version: 66.04
glider: 5
mission: 5
dive: 287
start: 1 7 109 9 34 33
data:
$ID,5
$MISSION,5
$DIVE,287
$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,-92868.039
$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,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,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
$GPS1,092706,6030.027,-432.633,40,0.9,40,-6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-63.9
$GPS2,093414,6030.075,-432.542,15,1.2,15,-6.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6022.438,-447.989
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-81.12,0.000,2,0.000,0.000,425,1960,3279
$GC,103,-0.97,-146.6,3.7,-4.1,4,125,10.70,2.65,-3.85,0.000,4,0.133,0.074,2480,3414,3431
$GC,165,-0.78,-146.6,16.7,-11.7,6,173,0.22,2.53,0.00,0.000,6,0.084,0.048,2528,2000,3431
$GC,482,-0.67,-146.6,44.5,-8.5,22,484,0.12,0.00,0.00,0.000,6,0.091,0.000,2554,2000,3431
$GC,791,-0.67,-146.6,68.0,-7.5,37,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1999,3432
$GC,1100,-0.67,-146.6,91.3,-7.4,52,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1999,3432
$GC,1409,-0.67,-146.6,113.8,-7.3,67,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1999,3432
$GC,1719,-0.67,-146.6,135.5,-6.7,82,1724,0.00,2.58,0.00,0.000,4,0.000,0.061,2554,3413,3432
$GC,1747,-0.67,-146.6,137.6,-7.3,83,1751,0.00,2.53,0.00,0.000,6,0.000,0.048,2554,1993,3432
$GC,2063,-0.67,-146.6,159.7,-7.2,98,2067,0.00,2.60,0.00,0.000,4,0.000,0.063,2554,3418,3433
$GC,2126,-0.67,-146.6,164.4,-7.8,101,2130,0.00,2.50,0.00,0.000,6,0.000,0.048,2554,2012,3433
$GC,2452,-0.67,-146.6,186.8,-6.7,117,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2012,3433
$GC,2761,-0.67,-146.6,206.8,-6.3,132,2766,0.00,2.58,0.00,0.000,4,0.000,0.064,2554,3419,3432
$GC,2807,-0.67,-146.6,209.9,-7.2,134,2811,0.00,2.50,0.00,0.000,6,0.000,0.049,2554,2017,3433
$GC,3128,-0.67,-146.6,233.6,-7.7,150,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2017,3433
$GC,3437,-0.67,-146.6,256.6,-7.3,165,3441,0.00,2.58,0.00,0.000,4,0.000,0.064,2554,3422,3433
$GC,3465,-0.67,-146.6,258.4,-7.1,166,3469,0.00,2.50,0.00,0.000,6,0.000,0.050,2554,2020,3433
$GC,3781,-0.67,-146.6,280.8,-7.0,181,3785,0.00,2.58,0.00,0.000,4,0.000,0.068,2554,588,3433
$GC,3808,-0.67,-146.6,282.8,-6.8,182,3812,0.00,2.58,0.00,0.000,6,0.000,0.053,2554,2037,3433
$GC,4124,-0.67,-146.6,304.0,-7.1,197,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2037,3433
$GC,4433,-0.67,-146.6,326.8,-7.3,212,4437,0.00,2.65,0.00,0.000,4,0.000,0.069,2554,591,3433
$GC,4495,-0.67,-146.6,331.6,-7.8,215,4499,0.00,2.55,0.00,0.000,6,0.000,0.054,2554,2025,3433
$GC,4822,-0.67,-146.6,356.4,-6.2,231,4826,0.00,2.50,0.00,0.000,4,0.000,0.067,2554,3408,3433
$GC,4855,-0.67,-146.6,358.6,-6.5,232,4861,0.00,2.50,0.00,0.000,6,0.000,0.054,2554,2016,3433
$GC,5170,-0.67,-146.6,378.9,-7.0,248,5175,0.00,2.55,0.00,0.000,4,0.000,0.067,2554,3405,3433
$GC,5217,-0.67,-146.6,382.4,-7.7,250,5222,0.00,2.47,0.00,0.000,6,0.000,0.054,2554,2024,3432
$GC,5538,-0.67,-146.6,404.3,-6.7,266,5543,0.00,2.58,0.00,0.000,4,0.000,0.071,2554,596,3433
$GC,5572,-0.67,-146.6,406.7,-7.0,267,5578,0.00,2.55,0.00,0.000,6,0.000,0.054,2554,2029,3433
$GC,5888,-0.67,-146.6,428.0,-7.0,283,5892,0.00,2.65,0.00,0.000,4,0.000,0.072,2554,589,3433
$GC,5921,-0.67,-146.6,430.3,-6.9,284,5927,0.00,2.55,0.00,0.000,6,0.000,0.055,2554,2019,3433
$GC,6237,-0.67,-146.6,451.6,-6.3,300,6241,0.00,2.53,0.00,0.000,4,0.000,0.071,2554,3405,3432
