version: 66.04
glider: 5
mission: 5
dive: 333
start: 1 17 109 8 18 33
data:
$ID,5
$MISSION,5
$DIVE,333
$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,-1
$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,-93884.594
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$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,32
$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
$GPS1,080954,6055.696,-445.812,42,0.8,42,-6.8
$_CALLS,1
$_XMS_NAKs,25
$_XMS_TOUTs,2
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-59.5
$GPS2,081814,6055.662,-445.848,11,1.6,11,-6.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_NW
$TGT_LATLONG,6058.000,-547.000
$TGT_RADIUS,5000.000
$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,281.3,55134,-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,-146.6,0.0,0.0,0,112,0.00,0.00,-94.65,0.000,6,0.000,0.000,420,1963,3430
$GC,116,-0.97,-146.6,2.6,-2.6,4,132,11.00,2.50,0.00,0.000,4,0.135,0.060,2526,596,3432
$GC,322,-0.84,-146.6,38.1,-9.3,12,328,0.17,2.53,0.00,0.000,6,0.084,0.052,2564,2009,3433
$GC,640,-0.84,-146.6,56.5,-6.3,27,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2009,3433
$GC,949,-0.84,-146.6,78.3,-5.9,42,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2018,3433
$GC,1257,-0.84,-146.6,101.2,-7.7,57,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2019,3433
$GC,1566,-0.84,-146.6,122.1,-6.4,72,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2018,3433
$GC,1877,-0.84,-146.6,144.5,-7.3,87,1881,0.00,2.60,0.00,0.000,4,0.000,0.068,2564,601,3433
$GC,1933,-0.84,-146.6,149.2,-8.7,89,1940,0.00,2.50,0.00,0.000,6,0.000,0.054,2564,2007,3433
$GC,2249,-0.84,-146.6,174.5,-7.7,105,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2007,3433
$GC,2558,-0.84,-146.6,196.9,-7.2,120,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2007,3433
$GC,2868,-0.84,-146.6,219.0,-6.9,135,2872,0.00,2.53,0.00,0.000,4,0.000,0.064,2564,3412,3433
$GC,2908,-0.84,-146.6,222.0,-7.2,136,2915,0.00,2.53,0.00,0.000,6,0.000,0.053,2564,2003,3433
$GC,3224,-0.84,-146.6,244.8,-7.2,152,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2003,3433
$GC,3534,-0.84,-146.6,267.4,-7.3,167,3538,0.00,2.55,0.00,0.000,4,0.000,0.063,2564,3411,3433
$GC,3567,-0.84,-146.6,269.9,-7.5,168,3573,0.00,2.53,0.00,0.000,6,0.000,0.052,2564,1999,3433
$GC,3883,-0.84,-146.6,291.0,-6.6,184,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1999,3433
$GC,4193,-0.84,-146.6,308.5,-5.7,199,4197,0.00,2.58,0.00,0.000,4,0.000,0.063,2564,3412,3433
$GC,4233,-0.84,-146.6,311.0,-7.5,201,4237,0.00,2.50,0.00,0.000,6,0.000,0.052,2564,2015,3433
$GC,4559,-0.84,-146.6,331.5,-6.4,217,4563,0.00,2.55,0.00,0.000,4,0.000,0.064,2564,3410,3433
$GC,4593,-0.84,-146.6,333.8,-7.0,218,4599,0.00,2.50,0.00,0.000,6,0.000,0.053,2564,2015,3433
$GC,4908,-0.84,-146.6,352.6,-6.2,234,4913,0.00,2.53,0.00,0.000,4,0.000,0.064,2564,3406,3433
$GC,4966,-0.84,-146.6,356.3,-6.7,236,4972,0.00,2.45,0.00,0.000,6,0.000,0.052,2564,2032,3433
$GC,5282,-0.84,-146.6,376.6,-6.5,252,5286,0.00,2.53,0.00,0.000,4,0.000,0.065,2564,3411,3433
$GC,5315,-0.84,-146.6,378.9,-7.2,253,5321,0.00,2.45,0.00,0.000,6,0.000,0.053,2564,2042,3433
$GC,5633,-0.84,-146.6,400.2,-6.9,269,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2041,3433
$GC,5941,-0.88,-146.6,418.7,-5.3,284,5946,0.00,2.60,0.00,0.000,4,0.000,0.067,2564,593,3433
$GC,6004,-0.88,-146.6,422.4,-6.3,287,6008,0.00,2.53,0.00,0.000,6,0.000,0.054,2564,2016,3433
$GC,6332,-1.00,-146.6,442.3,-6.4,303,6337,0.17,2.65,0.00,0.000,4,0.052,0.070,2511,584,3433
$GC,6433,-0.88,-146.6,450.8,-8.6,307,6440,0.20,2.78,0.00,0.000,6,0.087,0.057,2553,2164,3433
