.50,0.00,0.000,6,0.000,0.051,2556,1996,3432
$GC,1447,-0.66,-146.6,141.5,-7.7,67,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1996,3432
$GC,1756,-0.66,-146.6,163.8,-8.1,82,1760,0.00,2.58,0.00,0.000,4,0.000,0.067,2556,586,3432
$GC,1811,-0.66,-146.6,167.9,-7.6,84,1817,0.00,2.47,0.00,0.000,6,0.000,0.051,2556,1981,3433
$GC,2127,-0.66,-146.6,189.4,-7.3,100,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1982,3433
$GC,2437,-0.66,-146.6,213.3,-7.0,115,2441,0.00,2.55,0.00,0.000,4,0.000,0.069,2556,591,3433
$GC,2476,-0.66,-146.6,216.3,-7.6,117,2480,0.00,2.45,0.00,0.000,6,0.000,0.052,2556,1970,3433
$GC,2802,-0.66,-146.6,239.4,-7.1,133,2807,0.00,2.60,0.00,0.000,4,0.000,0.064,2555,3414,3433
$GC,2848,-0.66,-146.6,242.7,-7.8,135,2852,0.00,2.58,0.00,0.000,6,0.000,0.051,2556,1974,3433
$GC,3169,-0.66,-146.6,263.4,-5.9,151,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1974,3433
$GC,3478,-0.66,-146.6,283.3,-7.0,166,3482,0.00,2.62,0.00,0.000,4,0.000,0.066,2556,3405,3433
$GC,3523,-0.66,-146.6,286.3,-6.9,168,3527,0.00,2.55,0.00,0.000,6,0.000,0.053,2556,1981,3433
$GC,3844,-0.66,-146.6,311.8,-8.2,184,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1981,3433
$GC,4153,-0.66,-146.6,332.7,-6.3,199,4158,0.00,2.60,0.00,0.000,4,0.000,0.064,2556,3406,3432
$GC,4203,-0.66,-146.6,335.8,-6.4,201,4207,0.00,2.53,0.00,0.000,6,0.000,0.053,2556,1993,3433
$GC,4519,-0.66,-146.6,356.9,-7.5,216,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1992,3432
$GC,4829,-0.66,-146.6,377.8,-6.6,231,4833,0.00,2.60,0.00,0.000,4,0.000,0.067,2556,3410,3432
$GC,4929,-0.66,-146.6,385.2,-7.4,235,4936,0.00,2.50,0.00,0.000,6,0.000,0.057,2556,2019,3432
$GC,5246,-0.66,-146.6,404.3,-5.8,251,5250,0.00,2.58,0.00,0.000,4,0.000,0.073,2556,595,3432
$GC,5302,-0.66,-146.6,408.1,-7.2,253,5308,0.00,2.53,0.00,0.000,6,0.000,0.056,2556,2010,3432
$GC,5617,-0.66,-146.6,427.4,-6.6,269,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2010,3432
$GC,5927,-0.66,-146.6,451.1,-8.6,284,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2010,3431
$GC,6236,-0.66,-146.6,471.6,-6.4,299,6241,0.00,2.65,0.00,0.000,4,0.000,0.081,2556,596,3431
$GC,6269,-0.66,-146.6,473.9,-6.8,300,6276,0.00,2.55,0.00,0.000,6,0.000,0.062,2556,2006,3430
$GC,6586,-0.66,-146.6,494.6,-6.7,316,6590,0.00,2.58,0.00,0.000,4,0.000,0.079,2556,3402,3430
$GC,6631,-0.70,-146.6,497.8,-7.3,318,6635,0.00,2.60,0.00,0.000,6,0.000,0.067,2556,1988,3429
$GC,6952,-0.70,-146.6,517.5,-5.9,334,6956,0.00,2.60,0.00,0.000,4,0.000,0.084,2556,583,3429
$GC,6980,-0.70,-146.6,519.3,-6.6,335,6985,0.00,2.58,0.00,0.000,6,0.000,0.066,2556,1998,3429
$GC,7297,-0.70,-146.6,538.2,-6.0,350,7301,0.00,2.62,0.00,0.000,4,0.000,0.082,2556,3411,3428
$GC,7324,-0.70,-146.6,540.3,-7.4,351,7328,0.00,2.62,0.00,0.000,6,0.000,0.068,2556,1988,3427
$GC,7640,-0.70,-146.6,561.5,-7.0,366,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1988,3426
$GC,7950,-0.70,-146.6,581.0,-5.8,381,7955,0.00,2.65,0.00,0.000,4,0.000,0.082,2556,3402,3424
$GC,7996,-0.75,-146.6,583.8,-5.8,383,8000,0.00,2.60,0.00,0.000,6,0.000,0.070,2556,1998,3424
$GC,8319,-0.75,-146.6,601.1,-5.3,399,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1999,3424
