version: 66.04
glider: 5
mission: 5
dive: 133
start: 11 30 108 10 58 6
data:
$ID,5
$MISSION,5
$DIVE,133
$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,-89827.57
$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,19
$R_STBD_OVSHOOT,20
$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
$GPS1,105009,6130.537,-331.408,39,1.0,39,-6.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-51.5
$GPS2,105714,6130.623,-331.546,18,1.4,18,-6.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.189,-0.115
$KALMAN_X,73106.5,-1475.6,-41.2,53772.0,189.5
$KALMAN_Y,-16996.1,850.2,810.6,-224819.1,414.0
$MHEAD_RNG_PITCHd_Wd,245.0,10446,-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,-146.6,0.0,0.0,0,101,0.00,0.00,-80.95,0.000,2,0.000,0.000,421,1951,2931
$GC,104,-0.97,-146.6,3.5,-3.4,4,135,10.55,2.65,-13.40,0.000,4,0.132,0.071,2482,3409,3431
$GC,388,-0.75,-146.6,49.2,-12.7,16,396,0.25,2.53,0.00,0.000,6,0.085,0.048,2536,1989,3431
$GC,707,-0.68,-146.6,72.8,-5.6,32,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1975,3431
$GC,1014,-0.62,-146.6,98.4,-9.2,47,1016,0.12,0.00,0.00,0.000,6,0.094,0.000,2563,1976,3431
$GC,1323,-0.62,-146.6,121.9,-8.7,62,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1975,3431
$GC,1633,-0.62,-146.6,139.2,-5.3,77,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1975,3431
$GC,1941,-0.62,-146.6,158.6,-6.5,92,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1975,3431
$GC,2251,-0.62,-146.6,180.5,-7.3,107,2255,0.00,2.58,0.00,0.000,4,0.000,0.060,2563,3412,3431
$GC,2294,-0.62,-146.6,184.0,-7.9,109,2299,0.00,2.53,0.00,0.000,6,0.000,0.049,2563,1986,3431
$GC,2615,-0.62,-146.6,207.6,-7.7,125,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1984,3431
$GC,2925,-0.62,-146.6,232.7,-8.5,140,2929,0.00,2.58,0.00,0.000,4,0.000,0.060,2563,3411,3431
$GC,2986,-0.62,-146.6,238.0,-8.6,143,2991,0.00,2.50,0.00,0.000,6,0.000,0.050,2563,1999,3431
$GC,3314,-0.62,-146.6,261.7,-6.7,159,3318,0.00,2.50,0.00,0.000,4,0.000,0.063,2563,596,3431
$GC,3369,-0.62,-146.6,266.1,-7.7,161,3374,0.00,2.47,0.00,0.000,6,0.000,0.049,2563,1999,3431
$GC,3685,-0.62,-146.6,288.0,-6.8,176,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2001,3431
$GC,3995,-0.62,-146.6,308.1,-6.5,191,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2001,3431
$GC,4304,-0.62,-146.6,329.1,-7.3,206,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2000,3431
$GC,4613,-0.62,-146.6,353.7,-8.1,221,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2001,3431
$GC,4925,-0.62,-146.6,375.7,-6.8,236,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2001,3431
$GC,5232,-0.62,-146.6,397.7,-7.0,251,5236,0.00,2.53,0.00,0.000,4,0.000,0.064,2563,3411,3431
$GC,5282,-0.66,-146.6,401.3,-7.2,253,5286,0.00,2.55,0.00,0.000,6,0.000,0.054,2563,1981,3431
$GC,5598,-0.66,-146.6,422.8,-7.0,268,5602,0.00,2.47,0.00,0.000,4,0.000,0.065,2563,594,3431
$GC,5632,-0.71,-146.6,425.1,-7.3,269,5638,0.00,2.47,0.00,0.000,6,0.000,0.052,2563,1993,3431
$GC,5948,-0.75,-146.6,443.6,-6.3,285,5950,0.12,0.00,0.00,0.000,6,0.058,0.000,2528,1992,3430
$GC,6257,-0.68,-146.6,467.2,-7.2,300,6259,0.10,0.00,0.00,0.000,6,0.094,0.000,2549,1993,3430
$GC,6566,-0.68,-146.6,486.9,-6.5,315,6570,0.00,2.55,0.00,0.000,4,0.000,0.072,2549,3404,3430
$GC,6599,-0.68,-146.6,489.2,-7.2,316,6605,0.00,2.58,0.00,0.000,6,0.000,0.061,2549,1984,3430
$GC,6915,-0.68,-146.6,508.7,-6.5,332,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1984,3429
$GC,7224,-0.68,-146.6,529.7,-6.8,347,7225,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1984,3429
$GC,7534,-0.68,-146.6,550.6,-6.6,362,7538,0.00,2.65,0.00,0.000,4,0.000,0.075,2549,3406,3427
