version: 66.04
glider: 5
mission: 5
dive: 289
start: 1 8 109 2 19 51
data:
$ID,5
$MISSION,5
$DIVE,289
$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,-92899.422
$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,31
$R_STBD_OVSHOOT,14
$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,6
$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
$GPS1,021236,6024.548,-447.262,39,1.1,39,-6.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-57.4
$GPS2,021932,6024.610,-447.308,15,1.2,15,-6.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6016.974,-502.712
$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,231.6,20000,-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,-81.10,0.000,2,0.000,0.000,419,1960,3345
$GC,102,-0.97,-146.6,4.2,-4.7,4,122,10.95,2.65,-2.00,0.000,4,0.137,0.074,2482,3409,3432
$GC,165,-0.76,-146.6,19.5,-15.9,7,170,0.25,2.53,0.00,0.000,6,0.083,0.048,2535,1998,3433
$GC,495,-0.69,-146.6,45.7,-7.0,23,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1997,3433
$GC,802,-0.61,-146.6,71.0,-8.7,38,807,0.15,2.53,0.00,0.000,4,0.090,0.064,2566,591,3433
$GC,891,-0.61,-146.6,78.6,-8.9,42,896,0.00,2.50,0.00,0.000,6,0.000,0.051,2566,2000,3433
$GC,1214,-0.61,-146.6,101.6,-6.9,58,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2001,3433
$GC,1522,-0.61,-146.6,123.3,-7.1,73,1526,0.00,2.60,0.00,0.000,4,0.000,0.067,2567,584,3433
$GC,1550,-0.61,-146.6,125.4,-7.5,74,1554,0.00,2.50,0.00,0.000,6,0.000,0.053,2567,1989,3434
$GC,1868,-0.61,-146.6,146.7,-6.5,89,1873,0.00,2.55,0.00,0.000,4,0.000,0.065,2566,3404,3434
$GC,1901,-0.61,-146.6,149.2,-7.0,90,1908,0.00,2.55,0.00,0.000,6,0.000,0.051,2566,1974,3433
$GC,2218,-0.61,-146.6,170.4,-6.8,106,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1974,3433
$GC,2527,-0.61,-146.6,191.3,-6.8,121,2532,0.00,2.62,0.00,0.000,4,0.000,0.064,2566,3408,3434
$GC,2594,-0.61,-146.6,196.2,-7.6,124,2598,0.00,2.53,0.00,0.000,6,0.000,0.051,2566,1991,3434
$GC,2915,-0.61,-146.6,217.9,-6.9,140,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1992,3434
$GC,3225,-0.61,-146.6,239.8,-7.0,155,3229,0.00,2.58,0.00,0.000,4,0.000,0.064,2566,3403,3434
$GC,3286,-0.61,-146.6,244.4,-7.3,158,3291,0.00,2.53,0.00,0.000,6,0.000,0.051,2566,1987,3434
$GC,3613,-0.61,-146.6,265.7,-6.2,174,3615,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1984,3434
$GC,3923,-0.61,-146.6,285.9,-6.7,189,3927,0.00,2.60,0.00,0.000,4,0.000,0.065,2566,3406,3433
$GC,3972,-0.61,-146.6,289.6,-7.4,191,3977,0.00,2.50,0.00,0.000,6,0.000,0.051,2566,2002,3433
$GC,4288,-0.61,-146.6,310.3,-6.2,206,4293,0.00,2.55,0.00,0.000,4,0.000,0.065,2566,3409,3433
$GC,4323,-0.65,-146.6,312.6,-6.6,207,4329,0.00,2.50,0.00,0.000,6,0.000,0.053,2566,2012,3434
$GC,4638,-0.65,-146.6,333.7,-6.3,223,4643,0.00,2.55,0.00,0.000,4,0.000,0.066,2567,3404,3434
$GC,4689,-0.70,-146.6,337.2,-6.5,225,4693,0.00,2.47,0.00,0.000,6,0.000,0.053,2566,2021,3433
$GC,5005,-0.70,-146.6,356.5,-6.0,240,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2021,3433
$GC,5314,-0.75,-146.6,373.2,-4.9,255,5316,0.15,0.00,0.00,0.000,6,0.054,0.000,2525,2021,3433
$GC,5624,-0.68,-146.6,395.3,-7.5,270,5629,0.12,2.60,0.00,0.000,4,0.091,0.072,2552,588,3433
$GC,5674,-0.68,-146.6,399.2,-7.5,272,5678,0.00,2.58,0.00,0.000,6,0.000,0.058,2551,2026,3433
$GC,5990,-0.68,-146.6,420.9,-6.8,287,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2028,3433
$GC,6299,-0.68,-146.6,443.1,-7.3,302,6304,0.00,2.67,0.00,0.000,4,0.000,0.079,2551,592,3433
$GC,6343,-0.68,-146.6,446.5,-8.0,304,6348,0.00,2.60,0.00,0.000,6,0.000,0.062,2551,2029,3433
