version: 66.04
glider: 5
mission: 5
dive: 138
start: 12 2 108 4 4 24
data:
$ID,5
$MISSION,5
$DIVE,138
$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,-89922.602
$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,31
$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
$GPS1,035655,6133.476,-348.519,26,1.2,43,-6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-64.6
$GPS2,040332,6133.526,-348.595,12,1.2,17,-6.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_NW
$TGT_LATLONG,6140.000,-445.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.221,0.017
$KALMAN_X,64998.1,529.0,314.3,45454.8,-2360.3
$KALMAN_Y,13996.1,-78.6,-306.1,-248322.5,8548.1
$MHEAD_RNG_PITCHd_Wd,280.9,51007,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.32,0.000,2,0.000,0.000,421,1964,3184
$GC,102,-0.97,-146.6,3.7,-4.2,4,126,10.68,2.62,-6.47,0.000,4,0.137,0.071,2483,3412,3431
$GC,379,-0.77,-146.6,39.4,-10.6,16,384,0.22,2.53,0.00,0.000,6,0.087,0.048,2530,1994,3431
$GC,701,-0.68,-146.6,66.9,-6.8,32,706,0.00,2.58,0.00,0.000,4,0.000,0.060,2530,3412,3431
$GC,747,-0.61,-146.6,70.6,-8.1,34,752,0.17,2.50,0.00,0.000,6,0.088,0.048,2568,2005,3431
$GC,1068,-0.61,-146.6,88.8,-6.5,50,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2004,3431
$GC,1379,-0.61,-146.6,108.7,-6.2,65,1383,0.00,2.55,0.00,0.000,4,0.000,0.059,2568,3413,3431
$GC,1423,-0.61,-146.6,112.3,-7.3,67,1427,0.00,2.50,0.00,0.000,6,0.000,0.048,2568,2001,3431
$GC,1744,-0.61,-146.6,135.9,-4.9,83,1749,0.00,2.53,0.00,0.000,4,0.000,0.064,2568,592,3432
$GC,1789,-0.61,-146.6,138.8,-7.0,85,1793,0.00,2.53,0.00,0.000,6,0.000,0.051,2568,2025,3431
$GC,2110,-0.61,-146.6,165.3,-10.8,101,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2026,3431
$GC,2420,-0.61,-146.6,191.4,-8.7,116,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2026,3431
$GC,2728,-0.61,-146.6,217.1,-7.5,131,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2026,3432
$GC,3038,-0.61,-146.6,243.3,-8.7,146,3042,0.00,2.60,0.00,0.000,4,0.000,0.064,2568,597,3431
$GC,3093,-0.61,-146.6,248.4,-8.1,148,3099,0.00,2.50,0.00,0.000,6,0.000,0.051,2568,2009,3431
$GC,3409,-0.61,-146.6,270.9,-7.5,164,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2009,3431
$GC,3718,-0.61,-146.6,294.7,-6.6,179,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2009,3431
$GC,4028,-0.61,-146.6,314.2,-4.9,194,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2009,3432
$GC,4337,-0.61,-146.6,327.5,-5.0,209,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2009,3431
$GC,4646,-0.61,-146.6,349.5,-8.2,224,4650,0.00,2.58,0.00,0.000,4,0.000,0.067,2568,600,3431
$GC,4692,-0.65,-146.6,353.4,-9.2,226,4696,0.00,2.50,0.00,0.000,6,0.000,0.051,2568,2011,3431
$GC,5012,-0.65,-146.6,381.7,-8.6,242,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2012,3431
$GC,5323,-0.70,-146.6,401.1,-5.1,257,5324,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2012,3431
$GC,5632,-0.75,-146.6,415.9,-5.0,272,5634,0.15,0.00,0.00,0.000,6,0.053,0.000,2524,2013,3431
$GC,5941,-0.67,-146.6,437.9,-7.4,287,5946,0.12,2.62,0.00,0.000,4,0.091,0.068,2551,590,3431
$GC,5985,-0.67,-146.6,441.0,-7.6,289,5990,0.00,2.50,0.00,0.000,6,0.000,0.054,2550,1993,3431
$GC,6307,-0.67,-146.6,460.9,-6.2,305,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1993,3431
$GC,6616,-0.67,-146.6,479.1,-5.7,320,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1994,3431
$GC,6925,-0.67,-146.6,498.5,-6.8,335,6926,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1994,3430
$GC,7234,-0.67,-146.6,519.8,-6.6,350,7239,0.00,2.60,0.00,0.000,4,0.000,0.079,2551,601,3429
$GC,7279,-0.67,-146.6,523.0,-7.2,352,7283,0.00,2.55,0.00,0.000,6,0.000,0.062,2551,2007,3430