$GC,7573,-0.68,-146.6,553.5,-7.4,364,7578,0.00,2.60,0.00,0.000,6,0.000,0.066,2549,1984,3427
$GC,7901,-0.68,-146.6,575.1,-6.5,380,7902,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1984,3426
$GC,8209,-0.68,-146.6,594.8,-6.3,395,8214,0.00,2.67,0.00,0.000,4,0.000,0.079,2549,3411,3425
$GC,8254,-0.68,-146.6,597.8,-7.0,397,8258,0.00,2.60,0.00,0.000,6,0.000,0.070,2549,1995,3425
$GC,8574,-0.68,-146.6,617.7,-6.2,413,8576,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1995,3424
$GC,8884,-0.68,-146.6,637.9,-6.7,428,8888,0.00,2.65,0.00,0.000,4,0.000,0.086,2549,3401,3422
$GC,8933,-0.68,-146.6,641.6,-7.6,430,8938,0.00,2.62,0.00,0.000,6,0.000,0.074,2549,1991,3422
$GC,9249,-0.68,-146.6,662.8,-6.7,445,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1990,3421
$GC,9559,-0.68,-146.6,683.2,-6.4,460,9563,0.00,2.67,0.00,0.000,4,0.000,0.085,2549,3401,3420
$GC,9608,-0.68,-146.6,686.6,-7.0,462,9613,0.00,2.60,0.00,0.000,6,0.000,0.075,2549,2001,3419
$GC,9924,-0.68,-146.6,706.5,-6.3,477,9925,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2002,3418
$GC,10235,-0.68,-146.6,725.4,-5.9,492,10239,0.00,2.67,0.00,0.000,4,0.000,0.085,2549,3409,3416
$GC,10267,-0.68,-146.6,727.3,-7.0,493,10273,0.00,2.62,0.00,0.000,6,0.000,0.075,2549,2001,3416
$GC,10583,-0.68,-146.6,745.0,-5.5,509,10584,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2001,3416
$GC,10893,-0.68,-146.6,762.2,-5.8,524,10897,0.00,2.67,0.00,0.000,4,0.000,0.087,2549,3406,3414
$GC,10921,-0.72,-146.6,763.7,-6.0,525,10925,0.00,2.60,0.00,0.000,6,0.000,0.076,2549,2014,3414
$GC,11237,-0.72,-146.6,782.4,-6.0,540,11238,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2014,3412
$GC,11546,-0.72,-146.6,801.5,-6.3,555,11550,0.00,2.65,0.00,0.000,4,0.000,0.087,2549,3401,3412
$GC,11573,-0.77,-146.6,803.2,-6.8,556,11578,0.00,2.60,0.00,0.000,6,0.000,0.077,2549,2014,3411
$GC,11890,-0.77,-146.6,823.3,-6.4,571,11891,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2014,3411
$GC,12199,-0.77,-146.6,843.1,-6.4,586,12203,0.00,2.65,0.00,0.000,4,0.000,0.088,2549,3401,3410
$GC,12243,-0.81,-146.6,846.3,-7.2,588,12248,0.12,2.60,0.00,0.000,6,0.074,0.077,2518,2015,3410
$GC,12565,-0.76,-146.6,870.6,-7.7,604,12566,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2015,3409
$GC,12874,-0.72,-146.6,894.4,-7.8,619,12876,0.10,0.00,0.00,0.000,6,0.110,0.000,2538,2015,3409
$GC,13183,-0.72,-146.6,916.2,-6.9,634,13184,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2014,3409
$GC,13492,-0.72,-146.6,937.7,-6.7,649,13494,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2014,3408
$GC,13801,-0.72,-146.6,959.1,-6.9,664,13806,0.00,2.65,0.00,0.000,4,0.000,0.089,2538,3401,3408
$GC,13835,-0.72,-146.6,961.5,-7.6,665,13841,0.00,2.60,0.00,0.000,6,0.000,0.079,2538,2019,3408
$GC,14151,-0.72,-146.6,982.6,-6.5,681,14152,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2019,3408
$STATE,14272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14272,begin apogee
$GC,14279,-0.33,0.0,990.5,6.4,687,14406,0.43,0.00,123.70,1.652,6,0.092,0.000,2625,2255,2832
$STATE,14406,end apogee,CONTROL_FINISHED_OK
$STATE,14406,begin climb
$GC,14409,0.97,146.6,995.0,0.0,693,14541,1.35,0.00,126.70,1.603,6,0.079,0.000,2908,2255,2234
$GC,14843,0.97,146.6,972.4,6.3,714,14848,0.00,2.75,0.00,0.000,4,0.000,0.088,2908,837,2234
$GC,15085,0.90,146.6,956.7,6.6,725,15090,0.00,2.53,0.00,0.000,6,0.000,0.073,2907,2178,2233
$GC,15413,0.85,146.6,936.2,6.4,741,15415,0.12,0.00,0.00,0.000,6,0.106,0.000,2885,2178,2233
$GC,15722,0.85,146.6,917.8,6.1,756,15727,0.00,2.60,0.00,0.000,4,0.000,0.091,2885,837,2233
