version: 66.04
glider: 5
mission: 5
dive: 436
start: 2 13 109 14 38 3
data:
$ID,5
$MISSION,5
$DIVE,436
$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,-95931.086
$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,35
$R_STBD_OVSHOOT,23
$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
$GPS1,142624,6139.752,-846.305,41,0.9,41,-9.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-56.9
$GPS2,143744,6139.602,-846.286,10,1.5,10,-9.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_3
$TGT_LATLONG,6130.000,-828.000
$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,146.9,24028,-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,-80.50,0.000,2,0.000,0.000,421,1988,3175
$GC,102,-0.97,-146.6,4.2,-4.3,4,126,11.07,2.65,-6.47,0.000,4,0.137,0.073,2529,3414,3432
$GC,210,-0.87,-146.6,23.2,-13.9,8,218,0.12,2.53,0.00,0.000,6,0.091,0.049,2555,2002,3432
$GC,528,-0.87,-146.6,49.4,-7.0,24,532,0.00,2.58,0.00,0.000,4,0.000,0.061,2555,3412,3432
$GC,555,-0.87,-146.6,51.2,-6.5,25,559,0.00,2.50,0.00,0.000,6,0.000,0.049,2555,2014,3432
$GC,872,-0.87,-146.6,77.1,-11.5,40,877,0.00,2.53,0.00,0.000,4,0.000,0.061,2555,594,3432
$GC,928,-0.87,-146.6,83.2,-10.2,42,935,0.00,2.53,0.00,0.000,6,0.000,0.052,2555,2011,3432
$GC,1245,-0.87,-146.6,111.4,-9.9,58,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2012,3432
$GC,1554,-0.87,-146.6,131.6,-5.6,73,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2012,3432
$GC,1863,-0.87,-146.6,154.5,-7.4,88,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2012,3432
$GC,2173,-0.87,-146.6,176.8,-8.0,103,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2012,3432
$GC,2481,-0.87,-146.6,198.6,-6.5,118,2485,0.00,2.58,0.00,0.000,4,0.000,0.065,2555,595,3432
$GC,2530,-0.87,-146.6,202.6,-7.8,120,2535,0.00,2.53,0.00,0.000,6,0.000,0.053,2555,2014,3432
$GC,2847,-0.87,-146.6,227.5,-7.7,135,2851,0.00,2.50,0.00,0.000,4,0.000,0.064,2555,3406,3432
$GC,2880,-0.87,-146.6,230.1,-7.8,136,2886,0.00,2.50,0.00,0.000,6,0.000,0.051,2555,2006,3432
$GC,3195,-0.87,-146.6,253.8,-6.5,152,3200,0.00,2.53,0.00,0.000,4,0.000,0.064,2555,591,3432
$GC,3224,-0.87,-146.6,255.5,-6.0,153,3228,0.00,2.53,0.00,0.000,6,0.000,0.052,2555,2015,3432
$GC,3540,-0.87,-146.6,276.7,-6.8,168,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2015,3432
$GC,3849,-0.87,-146.6,298.2,-7.2,183,3853,0.00,2.60,0.00,0.000,4,0.000,0.065,2555,586,3432
$GC,3882,-0.87,-146.6,300.7,-7.3,184,3888,0.00,2.53,0.00,0.000,6,0.000,0.053,2554,2008,3432
$GC,4197,-0.87,-146.6,323.3,-7.3,200,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2008,3432
$GC,4507,-0.87,-146.6,344.8,-6.7,215,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2009,3432
