version: 66.04
glider: 5
mission: 5
dive: 132
start: 11 30 108 2 41 6
data:
$ID,5
$MISSION,5
$DIVE,132
$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,-89808.945
$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,33
$R_STBD_OVSHOOT,16
$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
$GPS1,023018,6127.523,-317.097,38,1.4,38,-6.2
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-62.3
$GPS2,024014,6127.576,-317.353,12,1.1,12,-6.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.221,0.009
$KALMAN_X,77503.7,-138.1,-1172.3,60825.4,1739.1
$KALMAN_Y,-22244.5,308.5,1075.6,-224905.6,-84.3
$MHEAD_RNG_PITCHd_Wd,278.6,21818,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.97,-146.6,0.0,0.0,0,101,0.00,0.00,-81.30,0.000,2,0.000,0.000,422,1967,3352
$GC,104,-0.97,-146.6,4.1,-4.6,4,127,10.52,2.62,-1.83,0.000,4,0.132,0.071,2481,3408,3432
$GC,330,-0.75,-146.6,40.1,-12.1,14,335,0.25,2.50,0.00,0.000,6,0.089,0.047,2533,1995,3432
$GC,658,-0.68,-146.6,67.7,-6.7,30,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1994,3432
$GC,968,-0.59,-146.6,91.8,-8.0,45,973,0.17,2.60,0.00,0.000,4,0.086,0.058,2576,3422,3432
$GC,1018,-0.65,-146.6,95.2,-6.3,47,1022,0.00,2.50,0.00,0.000,6,0.000,0.048,2576,2010,3432
$GC,1334,-0.65,-146.6,115.6,-6.4,62,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2010,3432
$GC,1646,-0.70,-146.6,137.5,-7.4,77,1651,0.12,2.55,0.00,0.000,4,0.054,0.058,2539,3419,3432
$GC,1701,-0.65,-146.6,142.4,-8.7,79,1708,0.00,2.47,0.00,0.000,6,0.000,0.048,2540,2013,3432
$GC,2018,-0.58,-146.6,168.4,-8.1,95,2020,0.15,0.00,0.00,0.000,6,0.087,0.000,2572,2013,3432
$GC,2326,-0.58,-146.6,191.0,-7.5,110,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2013,3432
$GC,2636,-0.58,-146.6,212.7,-6.9,125,2641,0.00,2.55,0.00,0.000,4,0.000,0.060,2572,3422,3432
$GC,2665,-0.63,-146.6,214.8,-7.3,126,2669,0.00,2.50,0.00,0.000,6,0.000,0.048,2572,2011,3432
$GC,2981,-0.63,-146.6,236.9,-7.0,141,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2010,3433
$GC,3290,-0.63,-146.6,257.8,-6.5,156,3294,0.00,2.55,0.00,0.000,4,0.000,0.060,2572,3419,3433
$GC,3346,-0.68,-146.6,261.6,-7.1,158,3352,0.00,2.47,0.00,0.000,6,0.000,0.048,2572,2021,3433
$GC,3661,-0.68,-146.6,281.8,-6.4,174,3666,0.00,2.53,0.00,0.000,4,0.000,0.061,2572,3415,3433
$GC,3695,-0.74,-146.6,284.0,-6.8,175,3702,0.15,2.45,0.00,0.000,6,0.054,0.051,2529,2030,3433
$GC,4012,-0.66,-146.6,309.5,-8.3,191,4014,0.12,0.00,0.00,0.000,6,0.087,0.000,2556,2028,3433
$GC,4321,-0.66,-146.6,329.4,-6.1,206,4325,0.00,2.53,0.00,0.000,4,0.000,0.061,2556,3421,3433
$GC,4371,-0.66,-146.6,332.6,-6.7,208,4375,0.00,2.47,0.00,0.000,6,0.000,0.051,2556,2030,3433
$GC,4687,-0.66,-146.6,351.9,-6.3,223,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2029,3433
$GC,4995,-0.66,-146.6,372.3,-6.6,238,4999,0.00,2.50,0.00,0.000,4,0.000,0.063,2556,3413,3432
$GC,5023,-0.66,-146.6,374.3,-7.0,239,5027,0.00,2.47,0.00,0.000,6,0.000,0.052,2556,2026,3433
$GC,5344,-0.66,-146.6,396.3,-6.9,255,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2025,3433
$GC,5653,-0.66,-146.6,419.6,-7.4,270,5657,0.00,2.53,0.00,0.000,4,0.000,0.063,2556,3413,3433
$GC,5710,-0.66,-146.6,424.0,-7.8,272,5716,0.00,2.47,0.00,0.000,6,0.000,0.053,2556,2027,3432
$GC,6026,-0.66,-146.6,446.1,-6.7,288,6030,0.00,2.55,0.00,0.000,4,0.000,0.065,2556,596,3432
$GC,6132,-0.66,-146.6,454.2,-7.4,293,6137,0.00,2.55,0.00,0.000,6,0.000,0.051,2556,2040,3432
$GC,6459,-0.66,-146.6,477.1,-6.9,309,6463,0.00,2.62,0.00,0.000,4,0.000,0.067,2556,597,3432
$GC,6525,-0.66,-146.6,482.2,-7.3,312,6530,0.00,2.55,0.00,0.000,6,0.000,0.053,2556,2033,3432
