version: 66.04
glider: 5
mission: 5
dive: 423
start: 2 10 109 4 56 54
data:
$ID,5
$MISSION,5
$DIVE,423
$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,-95675.055
$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,34
$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,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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
$GPS1,044840,6145.908,-944.322,48,1.9,48,-9.7
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-50.0
$GPS2,045634,6145.864,-944.463,16,2.9,35,-9.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_5
$TGT_LATLONG,6140.000,-915.000
$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,122.5,28082,-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,-146.6,0.0,0.0,0,139,0.00,0.00,-120.93,0.000,2,0.000,0.000,421,1973,3149
$GC,143,-0.97,-146.6,3.2,-2.5,6,168,11.07,2.50,-7.90,0.000,4,0.137,0.071,2525,609,3431
$GC,309,-0.84,-146.6,24.9,-13.5,13,314,0.17,2.47,0.00,0.000,6,0.084,0.051,2563,1999,3431
$GC,626,-0.84,-146.6,50.6,-6.7,28,630,0.00,2.55,0.00,0.000,4,0.000,0.061,2563,602,3431
$GC,653,-0.84,-146.6,52.7,-7.0,29,657,0.00,2.50,0.00,0.000,6,0.000,0.051,2563,2007,3431
$GC,971,-0.84,-146.6,67.2,-4.4,44,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2007,3430
$GC,1280,-0.84,-146.6,79.3,-4.0,59,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2007,3431
$GC,1588,-0.84,-146.6,92.3,-3.8,74,1592,0.00,2.50,0.00,0.000,4,0.000,0.063,2563,3410,3431
$GC,1616,-0.84,-146.6,93.5,-3.5,75,1620,0.00,2.50,0.00,0.000,6,0.000,0.050,2563,2002,3430
$GC,1934,-0.84,-146.6,109.8,-5.7,90,1939,0.00,2.53,0.00,0.000,4,0.000,0.064,2563,586,3430
$GC,1985,-0.84,-146.6,112.4,-4.8,92,1989,0.00,2.53,0.00,0.000,6,0.000,0.051,2563,2001,3431
$GC,2302,-0.84,-146.6,127.1,-4.8,107,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2002,3431
$GC,2612,-0.84,-146.6,139.1,-3.4,122,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2002,3431
$GC,2920,-0.84,-146.6,157.1,-5.8,137,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2001,3430
$GC,3230,-0.84,-146.6,177.2,-5.7,152,3234,0.00,2.55,0.00,0.000,4,0.000,0.063,2563,593,3430
$GC,3263,-0.84,-146.6,179.6,-6.6,153,3269,0.00,2.47,0.00,0.000,6,0.000,0.051,2563,1989,3431
$GC,3579,-0.84,-146.6,207.8,-10.9,169,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1995,3430
$GC,3889,-0.84,-146.6,237.4,-7.7,184,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2004,3431
$GC,4197,-0.84,-146.6,255.4,-7.5,199,4201,0.00,2.55,0.00,0.000,4,0.000,0.065,2563,587,3430
$GC,4241,-0.84,-146.6,258.9,-7.7,201,4245,0.00,2.47,0.00,0.000,6,0.000,0.051,2563,1984,3430
$GC,4563,-0.84,-146.6,284.9,-8.0,217,4567,0.00,2.55,0.00,0.000,4,0.000,0.063,2563,3406,3430