$GC,15772,0.85,146.6,914.4,6.6,758,15777,0.00,2.50,0.00,0.000,6,0.000,0.076,2885,2165,2233
$GC,16088,0.85,146.6,894.6,6.3,773,16089,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2165,2233
$GC,16397,0.85,146.6,874.4,6.6,788,16402,0.00,2.58,0.00,0.000,4,0.000,0.091,2886,837,2232
$GC,16442,0.85,146.6,871.0,6.8,790,16446,0.00,2.50,0.00,0.000,6,0.000,0.076,2885,2163,2232
$GC,16763,0.85,146.6,848.7,7.0,806,16764,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2163,2232
$GC,17073,0.85,146.6,826.3,7.3,821,17077,0.00,2.55,0.00,0.000,4,0.000,0.091,2885,841,2231
$GC,17122,0.85,146.6,822.3,7.9,823,17126,0.00,2.47,0.00,0.000,6,0.000,0.075,2885,2156,2231
$GC,17438,0.85,146.6,800.0,6.9,838,17439,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2157,2231
$GC,17747,0.85,146.6,779.0,6.6,853,17752,0.00,2.55,0.00,0.000,4,0.000,0.091,2885,836,2231
$GC,17787,0.85,146.6,776.4,7.6,855,17791,0.00,2.47,0.00,0.000,6,0.000,0.077,2885,2152,2231
$GC,18120,0.85,146.6,755.2,6.2,871,18121,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2152,2231
$GC,18429,0.86,155.5,737.0,5.8,886,18443,0.00,2.58,8.95,1.334,4,0.000,0.091,2885,842,2197
$GC,18474,0.86,155.5,734.3,6.8,888,18478,0.00,2.47,0.00,0.000,6,0.000,0.076,2885,2144,2197
$GC,18800,0.90,179.2,716.4,5.4,904,18824,0.00,0.00,21.42,1.437,6,0.000,0.000,2885,2145,2101
$GC,19130,0.99,200.7,698.2,5.4,920,19156,0.12,2.60,20.10,1.417,4,0.071,0.090,2915,841,2013
$GC,19184,0.94,200.7,694.5,7.3,922,19189,0.00,2.47,0.00,0.000,6,0.000,0.075,2915,2141,2013
$GC,19500,0.94,200.7,672.3,7.4,937,19502,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2141,2013
$GC,19809,0.94,200.7,649.1,7.4,952,19810,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2142,2012
$GC,20119,0.94,200.7,627.1,6.9,967,20123,0.00,2.50,0.00,0.000,4,0.000,0.090,2915,838,2012
$GC,20146,0.94,200.7,625.1,7.4,968,20150,0.00,2.45,0.00,0.000,6,0.000,0.075,2915,2139,2012
$GC,20462,0.94,200.7,604.5,6.5,983,20463,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2139,2012
$GC,20771,0.94,200.7,585.1,6.2,998,20774,0.00,2.50,0.00,0.000,4,0.000,0.090,2915,842,2012
$GC,20809,0.94,200.7,582.5,6.0,999,20815,0.00,2.42,0.00,0.000,6,0.000,0.075,2915,2132,2012
$GC,21126,0.98,222.2,564.7,5.4,1015,21147,0.00,0.00,19.58,1.345,6,0.000,0.000,2915,2132,1925
$GC,21455,0.98,222.2,544.9,6.4,1031,21456,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2133,1924
$GC,21764,0.98,222.2,525.2,6.6,1046,21765,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2132,1924
$GC,22074,0.99,229.8,505.6,5.8,1061,22088,0.00,2.55,8.12,1.188,4,0.000,0.086,2915,844,1894
$GC,22111,0.99,229.8,503.0,6.4,1062,22117,0.00,2.42,0.00,0.000,6,0.000,0.074,2915,2128,1894
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$STATE,28525,end climb,SURFACE_DEPTH_REACHED
$STATE,28525,begin surface coast
$FINISH,0.4,1.015298
$STATE,28568,end surface coast,CONTROL_FINISHED_OK
$STATE,28568,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1769
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$XPDR_PINGS,335
$ALTIM_TOP_PING,19.5,18.1
$24V_AH,23.6,23.826
$10V_AH,10.0,10.945
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$DEVICE_SECS,24.800,187.825,449.300,0.000,0.000,37.762,26.223,217.326,92.750,0.000,0.000,18.001,2440.027,22576.195,611.812,2723.412,710.365,33.374,1974.269,0.000,2667.133,0.000,58.462,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1026.402,932.036,697.194,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69384,1374
$CAP_FILE_SIZE,191003,0
$CFSIZE,254472192,244707328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,65,0,0
$GPS,301108,185655,6130.680,-341.536,41,1.9,41,-6.4