version: 66.04
glider: 5
mission: 5
dive: 323
start: 1 13 109 21 15 3
data:
$ID,5
$MISSION,5
$DIVE,323
$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,315
$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,-93727.328
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2725
$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,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,27
$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
$GPS1,210424,6108.322,-247.957,44,1.9,62,-5.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-59.8
$GPS2,211444,6108.285,-247.893,13,1.7,13,-5.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6115.921,-303.776
$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,320.8,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.97,-146.6,0.0,0.0,0,101,0.00,0.00,-81.10,0.000,2,0.000,0.000,421,1979,3360
$GC,104,-0.97,-146.6,4.5,-5.4,4,127,10.88,2.62,-1.62,0.000,4,0.140,0.073,2505,3401,3432
$GC,162,-0.85,-146.6,18.3,-11.2,6,167,0.17,2.50,0.00,0.000,6,0.095,0.051,2541,2009,3432
$GC,480,-0.79,-146.6,47.2,-8.4,21,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2007,3432
$GC,787,-0.72,-146.6,74.4,-9.0,36,789,0.12,0.00,0.00,0.000,6,0.093,0.000,2566,2007,3432
$GC,1097,-0.72,-146.6,102.6,-9.3,51,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2006,3433
$GC,1405,-0.72,-146.6,130.1,-7.3,66,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2006,3433
$GC,1715,-0.72,-146.6,155.8,-7.8,81,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2006,3433
$GC,2025,-0.72,-146.6,178.2,-7.3,96,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2006,3433
$GC,2333,-0.72,-146.6,202.2,-7.5,111,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2006,3433
$GC,2643,-0.72,-146.6,223.3,-6.3,126,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2006,3433
$GC,2953,-0.72,-146.6,243.2,-6.8,141,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2006,3433
$GC,3261,-0.72,-146.6,264.9,-7.0,156,3266,0.00,2.55,0.00,0.000,4,0.000,0.064,2566,3403,3433
$GC,3289,-0.72,-146.6,267.1,-7.7,157,3293,0.00,2.50,0.00,0.000,6,0.000,0.051,2566,1992,3433
$GC,3606,-0.72,-146.6,289.0,-6.7,172,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1993,3433
$GC,3914,-0.72,-146.6,311.3,-7.5,187,3918,0.00,2.58,0.00,0.000,4,0.000,0.065,2566,3402,3433
$GC,3954,-0.77,-146.6,314.4,-7.7,189,3958,0.00,2.47,0.00,0.000,6,0.000,0.051,2566,2011,3433
$GC,4281,-0.77,-146.6,337.2,-7.1,205,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2011,3433
$GC,4589,-0.77,-146.6,360.6,-7.7,220,4593,0.00,2.55,0.00,0.000,4,0.000,0.067,2566,584,3433
$GC,4629,-0.77,-146.6,363.9,-8.6,222,4634,0.00,2.55,0.00,0.000,6,0.000,0.054,2566,2020,3433
$GC,4956,-0.77,-146.6,390.2,-8.1,238,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2020,3433
$GC,5265,-0.77,-146.6,413.9,-6.8,253,5269,0.00,2.60,0.00,0.000,4,0.000,0.068,2566,594,3433
$GC,5297,-0.77,-146.6,416.3,-7.5,254,5303,0.00,2.53,0.00,0.000,6,0.000,0.054,2566,2013,3433
$GC,5614,-0.77,-146.6,436.4,-6.0,270,5615,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2014,3433
$GC,5922,-0.77,-146.6,456.7,-7.8,285,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2014,3432
$GC,6233,-0.81,-146.6,480.1,-7.3,300,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2014,3432
$GC,6543,-0.81,-146.6,500.0,-6.2,315,6548,0.00,2.60,0.00,0.000,4,0.000,0.071,2566,595,3432
$GC,6577,-0.86,-146.6,502.4,-6.6,316,6584,0.12,2.53,0.00,0.000,6,0.058,0.057,2531,2008,3432
$GC,6894,-0.80,-146.6,524.0,-6.9,332,6898,0.00,2.60,0.00,0.000,4,0.000,0.071,2531,590,3432
$GC,6949,-0.75,-146.6,528.6,-8.7,334,6956,0.15,2.53,0.00,0.000,6,0.089,0.057,2563,2004,3432
$GC,7265,-0.75,-146.6,549.8,-6.7,350,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2003,3431
$GC,7575,-0.75,-146.6,570.8,-6.4,365,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2003,3431