$GC,6847,-0.66,-146.6,503.0,-6.4,328,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2035,3431
$GC,7157,-0.66,-146.6,520.1,-5.3,343,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2035,3431
$GC,7466,-0.66,-146.6,537.6,-5.8,358,7470,0.00,2.65,0.00,0.000,4,0.000,0.074,2556,597,3431
$GC,7521,-0.66,-146.6,541.3,-7.0,360,7527,0.00,2.55,0.00,0.000,6,0.000,0.058,2556,2022,3431
$GC,7837,-0.66,-146.6,562.8,-7.4,376,7841,0.00,2.53,0.00,0.000,4,0.000,0.073,2556,3408,3430
$GC,7864,-0.66,-146.6,565.0,-8.2,377,7869,0.00,2.55,0.00,0.000,6,0.000,0.064,2556,2010,3430
$GC,8180,-0.66,-146.6,587.8,-7.5,392,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2010,3429
$GC,8489,-0.66,-146.6,609.5,-6.7,407,8494,0.00,2.60,0.00,0.000,4,0.000,0.076,2556,3405,3428
$GC,8523,-0.70,-146.6,612.2,-7.0,408,8530,0.00,2.55,0.00,0.000,6,0.000,0.067,2556,2014,3428
$GC,8840,-0.75,-146.6,631.7,-5.8,424,8841,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2014,3427
$GC,9149,-0.79,-146.6,648.8,-5.5,439,9151,0.12,0.00,0.00,0.000,6,0.067,0.000,2522,2013,3425
$GC,9458,-0.75,-146.6,668.0,-6.0,454,9463,0.00,2.60,0.00,0.000,4,0.000,0.081,2522,3402,3424
$GC,9514,-0.75,-146.6,671.7,-6.8,456,9521,0.00,2.58,0.00,0.000,6,0.000,0.070,2522,2007,3424
$GC,9831,-0.70,-146.6,691.3,-6.1,472,9832,0.12,0.00,0.00,0.000,6,0.101,0.000,2548,2007,3424
$GC,10140,-0.70,-146.6,708.2,-5.6,487,10144,0.00,2.65,0.00,0.000,4,0.000,0.084,2548,3406,3422
$GC,10173,-0.70,-146.6,710.4,-6.7,488,10179,0.00,2.58,0.00,0.000,6,0.000,0.074,2548,2019,3422
$GC,10488,-0.70,-146.6,729.2,-6.2,504,10489,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2019,3421
$GC,10797,-0.70,-146.6,748.6,-6.4,519,10799,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2019,3419
$GC,11107,-0.70,-146.6,768.4,-6.3,534,11112,0.00,2.65,0.00,0.000,4,0.000,0.088,2548,3409,3419
$GC,11147,-0.75,-146.6,771.2,-7.0,536,11152,0.00,2.58,0.00,0.000,6,0.000,0.077,2548,2028,3419
$GC,11474,-0.75,-146.6,792.2,-6.6,552,11475,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2028,3418
$GC,11783,-0.75,-146.6,812.4,-6.5,567,11784,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2027,3416
$GC,12092,-0.75,-146.6,831.5,-6.1,582,12093,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2027,3415
$GC,12402,-0.75,-146.6,850.0,-6.0,597,12403,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2028,3414
$GC,12711,-0.75,-146.6,867.8,-5.7,612,12712,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2027,3413
$GC,13021,-0.79,-146.6,885.7,-5.7,627,13022,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2027,3413
$GC,13330,-0.79,-146.6,904.1,-6.0,642,13334,0.00,2.62,0.00,0.000,4,0.000,0.088,2548,3404,3411
$GC,13370,-0.84,-146.6,906.5,-6.1,644,13375,0.15,2.58,0.00,0.000,6,0.075,0.077,2514,2027,3412
$GC,13697,-0.78,-146.6,929.0,-7.0,660,13698,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2027,3411
$GC,14007,-0.73,-146.6,950.1,-6.9,675,14009,0.12,0.00,0.00,0.000,6,0.107,0.000,2537,2026,3411
$GC,14315,-0.73,-146.6,968.4,-6.0,690,14316,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2026,3410
$GC,14625,-0.73,-146.6,986.7,-5.9,705,14626,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2027,3410
$STATE,14683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14683,begin apogee
$GC,14690,-0.33,0.0,990.4,5.9,708,14817,0.43,0.00,123.97,1.648,6,0.093,0.000,2625,2250,2832
$STATE,14818,end apogee,CONTROL_FINISHED_OK
$STATE,14818,begin climb
$GC,14821,0.97,146.6,994.1,0.0,714,14952,1.35,0.00,126.65,1.603,6,0.086,0.000,2905,2250,2233
