version: 66.04
glider: 5
mission: 5
dive: 130
start: 11 29 108 10 26 37
data:
$ID,5
$MISSION,5
$DIVE,130
$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,-89781.844
$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,22
$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
$GPS1,101908,6127.154,-257.148,39,1.7,39,-6.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-62.1
$GPS2,102545,6127.158,-257.106,12,1.2,12,-6.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.220,-0.022
$KALMAN_X,80371.7,-1352.6,-7.8,74637.5,5620.6
$KALMAN_Y,-24092.4,11.8,-413.0,-222028.7,801.4
$MHEAD_RNG_PITCHd_Wd,270.2,39746,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.53,0.000,2,0.000,0.000,422,2031,3314
$GC,123,-0.97,-146.6,3.9,-3.4,5,146,10.48,2.53,-2.83,0.000,4,0.130,0.072,2480,3417,3432
$GC,331,-0.77,-146.6,34.0,-10.3,14,337,0.25,2.53,0.00,0.000,6,0.087,0.047,2533,1991,3433
$GC,654,-0.68,-146.6,58.8,-8.1,30,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1991,3433
$GC,963,-0.60,-146.6,89.2,-9.8,45,965,0.17,0.00,0.00,0.000,6,0.086,0.000,2571,1991,3433
$GC,1271,-0.60,-146.6,114.5,-8.5,60,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1991,3433
$GC,1581,-0.60,-146.6,136.1,-7.7,75,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1991,3433
$GC,1889,-0.60,-146.6,163.0,-8.9,90,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1991,3433
$GC,2199,-0.60,-146.6,191.6,-8.0,105,2203,0.00,2.58,0.00,0.000,4,0.000,0.059,2571,3416,3433
$GC,2243,-0.66,-146.6,194.8,-7.5,107,2247,0.00,2.50,0.00,0.000,6,0.000,0.048,2571,2001,3433
$GC,2571,-0.66,-146.6,215.4,-6.0,123,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2001,3433
$GC,2880,-0.66,-146.6,234.7,-7.1,138,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2000,3433
$GC,3189,-0.66,-146.6,254.7,-5.9,153,3193,0.00,2.58,0.00,0.000,4,0.000,0.060,2571,3423,3433
$GC,3234,-0.73,-146.6,257.3,-6.0,155,3239,0.12,2.50,0.00,0.000,6,0.053,0.049,2535,2010,3433
$GC,3556,-0.65,-146.6,281.5,-7.6,171,3558,0.10,0.00,0.00,0.000,6,0.093,0.000,2555,2010,3432
$GC,3864,-0.65,-146.6,303.4,-7.2,186,3869,0.00,2.53,0.00,0.000,4,0.000,0.064,2556,590,3432
$GC,3904,-0.65,-146.6,306.4,-7.7,188,3909,0.00,2.53,0.00,0.000,6,0.000,0.050,2556,2023,3433
$GC,4232,-0.65,-146.6,329.7,-7.2,204,4236,0.00,2.58,0.00,0.000,4,0.000,0.064,2556,599,3433
$GC,4276,-0.65,-146.6,333.2,-7.9,206,4280,0.00,2.47,0.00,0.000,6,0.000,0.050,2556,2001,3433
$GC,4597,-0.65,-146.6,356.9,-7.3,222,4601,0.00,2.50,0.00,0.000,4,0.000,0.063,2556,3405,3433
$GC,4637,-0.65,-146.6,360.0,-8.1,224,4641,0.00,2.50,0.00,0.000,6,0.000,0.051,2556,1998,3433
$GC,4963,-0.65,-146.6,383.8,-7.4,240,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1998,3433
$GC,5273,-0.65,-146.6,407.4,-7.6,255,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1998,3433
$GC,5582,-0.65,-146.6,430.3,-7.4,270,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1998,3433
$GC,5891,-0.65,-146.6,452.6,-7.0,285,5895,0.00,2.58,0.00,0.000,4,0.000,0.064,2556,3413,3433
$GC,5930,-0.65,-146.6,455.5,-7.2,287,5935,0.00,2.50,0.00,0.000,6,0.000,0.052,2556,2007,3433
$GC,6257,-0.65,-146.6,478.6,-7.2,303,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2006,3432
$GC,6567,-0.65,-146.6,500.5,-7.1,318,6571,0.00,2.55,0.00,0.000,4,0.000,0.064,2556,3408,3432
$GC,6606,-0.65,-146.6,503.6,-7.6,320,6610,0.00,2.50,0.00,0.000,6,0.000,0.054,2556,2007,3432
$GC,6933,-0.65,-146.6,526.5,-7.0,336,6938,0.00,2.55,0.00,0.000,4,0.000,0.064,2556,3408,3432
$GC,6984,-0.71,-146.6,530.4,-7.7,338,6988,0.00,2.50,0.00,0.000,6,0.000,0.054,2556,2007,3432
