version: 66.04
glider: 5
mission: 5
dive: 454
start: 2 16 109 9 2 24
data:
$ID,5
$MISSION,5
$DIVE,454
$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,-96269.852
$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,23
$R_STBD_OVSHOOT,25
$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
$GPS1,085536,6120.852,-753.499,26,1.7,26,-8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-60.8
$GPS2,090204,6120.833,-753.505,12,2.7,31,-8.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_2
$TGT_LATLONG,6115.000,-752.000
$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,181.5,10886,-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,-146.6,0.0,0.0,0,104,0.00,0.00,-86.57,0.000,2,0.000,0.000,425,1971,3331
$GC,108,-0.97,-146.6,4.7,-4.2,5,130,11.07,2.65,-2.33,0.000,4,0.138,0.074,2527,3398,3431
$GC,252,-0.87,-146.6,26.2,-9.6,11,257,0.12,2.50,0.00,0.000,6,0.096,0.049,2553,1997,3431
$GC,573,-0.87,-146.6,52.9,-8.3,27,578,0.00,2.58,0.00,0.000,4,0.000,0.062,2553,3405,3432
$GC,602,-0.87,-146.6,55.2,-8.0,28,606,0.00,2.50,0.00,0.000,6,0.000,0.048,2553,2003,3431
$GC,920,-0.87,-146.6,82.9,-9.1,43,924,0.00,2.53,0.00,0.000,4,0.000,0.064,2553,592,3431
$GC,947,-0.87,-146.6,85.8,-10.1,44,951,0.00,2.53,0.00,0.000,6,0.000,0.052,2553,2009,3432
$GC,1264,-0.87,-146.6,115.8,-9.4,59,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2010,3431
$GC,1572,-0.87,-146.6,141.9,-7.9,74,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2010,3431
$GC,1881,-0.87,-146.6,165.2,-7.5,89,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2010,3432
$GC,2192,-0.87,-146.6,187.3,-7.3,104,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2010,3432
$GC,2500,-0.87,-146.6,208.6,-6.3,119,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2010,3432
$GC,2809,-0.87,-146.6,227.9,-6.4,134,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2010,3432
$GC,3119,-0.87,-146.6,249.7,-7.7,149,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2010,3432
$GC,3428,-0.87,-146.6,276.6,-8.8,164,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2010,3431
$GC,3738,-0.87,-146.6,301.6,-7.8,179,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2010,3432
$GC,4048,-0.87,-146.6,325.6,-7.6,194,4052,0.00,2.58,0.00,0.000,4,0.000,0.067,2553,595,3432
$GC,4126,-0.87,-146.6,332.0,-8.1,197,4132,0.00,2.53,0.00,0.000,6,0.000,0.054,2553,2015,3432
$GC,4442,-0.87,-146.6,355.0,-7.5,213,4446,0.00,2.60,0.00,0.000,4,0.000,0.067,2553,590,3432
$GC,4487,-0.87,-146.6,358.6,-7.8,215,4491,0.00,2.53,0.00,0.000,6,0.000,0.054,2553,2008,3432
$GC,4809,-0.87,-146.6,382.9,-7.5,231,4813,0.00,2.53,0.00,0.000,4,0.000,0.068,2553,3405,3431
$GC,4830,-0.87,-146.6,384.8,-7.8,232,4835,0.00,2.50,0.00,0.000,6,0.000,0.055,2553,2011,3431
$GC,5153,-0.87,-146.6,409.9,-8.1,248,5157,0.00,2.58,0.00,0.000,4,0.000,0.066,2553,3415,3432
$GC,5174,-0.87,-146.6,411.9,-8.3,249,5179,0.00,2.50,0.00,0.000,6,0.000,0.053,2553,2017,3432
$GC,5495,-0.87,-146.6,436.4,-7.2,265,5499,0.00,2.55,0.00,0.000,4,0.000,0.067,2553,595,3431
$GC,5520,-0.87,-146.6,438.0,-6.7,266,5524,0.00,2.55,0.00,0.000,6,0.000,0.055,2553,2027,3432
$GC,5847,-0.87,-146.6,459.5,-6.3,282,5851,0.00,2.62,0.00,0.000,4,0.000,0.067,2553,586,3431
$GC,5919,-0.87,-146.6,464.6,-7.0,285,5923,0.00,2.53,0.00,0.000,6,0.000,0.054,2553,2005,3432
$GC,6235,-0.87,-146.6,486.8,-7.3,300,6240,0.00,2.55,0.00,0.000,4,0.000,0.069,2553,3413,3432
$GC,6258,-0.87,-146.6,488.6,-7.1,301,6262,0.00,2.55,0.00,0.000,6,0.000,0.056,2553,1996,3431
$GC,6579,-0.87,-146.6,511.6,-7.3,317,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1996,3431
