version: 66.04
glider: 5
mission: 5
dive: 136
start: 12 1 108 11 33 12
data:
$ID,5
$MISSION,5
$DIVE,136
$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,-89875.141
$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,35
$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
$GPS1,112552,6130.538,-338.943,40,2.3,59,-6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-66.2
$GPS2,113220,6130.600,-338.986,14,1.6,14,-6.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.047,-0.216
$KALMAN_X,68011.9,-401.8,478.5,51091.1,-2189.2
$KALMAN_Y,2168.6,226.5,222.0,-242764.2,5893.1
$MHEAD_RNG_PITCHd_Wd,174.1,5504,-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,-146.6,0.0,0.0,0,111,0.00,0.00,-92.68,0.000,6,0.000,0.000,424,1963,3431
$GC,115,-0.97,-146.6,2.9,-2.3,4,131,10.70,2.47,0.00,0.000,4,0.140,0.061,2482,601,3432
$GC,384,-0.73,-146.6,44.2,-9.5,15,390,0.28,2.50,0.00,0.000,6,0.087,0.050,2541,2008,3432
$GC,707,-0.67,-146.6,75.5,-10.9,31,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2028,3432
$GC,1017,-0.61,-146.6,100.8,-7.2,46,1022,0.12,2.53,0.00,0.000,4,0.092,0.062,2567,3416,3432
$GC,1044,-0.61,-146.6,103.2,-7.5,47,1049,0.00,2.50,0.00,0.000,6,0.000,0.048,2568,2002,3432
$GC,1362,-0.61,-146.6,125.1,-7.4,62,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2002,3432
$GC,1670,-0.61,-146.6,147.6,-7.1,77,1674,0.00,2.55,0.00,0.000,4,0.000,0.060,2568,3409,3432
$GC,1702,-0.61,-146.6,150.0,-6.9,78,1713,0.00,2.50,0.00,0.000,6,0.000,0.049,2568,2002,3432
$GC,2018,-0.61,-146.6,177.4,-9.3,94,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2001,3432
$GC,2327,-0.61,-146.6,198.4,-6.7,109,2332,0.00,2.55,0.00,0.000,4,0.000,0.060,2567,3409,3432
$GC,2374,-0.66,-146.6,201.4,-6.5,111,2378,0.00,2.50,0.00,0.000,6,0.000,0.048,2568,1997,3432
$GC,2695,-0.66,-146.6,222.1,-7.0,127,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1997,3432
$GC,3003,-0.66,-146.6,244.4,-7.3,142,3008,0.00,2.55,0.00,0.000,4,0.000,0.061,2567,3412,3432
$GC,3044,-0.70,-146.6,247.5,-8.0,144,3048,0.00,2.47,0.00,0.000,6,0.000,0.049,2568,2012,3432
$GC,3376,-0.70,-146.6,271.9,-7.4,160,3380,0.00,2.53,0.00,0.000,4,0.000,0.061,2568,3406,3432
$GC,3416,-0.75,-146.6,274.9,-7.3,162,3424,0.15,2.45,0.00,0.000,6,0.052,0.048,2525,2022,3432
$GC,3754,-0.66,-146.6,303.3,-8.4,178,3759,0.15,2.55,0.00,0.000,4,0.087,0.065,2557,597,3432
$GC,3776,-0.66,-146.6,305.1,-7.0,179,3781,0.00,2.55,0.00,0.000,6,0.000,0.051,2557,2033,3432
$GC,4097,-0.66,-146.6,326.9,-7.3,195,4101,0.00,2.47,0.00,0.000,4,0.000,0.064,2557,3415,3432
$GC,4118,-0.66,-146.6,328.5,-7.4,196,4123,0.00,2.47,0.00,0.000,6,0.000,0.051,2557,2025,3432
$GC,4441,-0.66,-146.6,351.0,-7.0,212,4445,0.00,2.58,0.00,0.000,4,0.000,0.067,2557,590,3432
$GC,4480,-0.66,-146.6,354.3,-8.9,214,4484,0.00,2.55,0.00,0.000,6,0.000,0.051,2557,2030,3432
$GC,4807,-0.66,-146.6,379.6,-7.4,230,4811,0.00,2.62,0.00,0.000,4,0.000,0.069,2557,594,3432
$GC,4851,-0.66,-146.6,383.0,-7.5,232,4855,0.00,2.50,0.00,0.000,6,0.000,0.051,2557,2008,3432
$GC,5171,-0.66,-146.6,405.3,-7.1,248,5176,0.00,2.50,0.00,0.000,4,0.000,0.066,2557,3402,3432
$GC,5257,-0.66,-146.6,411.7,-7.9,252,5261,0.00,2.47,0.00,0.000,6,0.000,0.054,2557,2018,3432
$GC,5583,-0.66,-146.6,431.4,-5.3,268,5588,0.00,2.53,0.00,0.000,4,0.000,0.064,2557,3409,3432
$GC,5617,-0.66,-146.6,433.4,-5.2,269,5624,0.00,2.45,0.00,0.000,6,0.000,0.054,2557,2042,3432
$GC,5933,-0.66,-146.6,452.0,-6.1,285,5937,0.00,2.60,0.00,0.000,4,0.000,0.068,2557,597,3432
$GC,5960,-0.66,-146.6,453.8,-6.2,286,5965,0.00,2.55,0.00,0.000,6,0.000,0.053,2557,2032,3432