$GC,6749,-0.88,-146.6,472.9,-6.9,323,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2164,3433
$GC,7057,-0.88,-146.6,492.4,-6.5,338,7062,0.00,2.88,0.00,0.000,4,0.000,0.071,2554,594,3433
$GC,7101,-0.88,-146.6,495.7,-7.4,340,7106,0.00,2.80,0.00,0.000,6,0.000,0.059,2554,2154,3432
$GC,7423,-0.88,-146.6,518.4,-7.0,356,7425,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2154,3432
$GC,7732,-0.88,-146.6,538.7,-6.4,371,7736,0.00,2.90,0.00,0.000,4,0.000,0.078,2554,586,3432
$GC,7777,-0.88,-146.6,541.5,-6.2,373,7782,0.00,2.83,0.00,0.000,6,0.000,0.064,2554,2144,3432
$GC,8100,-0.88,-146.6,562.9,-7.1,389,8104,0.00,2.90,0.00,0.000,4,0.000,0.081,2554,586,3431
$GC,8127,-0.88,-146.6,565.2,-8.3,390,8131,0.00,2.83,0.00,0.000,6,0.000,0.066,2554,2140,3431
$GC,8442,-0.88,-146.6,589.1,-7.1,405,8447,0.00,2.90,0.00,0.000,4,0.000,0.082,2554,591,3430
$GC,8486,-0.88,-146.6,592.3,-7.2,407,8491,0.00,2.80,0.00,0.000,6,0.000,0.068,2553,2122,3430
$GC,8808,-0.88,-146.6,611.8,-6.2,423,8809,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2122,3428
$GC,9116,-0.88,-146.6,630.6,-6.1,438,9121,0.00,2.88,0.00,0.000,4,0.000,0.086,2554,597,3428
$GC,9172,-0.88,-146.6,634.5,-7.1,440,9179,0.00,2.78,0.00,0.000,6,0.000,0.071,2553,2113,3427
$GC,9488,-0.88,-146.6,654.4,-6.1,456,9493,0.00,2.88,0.00,0.000,4,0.000,0.089,2554,597,3425
$GC,9522,-0.88,-146.6,656.5,-5.8,457,9528,0.00,2.78,0.00,0.000,6,0.000,0.073,2554,2100,3426
$GC,9838,-0.88,-146.6,671.9,-4.2,473,9840,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2101,3424
$GC,10147,-0.88,-146.6,687.9,-5.7,488,10152,0.00,2.88,0.00,0.000,4,0.000,0.090,2553,587,3423
$GC,10196,-0.88,-146.6,691.2,-6.8,490,10201,0.00,2.80,0.00,0.000,6,0.000,0.074,2554,2101,3423
$GC,10513,-0.88,-146.6,711.2,-6.5,505,10514,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2101,3422
$GC,10822,-0.92,-146.6,730.8,-5.8,520,10827,0.00,2.88,0.00,0.000,4,0.000,0.093,2554,594,3421
$GC,10879,-0.92,-146.6,734.3,-6.4,522,10885,0.00,2.78,0.00,0.000,6,0.000,0.076,2554,2090,3420
$GC,11197,-0.92,-146.6,750.7,-5.4,538,11198,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2091,3419
$GC,11504,-0.92,-146.6,768.7,-5.9,553,11509,0.00,2.88,0.00,0.000,4,0.000,0.094,2554,590,3419
$GC,11559,-0.92,-146.6,772.7,-6.9,555,11566,0.00,2.75,0.00,0.000,6,0.000,0.077,2554,2074,3419
$GC,11877,-0.97,-146.6,793.0,-6.3,571,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2074,3418
$GC,12185,-1.01,-146.6,811.6,-5.9,586,12191,0.15,2.85,0.00,0.000,4,0.074,0.094,2518,598,3417
$GC,12220,-0.93,-146.6,814.3,-8.4,587,12227,0.12,2.75,0.00,0.000,6,0.108,0.077,2543,2071,3417
$GC,12536,-0.93,-146.6,835.0,-6.5,603,12537,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2072,3416
$GC,12845,-0.93,-146.6,856.4,-6.9,618,12849,0.00,2.85,0.00,0.000,4,0.000,0.094,2543,586,3415
$GC,12878,-0.93,-146.6,858.9,-7.5,619,12884,0.00,2.75,0.00,0.000,6,0.000,0.077,2542,2062,3415
$GC,13194,-0.93,-146.6,880.7,-6.7,635,13195,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2062,3415
$GC,13503,-0.93,-146.6,901.2,-6.6,650,13508,0.00,2.85,0.00,0.000,4,0.000,0.100,2543,592,3414
$GC,13537,-0.93,-146.6,903.6,-6.8,651,13543,0.00,2.75,0.00,0.000,6,0.000,0.080,2543,2062,3414
$GC,13852,-0.93,-146.6,924.5,-6.5,667,13854,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2062,3414
$STATE,14058,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14058,begin apogee
$GC,14067,-0.33,0.0,937.7,6.4,677,14204,0.62,0.00,134.20,1.619,6,0.090,0.000,2671,2120,2832
$STATE,14205,end apogee,CONTROL_FINISHED_OK
$STATE,14205,begin climb
$GC,14208,0.97,146.6,942.7,0.0,684,14354,1.33,2.78,136.98,1.562,4,0.075,0.087,2952,3531,2233