$GC,8627,-0.79,-146.6,618.4,-5.7,414,8632,0.15,2.67,0.00,0.000,4,0.064,0.087,2519,3402,3423
$GC,8668,-0.73,-146.6,621.3,-7.7,416,8673,0.10,2.60,0.00,0.000,6,0.108,0.074,2538,2009,3422
$GC,8995,-0.73,-146.6,642.7,-6.5,432,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2008,3422
$GC,9304,-0.73,-146.6,661.4,-5.8,447,9308,0.00,2.67,0.00,0.000,4,0.000,0.087,2538,3409,3421
$GC,9331,-0.73,-146.6,663.1,-6.1,448,9336,0.00,2.60,0.00,0.000,6,0.000,0.074,2539,2016,3420
$GC,9648,-0.73,-146.6,680.3,-5.4,463,9649,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2015,3420
$GC,9956,-0.73,-146.6,698.0,-5.9,478,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2015,3418
$GC,10265,-0.73,-146.6,717.2,-6.2,493,10266,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2016,3418
$GC,10575,-0.73,-146.6,736.7,-6.4,508,10580,0.00,2.65,0.00,0.000,4,0.000,0.089,2538,3402,3417
$GC,10615,-0.73,-146.6,739.4,-6.7,510,10619,0.00,2.60,0.00,0.000,6,0.000,0.075,2538,2011,3416
$GC,10942,-0.73,-146.6,761.7,-6.6,526,10943,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2010,3415
$GC,11251,-0.73,-146.6,780.9,-6.0,541,11252,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2011,3414
$GC,11560,-0.73,-146.6,799.1,-5.8,556,11565,0.00,2.67,0.00,0.000,4,0.000,0.089,2538,3403,3414
$GC,11589,-0.73,-146.6,800.9,-6.5,557,11593,0.00,2.60,0.00,0.000,6,0.000,0.076,2538,2015,3413
$GC,11904,-0.73,-146.6,819.6,-6.0,572,11906,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2015,3413
$GC,12214,-0.73,-146.6,838.7,-6.4,587,12218,0.00,2.65,0.00,0.000,4,0.000,0.090,2539,3401,3413
$GC,12258,-0.73,-146.6,841.8,-6.8,589,12263,0.00,2.60,0.00,0.000,6,0.000,0.075,2538,2014,3413
$GC,12579,-0.73,-146.6,862.7,-6.5,605,12580,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2014,3412
$GC,12888,-0.73,-146.6,882.9,-6.5,620,12893,0.00,2.67,0.00,0.000,4,0.000,0.091,2538,3406,3411
$GC,12921,-0.73,-146.6,885.2,-7.2,621,12928,0.00,2.60,0.00,0.000,6,0.000,0.076,2538,2020,3411
$GC,13237,-0.73,-146.6,906.3,-6.6,637,13238,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2020,3411
$GC,13547,-0.73,-146.6,926.2,-6.5,652,13548,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2020,3411
$GC,13856,-0.73,-146.6,945.9,-6.4,667,13861,0.00,2.65,0.00,0.000,4,0.000,0.094,2538,3401,3410
$GC,13896,-0.73,-146.6,948.7,-7.0,669,13901,0.00,2.58,0.00,0.000,6,0.000,0.078,2538,2031,3410
$GC,14223,-0.73,-146.6,969.6,-6.4,685,14224,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2030,3410
$GC,14533,-0.73,-146.6,989.1,-6.4,700,14534,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2030,3410
$STATE,14550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14551,begin apogee
$GC,14558,-0.33,0.0,990.4,6.2,701,14694,0.43,0.00,131.73,1.659,6,0.092,0.000,2625,2200,2832
$STATE,14694,end apogee,CONTROL_FINISHED_OK
$STATE,14694,begin climb
$GC,14697,0.97,146.6,994.8,0.0,708,14837,1.40,0.00,135.43,1.606,6,0.084,0.000,2910,2199,2234
$GC,15145,0.97,146.6,969.7,6.5,730,15149,0.00,2.75,0.00,0.000,4,0.000,0.094,2911,792,2233
$GC,15322,0.89,146.6,958.4,6.2,738,15327,0.00,2.65,0.00,0.000,6,0.000,0.077,2911,2196,2233