$GC,7885,-0.79,-146.6,589.4,-6.0,380,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2003,3430
$GC,8193,-0.83,-146.6,610.5,-7.4,395,8198,0.00,2.58,0.00,0.000,4,0.000,0.077,2563,3404,3430
$GC,8235,-0.89,-146.6,614.0,-8.5,397,8240,0.15,2.55,0.00,0.000,6,0.059,0.064,2522,2001,3430
$GC,8562,-0.83,-146.6,642.6,-8.5,413,8564,0.10,0.00,0.00,0.000,6,0.100,0.000,2543,2000,3429
$GC,8872,-0.83,-146.6,660.8,-5.3,428,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2000,3428
$GC,9180,-0.83,-146.6,683.4,-8.2,443,9184,0.00,2.62,0.00,0.000,4,0.000,0.083,2543,3401,3428
$GC,9230,-0.83,-146.6,687.8,-9.2,445,9234,0.00,2.58,0.00,0.000,6,0.000,0.071,2543,2010,3427
$GC,9546,-0.83,-146.6,711.7,-6.7,460,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2010,3426
$GC,9855,-0.83,-146.6,728.2,-5.0,475,9856,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2010,3425
$GC,10164,-0.83,-146.6,747.7,-6.6,490,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2010,3424
$GC,10474,-0.83,-146.6,765.8,-5.7,505,10476,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2010,3423
$GC,10783,-0.83,-146.6,783.2,-5.7,520,10784,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2009,3422
$GC,11093,-0.83,-146.6,801.8,-6.0,535,11094,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2010,3421
$GC,11401,-0.83,-146.6,820.9,-6.1,550,11402,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2009,3420
$GC,11711,-0.83,-146.6,839.4,-5.9,565,11715,0.00,2.67,0.00,0.000,4,0.000,0.090,2543,3403,3419
$GC,11738,-0.83,-146.6,841.1,-6.5,566,11742,0.00,2.65,0.00,0.000,6,0.000,0.079,2543,1997,3418
$GC,12054,-0.83,-146.6,861.1,-6.5,581,12056,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1996,3417
$GC,12363,-0.83,-146.6,881.4,-7.0,596,12364,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1996,3416
$GC,12673,-0.83,-146.6,901.7,-6.6,611,12674,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1996,3415
$GC,12981,-0.83,-146.6,921.6,-6.5,626,12983,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1996,3415
$GC,13291,-0.83,-146.6,941.9,-6.5,641,13292,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1996,3414
$GC,13601,-0.83,-146.6,962.7,-6.9,656,13605,0.00,2.72,0.00,0.000,4,0.000,0.094,2543,3407,3414
$GC,13628,-0.83,-146.6,964.5,-6.9,657,13632,0.00,2.65,0.00,0.000,6,0.000,0.081,2543,2000,3414
$GC,13944,-0.83,-146.6,983.3,-5.8,672,13945,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2000,3413
$STATE,14064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14064,begin apogee
$GC,14072,-0.33,0.0,990.2,5.6,678,14212,0.52,0.00,136.80,1.644,6,0.092,0.000,2650,2119,2832
$STATE,14213,end apogee,CONTROL_FINISHED_OK
$STATE,14213,begin climb
$GC,14216,0.97,146.6,995.1,0.0,685,14375,1.38,2.85,143.82,1.569,4,0.080,0.089,2937,3529,2234
$GC,14416,0.79,146.6,986.6,7.0,694,14423,0.20,2.72,0.00,0.000,6,0.100,0.081,2898,2120,2234
$GC,14732,0.81,157.4,968.3,5.7,710,14752,0.00,0.00,13.57,1.233,6,0.000,0.000,2899,2120,2190
$GC,15061,0.81,161.1,949.2,5.9,726,15068,0.00,0.00,5.25,1.163,6,0.000,0.000,2898,2120,2175
$GC,15371,0.81,161.1,930.2,6.1,741,15372,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2120,2175
$GC,15680,0.81,161.1,911.0,6.2,756,15681,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2120,2175
$GC,15990,0.82,165.1,892.6,5.9,771,16001,0.00,2.78,5.75,1.238,4,0.000,0.091,2899,3528,2158
$GC,16030,0.82,165.1,890.0,6.8,773,16035,0.00,2.70,0.00,0.000,6,0.000,0.080,2898,2120,2158
$GC,16358,0.86,188.6,872.1,5.4,789,16385,0.00,0.00,23.12,1.536,6,0.000,0.000,2898,2120,2063
$GC,16709,0.86,188.6,851.5,6.0,806,16710,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2120,2062
$GC,17018,0.86,188.6,832.0,6.2,821,17022,0.00,2.75,0.00,0.000,4,0.000,0.094,2898,3528,2062
$GC,17045,0.86,188.6,830.1,6.9,822,17049,0.00,2.65,0.00,0.000,6,0.000,0.079,2899,2135,2062