$GC,7302,-0.71,-146.6,550.1,-5.6,353,7307,0.00,2.53,0.00,0.000,4,0.000,0.066,2556,594,3432
$GC,7347,-0.71,-146.6,553.2,-7.2,355,7351,0.00,2.53,0.00,0.000,6,0.000,0.052,2556,2021,3432
$GC,7668,-0.71,-146.6,573.2,-5.8,371,7672,0.00,2.47,0.00,0.000,4,0.000,0.065,2556,3409,3432
$GC,7715,-0.71,-146.6,576.0,-6.5,373,7719,0.00,2.50,0.00,0.000,6,0.000,0.057,2556,2016,3432
$GC,8041,-0.71,-146.6,593.4,-5.1,389,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2015,3431
$GC,8351,-0.71,-146.6,609.1,-5.2,404,8355,0.00,2.58,0.00,0.000,4,0.000,0.071,2556,3411,3431
$GC,8391,-0.75,-146.6,611.4,-5.9,406,8396,0.00,2.50,0.00,0.000,6,0.000,0.061,2556,2030,3430
$GC,8719,-0.75,-146.6,629.3,-5.7,422,8723,0.00,2.55,0.00,0.000,4,0.000,0.072,2556,3406,3430
$GC,8752,-0.80,-146.6,631.4,-6.8,423,8759,0.15,2.50,0.00,0.000,6,0.062,0.063,2516,2032,3429
$GC,9068,-0.73,-146.6,654.1,-7.4,439,9070,0.12,0.00,0.00,0.000,6,0.094,0.000,2542,2032,3429
$GC,9377,-0.73,-146.6,674.8,-6.3,454,9382,0.00,2.55,0.00,0.000,4,0.000,0.076,2543,3405,3428
$GC,9404,-0.73,-146.6,676.7,-6.7,455,9409,0.00,2.53,0.00,0.000,6,0.000,0.066,2542,2024,3427
$GC,9732,-0.73,-146.6,695.5,-5.8,471,9737,0.00,2.65,0.00,0.000,4,0.000,0.085,2543,591,3427
$GC,9765,-0.73,-146.6,697.7,-6.6,472,9771,0.00,2.62,0.00,0.000,6,0.000,0.067,2542,2032,3426
$GC,10081,-0.73,-146.6,717.6,-6.5,488,10085,0.00,2.55,0.00,0.000,4,0.000,0.082,2542,3409,3426
$GC,10114,-0.73,-146.6,720.0,-7.4,489,10120,0.00,2.55,0.00,0.000,6,0.000,0.071,2542,2027,3425
$GC,10429,-0.73,-146.6,741.0,-6.9,505,10430,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2027,3424
$GC,10739,-0.73,-146.6,761.8,-6.7,520,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2027,3423
$GC,11048,-0.73,-146.6,783.1,-7.1,535,11049,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2027,3421
$GC,11357,-0.73,-146.6,804.5,-6.9,550,11358,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2027,3421
$GC,11667,-0.73,-146.6,825.0,-6.6,565,11668,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2027,3419
$GC,11976,-0.73,-146.6,845.5,-6.7,580,11977,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2027,3418
$GC,12285,-0.73,-146.6,865.7,-6.4,595,12286,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2027,3417
$GC,12594,-0.73,-146.6,885.2,-6.3,610,12596,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2027,3416
$GC,12903,-0.73,-146.6,903.7,-6.1,625,12904,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2027,3415
$GC,13213,-0.73,-146.6,922.9,-5.9,640,13218,0.00,2.62,0.00,0.000,4,0.000,0.088,2543,3411,3414
$GC,13253,-0.73,-146.6,925.5,-6.8,642,13257,0.00,2.58,0.00,0.000,6,0.000,0.078,2543,2037,3414
$GC,13579,-0.73,-146.6,945.3,-6.0,658,13580,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2037,3413
$GC,13889,-0.73,-146.6,963.4,-5.7,673,13890,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2037,3412
$GC,14198,-0.73,-146.6,981.2,-5.8,688,14199,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2037,3411
$STATE,14360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14360,begin apogee
$GC,14367,-0.33,0.0,990.8,5.9,696,14495,0.40,0.00,124.60,1.646,6,0.093,0.000,2624,2259,2832
$STATE,14496,end apogee,CONTROL_FINISHED_OK
$STATE,14496,begin climb
$GC,14499,0.97,146.6,994.7,0.0,702,14630,1.35,0.00,126.30,1.600,6,0.079,0.000,2908,2258,2234
$GC,14932,0.97,146.6,971.9,6.6,723,14937,0.00,2.75,0.00,0.000,4,0.000,0.088,2908,842,2234
$GC,15140,0.90,146.6,958.1,6.8,732,15144,0.00,2.55,0.00,0.000,6,0.000,0.074,2908,2190,2233
$GC,15457,0.87,159.0,939.6,5.7,747,15479,0.00,2.72,12.15,1.450,4,0.000,0.090,2908,844,2183