$GC,6664,-0.68,-146.6,468.3,-6.6,320,6668,0.00,2.55,0.00,0.000,4,0.000,0.080,2551,3406,3432
$GC,6692,-0.68,-146.6,470.1,-6.8,321,6696,0.00,2.53,0.00,0.000,6,0.000,0.067,2551,2035,3431
$GC,7008,-0.68,-146.6,489.5,-6.0,336,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2034,3430
$GC,7318,-0.68,-146.6,509.1,-6.6,351,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2034,3429
$GC,7627,-0.68,-146.6,530.3,-6.8,366,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2034,3429
$GC,7937,-0.68,-146.6,550.7,-6.5,381,7938,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2034,3427
$GC,8245,-0.68,-146.6,571.1,-6.8,396,8249,0.00,2.62,0.00,0.000,4,0.000,0.086,2551,3412,3426
$GC,8278,-0.68,-146.6,573.6,-8.0,397,8284,0.00,2.58,0.00,0.000,6,0.000,0.074,2551,2025,3426
$GC,8594,-0.68,-146.6,595.0,-6.7,413,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2025,3425
$GC,8903,-0.68,-146.6,615.9,-6.7,428,8908,0.00,2.65,0.00,0.000,4,0.000,0.088,2551,3410,3423
$GC,8932,-0.68,-146.6,617.9,-7.7,429,8936,0.00,2.58,0.00,0.000,6,0.000,0.075,2551,2032,3423
$GC,9247,-0.68,-146.6,638.6,-6.5,444,9249,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2032,3422
$GC,9556,-0.68,-146.6,658.6,-6.6,459,9558,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2032,3422
$GC,9866,-0.68,-146.6,679.7,-6.9,474,9871,0.00,2.65,0.00,0.000,4,0.000,0.090,2551,3410,3421
$GC,9907,-0.72,-146.6,682.6,-7.3,476,9911,0.00,2.58,0.00,0.000,6,0.000,0.077,2551,2037,3421
$GC,10233,-0.72,-146.6,706.0,-7.3,492,10234,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2036,3420
$GC,10543,-0.72,-146.6,727.9,-6.9,507,10544,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2036,3418
$GC,10851,-0.72,-146.6,748.1,-6.3,522,10853,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2036,3417
$GC,11161,-0.72,-146.6,766.6,-5.6,537,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2037,3417
$GC,11471,-0.72,-146.6,784.1,-5.7,552,11472,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2036,3416
$GC,11780,-0.72,-146.6,801.7,-5.8,567,11781,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2037,3415
$GC,12090,-0.72,-146.6,819.7,-5.7,582,12091,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2037,3415
$GC,12399,-0.76,-146.6,837.6,-5.8,597,12400,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2037,3414
$GC,12708,-0.81,-146.6,856.4,-6.2,612,12709,0.12,0.00,0.00,0.000,6,0.073,0.000,2520,2036,3414
$GC,13018,-0.76,-146.6,878.5,-7.1,627,13022,0.00,2.65,0.00,0.000,4,0.000,0.091,2520,3412,3413
$GC,13057,-0.76,-146.6,881.6,-7.5,629,13062,0.00,2.58,0.00,0.000,6,0.000,0.077,2520,2039,3413
$GC,13385,-0.72,-146.6,905.1,-7.0,645,13387,0.10,0.00,0.00,0.000,6,0.115,0.000,2539,2037,3413
$GC,13694,-0.72,-146.6,924.6,-6.2,660,13698,0.00,2.75,0.00,0.000,4,0.000,0.100,2539,591,3413
$GC,13733,-0.72,-146.6,927.3,-7.6,662,13738,0.00,2.67,0.00,0.000,6,0.000,0.079,2539,2025,3413
$GC,14060,-0.72,-146.6,948.9,-6.5,678,14061,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2025,3413
$STATE,14366,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14366,begin apogee
$GC,14374,-0.33,0.0,968.7,6.5,693,14509,0.43,0.00,131.38,1.644,6,0.091,0.000,2626,2204,2832
$STATE,14510,end apogee,CONTROL_FINISHED_OK
$STATE,14510,begin climb
$GC,14513,0.97,146.6,972.6,0.0,700,14655,1.38,2.78,134.32,1.591,4,0.077,0.094,2910,3607,2234
$GC,14706,0.86,154.3,965.5,5.8,709,14721,0.12,2.70,9.02,1.338,6,0.104,0.079,2889,2199,2202
$GC,15052,0.92,187.4,947.4,5.1,726,15088,0.00,2.80,31.17,1.526,4,0.000,0.097,2889,789,2066
$GC,15152,0.95,205.4,941.6,5.5,729,15179,0.00,2.67,17.67,1.474,6,0.000,0.079,2889,2188,1994