$GC,15649,0.82,146.6,938.4,6.2,754,15654,0.17,2.75,0.00,0.000,4,0.098,0.094,2874,792,2232
$GC,15682,0.86,167.3,936.4,5.4,755,15710,0.00,2.65,19.95,1.515,6,0.000,0.079,2874,2192,2149
$GC,16023,0.97,202.4,919.5,5.0,772,16065,0.17,2.85,33.55,1.559,4,0.064,0.094,2920,792,2006
$GC,16094,0.91,202.4,914.4,7.2,775,16098,0.00,2.65,0.00,0.000,6,0.000,0.078,2920,2176,2005
$GC,16416,0.87,202.4,892.5,7.0,791,16421,0.15,2.70,0.00,0.000,4,0.102,0.095,2891,793,2006
$GC,16443,0.87,202.4,890.5,6.1,792,16448,0.00,2.62,0.00,0.000,6,0.000,0.078,2891,2177,2006
$GC,16760,0.93,202.4,871.7,6.0,807,16764,0.00,2.70,0.00,0.000,4,0.000,0.096,2890,793,2006
$GC,16787,0.93,202.4,869.9,7.2,808,16792,0.00,2.60,0.00,0.000,6,0.000,0.077,2891,2167,2006
$GC,17103,0.98,202.4,850.9,6.0,823,17105,0.10,0.00,0.00,0.000,6,0.077,0.000,2914,2167,2006
$GC,17413,0.98,202.4,829.8,6.8,838,17417,0.00,2.67,0.00,0.000,4,0.000,0.095,2915,792,2006
$GC,17453,0.94,202.4,826.9,6.9,840,17457,0.00,2.58,0.00,0.000,6,0.000,0.078,2915,2159,2005
$GC,17779,0.94,202.4,804.5,6.7,856,17781,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2159,2005
$GC,18089,0.94,202.4,783.6,6.7,871,18094,0.00,2.65,0.00,0.000,4,0.000,0.094,2915,793,2006
$GC,18134,0.94,202.4,780.2,7.5,873,18138,0.00,2.58,0.00,0.000,6,0.000,0.078,2915,2157,2005
$GC,18455,0.94,202.4,758.4,6.8,889,18456,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2157,2005
$GC,18764,0.94,202.4,738.2,6.3,904,18769,0.00,2.65,0.00,0.000,4,0.000,0.094,2915,793,2005
$GC,18805,0.94,202.4,735.4,7.5,906,18809,0.00,2.55,0.00,0.000,6,0.000,0.077,2915,2146,2005
$GC,19131,0.94,202.4,714.3,6.5,922,19132,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2147,2005
$GC,19441,0.94,202.4,694.9,6.1,937,19445,0.00,2.62,0.00,0.000,4,0.000,0.094,2915,793,2005
$GC,19468,0.94,202.4,693.0,6.9,938,19472,0.00,2.53,0.00,0.000,6,0.000,0.077,2915,2139,2005
$GC,19784,0.94,205.5,674.0,5.9,953,19790,0.00,0.00,4.43,1.046,6,0.000,0.000,2915,2138,1994
$GC,20094,0.97,224.2,656.5,5.5,968,20118,0.00,2.72,18.38,1.401,4,0.000,0.091,2915,787,1917
$GC,20148,0.99,233.9,653.1,5.7,970,20163,0.00,2.55,10.10,1.305,6,0.000,0.075,2915,2133,1878
$GC,20491,0.99,233.9,632.8,6.1,987,20492,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2133,1878
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$STATE,29024,end climb,SURFACE_DEPTH_REACHED
$STATE,29024,begin surface coast
$FINISH,0.4,1.025994
$STATE,29067,end surface coast,CONTROL_FINISHED_OK
$STATE,29067,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1788
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$XPDR_PINGS,63
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$24V_AH,23.4,50.191
$10V_AH,10.1,24.835
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$DEVICE_SECS,25.675,235.250,419.525,0.000,0.000,75.522,131.106,184.951,24.750,0.000,0.000,15.040,2525.023,22880.949,627.215,2833.016,872.227,0.000,2050.688,0.000,2766.208,0.000,60.214,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72561,1402
$CAP_FILE_SIZE,205520,0
$CFSIZE,254472192,234422272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,79,0,0
$GPS,070109,092706,6030.027,-432.633,40,0.9,40,-6.5