$GC,6889,-0.87,-146.6,534.5,-6.9,332,6893,0.00,2.60,0.00,0.000,4,0.000,0.071,2553,3405,3431
$GC,7000,-0.87,-146.6,542.2,-6.9,337,7005,0.00,2.55,0.00,0.000,6,0.000,0.057,2554,1992,3431
$GC,7322,-0.87,-146.6,562.5,-6.4,353,7326,0.00,2.62,0.00,0.000,4,0.000,0.072,2553,3406,3431
$GC,7395,-0.87,-146.6,567.4,-6.6,356,7399,0.00,2.55,0.00,0.000,6,0.000,0.059,2553,2000,3431
$GC,7712,-0.87,-146.6,586.1,-6.0,371,7716,0.00,2.62,0.00,0.000,4,0.000,0.076,2553,3402,3431
$GC,7729,-0.87,-146.6,587.4,-6.7,372,7733,0.00,2.55,0.00,0.000,6,0.000,0.063,2553,2004,3431
$GC,8056,-0.87,-146.6,608.2,-6.5,388,8061,0.00,2.62,0.00,0.000,4,0.000,0.078,2553,3404,3430
$GC,8083,-0.87,-146.6,610.2,-7.0,389,8088,0.00,2.53,0.00,0.000,6,0.000,0.065,2553,2025,3430
$GC,8400,-0.87,-146.6,631.3,-6.8,404,8404,0.00,2.65,0.00,0.000,4,0.000,0.082,2553,588,3429
$GC,8440,-0.87,-146.6,634.2,-7.1,406,8445,0.00,2.62,0.00,0.000,6,0.000,0.068,2553,2023,3429
$GC,8766,-0.87,-146.6,656.5,-6.9,422,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2023,3427
$GC,9077,-0.87,-146.6,677.8,-7.1,437,9081,0.00,2.60,0.00,0.000,4,0.000,0.086,2553,3410,3426
$GC,9104,-0.87,-146.6,679.9,-7.2,438,9109,0.00,2.58,0.00,0.000,6,0.000,0.072,2553,2027,3426
$GC,9420,-0.87,-146.6,700.9,-6.5,453,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2027,3425
$GC,9730,-0.87,-146.6,720.6,-6.3,468,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2027,3424
$GC,10038,-0.87,-146.6,740.6,-6.4,483,10043,0.00,2.65,0.00,0.000,4,0.000,0.088,2553,3409,3423
$GC,10066,-0.91,-146.6,742.6,-7.3,484,10071,0.00,2.60,0.00,0.000,6,0.000,0.074,2553,2021,3422
$GC,10383,-0.91,-146.6,764.9,-7.2,499,10385,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2021,3422
$GC,10691,-0.91,-146.6,785.2,-6.2,514,10696,0.00,2.65,0.00,0.000,4,0.000,0.091,2553,3407,3420
$GC,10732,-0.96,-146.6,788.0,-7.3,516,10737,0.00,2.58,0.00,0.000,6,0.000,0.077,2553,2032,3421
$STATE,10871,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10871,begin apogee
$GC,10880,-0.33,0.0,797.2,6.5,523,11018,0.57,0.00,134.75,1.464,6,0.091,0.000,2670,2142,2833
$STATE,11018,end apogee,CONTROL_FINISHED_OK
$STATE,11019,begin climb
$GC,11022,0.97,146.6,802.0,0.0,530,11168,1.33,2.78,138.77,1.402,4,0.077,0.089,2948,3525,2234
$GC,11228,0.80,146.6,794.2,7.4,539,11234,0.15,2.67,0.00,0.000,6,0.100,0.077,2921,2123,2233
$GC,11545,0.76,160.9,776.2,5.6,554,11565,0.00,0.00,14.50,1.292,6,0.000,0.000,2921,2123,2176
$GC,11877,0.73,175.9,757.6,5.6,570,11895,0.00,0.00,15.05,1.318,6,0.000,0.000,2921,2123,2115
$GC,12206,0.69,175.9,736.1,6.7,586,12207,0.12,0.00,0.00,0.000,6,0.106,0.000,2897,2123,2115
$GC,12514,0.69,175.9,717.6,6.2,601,12515,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2123,2115
$GC,12826,0.71,190.1,698.9,5.6,616,12848,0.00,2.78,14.43,1.333,4,0.000,0.087,2897,3521,2057
$GC,12872,0.71,191.9,696.1,6.0,618,12877,0.00,2.67,0.00,0.000,6,0.000,0.075,2897,2118,2057
$GC,13200,0.79,214.7,679.0,5.4,634,13226,0.00,0.00,24.05,1.373,6,0.000,0.000,2897,2118,1956
$GC,13532,0.93,260.0,662.7,4.8,650,13577,0.22,0.00,42.17,1.381,6,0.062,0.000,2949,2118,1772
$GC,13881,0.89,260.0,636.5,7.7,667,13885,0.00,2.67,0.00,0.000,4,0.000,0.090,2949,709,1772
$GC,13915,0.82,260.0,633.8,8.0,668,13922,0.15,2.67,0.00,0.000,6,0.098,0.075,2921,2128,1772
$GC,14231,0.82,260.0,614.7,6.5,684,14235,0.00,2.70,0.00,0.000,4,0.000,0.090,2921,3539,1772
$GC,14253,0.82,260.0,613.1,7.0,685,14257,0.00,2.65,0.00,0.000,6,0.000,0.077,2921,2143,1772
$GC,14575,0.82,260.0,592.2,6.6,701,14579,0.00,2.70,0.00,0.000,4,0.000,0.089,2921,712,1772
$GC,14604,0.82,260.0,590.1,6.5,702,14608,0.00,2.67,0.00,0.000,6,0.000,0.073,2921,2141,1772
