version: 66.04
glider: 5
mission: 5
dive: 129
start: 11 29 108 2 31 7
data:
$ID,5
$MISSION,5
$DIVE,129
$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,1
$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,-89768.703
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,17
$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,20
$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,0
$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
$GPS1,022315,6127.624,-249.125,41,2.7,60,-5.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-52.6
$GPS2,023015,6127.569,-249.115,10,1.0,10,-5.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.221,-0.004
$KALMAN_X,79212.8,199.3,-953.1,81732.9,6558.8
$KALMAN_Y,-24587.7,-19.3,744.9,-221914.7,155.0
$MHEAD_RNG_PITCHd_Wd,274.8,46791,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.97,-146.6,0.0,0.0,0,121,0.00,0.00,-101.28,0.000,2,0.000,0.000,421,2011,3371
$GC,125,-0.97,-146.6,3.6,-3.1,5,147,10.57,2.58,-1.45,0.000,4,0.133,0.067,2482,3418,3432
$GC,333,-0.77,-146.6,36.7,-9.3,14,338,0.25,2.55,0.00,0.000,6,0.089,0.049,2535,1989,3432
$GC,656,-0.66,-146.6,59.7,-7.7,30,657,0.10,0.00,0.00,0.000,6,0.095,0.000,2555,1988,3432
$GC,964,-0.66,-146.6,87.7,-10.1,45,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1983,3432
$GC,1274,-0.66,-146.6,118.6,-8.0,60,1278,0.00,2.58,0.00,0.000,4,0.000,0.059,2555,3415,3432
$GC,1323,-0.66,-146.6,122.2,-7.3,62,1328,0.00,2.50,0.00,0.000,6,0.000,0.049,2556,2009,3432
$GC,1640,-0.66,-146.6,145.2,-7.7,77,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2008,3432
$GC,1949,-0.66,-146.6,168.7,-7.2,92,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2008,3432
$GC,2257,-0.66,-146.6,190.2,-6.9,107,2262,0.00,2.55,0.00,0.000,4,0.000,0.059,2556,3417,3432
$GC,2291,-0.66,-146.6,192.7,-7.7,108,2297,0.00,2.53,0.00,0.000,6,0.000,0.048,2556,1993,3432
$GC,2607,-0.66,-146.6,214.9,-7.3,124,2611,0.00,2.58,0.00,0.000,4,0.000,0.059,2556,3418,3432
$GC,2640,-0.66,-146.6,217.3,-7.0,125,2646,0.00,2.50,0.00,0.000,6,0.000,0.048,2555,2004,3432
$GC,2956,-0.66,-146.6,237.8,-6.5,141,2960,0.00,2.55,0.00,0.000,4,0.000,0.060,2556,3413,3431
$GC,3000,-0.66,-146.6,241.0,-7.0,143,3004,0.00,2.47,0.00,0.000,6,0.000,0.049,2556,2018,3432
$GC,3321,-0.66,-146.6,263.0,-7.2,159,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2015,3432
$GC,3630,-0.66,-146.6,284.1,-6.6,174,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2015,3432
$GC,3939,-0.66,-146.6,303.7,-6.1,189,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2015,3432
$GC,4248,-0.66,-146.6,322.1,-6.1,204,4252,0.00,2.53,0.00,0.000,4,0.000,0.061,2556,3415,3432
$GC,4275,-0.66,-146.6,324.0,-6.5,205,4279,0.00,2.47,0.00,0.000,6,0.000,0.051,2556,2024,3432
$GC,4597,-0.66,-146.6,342.0,-5.4,221,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2022,3432
$GC,4905,-0.66,-146.6,360.2,-6.3,236,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2022,3432
$GC,5215,-0.66,-146.6,380.7,-6.8,251,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2023,3432
$GC,5524,-0.66,-146.6,401.4,-6.4,266,5529,0.00,2.53,0.00,0.000,4,0.000,0.063,2556,3423,3432
$GC,5580,-0.66,-146.6,405.2,-6.9,268,5586,0.00,2.47,0.00,0.000,6,0.000,0.052,2555,2031,3432
$GC,5898,-0.66,-146.6,425.6,-6.6,284,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2030,3432
$GC,6205,-0.66,-146.6,447.9,-7.5,299,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2030,3432
$GC,6514,-0.66,-146.6,471.7,-7.4,314,6518,0.00,2.53,0.00,0.000,4,0.000,0.063,2556,3419,3432
$GC,6547,-0.66,-146.6,474.2,-7.5,315,6553,0.00,2.47,0.00,0.000,6,0.000,0.054,2556,2033,3432
