version: 66.04
glider: 5
mission: 5
dive: 137
start: 12 1 108 19 53 58
data:
$ID,5
$MISSION,5
$DIVE,137
$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,-89904.609
$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,28
$R_STBD_OVSHOOT,15
$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
$GPS1,194608,6129.102,-340.300,29,1.2,29,-6.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-60.0
$GPS2,195307,6129.192,-340.415,12,1.5,28,-6.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_NW
$TGT_LATLONG,6140.000,-445.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.217,0.044
$KALMAN_X,65922.2,94.8,-651.0,52665.5,-1219.3
$KALMAN_Y,8517.1,-628.2,-786.9,-249853.3,9579.5
$MHEAD_RNG_PITCHd_Wd,287.8,60193,-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,16,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-81.18,0.000,2,0.000,0.000,425,1972,3275
$GC,103,-0.97,-146.6,4.2,-5.1,4,125,10.55,2.55,-3.75,0.000,4,0.133,0.074,2482,580,3432
$GC,378,-0.73,-146.6,46.0,-11.0,16,384,0.28,2.55,0.00,0.000,6,0.084,0.050,2541,2014,3432
$GC,701,-0.67,-146.6,69.6,-8.2,32,705,0.00,2.60,0.00,0.000,4,0.000,0.066,2541,594,3432
$GC,796,-0.61,-146.6,78.2,-7.7,36,801,0.12,2.47,0.00,0.000,6,0.097,0.049,2566,1992,3432
$GC,1112,-0.61,-146.6,103.8,-8.1,51,1117,0.00,2.58,0.00,0.000,4,0.000,0.066,2566,594,3433
$GC,1153,-0.61,-146.6,106.8,-8.1,53,1157,0.00,2.47,0.00,0.000,6,0.000,0.051,2566,1996,3433
$GC,1479,-0.61,-146.6,128.3,-6.2,69,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1996,3432
$GC,1791,-0.61,-146.6,146.2,-5.9,84,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1996,3433
$GC,2098,-0.61,-146.6,167.6,-7.0,99,2102,0.00,2.53,0.00,0.000,4,0.000,0.062,2566,3406,3433
$GC,2148,-0.61,-146.6,171.4,-6.8,101,2152,0.00,2.50,0.00,0.000,6,0.000,0.048,2566,1989,3432
$GC,2464,-0.61,-146.6,192.1,-7.2,116,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1989,3433
$GC,2773,-0.61,-146.6,213.6,-5.9,131,2778,0.00,2.58,0.00,0.000,4,0.000,0.060,2566,3411,3433
$GC,2847,-0.66,-146.6,218.8,-7.7,134,2851,0.00,2.53,0.00,0.000,6,0.000,0.050,2566,1990,3433
$GC,3162,-0.66,-146.6,243.6,-8.4,149,3166,0.00,2.50,0.00,0.000,4,0.000,0.066,2566,597,3433
$GC,3203,-0.66,-146.6,247.0,-8.8,151,3207,0.00,2.47,0.00,0.000,6,0.000,0.050,2566,2000,3433
$GC,3530,-0.66,-146.6,275.7,-8.5,167,3534,0.00,2.50,0.00,0.000,4,0.000,0.061,2566,3404,3433
$GC,3570,-0.71,-146.6,279.2,-8.8,169,3574,0.00,2.50,0.00,0.000,6,0.000,0.051,2566,1996,3432
$GC,3896,-0.71,-146.6,304.2,-7.4,185,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1996,3433
$GC,4207,-0.71,-146.6,325.5,-7.1,200,4211,0.00,2.55,0.00,0.000,4,0.000,0.062,2566,3404,3433
$GC,4264,-0.75,-146.6,329.6,-7.8,202,4270,0.15,2.50,0.00,0.000,6,0.054,0.050,2524,1995,3433
$GC,4580,-0.66,-146.6,355.3,-8.1,218,4581,0.15,0.00,0.00,0.000,6,0.084,0.000,2557,1994,3433
$GC,4890,-0.66,-146.6,375.6,-6.5,233,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1995,3433
$GC,5198,-0.66,-146.6,394.5,-6.1,248,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1995,3433
$GC,5507,-0.66,-146.6,412.9,-6.3,263,5511,0.00,2.58,0.00,0.000,4,0.000,0.064,2557,3410,3433
$GC,5534,-0.66,-146.6,414.7,-6.7,264,5538,0.00,2.50,0.00,0.000,6,0.000,0.053,2557,2001,3433
$GC,5856,-0.66,-146.6,434.3,-6.5,280,5860,0.00,2.53,0.00,0.000,4,0.000,0.066,2557,594,3433
$GC,5900,-0.66,-146.6,437.6,-7.2,282,5904,0.00,2.50,0.00,0.000,6,0.000,0.051,2557,2005,3433
$GC,6221,-0.66,-146.6,462.5,-8.8,298,6225,0.00,2.53,0.00,0.000,4,0.000,0.067,2556,3409,3433
$GC,6293,-0.66,-146.6,468.9,-8.4,301,6298,0.00,2.50,0.00,0.000,6,0.000,0.057,2557,2018,3432
$GC,6610,-0.66,-146.6,488.7,-5.6,316,6614,0.00,2.58,0.00,0.000,4,0.000,0.071,2557,593,3433