$GC,14921,0.86,260.0,569.7,6.3,717,14922,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2142,1772
$GC,15229,0.88,273.3,552.1,5.6,732,15248,0.00,0.00,13.75,1.262,6,0.000,0.000,2921,2142,1716
$GC,15559,0.96,287.9,533.1,5.6,748,15581,0.12,2.80,14.10,1.247,4,0.068,0.084,2952,713,1658
$GC,15606,0.91,287.9,529.7,7.6,750,15610,0.00,2.70,0.00,0.000,6,0.000,0.071,2952,2143,1658
$GC,15933,0.91,287.9,504.1,8.1,766,15937,0.00,2.62,0.00,0.000,4,0.000,0.083,2952,3535,1658
$GC,15977,0.91,287.9,500.2,8.0,768,15981,0.00,2.60,0.00,0.000,6,0.000,0.069,2952,2146,1658
$GC,16299,0.91,287.9,474.7,7.9,784,16303,0.00,2.67,0.00,0.000,4,0.000,0.079,2952,702,1658
$GC,16349,0.86,287.9,470.5,9.1,786,16353,0.00,2.67,0.00,0.000,6,0.000,0.065,2952,2151,1658
$GC,16665,0.86,287.9,446.9,7.6,801,16666,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2152,1659
$GC,16975,0.86,287.9,423.9,7.7,816,16980,0.00,2.67,0.00,0.000,4,0.000,0.072,2952,707,1659
$GC,17015,0.86,287.9,420.5,8.1,818,17020,0.00,2.60,0.00,0.000,6,0.000,0.061,2952,2143,1659
$GC,17342,0.86,287.9,396.5,7.1,834,17343,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2143,1660
$GC,17652,0.86,287.9,373.5,7.5,849,17656,0.00,2.65,0.00,0.000,4,0.000,0.070,2952,707,1660
$GC,17679,0.86,287.9,371.3,7.9,850,17684,0.00,2.58,0.00,0.000,6,0.000,0.058,2952,2131,1661
$GC,17995,0.86,287.9,347.0,7.9,865,17996,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2132,1661
$GC,18305,0.86,287.9,323.1,7.7,880,18306,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2132,1662
$GC,18613,0.86,287.9,300.4,6.8,895,18618,0.00,2.62,0.00,0.000,4,0.000,0.069,2952,706,1663
$GC,18641,0.86,287.9,298.3,8.0,896,18645,0.00,2.55,0.00,0.000,6,0.000,0.057,2952,2123,1663
$GC,18958,0.86,287.9,277.6,6.3,911,18959,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2124,1664
$GC,19266,0.86,287.9,255.6,7.5,926,19271,0.00,2.58,0.00,0.000,4,0.000,0.067,2952,3541,1664
$GC,19288,0.86,287.9,253.8,8.3,927,19293,0.00,2.58,0.00,0.000,6,0.000,0.054,2952,2110,1664
$GC,19610,0.86,287.9,229.2,7.3,943,19611,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2109,1664
$GC,19918,0.86,287.9,206.1,7.6,958,19919,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2109,1665
$GC,20228,0.86,287.9,182.3,7.9,973,20232,0.00,2.50,0.00,0.000,4,0.000,0.066,2952,712,1665
$GC,20256,0.86,287.9,179.7,8.3,974,20261,0.00,2.50,0.00,0.000,6,0.000,0.054,2952,2110,1665
$GC,20577,0.86,287.9,154.2,7.7,990,20578,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2110,1666
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$GC,21874,0.86,287.9,51.8,9.1,1052,21879,0.00,2.55,0.00,0.000,6,0.000,0.051,2952,2109,1658
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$STATE,22497,end climb,SURFACE_DEPTH_REACHED
$STATE,22497,begin surface coast
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1819
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$XPDR_PINGS,59
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$24V_AH,23.3,80.537
$10V_AH,10.1,39.825
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$DEVICE_SECS,24.925,177.125,415.275,0.000,0.000,37.786,28.125,158.741,21.250,0.000,0.000,32.047,1943.122,17674.721,574.002,2173.062,640.804,0.000,1671.349,0.000,2110.892,0.000,43.783,0.000
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$SENSOR_SECS,805.295,733.116,610.132,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53616,1085
$CAP_FILE_SIZE,154949,0
$CFSIZE,254472192,223461376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,54,0,0
$GPS,160209,152036,6118.020,-752.489,31,1.0,31,-8.5