$GC,4817,-0.87,-146.6,367.2,-7.7,230,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2009,3432
$GC,5125,-0.87,-146.6,391.6,-7.9,245,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2008,3432
$GC,5435,-0.87,-146.6,415.7,-7.7,260,5439,0.00,2.58,0.00,0.000,4,0.000,0.067,2555,596,3432
$GC,5475,-0.87,-146.6,419.2,-9.1,262,5479,0.00,2.47,0.00,0.000,6,0.000,0.053,2555,1992,3432
$GC,5802,-0.87,-146.6,444.9,-7.1,278,5806,0.00,2.55,0.00,0.000,4,0.000,0.065,2555,590,3432
$GC,5851,-0.87,-146.6,448.5,-7.5,280,5856,0.00,2.47,0.00,0.000,6,0.000,0.052,2555,1985,3432
$GC,6168,-0.87,-146.6,471.3,-7.6,295,6173,0.00,2.58,0.00,0.000,4,0.000,0.066,2555,3415,3432
$GC,6253,-0.87,-146.6,477.8,-7.1,299,6257,0.00,2.55,0.00,0.000,6,0.000,0.054,2555,1992,3432
$GC,6580,-0.87,-146.6,502.5,-7.3,315,6584,0.00,2.50,0.00,0.000,4,0.000,0.063,2555,584,3432
$GC,6624,-0.87,-146.6,505.9,-8.2,317,6628,0.00,2.47,0.00,0.000,6,0.000,0.052,2555,1980,3432
$GC,6945,-0.87,-146.6,529.9,-7.6,333,6949,0.00,2.55,0.00,0.000,4,0.000,0.064,2555,3406,3432
$GC,7001,-0.87,-146.6,534.8,-9.3,335,7007,0.00,2.58,0.00,0.000,6,0.000,0.054,2555,1966,3432
$GC,7317,-0.87,-146.6,562.8,-8.9,351,7322,0.00,2.45,0.00,0.000,4,0.000,0.064,2555,589,3432
$GC,7362,-0.87,-146.6,566.9,-9.0,353,7366,0.00,2.45,0.00,0.000,6,0.000,0.053,2555,1970,3432
$GC,7687,-0.87,-146.6,586.1,-4.9,369,7691,0.00,2.53,0.00,0.000,4,0.000,0.067,2555,584,3432
$GC,7767,-0.87,-146.6,590.4,-5.1,372,7773,0.00,2.42,0.00,0.000,6,0.000,0.054,2555,1948,3432
$GC,8083,-0.87,-146.6,600.8,-2.9,388,8087,0.00,2.50,0.00,0.000,4,0.000,0.066,2555,584,3432
$GC,8156,-0.87,-146.6,603.5,-5.2,391,8161,0.00,2.35,0.00,0.000,6,0.000,0.054,2554,1905,3431
$GC,8473,-0.87,-146.6,627.5,-9.3,406,8477,0.00,2.42,0.00,0.000,4,0.000,0.067,2555,589,3431
$GC,8559,-0.87,-146.6,635.6,-10.1,410,8563,0.00,2.28,0.00,0.000,6,0.000,0.056,2555,1866,3431
$GC,8886,-0.87,-146.6,660.5,-6.0,426,8891,0.00,2.78,0.00,0.000,4,0.000,0.072,2555,3401,3431
$GC,8928,-0.92,-146.6,662.7,-5.8,428,8932,0.00,2.78,0.00,0.000,6,0.000,0.063,2555,1879,3430
$GC,9255,-0.92,-146.6,686.5,-8.3,444,9260,0.00,2.83,0.00,0.000,4,0.000,0.074,2555,3400,3430
$GC,9274,-0.92,-146.6,687.9,-7.7,445,9279,0.00,2.78,0.00,0.000,6,0.000,0.067,2554,1888,3430
$GC,9602,-0.92,-146.6,706.6,-4.3,461,9607,0.00,2.83,0.00,0.000,4,0.000,0.074,2555,3403,3429
$GC,9659,-0.99,-146.6,709.9,-6.0,463,9665,0.12,2.75,0.00,0.000,6,0.066,0.064,2523,1901,3429
$GC,9975,-0.94,-146.6,730.0,-6.3,479,9979,0.00,2.83,0.00,0.000,4,0.000,0.078,2523,3407,3428
$GC,9998,-0.90,-146.6,731.5,-6.2,480,10003,0.12,2.75,0.00,0.000,6,0.101,0.067,2549,1910,3428