$GC,6863,-0.66,-146.6,496.0,-7.0,331,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2033,3432
$GC,7172,-0.66,-146.6,515.7,-6.3,346,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2033,3432
$GC,7481,-0.66,-146.6,534.6,-6.2,361,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2033,3432
$GC,7791,-0.66,-146.6,556.0,-8.2,376,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2033,3431
$GC,8100,-0.66,-146.6,579.9,-7.6,391,8101,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2033,3431
$GC,8409,-0.66,-146.6,601.6,-6.8,406,8413,0.00,2.53,0.00,0.000,4,0.000,0.068,2555,3413,3431
$GC,8449,-0.72,-146.6,604.4,-7.0,408,8453,0.00,2.47,0.00,0.000,6,0.000,0.058,2555,2040,3431
$GC,8776,-0.72,-146.6,624.6,-5.9,424,8780,0.00,2.62,0.00,0.000,4,0.000,0.074,2555,594,3430
$GC,8838,-0.78,-146.6,628.5,-7.1,427,8844,0.12,2.58,0.00,0.000,6,0.061,0.059,2521,2045,3430
$GC,9169,-0.72,-146.6,651.2,-7.1,443,9171,0.08,0.00,0.00,0.000,6,0.105,0.000,2539,2045,3429
$GC,9474,-0.72,-146.6,672.2,-6.4,458,9479,0.00,2.50,0.00,0.000,4,0.000,0.077,2539,3406,3429
$GC,9520,-0.72,-146.6,675.4,-7.5,460,9524,0.00,2.50,0.00,0.000,6,0.000,0.067,2539,2046,3429
$GC,9841,-0.72,-146.6,696.7,-6.8,476,9842,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2045,3428
$GC,10150,-0.72,-146.6,718.8,-7.4,491,10154,0.00,2.58,0.00,0.000,4,0.000,0.082,2539,3411,3426
$GC,10199,-0.72,-146.6,722.9,-7.8,493,10204,0.00,2.53,0.00,0.000,6,0.000,0.072,2539,2047,3425
$GC,10515,-0.72,-146.6,746.7,-7.6,508,10516,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2048,3424
$GC,10824,-0.72,-146.6,769.6,-7.1,523,10829,0.00,2.72,0.00,0.000,4,0.000,0.090,2538,586,3423
$GC,10880,-0.72,-146.6,773.9,-7.8,525,10887,0.00,2.67,0.00,0.000,6,0.000,0.075,2539,2043,3423
$GC,11196,-0.72,-146.6,796.8,-7.4,541,11197,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2043,3422
$GC,11505,-0.72,-146.6,819.7,-7.6,556,11506,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2043,3420
$GC,11815,-0.72,-146.6,843.6,-7.7,571,11816,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2043,3419
$GC,12124,-0.72,-146.6,867.6,-7.8,586,12125,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2043,3419
$GC,12433,-0.72,-146.6,891.9,-8.0,601,12438,0.00,2.78,0.00,0.000,4,0.000,0.094,2538,593,3417
$GC,12477,-0.72,-146.6,895.7,-9.4,603,12482,0.00,2.67,0.00,0.000,6,0.000,0.075,2539,2036,3417
$GC,12798,-0.72,-146.6,921.2,-7.5,619,12800,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2036,3416
$GC,13107,-0.72,-146.6,943.9,-7.3,634,13108,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2036,3414
$GC,13417,-0.72,-146.6,965.5,-6.8,649,13418,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2036,3413
$GC,13726,-0.72,-146.6,986.6,-7.0,664,13730,0.00,2.78,0.00,0.000,4,0.000,0.095,2538,590,3413
$GC,13758,-0.72,-146.6,988.9,-7.3,665,13765,0.00,2.70,0.00,0.000,6,0.000,0.078,2538,2040,3412
$STATE,13783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13783,begin apogee
$GC,13790,-0.33,0.0,990.6,6.9,667,13918,0.43,0.00,124.53,1.639,6,0.092,0.000,2626,2255,2832
$STATE,13918,end apogee,CONTROL_FINISHED_OK
$STATE,13918,begin climb
$GC,13921,0.97,146.6,995.1,0.0,673,14052,1.35,0.00,127.20,1.593,6,0.081,0.000,2908,2255,2234
$GC,14360,0.98,158.0,974.1,5.7,695,14381,0.00,2.80,11.45,1.405,4,0.000,0.092,2908,3654,2187
$GC,14490,0.92,158.0,966.2,6.4,700,14497,0.00,2.88,0.00,0.000,6,0.000,0.081,2908,2149,2186
$GC,14807,0.91,180.4,949.0,5.4,716,14832,0.00,2.55,20.35,1.511,4,0.000,0.091,2908,846,2096
$GC,14861,0.86,180.4,945.8,6.4,718,14867,0.00,2.50,0.00,0.000,6,0.000,0.076,2908,2155,2096