$GC,6277,-0.66,-146.6,469.8,-4.6,301,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2033,3432
$GC,6586,-0.66,-146.6,486.0,-5.5,316,6590,0.00,2.65,0.00,0.000,4,0.000,0.072,2557,595,3432
$GC,6613,-0.66,-146.6,487.6,-6.1,317,6617,0.00,2.58,0.00,0.000,6,0.000,0.057,2557,2031,3431
$GC,6929,-0.66,-146.6,505.2,-5.4,332,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2032,3431
$GC,7238,-0.66,-146.6,523.0,-5.7,347,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2032,3430
$GC,7547,-0.66,-146.6,539.8,-5.6,362,7552,0.00,2.67,0.00,0.000,4,0.000,0.079,2557,597,3430
$GC,7592,-0.66,-146.6,542.6,-6.2,364,7596,0.00,2.58,0.00,0.000,6,0.000,0.063,2557,2020,3430
$GC,7913,-0.66,-146.6,560.6,-5.7,380,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2021,3428
$GC,8223,-0.70,-146.6,578.4,-5.5,395,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2021,3427
$GC,8532,-0.75,-146.6,595.2,-5.6,410,8534,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2021,3426
$GC,8841,-0.80,-146.6,613.1,-5.9,425,8846,0.15,2.58,0.00,0.000,4,0.064,0.081,2518,3408,3425
$GC,8859,-0.80,-146.6,614.3,-6.4,426,8864,0.00,2.60,0.00,0.000,6,0.000,0.073,2519,2004,3425
$GC,9187,-0.75,-146.6,639.8,-7.9,442,9191,0.00,2.65,0.00,0.000,4,0.000,0.084,2519,3406,3423
$GC,9242,-0.70,-146.6,644.4,-8.4,444,9249,0.12,2.58,0.00,0.000,6,0.105,0.074,2544,2020,3423
$GC,9558,-0.70,-146.6,666.5,-7.1,460,9563,0.00,2.67,0.00,0.000,4,0.000,0.088,2544,585,3422
$GC,9585,-0.70,-146.6,668.7,-7.5,461,9590,0.00,2.67,0.00,0.000,6,0.000,0.071,2544,2038,3422
$GC,9901,-0.70,-146.6,691.4,-7.3,476,9903,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2039,3421
$GC,10212,-0.70,-146.6,712.6,-6.7,491,10213,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2039,3420
$GC,10520,-0.70,-146.6,732.8,-6.2,506,10521,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2039,3418
$GC,10829,-0.70,-146.6,752.0,-6.4,521,10834,0.00,2.78,0.00,0.000,4,0.000,0.094,2544,592,3418
$GC,10857,-0.70,-146.6,753.9,-6.2,522,10861,0.00,2.67,0.00,0.000,6,0.000,0.075,2544,2032,3417
$GC,11173,-0.70,-146.6,773.2,-5.8,537,11174,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2033,3417
$GC,11482,-0.70,-146.6,791.1,-5.8,552,11486,0.00,2.60,0.00,0.000,4,0.000,0.091,2544,3412,3415
$GC,11504,-0.70,-146.6,792.5,-5.7,553,11509,0.00,2.60,0.00,0.000,6,0.000,0.080,2544,2029,3415
$GC,11825,-0.70,-146.6,811.1,-5.9,569,11826,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2028,3414
$GC,12135,-0.70,-146.6,828.7,-5.5,584,12139,0.00,2.65,0.00,0.000,4,0.000,0.089,2544,3414,3414
$GC,12156,-0.70,-146.6,830.1,-6.0,585,12161,0.00,2.60,0.00,0.000,6,0.000,0.078,2544,2027,3413
$GC,12478,-0.70,-146.6,848.3,-5.7,601,12480,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2027,3413
$GC,12788,-0.70,-146.6,867.1,-6.4,616,12789,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2027,3412
$GC,13097,-0.70,-146.6,885.9,-6.2,631,13101,0.00,2.65,0.00,0.000,4,0.000,0.089,2544,3416,3412
$GC,13129,-0.70,-146.6,888.2,-7.2,632,13135,0.00,2.60,0.00,0.000,6,0.000,0.078,2544,2033,3412
$GC,13445,-0.70,-146.6,907.3,-6.0,648,13446,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2034,3411
$GC,13754,-0.70,-146.6,926.9,-6.4,663,13755,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2034,3411
$GC,14064,-0.70,-146.6,946.3,-6.1,678,14065,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2034,3411
$GC,14373,-0.70,-146.6,965.2,-5.9,693,14375,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2033,3410