$GC,10320,-0.90,-146.6,752.4,-7.7,496,10324,0.00,2.80,0.00,0.000,4,0.000,0.079,2549,3402,3427
$GC,10360,-0.90,-146.6,755.8,-9.1,498,10365,0.00,2.72,0.00,0.000,6,0.000,0.068,2549,1924,3427
$GC,10688,-0.90,-146.6,780.9,-8.2,514,10692,0.00,2.80,0.00,0.000,4,0.000,0.084,2549,3401,3425
$GC,10709,-0.90,-146.6,783.0,-8.6,515,10714,0.00,2.72,0.00,0.000,6,0.000,0.072,2549,1936,3425
$GC,11031,-0.90,-146.6,808.5,-7.1,531,11035,0.00,2.78,0.00,0.000,4,0.000,0.084,2549,3398,3424
$GC,11065,-0.90,-146.6,811.7,-9.6,532,11071,0.00,2.65,0.00,0.000,6,0.000,0.072,2549,1972,3424
$GC,11380,-0.90,-146.6,835.9,-6.2,548,11382,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1972,3424
$GC,11690,-0.90,-146.6,859.6,-7.0,563,11694,0.00,2.72,0.00,0.000,4,0.000,0.087,2549,3399,3422
$GC,11718,-0.90,-146.6,861.7,-6.9,564,11722,0.00,2.70,0.00,0.000,6,0.000,0.074,2549,1955,3422
$STATE,11744,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11744,begin apogee
$GC,11751,-0.33,0.0,863.8,7.6,565,11893,0.60,0.00,138.80,1.499,6,0.091,0.000,2671,2126,2832
$STATE,11894,end apogee,CONTROL_FINISHED_OK
$STATE,11894,begin climb
$GC,11897,0.97,146.6,868.4,0.0,572,12044,1.33,2.80,138.43,1.449,4,0.071,0.085,2953,3529,2234
$GC,12094,0.79,146.6,861.3,7.0,581,12099,0.20,2.67,0.00,0.000,6,0.102,0.074,2916,2117,2234
$GC,12425,0.76,163.4,845.0,5.5,597,12444,0.00,0.00,16.95,1.346,6,0.000,0.000,2916,2099,2165
$GC,12750,0.76,163.4,822.0,7.2,613,12751,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2106,2164
$GC,13060,0.71,163.4,800.4,6.9,628,13061,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2106,2164
$GC,13370,0.71,163.4,776.7,8.8,643,13374,0.00,2.72,0.00,0.000,4,0.000,0.087,2916,3532,2164
$GC,13420,0.66,163.4,772.4,9.3,645,13425,0.15,2.67,0.00,0.000,6,0.102,0.077,2886,2121,2163
$GC,13736,0.75,185.3,755.4,5.4,660,13760,0.10,0.00,21.23,1.411,6,0.074,0.000,2910,2120,2077
$GC,14066,0.75,185.3,734.2,7.0,676,14071,0.00,2.65,0.00,0.000,4,0.000,0.088,2910,713,2076
$GC,14093,0.75,185.3,731.9,7.9,677,14098,0.00,2.65,0.00,0.000,6,0.000,0.074,2910,2125,2076
$GC,14409,0.75,185.3,703.1,9.8,692,14413,0.00,2.67,0.00,0.000,4,0.000,0.088,2910,3533,2075
$GC,14438,0.80,185.3,700.0,11.4,693,14442,0.00,2.67,0.00,0.000,6,0.000,0.074,2910,2113,2075
$GC,14753,0.80,185.3,670.8,8.6,708,14758,0.00,2.72,0.00,0.000,4,0.000,0.086,2910,3533,2075
$GC,14799,0.80,185.3,666.8,9.6,710,14803,0.00,2.62,0.00,0.000,6,0.000,0.072,2910,2133,2075
$GC,15121,0.95,281.1,651.6,3.4,726,15215,0.17,2.75,86.57,1.401,4,0.063,0.082,2954,703,1686
$GC,15290,0.90,299.9,643.9,5.5,734,15314,0.00,2.65,18.40,1.301,6,0.000,0.069,2953,2123,1609
$GC,15646,0.86,299.9,623.2,7.1,751,15651,0.12,2.65,0.00,0.000,4,0.097,0.078,2930,3535,1608