$GC,15177,0.91,213.1,928.8,5.1,734,15209,0.00,0.00,29.65,1.547,6,0.000,0.000,2908,2154,1963
$GC,15507,0.94,228.6,911.2,5.6,750,15526,0.00,0.00,15.25,1.478,6,0.000,0.000,2908,2154,1899
$GC,15836,0.94,228.6,891.4,6.2,766,15840,0.00,2.53,0.00,0.000,4,0.000,0.092,2908,848,1899
$GC,15891,0.94,228.6,887.7,7.1,768,15897,0.00,2.45,0.00,0.000,6,0.000,0.075,2908,2145,1900
$GC,16207,0.94,228.6,868.3,6.1,784,16208,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2145,1899
$GC,16516,0.96,242.8,849.9,5.6,799,16538,0.00,2.62,13.57,1.463,4,0.000,0.094,2908,848,1842
$GC,16561,0.96,242.8,847.3,6.3,801,16566,0.00,2.47,0.00,0.000,6,0.000,0.076,2909,2144,1841
$GC,16889,0.96,246.8,828.5,5.9,817,16896,0.00,0.00,5.40,1.189,6,0.000,0.000,2909,2145,1826
$GC,17198,0.98,256.4,810.9,5.7,832,17213,0.00,2.58,10.45,1.397,4,0.000,0.092,2908,848,1786
$GC,17241,0.98,256.4,808.2,6.6,833,17246,0.00,2.45,0.00,0.000,6,0.000,0.076,2908,2135,1785
$GC,17563,0.98,257.3,789.0,6.0,849,17564,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2135,1785
$GC,17872,0.98,257.3,769.3,6.3,864,17873,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2135,1785
$GC,18182,1.03,257.3,749.7,6.4,879,18186,0.00,2.50,0.00,0.000,4,0.000,0.092,2908,845,1786
$GC,18215,1.03,257.3,747.2,7.2,880,18219,0.00,2.42,0.00,0.000,6,0.000,0.075,2908,2135,1785
$GC,18531,1.07,257.3,726.9,6.2,895,18533,0.10,0.00,0.00,0.000,6,0.071,0.000,2936,2135,1786
$GC,18841,1.02,257.3,704.2,7.4,910,18844,0.00,2.50,0.00,0.000,4,0.000,0.091,2936,843,1785
$GC,18897,0.95,257.3,699.6,8.2,912,18902,0.15,2.42,0.00,0.000,6,0.101,0.074,2907,2135,1785
$GC,19213,1.00,257.3,677.7,7.5,927,19214,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2136,1785
$GC,19522,1.06,257.3,654.3,7.8,942,19527,0.10,2.47,0.00,0.000,4,0.074,0.087,2933,845,1785
$GC,19569,1.01,257.3,650.0,9.3,944,19573,0.00,2.40,0.00,0.000,6,0.000,0.073,2933,2131,1785
$GC,19896,1.01,257.3,621.4,8.7,960,19900,0.00,2.45,0.00,0.000,4,0.000,0.087,2933,847,1785
$GC,19982,0.96,257.3,614.7,7.3,964,19987,0.12,2.33,0.00,0.000,6,0.104,0.071,2908,2100,1785
$GC,20309,1.03,261.1,594.4,5.9,980,20319,0.00,2.42,5.62,1.095,4,0.000,0.083,2908,846,1767
$GC,20354,1.10,277.8,591.7,5.5,982,20375,0.12,2.33,15.50,1.304,6,0.068,0.068,2940,2097,1699
$GC,20699,1.10,277.8,567.6,7.7,999,20703,0.00,2.40,0.00,0.000,4,0.000,0.084,2940,839,1699
$GC,20754,1.10,277.8,562.8,7.5,1001,20760,0.00,2.30,0.00,0.000,6,0.000,0.067,2940,2079,1699
$GC,21070,1.10,277.8,537.3,8.2,1017,21074,0.00,2.33,0.00,0.000,4,0.000,0.079,2940,843,1699
$GC,21102,1.10,277.8,534.5,7.6,1018,21107,0.00,2.28,0.00,0.000,6,0.000,0.064,2940,2078,1699
$GC,21418,1.10,277.8,509.4,7.9,1033,21422,0.00,2.33,0.00,0.000,4,0.000,0.076,2940,841,1699
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$STATE,27879,end climb,SURFACE_DEPTH_REACHED
$STATE,27879,begin surface coast
$FINISH,0.4,1.014690
$STATE,27922,end surface coast,CONTROL_FINISHED_OK
$STATE,27922,begin surface
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$HUMID,1761
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$24V_AH,23.6,22.996
$10V_AH,10.1,10.470
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$DEVICE_SECS,25.150,191.025,466.775,0.000,0.000,37.760,36.510,207.156,135.500,0.000,0.000,10.767,2390.377,21974.867,672.647,2657.852,713.110,33.373,2002.470,0.000,2611.602,0.000,58.406,0.000
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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,69445,1344
$CAP_FILE_SIZE,189108,0
$CFSIZE,254472192,245051392
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$GPS,291108,101908,6127.154,-257.148,39,1.7,39,-6.0