version: 66.04
glider: 5
mission: 5
dive: 324
start: 1 14 109 5 44 8
data:
$ID,5
$MISSION,5
$DIVE,324
$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,-93743.766
$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,31
$R_STBD_OVSHOOT,24
$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
$GPS1,052600,6111.811,-251.221,42,1.5,42,-5.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-63.0
$GPS2,054349,6111.822,-251.419,15,1.6,15,-5.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6119.458,-307.333
$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,320.9,20000,-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,-80.78,0.000,6,0.000,0.000,421,1985,3430
$GC,102,-0.97,-146.6,5.6,-6.6,4,123,10.77,2.58,0.00,0.000,4,0.135,0.062,2504,3406,3430
$GC,237,-0.84,-146.6,29.9,-9.5,10,242,0.17,2.50,0.00,0.000,6,0.090,0.048,2540,2005,3430
$GC,565,-0.77,-146.6,57.8,-8.2,26,570,0.00,2.55,0.00,0.000,4,0.000,0.066,2540,588,3431
$GC,622,-0.72,-146.6,63.4,-9.2,28,628,0.12,2.53,0.00,0.000,6,0.095,0.054,2565,2000,3431
$GC,937,-0.72,-146.6,86.2,-7.8,44,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2001,3430
$GC,1249,-0.72,-146.6,109.5,-7.0,59,1253,0.00,2.58,0.00,0.000,4,0.000,0.067,2565,594,3431
$GC,1327,-0.72,-146.6,115.9,-7.5,62,1334,0.00,2.50,0.00,0.000,6,0.000,0.052,2565,2000,3431
$GC,1644,-0.72,-146.6,138.2,-7.3,78,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2012,3431
$GC,1953,-0.72,-146.6,160.5,-6.0,93,1957,0.00,2.60,0.00,0.000,4,0.000,0.067,2565,588,3431
$GC,1992,-0.72,-146.6,163.1,-6.7,95,1997,0.00,2.50,0.00,0.000,6,0.000,0.053,2565,1994,3431
$GC,2320,-0.72,-146.6,180.8,-4.4,111,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1995,3431
$GC,2630,-0.72,-146.6,196.2,-5.7,126,2634,0.00,2.55,0.00,0.000,4,0.000,0.067,2565,595,3431
$GC,2680,-0.72,-146.6,199.9,-6.7,128,2688,0.00,2.47,0.00,0.000,6,0.000,0.053,2565,1987,3431
$GC,3004,-0.72,-146.6,219.7,-6.9,144,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1988,3431
$GC,3314,-0.72,-146.6,242.9,-7.8,159,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1988,3431
$GC,3622,-0.72,-146.6,266.3,-7.4,174,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1990,3430
$GC,3932,-0.72,-146.6,288.8,-7.0,189,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1990,3430
$GC,4242,-0.72,-146.6,308.9,-7.0,204,4246,0.00,2.55,0.00,0.000,4,0.000,0.069,2565,595,3430
$GC,4269,-0.72,-146.6,311.0,-7.5,205,4273,0.00,2.45,0.00,0.000,6,0.000,0.054,2565,1971,3431
$GC,4584,-0.72,-146.6,332.5,-6.5,220,4589,0.00,2.58,0.00,0.000,4,0.000,0.066,2565,3414,3431
$GC,4613,-0.72,-146.6,334.5,-6.7,221,4617,0.00,2.58,0.00,0.000,6,0.000,0.054,2565,1974,3430
$GC,4929,-0.72,-146.6,356.0,-6.9,236,4933,0.00,2.62,0.00,0.000,4,0.000,0.067,2565,3404,3430
$GC,4973,-0.76,-146.6,359.3,-7.7,238,4978,0.00,2.55,0.00,0.000,6,0.000,0.055,2565,1983,3431
$GC,5296,-0.76,-146.6,380.5,-6.6,254,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1982,3430
$GC,5604,-0.76,-146.6,400.0,-5.7,269,5609,0.00,2.62,0.00,0.000,4,0.000,0.067,2565,3414,3431
$GC,5638,-0.81,-146.6,401.8,-5.4,270,5642,0.00,2.58,0.00,0.000,6,0.000,0.055,2565,1978,3430
$GC,5955,-0.81,-146.6,418.7,-5.8,285,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1978,3430
$GC,6263,-0.81,-146.6,437.7,-6.4,300,6267,0.00,2.62,0.00,0.000,4,0.000,0.067,2565,3410,3430
$GC,6307,-0.85,-146.6,441.0,-7.4,302,6312,0.12,2.55,0.00,0.000,6,0.060,0.055,2531,1992,3430
$GC,6632,-0.79,-146.6,468.9,-8.9,318,6636,0.10,2.50,0.00,0.000,4,0.098,0.068,2552,592,3429
$GC,6671,-0.79,-146.6,472.9,-9.4,320,6676,0.00,2.47,0.00,0.000,6,0.000,0.056,2552,1984,3430
$GC,6999,-0.79,-146.6,496.8,-6.5,336,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1984,3429