$GC,15668,0.86,299.9,621.1,8.7,752,15672,0.00,2.65,0.00,0.000,6,0.000,0.068,2930,2113,1609
$GC,15990,0.86,299.9,596.9,8.1,768,15994,0.00,2.60,0.00,0.000,4,0.000,0.076,2930,703,1609
$GC,16045,0.86,299.9,591.8,8.4,770,16050,0.00,2.58,0.00,0.000,6,0.000,0.063,2931,2106,1609
$GC,16361,0.86,299.9,567.9,7.3,785,16366,0.00,2.60,0.00,0.000,4,0.000,0.074,2930,707,1610
$GC,16390,0.86,299.9,566.1,7.0,786,16394,0.00,2.53,0.00,0.000,6,0.000,0.060,2930,2095,1610
$GC,16707,0.90,299.9,546.9,6.2,801,16708,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2096,1611
$GC,17016,0.95,299.9,524.8,7.9,816,17020,0.00,2.58,0.00,0.000,4,0.000,0.070,2930,703,1612
$GC,17044,0.99,299.9,522.5,9.1,817,17049,0.12,2.50,0.00,0.000,6,0.057,0.057,2966,2086,1612
$GC,17360,0.93,299.9,491.9,9.5,832,17365,0.00,2.62,0.00,0.000,4,0.000,0.067,2966,3531,1612
$GC,17383,0.89,299.9,489.7,10.3,833,17388,0.15,2.65,0.00,0.000,6,0.086,0.058,2935,2069,1613
$GC,17705,0.89,299.9,465.3,7.2,849,17706,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2068,1613
$GC,18013,0.89,299.9,442.5,7.4,864,18014,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2068,1613
$GC,18323,0.89,299.9,419.2,7.5,879,18328,0.00,2.67,0.00,0.000,4,0.000,0.064,2935,3529,1614
$GC,18345,0.94,299.9,417.3,8.2,880,18350,0.00,2.60,0.00,0.000,6,0.000,0.053,2935,2080,1615
$GC,18667,0.98,299.9,394.1,6.9,896,18669,0.10,0.00,0.00,0.000,6,0.061,0.000,2966,2081,1616
$GC,18977,0.94,299.9,369.4,8.1,911,18978,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2081,1616
$GC,19285,0.89,299.9,343.1,8.8,926,19291,0.12,2.67,0.00,0.000,4,0.083,0.061,2940,3535,1617
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$STATE,23455,end climb,SURFACE_DEPTH_REACHED
$STATE,23455,begin surface coast
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$STATE,23477,end surface coast,CONTROL_FINISHED_OK
$STATE,23477,begin surface
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$HUMID,1812
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$XPDR_PINGS,77
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$24V_AH,23.3,78.009
$10V_AH,10.1,38.686
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$DEVICE_SECS,26.150,229.350,470.675,0.000,0.000,75.525,63.637,323.978,26.500,0.000,0.000,10.747,2070.530,18250.283,639.239,2345.251,925.279,0.000,1855.229,0.000,2291.894,0.000,48.540,0.000
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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,56877,1129
$CAP_FILE_SIZE,180558,0
$CFSIZE,254472192,224305152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,70,0,0
$GPS,130209,211200,6133.151,-844.989,37,1.2,38,-9.1