$GC,15508,0.83,172.7,936.5,5.6,749,15528,0.15,2.55,13.35,1.456,6,0.104,0.075,2881,2182,2127
$GC,15858,0.94,213.6,918.7,4.9,766,15901,0.10,2.65,36.55,1.561,4,0.077,0.090,2905,844,1960
$GC,15923,0.94,213.6,914.5,6.8,769,15928,0.00,2.55,0.00,0.000,6,0.000,0.074,2905,2179,1959
$GC,16239,0.94,213.6,895.5,6.0,784,16240,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2178,1960
$GC,16549,0.94,215.6,877.0,5.9,799,16553,0.00,2.58,0.00,0.000,4,0.000,0.091,2905,843,1959
$GC,16598,0.94,215.6,873.8,7.0,801,16603,0.00,2.50,0.00,0.000,6,0.000,0.076,2905,2165,1959
$GC,16915,0.95,222.4,855.4,5.8,816,16929,0.00,2.62,9.15,1.391,4,0.000,0.091,2905,840,1925
$GC,16952,0.95,222.4,852.9,7.4,817,16958,0.00,2.53,0.00,0.000,6,0.000,0.075,2904,2164,1925
$GC,17268,0.96,228.5,834.4,5.8,833,17282,0.00,2.65,6.97,1.302,4,0.000,0.091,2905,845,1900
$GC,17306,0.96,228.5,831.9,6.9,834,17312,0.00,2.50,0.00,0.000,6,0.000,0.075,2905,2161,1900
$GC,17622,0.98,242.2,813.6,5.6,850,17641,0.00,0.00,13.15,1.447,6,0.000,0.000,2905,2160,1844
$GC,17952,0.98,242.2,793.8,6.1,866,17956,0.00,2.53,0.00,0.000,4,0.000,0.091,2906,845,1845
$GC,18002,0.98,242.2,790.3,6.7,868,18006,0.00,2.45,0.00,0.000,6,0.000,0.074,2905,2144,1845
$GC,18318,1.02,242.2,770.4,6.4,883,18319,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2144,1846
$GC,18627,1.02,242.2,750.4,6.5,898,18631,0.00,2.53,0.00,0.000,4,0.000,0.091,2905,840,1846
$GC,18671,1.02,242.2,747.2,7.3,900,18675,0.00,2.45,0.00,0.000,6,0.000,0.074,2905,2143,1845
$GC,18992,1.02,242.2,727.0,6.1,916,18993,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2142,1846
$GC,19302,1.07,242.2,708.3,6.2,931,19307,0.12,2.53,0.00,0.000,4,0.070,0.091,2939,844,1846
$GC,19329,1.02,242.2,706.1,7.9,932,19334,0.00,2.42,0.00,0.000,6,0.000,0.074,2938,2133,1845
$GC,19646,0.97,242.2,682.4,7.5,947,19648,0.12,0.00,0.00,0.000,6,0.104,0.000,2913,2134,1845
$GC,19954,0.97,242.2,662.9,6.5,962,19958,0.00,2.47,0.00,0.000,4,0.000,0.090,2913,841,1845
$GC,19993,0.97,242.2,660.1,7.5,963,19999,0.00,2.40,0.00,0.000,6,0.000,0.073,2912,2123,1846
$GC,20309,0.97,242.2,638.0,7.2,979,20310,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2123,1845
$GC,20618,0.97,242.2,617.5,6.4,994,20622,0.00,2.45,0.00,0.000,4,0.000,0.087,2913,844,1845
$GC,20658,0.97,242.2,614.7,7.3,996,20662,0.00,2.38,0.00,0.000,6,0.000,0.072,2912,2121,1845
$GC,20984,0.97,242.2,593.2,6.6,1012,20985,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2121,1845
$GC,21294,1.00,260.7,575.3,5.5,1027,21313,0.00,0.00,17.52,1.313,6,0.000,0.000,2912,2122,1769
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$STATE,28919,end climb,SURFACE_DEPTH_REACHED
$STATE,28919,begin surface coast
$FINISH,0.2,1.015500
$STATE,28962,end surface coast,CONTROL_FINISHED_OK
$STATE,28962,begin surface
$SM_CCo,29045,0.00,0.000,0,0,1448,339.50
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1778
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$XPDR_PINGS,451
$ALTIM_TOP_PING,18.4,999.0
$24V_AH,23.6,23.202
$10V_AH,10.1,10.589
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$DEVICE_SECS,24.975,195.200,431.350,0.000,0.000,37.762,28.551,192.971,121.750,0.000,0.000,12.513,2474.154,22909.412,617.305,2738.054,690.854,33.372,1990.427,0.000,2688.026,0.000,58.415,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.535,946.129,719.659,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69471,1396
$CAP_FILE_SIZE,193875,0
$CFSIZE,254472192,244957184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,65,0,0
$GPS,291108,183202,6126.607,-306.592,42,1.4,42,-6.1