$GC,15254,0.97,146.6,971.0,6.4,735,15259,0.00,2.67,0.00,0.000,4,0.000,0.091,2904,3653,2233
$GC,15402,0.90,146.6,961.8,6.0,741,15409,0.00,2.85,0.00,0.000,6,0.000,0.077,2905,2151,2233
$GC,15719,0.93,164.4,944.0,5.5,757,15741,0.00,2.62,16.80,1.496,4,0.000,0.090,2905,839,2161
$GC,15775,0.88,164.4,940.7,6.4,759,15779,0.00,2.50,0.00,0.000,6,0.000,0.074,2905,2150,2161
$GC,16091,0.91,182.1,923.1,5.5,774,16111,0.00,0.00,16.65,1.497,6,0.000,0.000,2904,2152,2089
$GC,16420,0.95,204.1,904.2,5.4,790,16446,0.00,2.60,21.05,1.521,4,0.000,0.091,2905,844,1998
$GC,16486,0.95,204.1,900.1,6.1,793,16490,0.00,2.47,0.00,0.000,6,0.000,0.075,2905,2141,1998
$GC,16807,0.97,217.7,882.1,5.6,809,16826,0.00,0.00,13.35,1.460,6,0.000,0.000,2905,2142,1944
$GC,17136,0.98,227.1,862.7,5.7,825,17148,0.00,0.00,9.85,1.402,6,0.000,0.000,2905,2142,1906
$GC,17445,1.00,237.2,844.3,5.7,840,17461,0.00,2.58,10.62,1.415,4,0.000,0.091,2905,845,1863
$GC,17500,1.00,237.2,840.7,6.1,841,17507,0.00,2.47,0.00,0.000,6,0.000,0.076,2905,2142,1863
$GC,17816,1.00,237.2,822.0,6.1,857,17817,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2142,1864
$GC,18126,1.01,245.7,803.9,5.8,872,18140,0.00,2.58,9.02,1.366,4,0.000,0.093,2905,845,1830
$GC,18180,1.01,245.7,800.3,6.1,874,18184,0.00,2.45,0.00,0.000,6,0.000,0.076,2905,2132,1830
$GC,18496,1.05,245.7,781.2,6.1,889,18498,0.10,0.00,0.00,0.000,6,0.072,0.000,2933,2133,1830
$GC,18805,1.05,245.7,758.5,7.4,904,18809,0.00,2.50,0.00,0.000,4,0.000,0.092,2932,841,1829
$GC,18852,0.99,245.7,754.8,8.8,906,18856,0.00,2.42,0.00,0.000,6,0.000,0.075,2932,2130,1830
$GC,19178,0.99,245.7,730.1,7.5,922,19179,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2129,1830
$GC,19488,0.99,245.7,707.5,7.3,937,19489,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2129,1830
$GC,19797,0.99,245.7,684.6,7.2,952,19801,0.00,2.47,0.00,0.000,4,0.000,0.092,2932,838,1830
$GC,19865,0.93,245.7,679.2,7.9,955,19870,0.15,2.42,0.00,0.000,6,0.103,0.074,2903,2130,1830
$GC,20193,0.99,245.7,658.6,6.1,971,20194,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2131,1830
$GC,20502,1.07,253.8,640.1,5.8,986,20517,0.12,2.55,8.68,1.284,4,0.071,0.089,2934,846,1797
$GC,20540,1.02,253.8,637.3,7.5,987,20547,0.00,2.42,0.00,0.000,6,0.000,0.074,2935,2124,1797
$GC,20856,1.02,253.8,614.7,7.3,1003,20860,0.00,2.45,0.00,0.000,4,0.000,0.091,2935,844,1797
$GC,20918,0.98,253.8,609.7,7.1,1005,20924,0.00,2.35,0.00,0.000,6,0.000,0.073,2935,2098,1797
$GC,21235,0.98,253.8,586.6,7.2,1021,21239,0.00,2.42,0.00,0.000,4,0.000,0.089,2935,838,1797
$GC,21273,0.98,253.8,583.4,7.3,1022,21279,0.00,2.35,0.00,0.000,6,0.000,0.073,2934,2092,1797
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$STATE,29159,end climb,SURFACE_DEPTH_REACHED
$STATE,29159,begin surface coast
$FINISH,0.5,1.027310
$STATE,29184,end surface coast,CONTROL_FINISHED_OK
$STATE,29184,begin surface
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$HUMID,1758
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$24V_AH,23.6,23.616
$10V_AH,10.1,10.828
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$DEVICE_SECS,25.325,191.925,458.075,0.000,0.000,75.520,57.429,258.782,115.250,0.000,0.000,12.931,2501.388,23056.973,648.454,2806.256,836.498,33.379,2049.928,0.000,2755.243,0.000,58.452,0.000
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$DATA_FILE_SIZE,72628,1404
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$CFSIZE,254472192,244776960
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$GPS,301108,105009,6130.537,-331.408,39,1.0,39,-6.3