$GC,7600,-0.67,-146.6,542.8,-4.6,368,7604,0.00,2.58,0.00,0.000,4,0.000,0.079,2550,3405,3428
$GC,7663,-0.67,-146.6,545.3,-3.3,371,7668,0.00,2.55,0.00,0.000,6,0.000,0.067,2551,2018,3428
$GC,7990,-0.67,-146.6,561.1,-6.3,387,7995,0.00,2.62,0.00,0.000,4,0.000,0.081,2551,3411,3427
$GC,8017,-0.67,-146.6,563.2,-7.7,388,8021,0.00,2.58,0.00,0.000,6,0.000,0.069,2551,2014,3427
$GC,8333,-0.67,-146.6,587.0,-6.9,403,8337,0.00,2.62,0.00,0.000,4,0.000,0.083,2551,595,3426
$GC,8377,-0.67,-146.6,590.2,-7.1,405,8381,0.00,2.60,0.00,0.000,6,0.000,0.067,2550,2017,3426
$GC,8698,-0.67,-146.6,611.0,-6.3,421,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2018,3424
$GC,9007,-0.67,-146.6,629.3,-5.8,436,9009,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2018,3423
$GC,9317,-0.67,-146.6,647.0,-5.8,451,9321,0.00,2.60,0.00,0.000,4,0.000,0.086,2551,3409,3422
$GC,9372,-0.67,-146.6,650.7,-6.4,453,9378,0.00,2.62,0.00,0.000,6,0.000,0.074,2551,2000,3422
$GC,9688,-0.67,-146.6,668.9,-5.7,469,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1999,3421
$GC,9997,-0.67,-146.6,687.1,-6.2,484,10002,0.00,2.67,0.00,0.000,4,0.000,0.087,2551,3406,3419
$GC,10047,-0.67,-146.6,690.8,-7.8,486,10052,0.00,2.60,0.00,0.000,6,0.000,0.076,2550,2014,3419
$GC,10364,-0.67,-146.6,711.8,-6.8,501,10365,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2013,3418
$GC,10674,-0.71,-146.6,732.1,-6.7,516,10675,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2013,3417
$GC,10982,-0.75,-146.6,752.4,-6.6,531,10987,0.00,2.65,0.00,0.000,4,0.000,0.087,2551,3405,3415
$GC,11032,-0.80,-146.6,756.0,-7.2,533,11038,0.12,2.60,0.00,0.000,6,0.070,0.076,2519,2017,3415
$GC,11349,-0.75,-146.6,779.8,-7.4,548,11353,0.00,2.67,0.00,0.000,4,0.000,0.090,2518,587,3414
$GC,11377,-0.70,-146.6,782.0,-7.6,549,11382,0.12,2.65,0.00,0.000,6,0.106,0.074,2543,2015,3414
$GC,11693,-0.70,-146.6,804.4,-7.2,564,11694,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2016,3413
$GC,12002,-0.70,-146.6,827.1,-7.1,579,12006,0.00,2.62,0.00,0.000,4,0.000,0.092,2543,3408,3412
$GC,12051,-0.70,-146.6,830.9,-8.0,581,12056,0.00,2.60,0.00,0.000,6,0.000,0.079,2543,2024,3412
$GC,12368,-0.70,-146.6,852.4,-6.5,596,12369,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2023,3411
$GC,12676,-0.70,-146.6,871.9,-6.3,611,12681,0.00,2.65,0.00,0.000,4,0.000,0.090,2543,3408,3410
$GC,12709,-0.70,-146.6,874.1,-6.4,612,12715,0.00,2.60,0.00,0.000,6,0.000,0.079,2543,2025,3410
$GC,13025,-0.70,-146.6,893.2,-6.0,628,13027,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2024,3410
$GC,13334,-0.70,-146.6,911.5,-5.9,643,13336,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2024,3409
$GC,13643,-0.70,-146.6,930.1,-6.0,658,13644,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2024,3409
$GC,13953,-0.70,-146.6,948.6,-5.8,673,13954,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2024,3409
$GC,14262,-0.70,-146.6,967.6,-6.3,688,14263,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2024,3409
$GC,14571,-0.70,-146.6,988.1,-6.7,703,14575,0.00,2.65,0.00,0.000,4,0.000,0.091,2543,3412,3408
$STATE,14597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14597,begin apogee
$GC,14606,-0.33,0.0,990.1,6.7,704,14738,0.38,0.00,123.97,1.662,6,0.094,0.000,2623,2227,2832
$STATE,14738,end apogee,CONTROL_FINISHED_OK
$STATE,14739,begin climb
$GC,14741,0.97,146.6,996.1,0.0,711,14873,1.38,0.00,126.90,1.620,6,0.087,0.000,2908,2226,2234
$GC,15175,0.99,161.4,977.1,5.6,732,15196,0.00,2.72,14.18,1.469,4,0.000,0.091,2908,845,2174
$GC,15371,0.95,172.5,965.2,5.7,740,15388,0.00,2.58,11.27,1.439,6,0.000,0.077,2908,2199,2128