$GC,6654,-0.66,-146.6,491.3,-5.9,318,6659,0.00,2.53,0.00,0.000,6,0.000,0.055,2557,2008,3433
$GC,6976,-0.66,-146.6,509.2,-5.9,334,6977,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2008,3432
$GC,7286,-0.70,-146.6,527.9,-5.9,349,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2008,3432
$GC,7594,-0.70,-146.6,545.2,-5.3,364,7599,0.00,2.58,0.00,0.000,4,0.000,0.077,2557,3409,3431
$GC,7628,-0.76,-146.6,547.1,-5.5,365,7636,0.12,2.55,0.00,0.000,6,0.065,0.066,2524,2020,3430
$GC,7946,-0.71,-146.6,564.9,-5.8,381,7951,0.10,2.60,0.00,0.000,4,0.098,0.078,2545,3404,3429
$GC,7986,-0.71,-146.6,567.3,-6.2,383,7990,0.00,2.55,0.00,0.000,6,0.000,0.067,2545,2017,3429
$GC,8312,-0.71,-146.6,588.6,-7.4,399,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2016,3428
$GC,8621,-0.71,-146.6,612.9,-8.2,414,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2017,3427
$GC,8931,-0.71,-146.6,637.4,-7.7,429,8932,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2016,3425
$GC,9240,-0.71,-146.6,661.5,-7.9,444,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2016,3424
$GC,9549,-0.71,-146.6,685.5,-7.6,459,9553,0.00,2.60,0.00,0.000,4,0.000,0.084,2545,3400,3423
$GC,9593,-0.71,-146.6,689.1,-7.9,461,9597,0.00,2.55,0.00,0.000,6,0.000,0.074,2545,2030,3423
$GC,9914,-0.71,-146.6,711.7,-6.6,477,9915,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2030,3421
$GC,10223,-0.71,-146.6,732.1,-6.6,492,10225,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2030,3421
$GC,10532,-0.71,-146.6,752.6,-6.9,507,10533,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2030,3419
$GC,10842,-0.71,-146.6,773.3,-6.8,522,10843,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2030,3418
$GC,11151,-0.71,-146.6,795.8,-7.2,537,11155,0.00,2.62,0.00,0.000,4,0.000,0.087,2545,3405,3417
$GC,11190,-0.71,-146.6,798.8,-8.2,539,11194,0.00,2.58,0.00,0.000,6,0.000,0.077,2545,2028,3417
$GC,11517,-0.71,-146.6,822.9,-7.4,555,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2028,3416
$GC,11826,-0.71,-146.6,845.2,-7.1,570,11830,0.00,2.62,0.00,0.000,4,0.000,0.087,2545,3402,3414
$GC,11859,-0.75,-146.6,847.6,-7.3,571,11865,0.00,2.55,0.00,0.000,6,0.000,0.077,2545,2041,3414
$GC,12175,-0.75,-146.6,870.1,-7.1,587,12176,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2041,3413
$GC,12483,-0.75,-146.6,891.9,-6.9,602,12485,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2041,3413
$GC,12793,-0.75,-146.6,913.1,-6.8,617,12794,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2041,3412
$GC,13102,-0.75,-146.6,933.5,-6.5,632,13107,0.00,2.62,0.00,0.000,4,0.000,0.091,2545,3406,3412
$GC,13136,-0.75,-146.6,935.9,-7.4,633,13142,0.00,2.58,0.00,0.000,6,0.000,0.079,2545,2040,3412
$GC,13451,-0.75,-146.6,956.4,-6.6,649,13452,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2040,3410
$GC,13761,-0.75,-146.6,976.5,-6.5,664,13762,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2040,3410
$STATE,13984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13984,begin apogee
$GC,13992,-0.33,0.0,991.0,6.4,675,14118,0.40,0.00,123.82,1.662,6,0.094,0.000,2627,2248,2832
$STATE,14119,end apogee,CONTROL_FINISHED_OK
$STATE,14119,begin climb
$GC,14123,0.97,146.6,995.4,0.0,681,14254,1.35,0.00,127.18,1.611,6,0.087,0.000,2908,2248,2234
$GC,14559,0.97,146.6,972.3,6.5,703,14563,0.00,2.70,0.00,0.000,4,0.000,0.095,2908,3652,2233
$GC,14713,0.89,146.6,962.1,6.7,710,14718,0.00,2.85,0.00,0.000,6,0.000,0.079,2908,2149,2233
$GC,15041,0.82,146.6,940.9,6.2,726,15046,0.15,2.50,0.00,0.000,4,0.106,0.092,2881,842,2232
$GC,15085,0.83,152.8,938.0,5.8,728,15101,0.00,2.45,6.97,1.309,6,0.000,0.075,2881,2143,2209