$GC,6287,-0.67,-146.6,455.1,-6.9,302,6291,0.00,2.53,0.00,0.000,6,0.000,0.060,2554,2009,3432
$GC,6603,-0.67,-146.6,475.5,-6.4,317,6604,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2009,3432
$GC,6912,-0.67,-146.6,496.0,-7.1,332,6916,0.00,2.60,0.00,0.000,4,0.000,0.076,2554,3404,3431
$GC,6956,-0.67,-146.6,499.3,-7.6,334,6961,0.00,2.53,0.00,0.000,6,0.000,0.064,2554,2024,3431
$GC,7278,-0.67,-146.6,522.7,-7.1,350,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2023,3430
$GC,7588,-0.67,-146.6,543.3,-6.4,365,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2024,3429
$GC,7896,-0.67,-146.6,563.6,-6.8,380,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2023,3427
$GC,8205,-0.67,-146.6,585.4,-7.1,395,8210,0.00,2.62,0.00,0.000,4,0.000,0.086,2554,3412,3426
$GC,8228,-0.67,-146.6,586.9,-6.8,396,8232,0.00,2.58,0.00,0.000,6,0.000,0.073,2554,2027,3426
$GC,8549,-0.67,-146.6,607.5,-6.1,412,8550,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2027,3425
$GC,8858,-0.67,-146.6,627.3,-6.6,427,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2026,3424
$GC,9167,-0.67,-146.6,647.9,-6.4,442,9168,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2027,3423
$GC,9477,-0.67,-146.6,668.1,-6.8,457,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2027,3422
$GC,9786,-0.71,-146.6,688.3,-6.6,472,9790,0.00,2.65,0.00,0.000,4,0.000,0.089,2554,3408,3421
$GC,9819,-0.76,-146.6,690.8,-7.3,473,9825,0.00,2.58,0.00,0.000,6,0.000,0.074,2554,2029,3421
$GC,10136,-0.80,-146.6,711.2,-6.5,489,10138,0.12,0.00,0.00,0.000,6,0.073,0.000,2523,2029,3420
$GC,10444,-0.75,-146.6,734.2,-7.5,504,10445,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2029,3419
$GC,10754,-0.71,-146.6,757.1,-7.5,519,10756,0.10,0.00,0.00,0.000,6,0.112,0.000,2544,2029,3418
$GC,11062,-0.71,-146.6,778.1,-6.7,534,11063,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2029,3417
$GC,11372,-0.71,-146.6,798.9,-6.5,549,11376,0.00,2.62,0.00,0.000,4,0.000,0.091,2544,3402,3416
$GC,11405,-0.71,-146.6,801.2,-6.6,550,11412,0.00,2.58,0.00,0.000,6,0.000,0.076,2543,2027,3416
$GC,11721,-0.71,-146.6,821.5,-6.4,566,11722,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2027,3415
$GC,12031,-0.71,-146.6,841.3,-6.5,581,12032,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2027,3414
$GC,12341,-0.71,-146.6,861.1,-6.3,596,12342,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2027,3413
$GC,12649,-0.71,-146.6,880.4,-6.1,611,12654,0.00,2.62,0.00,0.000,4,0.000,0.091,2543,3402,3413
$GC,12683,-0.71,-146.6,882.7,-6.4,612,12689,0.00,2.58,0.00,0.000,6,0.000,0.076,2543,2030,3413
$GC,13000,-0.71,-146.6,902.3,-6.0,628,13001,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2029,3412
$GC,13308,-0.71,-146.6,920.9,-5.9,643,13309,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2030,3412
$GC,13618,-0.71,-146.6,939.6,-5.9,658,13619,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2030,3412
$GC,13926,-0.71,-146.6,958.8,-6.0,673,13931,0.00,2.65,0.00,0.000,4,0.000,0.092,2543,3402,3411
$GC,13960,-0.71,-146.6,961.2,-6.8,674,13966,0.00,2.58,0.00,0.000,6,0.000,0.076,2543,2032,3411
$GC,14277,-0.71,-146.6,982.6,-6.8,690,14282,0.00,2.72,0.00,0.000,4,0.000,0.097,2544,593,3412
$GC,14310,-0.71,-146.6,984.8,-6.0,691,14316,0.00,2.70,0.00,0.000,6,0.000,0.078,2544,2040,3411
$STATE,14396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14397,begin apogee
$GC,14404,-0.33,0.0,990.9,7.0,696,14540,0.40,0.00,131.93,1.658,6,0.093,0.000,2624,2203,2832
$STATE,14540,end apogee,CONTROL_FINISHED_OK