$GC,14442,0.77,146.6,931.7,7.5,694,14449,0.20,2.70,0.00,0.000,6,0.104,0.079,2914,2127,2233
$GC,14758,0.72,161.1,913.2,5.6,710,14782,0.00,0.00,16.65,1.292,6,0.000,0.000,2915,2127,2175
$GC,15091,0.68,165.1,893.5,5.9,726,15099,0.12,0.00,5.60,1.174,6,0.109,0.000,2891,2127,2158
$GC,15401,0.70,180.6,876.1,5.6,741,15418,0.00,0.00,15.82,1.460,6,0.000,0.000,2891,2126,2095
$GC,15728,0.74,201.9,858.6,5.4,757,15754,0.00,2.80,21.15,1.500,4,0.000,0.096,2891,707,2007
$GC,15783,0.74,201.9,855.4,6.2,759,15789,0.00,2.70,0.00,0.000,6,0.000,0.077,2891,2123,2007
$GC,16099,0.79,201.9,836.9,6.2,775,16101,0.12,0.00,0.00,0.000,6,0.073,0.000,2921,2123,2007
$GC,16408,0.79,201.9,816.4,6.3,790,16412,0.00,2.78,0.00,0.000,4,0.000,0.097,2921,704,2007
$GC,16436,0.74,201.9,814.4,7.1,791,16441,0.00,2.67,0.00,0.000,6,0.000,0.079,2921,2121,2007
$GC,16753,0.79,231.4,796.8,5.2,806,16795,0.00,2.80,29.77,1.436,4,0.000,0.090,2921,3541,1888
$GC,16819,0.81,243.8,792.7,5.7,809,16841,0.00,2.75,13.07,1.410,6,0.000,0.078,2921,2112,1836
$GC,17150,0.81,243.8,771.2,6.5,825,17154,0.00,2.70,0.00,0.000,4,0.000,0.098,2921,710,1837
$GC,17184,0.81,243.8,768.7,7.1,826,17190,0.00,2.67,0.00,0.000,6,0.000,0.077,2921,2124,1837
$GC,17501,0.85,266.5,750.7,5.4,842,17532,0.00,0.00,23.92,1.375,6,0.000,0.000,2921,2124,1745
$GC,17829,0.85,266.5,729.7,6.7,858,17834,0.00,2.75,0.00,0.000,4,0.000,0.095,2921,713,1745
$GC,17862,0.85,266.5,727.2,7.1,859,17868,0.00,2.65,0.00,0.000,6,0.000,0.077,2921,2119,1745
$GC,18178,0.85,266.5,706.9,6.5,875,18179,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2120,1744
$GC,18487,0.85,266.5,686.9,6.3,890,18491,0.00,2.75,0.00,0.000,4,0.000,0.094,2921,704,1745
$GC,18514,0.85,266.5,684.9,7.4,891,18518,0.00,2.65,0.00,0.000,6,0.000,0.077,2921,2110,1745
$GC,18831,0.85,268.0,665.8,6.0,906,18835,0.00,2.72,0.00,0.000,4,0.000,0.095,2921,704,1745
$GC,18858,0.86,276.3,663.8,5.8,907,18874,0.00,2.65,10.60,1.342,6,0.000,0.077,2921,2113,1705
$GC,19198,0.91,306.6,644.7,5.2,924,19233,0.08,2.83,27.83,1.425,4,0.083,0.092,2943,713,1581
$GC,19257,0.91,306.6,640.8,7.8,926,19263,0.00,2.65,0.00,0.000,6,0.000,0.077,2943,2101,1580
$GC,19572,0.91,306.6,618.5,7.8,942,19574,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2102,1581
$GC,19882,0.91,306.6,592.3,8.5,957,19883,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2102,1580
$GC,20191,0.91,306.6,568.9,6.8,972,20195,0.00,2.70,0.00,0.000,4,0.000,0.093,2943,707,1580
$GC,20230,0.91,306.6,565.9,7.7,974,20235,0.00,2.60,0.00,0.000,6,0.000,0.076,2942,2102,1581
$GC,20558,0.91,306.6,542.6,7.6,990,20559,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2101,1581
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$STATE,27399,end climb,SURFACE_DEPTH_REACHED
$STATE,27399,begin surface coast
$FINISH,1.4,1.027427
$STATE,27421,end surface coast,CONTROL_FINISHED_OK
$STATE,27421,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1788
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$XPDR_PINGS,48
$ALTIM_BOTTOM_PING,876.6,70.3
$24V_AH,23.5,57.943
$10V_AH,10.1,28.690
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$DEVICE_SECS,26.025,214.725,474.025,0.000,0.000,37.760,32.620,283.982,20.000,0.000,0.000,11.124,2352.833,21507.049,691.402,2630.029,809.268,0.000,2019.562,0.000,2574.297,0.000,53.743,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,981.393,895.532,693.876,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66288,1324
$CAP_FILE_SIZE,190000,0
$CFSIZE,254472192,231661568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,65,3,0
$GPS,170109,155831,6055.305,-451.554,56,1.1,56,-6.8