$GC,4580,-0.84,-146.6,286.6,-9.0,218,4584,0.00,2.53,0.00,0.000,6,0.000,0.051,2563,1991,3430
$GC,4907,-0.84,-146.6,311.6,-5.8,234,4911,0.00,2.50,0.00,0.000,4,0.000,0.064,2563,588,3430
$GC,4940,-0.84,-146.6,313.5,-5.6,235,4946,0.00,2.50,0.00,0.000,6,0.000,0.051,2563,2004,3430
$GC,5259,-0.84,-146.6,330.9,-5.5,251,5263,0.00,2.50,0.00,0.000,4,0.000,0.063,2563,3409,3430
$GC,5280,-0.84,-146.6,332.7,-6.7,252,5285,0.00,2.53,0.00,0.000,6,0.000,0.051,2563,1992,3430
$GC,5604,-0.84,-146.6,350.1,-5.2,268,5608,0.00,2.50,0.00,0.000,4,0.000,0.064,2563,586,3430
$GC,5637,-0.84,-146.6,352.0,-5.5,269,5643,0.00,2.50,0.00,0.000,6,0.000,0.051,2563,2000,3430
$GC,5953,-0.84,-146.6,366.6,-4.5,285,5957,0.00,2.53,0.00,0.000,4,0.000,0.064,2563,3409,3430
$GC,5971,-0.84,-146.6,367.4,-4.6,286,5975,0.00,2.53,0.00,0.000,6,0.000,0.052,2563,1995,3430
$GC,6299,-0.84,-146.6,382.9,-5.5,302,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1995,3430
$GC,6607,-0.84,-146.6,404.5,-7.2,317,6611,0.00,2.50,0.00,0.000,4,0.000,0.064,2563,594,3430
$GC,6635,-0.84,-146.6,406.3,-6.7,318,6640,0.00,2.47,0.00,0.000,6,0.000,0.051,2563,1993,3430
$GC,6951,-0.84,-146.6,424.8,-5.8,333,6953,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1994,3430
$GC,7260,-0.84,-146.6,442.9,-5.6,348,7265,0.00,2.55,0.00,0.000,4,0.000,0.065,2563,585,3430
$GC,7283,-0.84,-146.6,444.1,-5.5,349,7287,0.00,2.47,0.00,0.000,6,0.000,0.052,2563,1988,3430
$GC,7611,-0.84,-146.6,458.8,-3.0,365,7615,0.00,2.55,0.00,0.000,4,0.000,0.064,2563,3410,3430
$GC,7632,-0.84,-146.6,459.6,-3.4,366,7637,0.00,2.55,0.00,0.000,6,0.000,0.053,2563,1983,3430
$GC,7955,-0.84,-146.6,472.6,-4.6,382,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1981,3430
$GC,8264,-0.84,-146.6,483.7,-4.0,397,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1981,3430
$GC,8573,-0.84,-146.6,496.5,-4.5,412,8577,0.00,2.60,0.00,0.000,4,0.000,0.063,2563,3412,3430
$GC,8618,-0.84,-146.6,498.6,-5.1,414,8622,0.00,2.55,0.00,0.000,6,0.000,0.051,2563,1980,3430
$GC,8939,-0.84,-146.6,511.7,-3.7,430,8944,0.00,2.60,0.00,0.000,4,0.000,0.062,2563,3412,3430
$GC,8961,-0.84,-146.6,512.7,-4.3,431,8966,0.00,2.53,0.00,0.000,6,0.000,0.051,2563,1992,3430
$GC,9284,-0.84,-146.6,522.8,-2.0,447,9288,0.00,2.50,0.00,0.000,4,0.000,0.064,2563,589,3430
$GC,9324,-0.84,-146.6,523.7,-2.8,449,9328,0.00,2.47,0.00,0.000,6,0.000,0.051,2563,1993,3430
$GC,9651,-0.84,-146.6,532.5,-3.5,465,9655,0.00,2.53,0.00,0.000,4,0.000,0.064,2563,3402,3430
$GC,9685,-0.88,-146.6,534.1,-5.2,466,9691,0.00,2.55,0.00,0.000,6,0.000,0.054,2563,1977,3430
$GC,10001,-0.88,-146.6,547.5,-3.9,482,10002,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1976,3430