$GC,7308,-0.79,-146.6,514.8,-5.8,351,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1984,3429
$GC,7617,-0.79,-146.6,536.4,-7.2,366,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1984,3428
$GC,7927,-0.79,-146.6,560.4,-7.4,381,7928,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1984,3428
$GC,8236,-0.79,-146.6,580.4,-5.5,396,8237,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1984,3428
$GC,8545,-0.79,-146.6,595.3,-4.7,411,8550,0.00,2.60,0.00,0.000,4,0.000,0.081,2552,594,3427
$GC,8596,-0.79,-146.6,598.1,-5.7,413,8601,0.00,2.50,0.00,0.000,6,0.000,0.065,2552,1972,3427
$GC,8912,-0.79,-146.6,618.4,-7.6,428,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1973,3426
$GC,9222,-0.79,-146.6,643.2,-8.0,443,9223,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1973,3426
$GC,9531,-0.79,-146.6,666.3,-6.9,458,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1973,3425
$GC,9840,-0.79,-146.6,686.0,-6.3,473,9841,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1973,3423
$GC,10150,-0.79,-146.6,706.3,-6.7,488,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1973,3423
$GC,10458,-0.79,-146.6,727.1,-6.8,503,10460,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1973,3422
$GC,10768,-0.79,-146.6,747.0,-6.2,518,10772,0.00,2.67,0.00,0.000,4,0.000,0.088,2552,3408,3420
$GC,10808,-0.83,-146.6,749.6,-6.8,520,10814,0.00,2.67,0.00,0.000,6,0.000,0.077,2552,1975,3420
$GC,11142,-0.83,-146.6,768.0,-5.4,536,11143,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1975,3419
$GC,11451,-0.83,-146.6,785.1,-5.7,551,11452,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1975,3418
$GC,11760,-0.83,-146.6,803.0,-6.3,566,11765,0.00,2.75,0.00,0.000,4,0.000,0.090,2551,3409,3417
$GC,11800,-0.87,-146.6,805.8,-6.8,568,11805,0.00,2.70,0.00,0.000,6,0.000,0.080,2552,1974,3417
$GC,12127,-0.87,-146.6,827.6,-6.7,584,12128,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1973,3416
$GC,12437,-0.91,-146.6,848.0,-6.6,599,12443,0.12,2.75,0.00,0.000,4,0.072,0.091,2520,3402,3415
$GC,12471,-0.85,-146.6,850.7,-7.9,600,12478,0.00,2.70,0.00,0.000,6,0.000,0.080,2520,1973,3415
$GC,12788,-0.80,-146.6,874.0,-7.5,616,12790,0.15,0.00,0.00,0.000,6,0.104,0.000,2550,1971,3415
$GC,13097,-0.80,-146.6,893.4,-6.2,631,13098,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1971,3415
$GC,13406,-0.80,-146.6,913.7,-6.6,646,13410,0.00,2.75,0.00,0.000,4,0.000,0.091,2550,3403,3414
$GC,13457,-0.85,-146.6,917.3,-6.9,648,13461,0.00,2.67,0.00,0.000,6,0.000,0.079,2549,1981,3414
$GC,13772,-0.85,-146.6,939.1,-6.8,663,13773,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1981,3413
$GC,14082,-0.90,-146.6,959.6,-6.6,678,14083,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1981,3412
$GC,14392,-0.90,-146.6,979.0,-6.3,693,14396,0.00,2.75,0.00,0.000,4,0.000,0.091,2550,3412,3412
$GC,14425,-0.94,-146.6,981.3,-6.9,694,14432,0.15,2.67,0.00,0.000,6,0.074,0.079,2513,1993,3411
$STATE,14552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14552,begin apogee
$GC,14560,-0.33,0.0,991.0,7.7,701,14700,0.68,0.00,135.88,1.644,6,0.091,0.000,2651,2123,2833
$STATE,14700,end apogee,CONTROL_FINISHED_OK
$STATE,14700,begin climb
$GC,14703,0.97,146.6,996.0,0.0,708,14859,1.35,0.00,142.45,1.569,6,0.076,0.000,2934,2124,2234
$GC,15169,0.91,146.6,972.0,6.7,731,15174,0.00,2.75,0.00,0.000,4,0.000,0.094,2934,709,2233
$GC,15203,0.74,146.6,969.5,7.3,732,15210,0.22,2.67,0.00,0.000,6,0.100,0.078,2890,2119,2233
$GC,15519,0.81,189.0,952.5,4.8,748,15569,0.00,0.00,43.03,1.488,6,0.000,0.000,2890,2120,2061
$GC,15870,0.91,221.6,933.9,5.1,765,15908,0.15,0.00,32.15,1.536,6,0.069,0.000,2926,2120,1928
$GC,16217,0.91,221.6,910.8,6.7,782,16218,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2120,1928