$STATE,14540,begin climb
$GC,14543,0.97,146.6,995.7,0.0,703,14687,1.38,0.00,135.88,1.605,6,0.084,0.000,2907,2203,2233
$GC,14997,0.92,168.8,974.9,5.4,725,15032,0.00,2.88,23.38,1.403,4,0.000,0.095,2907,792,2143
$GC,15080,0.86,168.8,970.2,6.1,728,15086,0.00,2.67,0.00,0.000,6,0.000,0.079,2907,2188,2143
$GC,15396,0.87,171.7,952.5,5.9,744,15402,0.00,0.00,4.53,1.081,6,0.000,0.000,2907,2189,2132
$GC,15704,0.87,171.7,932.9,6.5,759,15709,0.00,2.75,0.00,0.000,4,0.000,0.095,2907,785,2132
$GC,15761,0.82,171.7,928.9,7.3,761,15768,0.15,2.67,0.00,0.000,6,0.102,0.078,2880,2195,2132
$GC,16077,0.90,185.7,911.2,5.6,777,16106,0.00,2.85,16.67,1.356,4,0.000,0.094,2880,793,2075
$GC,16130,0.97,198.1,908.0,5.7,779,16151,0.15,2.65,13.00,1.457,6,0.067,0.078,2915,2178,2023
$GC,16475,0.97,198.1,884.2,6.9,796,16476,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2178,2022
$GC,16782,0.97,198.1,863.4,6.6,811,16787,0.00,2.70,0.00,0.000,4,0.000,0.094,2915,793,2022
$GC,16845,0.97,198.1,858.9,7.2,814,16849,0.00,2.60,0.00,0.000,6,0.000,0.078,2915,2169,2022
$GC,17171,0.97,198.1,836.9,6.6,830,17172,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2169,2022
$GC,17480,0.97,198.1,816.6,6.7,845,17485,0.00,2.67,0.00,0.000,4,0.000,0.094,2915,792,2022
$GC,17521,0.97,198.1,813.9,6.7,847,17525,0.00,2.60,0.00,0.000,6,0.000,0.078,2915,2169,2022
$GC,17847,0.97,198.1,792.7,6.4,863,17852,0.00,2.67,0.00,0.000,4,0.000,0.093,2915,790,2022
$GC,17875,0.97,198.1,790.7,7.5,864,17880,0.00,2.58,0.00,0.000,6,0.000,0.078,2915,2155,2021
$GC,18192,0.97,198.1,771.1,6.1,879,18193,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2155,2021
$GC,18500,0.97,198.1,752.1,6.1,894,18504,0.00,2.65,0.00,0.000,4,0.000,0.093,2915,786,2021
$GC,18557,0.97,198.1,748.3,6.9,896,18563,0.00,2.58,0.00,0.000,6,0.000,0.077,2915,2154,2021
$GC,18873,0.97,198.1,728.9,6.2,912,18874,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2154,2021
$GC,19182,0.97,198.1,709.1,6.4,927,19186,0.00,2.65,0.00,0.000,4,0.000,0.092,2915,783,2021
$GC,19214,0.97,198.1,706.7,6.2,928,19221,0.00,2.53,0.00,0.000,6,0.000,0.077,2915,2136,2021
$GC,19531,0.97,198.1,686.6,6.3,944,19532,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2137,2021
$GC,19839,0.97,198.1,666.5,6.6,959,19843,0.00,2.60,0.00,0.000,4,0.000,0.091,2915,787,2021
$GC,19866,0.97,198.1,664.5,7.5,960,19870,0.00,2.55,0.00,0.000,6,0.000,0.077,2915,2142,2021
$GC,20183,0.97,198.1,643.7,6.6,975,20187,0.00,2.60,0.00,0.000,4,0.000,0.091,2915,792,2021
$GC,20210,0.97,198.1,641.6,7.1,976,20214,0.00,2.53,0.00,0.000,6,0.000,0.076,2915,2140,2021
$GC,20526,0.97,198.1,621.6,6.2,991,20527,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2140,2021
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$STATE,29570,end climb,SURFACE_DEPTH_REACHED
$STATE,29570,begin surface coast
$FINISH,0.8,1.027337
$STATE,29612,end surface coast,CONTROL_FINISHED_OK
$STATE,29612,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$10V_AH,10.1,24.955
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$DEVICE_SECS,24.600,208.550,364.775,13.425,0.000,37.760,43.478,194.058,25.500,0.000,0.000,15.828,2509.641,23460.941,610.307,2742.036,749.201,0.000,1973.347,0.000,2681.245,0.000,57.033,0.000
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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,72583,1427
$CAP_FILE_SIZE,194354,0
$CFSIZE,254472192,234348544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,71,3,0
$GPS,070109,175007,6027.429,-439.336,37,0.9,37,-6.6