$GC,10311,-0.88,-146.6,563.6,-5.6,497,10316,0.00,2.60,0.00,0.000,4,0.000,0.063,2563,3411,3430
$GC,10373,-0.88,-146.6,567.5,-6.1,500,10378,0.00,2.53,0.00,0.000,6,0.000,0.052,2563,1991,3430
$GC,10701,-0.88,-146.6,583.6,-4.5,516,10706,0.00,2.58,0.00,0.000,4,0.000,0.061,2563,3408,3430
$GC,10730,-0.88,-146.6,585.6,-6.8,517,10734,0.00,2.53,0.00,0.000,6,0.000,0.051,2563,1990,3430
$GC,11046,-0.88,-146.6,602.2,-5.1,532,11050,0.00,2.50,0.00,0.000,4,0.000,0.064,2563,584,3430
$GC,11074,-0.88,-146.6,603.8,-5.0,533,11078,0.00,2.53,0.00,0.000,6,0.000,0.051,2563,2013,3430
$GC,11396,-0.88,-146.6,619.8,-5.4,549,11400,0.00,2.50,0.00,0.000,4,0.000,0.064,2563,3408,3430
$GC,11425,-0.93,-146.6,621.5,-5.2,550,11430,0.00,2.53,0.00,0.000,6,0.000,0.054,2563,1998,3430
$GC,11741,-0.93,-146.6,642.8,-6.8,565,11745,0.00,2.53,0.00,0.000,4,0.000,0.065,2563,584,3430
$GC,11786,-0.93,-146.6,646.8,-9.5,567,11790,0.00,2.50,0.00,0.000,6,0.000,0.052,2563,2003,3430
$GC,12113,-0.97,-146.6,673.7,-7.0,583,12118,0.15,2.53,0.00,0.000,4,0.053,0.064,2520,3411,3430
$GC,12171,-0.89,-146.6,677.6,-7.1,585,12178,0.15,2.53,0.00,0.000,6,0.088,0.054,2552,1998,3429
$GC,12487,-0.89,-146.6,698.6,-6.4,601,12492,0.00,2.53,0.00,0.000,4,0.000,0.067,2552,587,3429
$GC,12515,-0.89,-146.6,700.6,-6.6,602,12519,0.00,2.50,0.00,0.000,6,0.000,0.052,2552,2001,3429
$GC,12832,-0.89,-146.6,724.6,-9.3,617,12837,0.00,2.55,0.00,0.000,4,0.000,0.066,2552,593,3429
$GC,12865,-0.89,-146.6,727.9,-9.3,618,12869,0.00,2.47,0.00,0.000,6,0.000,0.052,2552,1998,3429
$GC,13186,-0.89,-146.6,755.0,-8.0,634,13187,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2004,3429
$GC,13497,-0.89,-146.6,772.8,-4.0,649,13501,0.00,2.53,0.00,0.000,4,0.000,0.065,2552,3404,3429
$GC,13564,-0.89,-146.6,775.8,-5.1,652,13568,0.00,2.50,0.00,0.000,6,0.000,0.053,2552,2002,3429
$GC,13886,-0.94,-146.6,798.1,-6.6,668,13890,0.00,2.53,0.00,0.000,4,0.000,0.069,2552,590,3429
$GC,14010,-0.99,-146.6,810.0,-9.9,673,14015,0.12,2.50,0.00,0.000,6,0.061,0.055,2516,1997,3429
$GC,14327,-0.91,-146.6,841.5,-10.1,688,14332,0.15,2.58,0.00,0.000,4,0.084,0.074,2548,3405,3429
$GC,14413,-1.00,-146.6,853.2,-10.5,692,14417,0.00,2.55,0.00,0.000,6,0.000,0.065,2548,2010,3429
$GC,14740,-1.05,-146.6,868.8,-10.8,708,14745,0.15,2.62,0.00,0.000,4,0.061,0.081,2508,581,3429
$GC,14797,-0.94,-146.6,872.7,-9.6,710,14804,0.15,2.58,0.00,0.000,6,0.087,0.068,2540,1991,3429
$STATE,15068,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,15068,begin apogee
$GC,15076,-0.33,0.0,884.1,5.5,724,15212,0.62,0.00,132.15,1.473,6,0.081,0.000,2671,2131,2832
$STATE,15213,end apogee,CONTROL_FINISHED_OK
$STATE,15213,begin climb