$GC,15492,1.03,219.5,922.3,5.6,746,15514,0.15,2.83,14.43,1.458,4,0.067,0.096,2926,787,1937
$GC,15543,0.96,219.5,918.4,8.0,748,15547,0.00,2.67,0.00,0.000,6,0.000,0.079,2925,2179,1937
$GC,15864,0.96,219.5,895.5,7.3,764,15868,0.00,2.72,0.00,0.000,4,0.000,0.097,2926,792,1937
$GC,15905,0.90,219.5,892.4,7.5,766,15910,0.15,2.62,0.00,0.000,6,0.103,0.080,2897,2173,1937
$GC,16232,0.95,219.5,871.8,6.2,782,16236,0.00,2.70,0.00,0.000,4,0.000,0.097,2897,792,1938
$GC,16264,0.95,219.5,869.6,6.4,783,16271,0.00,2.60,0.00,0.000,6,0.000,0.079,2897,2164,1937
$GC,16582,1.01,225.3,850.7,5.8,799,16591,0.00,0.00,7.28,1.322,6,0.000,0.000,2897,2164,1913
$GC,16891,1.06,227.0,832.6,6.0,814,16897,0.15,2.70,0.00,0.000,4,0.068,0.095,2934,789,1913
$GC,16942,0.98,227.0,828.5,8.1,816,16947,0.00,2.58,0.00,0.000,6,0.000,0.079,2934,2146,1913
$GC,17259,0.94,227.0,805.6,7.4,831,17264,0.15,2.65,0.00,0.000,4,0.102,0.096,2903,790,1913
$GC,17287,0.94,227.0,803.5,6.8,832,17291,0.00,2.55,0.00,0.000,6,0.000,0.079,2903,2139,1913
$GC,17603,0.94,227.0,783.9,6.3,847,17604,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2140,1913
$GC,17911,0.94,227.0,763.7,6.8,862,17916,0.00,2.62,0.00,0.000,4,0.000,0.096,2903,792,1913
$GC,17945,0.94,227.0,761.4,6.5,863,17951,0.00,2.53,0.00,0.000,6,0.000,0.078,2903,2134,1913
$GC,18262,0.98,227.0,740.7,6.5,879,18263,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2134,1913
$GC,18570,1.02,227.0,721.4,6.2,894,18574,0.00,2.62,0.00,0.000,4,0.000,0.095,2903,785,1912
$GC,18603,1.02,227.0,719.3,6.1,895,18609,0.00,2.55,0.00,0.000,6,0.000,0.079,2903,2138,1913
$GC,18920,1.10,242.6,701.1,5.6,911,18940,0.15,0.00,17.00,1.422,6,0.071,0.000,2941,2138,1841
$GC,19248,1.06,242.6,678.5,6.9,927,19252,0.00,2.62,0.00,0.000,4,0.000,0.094,2941,791,1841
$GC,19293,0.98,242.6,675.2,6.8,929,19298,0.12,2.53,0.00,0.000,6,0.106,0.077,2916,2126,1841
$GC,19615,1.02,261.6,657.0,5.5,945,19635,0.00,0.00,18.08,1.399,6,0.000,0.000,2916,2126,1765
$GC,19945,1.11,290.4,640.0,5.2,961,19977,0.10,2.65,26.25,1.408,4,0.075,0.091,2941,789,1648
$GC,20012,1.06,290.4,635.6,7.4,964,20016,0.00,2.55,0.00,0.000,6,0.000,0.077,2941,2124,1647
$GC,20332,1.06,290.4,613.8,7.0,980,20334,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2124,1647
$GC,20642,1.06,290.4,589.8,8.0,995,20647,0.00,2.60,0.00,0.000,4,0.000,0.093,2941,785,1647
$GC,20692,1.06,290.4,585.2,8.5,997,20697,0.00,2.50,0.00,0.000,6,0.000,0.077,2941,2114,1647
$GC,21008,1.06,290.4,558.9,8.3,1012,21009,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2114,1647
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$STATE,28361,end climb,SURFACE_DEPTH_REACHED
$STATE,28362,begin surface coast
$FINISH,0.3,1.027381
$STATE,28407,end surface coast,CONTROL_FINISHED_OK
$STATE,28408,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1790
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$XPDR_PINGS,38
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$24V_AH,23.4,50.771
$10V_AH,10.0,25.192
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$DEVICE_SECS,25.800,202.625,410.325,0.000,0.000,37.756,24.827,204.351,17.750,0.000,0.000,15.711,2437.339,22457.760,597.793,2679.406,719.250,0.000,1923.597,0.000,2622.229,0.000,55.415,0.000
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$SENSOR_SECS,1013.634,928.262,726.375,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69353,1368
$CAP_FILE_SIZE,192170,0
$CFSIZE,254472192,234188800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,66,0,0
$GPS,080109,101606,6021.984,-452.079,47,1.2,47,-6.7