$GC,15411,0.87,175.7,920.3,5.4,744,15434,0.00,0.00,21.05,1.534,6,0.000,0.000,2881,2143,2115
$GC,15741,0.93,186.1,901.4,5.7,760,15753,0.00,0.00,10.93,1.437,6,0.000,0.000,2881,2143,2073
$GC,16050,1.01,196.4,883.5,5.7,775,16066,0.17,2.60,10.93,1.431,4,0.067,0.092,2928,838,2030
$GC,16091,0.91,196.4,880.5,7.8,776,16096,0.15,2.50,0.00,0.000,6,0.105,0.076,2899,2145,2030
$GC,16418,0.91,196.4,859.9,6.0,792,16419,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2145,2030
$GC,16727,0.93,211.6,841.6,5.6,807,16748,0.00,2.60,14.32,1.473,4,0.000,0.092,2899,843,1969
$GC,16772,0.93,211.6,838.6,7.1,809,16776,0.00,2.47,0.00,0.000,6,0.000,0.075,2899,2142,1969
$GC,17099,0.94,219.3,819.7,5.8,825,17109,0.00,0.00,8.40,1.355,6,0.000,0.000,2899,2141,1938
$GC,17408,0.94,219.5,801.3,6.0,840,17412,0.00,2.53,0.00,0.000,4,0.000,0.092,2899,838,1937
$GC,17435,0.94,219.5,799.3,6.4,841,17439,0.00,2.45,0.00,0.000,6,0.000,0.075,2899,2135,1937
$GC,17756,0.94,219.5,779.4,6.4,857,17757,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2135,1937
$GC,18066,0.99,219.5,760.2,6.3,872,18067,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2135,1937
$GC,18375,1.03,219.5,740.5,6.5,887,18380,0.12,2.53,0.00,0.000,4,0.073,0.092,2930,841,1937
$GC,18420,0.96,219.5,736.9,8.7,889,18424,0.00,2.42,0.00,0.000,6,0.000,0.074,2931,2131,1937
$GC,18740,0.96,219.5,712.0,7.9,905,18742,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2131,1937
$GC,19050,0.92,219.5,686.8,8.3,920,19052,0.15,0.00,0.00,0.000,6,0.104,0.000,2900,2131,1937
$GC,19360,0.97,219.5,664.3,6.9,935,19364,0.00,2.50,0.00,0.000,4,0.000,0.092,2900,839,1937
$GC,19399,0.97,219.5,661.3,7.7,937,19403,0.00,2.42,0.00,0.000,6,0.000,0.075,2900,2131,1937
$GC,19727,1.07,248.9,642.2,5.2,953,19756,0.15,0.00,26.40,1.420,6,0.071,0.000,2937,2131,1817
$GC,20055,1.07,248.9,622.4,6.1,969,20056,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2132,1818
$GC,20364,1.07,248.9,601.3,7.6,984,20368,0.00,2.47,0.00,0.000,4,0.000,0.091,2937,842,1818
$GC,20425,1.01,248.9,596.1,8.4,986,20432,0.00,2.42,0.00,0.000,6,0.000,0.075,2937,2131,1818
$GC,20741,1.01,248.9,572.2,7.2,1002,20745,0.00,2.47,0.00,0.000,4,0.000,0.090,2937,841,1818
$GC,20768,1.01,248.9,570.0,7.8,1003,20772,0.00,2.40,0.00,0.000,6,0.000,0.073,2937,2121,1818
$GC,21089,1.01,248.9,547.7,7.2,1019,21090,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2121,1818
$GC,21398,1.01,248.9,525.1,7.2,1034,21399,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2121,1818
$GC,21707,1.01,248.9,502.3,7.1,1049,21712,0.00,2.45,0.00,0.000,4,0.000,0.085,2937,838,1818
$GC,21764,0.96,248.9,498.1,7.7,1051,21771,0.15,2.38,0.00,0.000,6,0.103,0.070,2906,2116,1818
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$STATE,28750,end climb,SURFACE_DEPTH_REACHED
$STATE,28750,begin surface coast
$FINISH,0.4,1.027352
$STATE,28813,end surface coast,CONTROL_FINISHED_OK
$STATE,28813,begin surface
$SM_CCo,28896,0.00,0.000,0,0,1552,313.98
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1776
$TCM_TEMP,17.30
$XPDR_PINGS,415
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,23.6,24.652
$10V_AH,10.1,11.432
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$DEVICE_SECS,25.950,196.450,408.750,0.000,0.000,37.763,28.043,194.685,112.750,0.000,0.000,28.842,2483.745,22751.385,615.673,2756.396,691.334,33.372,1964.175,0.000,2691.465,0.000,58.463,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.389,944.186,729.923,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69508,1392
$CAP_FILE_SIZE,195747,0
$CFSIZE,254472192,244338688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,63,0,0
$GPS,021208,035655,6133.476,-348.519,26,1.2,43,-6.5