$GC,15217,0.97,146.6,889.3,0.0,731,15358,1.30,2.72,133.18,1.437,4,0.063,0.082,2955,3537,2233
$GC,15615,0.90,264.4,871.8,2.8,748,15728,0.00,2.65,106.78,1.421,6,0.000,0.072,2955,2115,1754
$GC,16039,0.81,264.4,831.3,9.1,768,16044,0.17,2.72,0.00,0.000,4,0.094,0.083,2921,3535,1755
$GC,16141,0.95,351.8,826.5,3.6,772,16230,0.12,2.67,78.75,1.419,6,0.066,0.074,2951,2117,1397
$GC,16542,0.97,388.7,807.6,5.0,792,16584,0.00,2.78,33.75,1.397,4,0.000,0.087,2951,707,1247
$GC,16601,0.97,388.7,804.1,6.7,794,16607,0.00,2.67,0.00,0.000,6,0.000,0.073,2951,2122,1246
$GC,16916,0.97,388.7,777.8,6.9,810,16921,0.00,2.67,0.00,0.000,4,0.000,0.079,2951,713,1245
$GC,16940,1.11,474.9,776.9,3.6,811,17026,0.15,2.60,77.57,1.408,6,0.060,0.067,2989,2124,895
$GC,17348,1.06,474.9,734.0,9.0,831,17353,0.00,2.65,0.00,0.000,4,0.000,0.074,2989,708,894
$GC,17400,1.01,474.9,728.3,10.8,833,17405,0.12,2.53,0.00,0.000,6,0.095,0.061,2964,2084,894
$GC,17716,1.05,474.9,701.6,8.3,848,17720,0.00,2.60,0.00,0.000,4,0.000,0.074,2964,703,894
$GC,17749,1.09,474.9,698.9,7.8,849,17755,0.00,2.47,0.00,0.000,6,0.000,0.058,2964,2061,894
$GC,18066,1.13,474.9,676.4,6.5,865,18071,0.12,2.53,0.00,0.000,4,0.058,0.071,2999,711,895
$GC,18084,1.13,474.9,675.0,7.0,866,18088,0.00,2.42,0.00,0.000,6,0.000,0.058,2999,2050,895
$GC,18412,1.06,474.9,641.6,11.0,882,18417,0.12,2.50,0.00,0.000,4,0.086,0.069,2974,710,895
$GC,18430,1.01,474.9,639.6,10.9,883,18434,0.00,2.38,0.00,0.000,6,0.000,0.055,2974,2032,895
$GC,18762,1.01,474.9,612.9,8.0,899,18763,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2052,896
$GC,19072,1.01,474.9,587.8,7.8,914,19077,0.00,2.47,0.00,0.000,4,0.000,0.067,2974,702,896
$GC,19106,1.01,474.9,584.5,8.5,915,19112,0.00,2.38,0.00,0.000,6,0.000,0.054,2974,2026,896
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$STATE,25141,end climb,SURFACE_DEPTH_REACHED
$STATE,25142,begin surface coast
$FINISH,0.7,1.025952
$STATE,25163,end surface coast,CONTROL_FINISHED_OK
$STATE,25163,begin surface
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$HUMID,1828
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$XPDR_PINGS,170
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$24V_AH,23.5,75.192
$10V_AH,10.1,37.413
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$DEVICE_SECS,26.975,264.500,579.950,0.000,0.000,37.760,30.136,234.071,49.750,0.000,0.000,35.823,2223.631,19287.639,761.667,2645.112,794.447,0.000,2154.391,0.000,2556.373,0.000,48.615,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63081,1207
$CAP_FILE_SIZE,197623,0
$CFSIZE,254472192,225247232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,62,0,0
$GPS,100209,115914,6145.685,-936.760,53,1.3,54,-9.6