$GC,16527,0.91,221.6,890.6,6.4,797,16528,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2119,1928
$GC,16836,0.91,221.6,870.8,6.4,812,16837,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2120,1928
$GC,17145,0.91,221.6,850.2,6.9,827,17146,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2120,1928
$GC,17455,0.91,221.6,829.3,6.7,842,17456,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2120,1928
$GC,17764,0.91,221.6,808.3,6.9,857,17765,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2120,1928
$GC,18073,0.91,221.6,787.3,6.8,872,18074,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2120,1928
$GC,18382,0.91,221.6,767.1,6.4,887,18383,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2120,1928
$GC,18692,0.91,221.6,747.3,6.2,902,18693,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2120,1928
$GC,19001,0.91,221.6,727.1,6.5,917,19002,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2120,1928
$GC,19310,0.91,221.6,705.8,7.0,932,19311,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2120,1928
$GC,19620,0.91,221.6,685.3,6.3,947,19621,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2120,1928
$GC,19928,0.91,221.6,664.7,7.2,962,19930,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2119,1927
$GC,20238,0.91,221.6,639.1,8.5,977,20242,0.00,2.70,0.00,0.000,4,0.000,0.088,2926,709,1928
$GC,20271,0.91,221.6,636.3,7.8,978,20277,0.00,2.62,0.00,0.000,6,0.000,0.074,2926,2115,1928
$GC,20587,0.91,221.6,614.3,6.4,994,20591,0.00,2.67,0.00,0.000,4,0.000,0.087,2926,3529,1927
$GC,20627,0.91,221.6,611.4,7.5,996,20631,0.00,2.67,0.00,0.000,6,0.000,0.074,2926,2104,1927
$GC,20954,0.91,225.6,592.5,5.9,1012,20961,0.00,0.00,5.38,1.078,6,0.000,0.000,2926,2102,1912
$GC,21262,0.91,225.6,573.2,6.6,1027,21266,0.00,2.62,0.00,0.000,4,0.000,0.086,2926,704,1912
$GC,21289,0.91,225.6,571.1,7.0,1028,21294,0.00,2.65,0.00,0.000,6,0.000,0.072,2926,2126,1912
$GC,21607,0.91,225.6,550.7,6.4,1043,21611,0.00,2.65,0.00,0.000,4,0.000,0.084,2926,3534,1912
$GC,21636,0.91,225.6,548.4,8.0,1044,21640,0.00,2.65,0.00,0.000,6,0.000,0.070,2926,2112,1912
$GC,21951,0.91,225.6,527.5,6.4,1059,21956,0.00,2.60,0.00,0.000,4,0.000,0.082,2926,713,1912
$GC,21992,0.91,225.6,524.4,8.0,1061,21997,0.00,2.60,0.00,0.000,6,0.000,0.068,2926,2122,1912
$GC,22319,0.91,225.6,500.3,7.5,1077,22320,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2122,1913
$GC,22629,0.91,225.6,479.2,6.3,1092,22633,0.00,2.65,0.00,0.000,4,0.000,0.077,2926,705,1913
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$GC,24268,0.91,225.6,368.1,7.4,1171,24269,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2117,1917
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$STATE,29577,end climb,SURFACE_DEPTH_REACHED
$STATE,29577,begin surface coast
$FINISH,0.4,1.027434
$STATE,29620,end surface coast,CONTROL_FINISHED_OK
$STATE,29620,begin surface
$SM_CCo,29643,17.35,0.653,2,0,1811,250.21
$SM_GC,1.28,0.00,0.00,17.35,0.000,0.000,0.653,422,1966,1811,-10.59,-0.96,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1790
$TCM_TEMP,16.90
$XPDR_PINGS,43
$24V_AH,23.4,55.976
$10V_AH,10.1,27.624
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.325,151.500,366.150,17.350,0.000,151.038,136.103,421.338,19.500,0.000,0.000,15.811,2481.713,23835.312,585.703,2636.318,1191.586,0.000,1865.026,0.000,2585.358,0.000,58.025,0.000
$DEVICE_MAMPS,134.992,93.574,1644.448,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1060.096,969.574,750.008,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72581,1429
$CAP_FILE_SIZE,191612,0
$CFSIZE,254472192,232419328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,48,4,0
$GPS,140109,140007,6115.165,-301.138,47,1.0,47,-6.0