$GC,17361,0.86,188.6,810.8,6.1,837,17362,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2135,2062
$GC,17669,0.86,188.6,792.6,6.2,852,17671,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2135,2062
$GC,17979,0.86,188.6,771.7,6.8,867,17980,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2135,2062
$GC,18289,0.86,188.6,751.2,6.4,882,18290,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2135,2062
$GC,18598,0.86,190.5,732.3,5.9,897,18602,0.00,2.72,0.00,0.000,4,0.000,0.093,2898,3530,2062
$GC,18625,0.86,190.5,730.4,6.8,898,18629,0.00,2.67,0.00,0.000,6,0.000,0.077,2898,2117,2062
$GC,18941,0.86,190.5,712.1,6.7,913,18942,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2118,2061
$GC,19251,0.92,227.9,694.1,5.0,928,19291,0.12,0.00,37.05,1.472,6,0.071,0.000,2930,2118,1902
$GC,19599,0.92,227.9,670.7,7.1,945,19603,0.00,2.78,0.00,0.000,4,0.000,0.093,2929,3534,1902
$GC,19644,0.92,227.9,667.1,7.9,947,19648,0.00,2.65,0.00,0.000,6,0.000,0.076,2930,2139,1902
$GC,19964,0.92,227.9,642.7,7.3,963,19965,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2138,1902
$GC,20273,0.92,227.9,620.4,6.8,978,20275,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2138,1902
$GC,20583,0.92,227.9,599.7,6.5,993,20585,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2138,1902
$GC,20892,0.92,227.9,579.1,7.0,1008,20893,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2138,1902
$GC,21201,0.92,227.9,557.9,6.7,1023,21206,0.00,2.67,0.00,0.000,4,0.000,0.084,2930,3532,1902
$GC,21235,0.92,227.9,555.6,7.3,1024,21242,0.00,2.60,0.00,0.000,6,0.000,0.067,2930,2131,1902
$GC,21551,0.92,227.9,533.1,7.7,1040,21556,0.00,2.67,0.00,0.000,4,0.000,0.081,2930,3536,1902
$GC,21578,0.92,227.9,530.9,8.2,1041,21583,0.00,2.58,0.00,0.000,6,0.000,0.066,2930,2144,1903
$GC,21895,0.92,227.9,512.3,7.0,1056,21896,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2143,1903
$GC,22203,0.92,227.9,487.1,8.1,1071,22205,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2143,1903
$GC,22513,0.92,227.9,461.3,8.2,1086,22514,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2143,1904
$GC,22823,0.92,227.9,441.5,6.1,1101,22827,0.00,2.60,0.00,0.000,4,0.000,0.074,2930,3530,1904
$GC,22868,0.92,227.9,438.5,6.8,1103,22873,0.00,2.53,0.00,0.000,6,0.000,0.058,2930,2142,1904
$GC,23189,0.93,231.1,419.3,5.9,1119,23200,0.00,2.62,5.62,0.937,4,0.000,0.070,2930,714,1889
$GC,23240,0.93,231.1,415.9,7.7,1121,23244,0.00,2.62,0.00,0.000,6,0.000,0.058,2930,2159,1888
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$GC,24175,0.96,248.6,358.4,5.7,1166,24197,0.00,2.78,11.95,1.039,4,0.000,0.067,2930,709,1818
$GC,24236,0.98,261.2,354.6,5.7,1168,24255,0.00,2.62,12.30,1.039,6,0.000,0.057,2930,2150,1767
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$GC,25641,1.01,272.0,259.4,10.4,1236,25646,0.12,2.55,0.00,0.000,6,0.089,0.055,2942,2122,1722
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$STATE,29251,end climb,SURFACE_DEPTH_REACHED
$STATE,29251,begin surface coast
$FINISH,0.3,1.024433
$STATE,29294,end surface coast,CONTROL_FINISHED_OK
$STATE,29294,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1813
$TCM_TEMP,16.90
$XPDR_PINGS,51
$ALTIM_BOTTOM_PING,950.1,82.0
$24V_AH,23.4,55.771
$10V_AH,10.1,27.500
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$DEVICE_SECS,25.075,136.650,419.125,0.000,0.000,75.515,57.502,277.458,21.500,0.000,0.000,13.146,2438.286,23537.250,583.942,2569.199,859.856,0.000,1844.238,0.000,2522.308,0.000,58.822,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1053.516,958.683,730.411,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72605,1413
$CAP_FILE_SIZE,181749,0
$CFSIZE,254472192,232509440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,49,2,0
$GPS,140109,052600,6111.811,-251.221,42,1.5,42,-5.9