$GC,14682,-0.70,-146.6,984.2,-6.1,708,14686,0.00,2.65,0.00,0.000,4,0.000,0.091,2544,3414,3409
$GC,14715,-0.74,-146.6,986.4,-6.6,709,14721,0.00,2.58,0.00,0.000,6,0.000,0.079,2544,2041,3409
$STATE,14781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14781,begin apogee
$GC,14788,-0.33,0.0,990.7,6.3,713,14915,0.40,0.00,123.88,1.662,6,0.094,0.000,2626,2254,2833
$STATE,14916,end apogee,CONTROL_FINISHED_OK
$STATE,14916,begin climb
$GC,14919,0.97,146.6,994.9,0.0,719,15053,1.35,2.75,126.15,1.616,4,0.080,0.091,2907,3651,2233
$GC,15067,0.94,156.3,989.7,5.7,726,15084,0.00,2.70,9.98,1.380,6,0.000,0.077,2907,2248,2194
$GC,15394,0.88,156.3,969.9,6.1,742,15398,0.00,2.67,0.00,0.000,4,0.000,0.094,2907,843,2194
$GC,15479,0.82,156.3,964.4,6.8,746,15485,0.15,2.65,0.00,0.000,6,0.103,0.077,2881,2241,2193
$GC,15806,0.87,188.3,947.4,5.1,762,15841,0.00,2.83,28.58,1.564,4,0.000,0.092,2880,847,2064
$GC,15876,0.91,213.9,943.4,5.3,765,15906,0.00,2.65,23.95,1.534,6,0.000,0.076,2880,2233,1959
$GC,16226,1.01,227.7,923.9,5.6,782,16248,0.17,2.80,13.57,1.476,4,0.067,0.092,2927,848,1903
$GC,16295,0.95,227.7,918.5,7.6,785,16299,0.00,2.60,0.00,0.000,6,0.000,0.077,2927,2211,1903
$GC,16623,0.91,227.7,894.0,7.3,801,16628,0.15,2.67,0.00,0.000,4,0.104,0.093,2897,840,1903
$GC,16662,0.91,227.7,891.0,6.7,803,16667,0.00,2.58,0.00,0.000,6,0.000,0.075,2897,2203,1903
$GC,16990,0.96,227.7,870.7,6.1,819,16994,0.00,2.65,0.00,0.000,4,0.000,0.093,2897,842,1903
$GC,17030,0.96,227.7,868.0,7.0,821,17034,0.00,2.50,0.00,0.000,6,0.000,0.076,2897,2178,1903
$GC,17357,1.01,227.7,848.2,6.1,837,17362,0.10,2.60,0.00,0.000,4,0.075,0.093,2921,842,1903
$GC,17385,1.01,227.7,846.3,8.3,838,17389,0.00,2.50,0.00,0.000,6,0.000,0.076,2921,2167,1904
$GC,17700,1.01,227.7,824.6,6.9,853,17702,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2166,1903
$GC,18009,1.01,227.7,803.8,6.8,868,18014,0.00,2.58,0.00,0.000,4,0.000,0.093,2921,842,1903
$GC,18049,1.01,227.7,801.1,7.0,870,18053,0.00,2.47,0.00,0.000,6,0.000,0.076,2921,2158,1903
$GC,18376,1.01,227.7,780.1,6.3,886,18377,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2158,1903
$GC,18685,1.01,227.7,759.9,6.6,901,18689,0.00,2.55,0.00,0.000,4,0.000,0.094,2921,844,1903
$GC,18718,1.01,227.7,757.4,8.0,902,18724,0.00,2.47,0.00,0.000,6,0.000,0.076,2921,2156,1903
$GC,19034,1.01,227.7,736.0,7.1,918,19035,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2156,1903
$GC,19343,1.01,227.7,714.4,6.4,933,19347,0.00,2.55,0.00,0.000,4,0.000,0.093,2921,842,1903
$GC,19376,1.01,227.7,712.0,7.2,934,19382,0.00,2.45,0.00,0.000,6,0.000,0.076,2921,2145,1903
$GC,19692,1.01,227.7,691.5,6.2,950,19693,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2145,1903
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$STATE,29384,end climb,SURFACE_DEPTH_REACHED
$STATE,29384,begin surface coast
$FINISH,0.4,1.027351
$STATE,29427,end surface coast,CONTROL_FINISHED_OK
$STATE,29427,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1771
$TCM_TEMP,16.40
$XPDR_PINGS,414
$ALTIM_TOP_PING,18.2,17.3
$24V_AH,23.6,24.450
$10V_AH,10.0,11.313
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$DEVICE_SECS,25.850,271.250,393.675,0.000,0.000,37.763,29.904,180.031,112.500,0.000,0.000,14.820,2580.132,23088.959,617.447,2874.182,725.200,33.366,2089.498,0.000,2812.126,0.000,58.489,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72623,1420
$CAP_FILE_SIZE,215180,0
$CFSIZE,254472192,244404224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,87,0,0
$GPS,011208,194608,6129.102,-340.300,29,1.2,29,-6.4