$GC,15704,0.95,172.5,944.8,6.4,757,15708,0.00,2.65,0.00,0.000,4,0.000,0.094,2909,844,2128
$GC,15744,0.90,172.5,942.1,7.1,759,15748,0.00,2.55,0.00,0.000,6,0.000,0.077,2908,2189,2128
$GC,16070,0.90,172.5,919.8,6.8,775,16075,0.00,2.62,0.00,0.000,4,0.000,0.093,2909,843,2128
$GC,16111,0.85,172.5,916.7,8.0,777,16116,0.12,2.53,0.00,0.000,6,0.107,0.076,2886,2178,2128
$GC,16438,0.85,172.7,896.8,6.0,793,16442,0.00,2.60,0.00,0.000,4,0.000,0.093,2886,843,2128
$GC,16471,0.89,195.6,894.7,5.4,794,16499,0.00,2.50,21.52,1.547,6,0.000,0.076,2886,2166,2034
$GC,16808,0.94,195.6,874.0,6.2,811,16809,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2166,2033
$GC,17118,1.02,214.3,856.0,5.5,826,17141,0.15,2.70,17.38,1.506,4,0.067,0.091,2922,842,1958
$GC,17187,0.96,214.3,850.9,7.4,829,17192,0.00,2.53,0.00,0.000,6,0.000,0.076,2923,2167,1958
$GC,17515,0.96,214.3,828.0,7.2,845,17516,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2167,1958
$GC,17824,0.96,214.3,806.6,6.8,860,17828,0.00,2.58,0.00,0.000,4,0.000,0.093,2923,845,1957
$GC,17868,0.91,214.3,803.0,7.7,862,17873,0.12,2.47,0.00,0.000,6,0.104,0.077,2899,2155,1957
$GC,18189,0.91,214.3,781.9,6.8,878,18190,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2156,1957
$GC,18498,0.91,214.3,760.8,6.9,893,18502,0.00,2.55,0.00,0.000,4,0.000,0.094,2899,845,1957
$GC,18537,0.91,214.3,757.9,8.3,895,18542,0.00,2.47,0.00,0.000,6,0.000,0.077,2899,2158,1957
$GC,18865,0.91,214.3,734.9,7.0,911,18866,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2158,1956
$GC,19174,0.95,214.3,712.8,7.0,926,19179,0.00,2.55,0.00,0.000,4,0.000,0.092,2899,842,1957
$GC,19219,0.95,214.3,709.2,8.4,928,19223,0.00,2.45,0.00,0.000,6,0.000,0.076,2899,2144,1956
$GC,19540,1.00,214.3,687.2,6.8,944,19541,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2145,1956
$GC,19849,1.05,222.2,667.4,5.8,959,19864,0.12,2.60,8.38,1.295,4,0.071,0.091,2931,845,1926
$GC,19894,0.98,222.2,664.5,6.4,961,19898,0.00,2.45,0.00,0.000,6,0.000,0.075,2931,2137,1926
$GC,20221,1.01,238.3,644.9,5.6,977,20240,0.00,0.00,15.05,1.378,6,0.000,0.000,2931,2139,1860
$GC,20550,1.01,238.3,625.0,6.6,993,20551,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2139,1860
$GC,20859,1.01,238.3,602.9,7.0,1008,20860,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2139,1860
$GC,21168,1.01,238.3,581.6,6.9,1023,21172,0.00,2.47,0.00,0.000,4,0.000,0.091,2930,846,1860
$GC,21223,1.01,238.3,577.3,7.4,1025,21228,0.00,2.42,0.00,0.000,6,0.000,0.073,2931,2142,1860
$GC,21539,1.01,238.3,553.3,8.1,1040,21540,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2142,1860
$GC,21848,1.01,238.3,528.6,7.5,1055,21852,0.00,2.50,0.00,0.000,4,0.000,0.088,2931,839,1860
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$STATE,28480,end climb,SURFACE_DEPTH_REACHED
$STATE,28480,begin surface coast
$FINISH,0.4,1.027916
$STATE,28524,end surface coast,CONTROL_FINISHED_OK
$STATE,28524,begin surface
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$HUMID,1781
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$XPDR_PINGS,356
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$24V_AH,23.6,24.843
$10V_AH,10.0,11.550
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$DEVICE_SECS,25.350,206.200,375.950,0.000,0.000,37.760,26.977,188.043,98.000,0.000,0.000,17.369,2473.161,22505.518,562.346,2763.826,684.681,33.372,1935.877,0.000,2706.086,0.000,58.497,0.000
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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,69519,1376
$CAP_FILE_SIZE,196189,0
$CFSIZE,254472192,244256768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,69,0,0
$GPS,021208,120231,6135.999,-353.986,38,1.0,43,-6.5