version: 66.04
glider: 5
mission: 5
dive: 140
start: 12 2 108 20 22 54
data:
$ID,5
$MISSION,5
$DIVE,140
$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,-89971.781
$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,27
$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
$GPS1,201205,6134.085,-355.255,41,1.7,50,-6.5
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-62.6
$GPS2,202202,6134.160,-355.228,11,1.0,16,-6.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_NW
$TGT_LATLONG,6140.000,-445.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.221,0.012
$KALMAN_X,71216.8,972.3,140.4,33484.4,-99.9
$KALMAN_Y,21662.0,-929.7,-912.7,-253344.0,8523.9
$MHEAD_RNG_PITCHd_Wd,279.7,45065,-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,-81.32,0.000,2,0.000,0.000,421,1980,3092
$GC,103,-0.97,-146.6,3.1,-3.5,4,129,10.55,2.60,-9.82,0.000,4,0.132,0.071,2482,3416,3431
$GC,315,-0.75,-146.6,30.5,-14.4,13,322,0.25,2.53,0.00,0.000,6,0.087,0.050,2535,2000,3431
$GC,633,-0.68,-146.6,61.3,-8.9,29,637,0.00,2.53,0.00,0.000,4,0.000,0.064,2536,587,3431
$GC,661,-0.60,-146.6,64.5,-10.3,30,666,0.15,2.53,0.00,0.000,6,0.084,0.051,2569,2008,3431
$GC,977,-0.60,-146.6,84.0,-4.4,45,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2016,3431
$GC,1287,-0.65,-146.6,102.8,-6.9,60,1291,0.00,2.58,0.00,0.000,4,0.000,0.067,2568,597,3431
$GC,1327,-0.70,-146.6,106.3,-9.0,62,1332,0.00,2.45,0.00,0.000,6,0.000,0.051,2568,1986,3431
$GC,1655,-0.70,-146.6,130.0,-6.9,78,1659,0.00,2.55,0.00,0.000,4,0.000,0.061,2568,3412,3431
$GC,1695,-0.74,-146.6,133.3,-8.5,80,1700,0.15,2.53,0.00,0.000,6,0.054,0.048,2526,1989,3431
$GC,2023,-0.66,-146.6,166.3,-8.2,96,2028,0.12,2.50,0.00,0.000,4,0.091,0.063,2552,591,3431
$GC,2056,-0.66,-146.6,169.1,-7.8,97,2062,0.00,2.50,0.00,0.000,6,0.000,0.051,2553,2001,3431
$GC,2372,-0.66,-146.6,192.1,-6.9,113,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2001,3431
$GC,2681,-0.66,-146.6,212.6,-6.7,128,2685,0.00,2.50,0.00,0.000,4,0.000,0.061,2553,3404,3431
$GC,2708,-0.66,-146.6,214.5,-6.3,129,2712,0.00,2.53,0.00,0.000,6,0.000,0.050,2553,1982,3431
$GC,3024,-0.66,-146.6,235.7,-6.7,144,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1981,3431
$GC,3333,-0.66,-146.6,259.2,-7.6,159,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1970,3431
$GC,3643,-0.66,-146.6,284.2,-8.3,174,3647,0.00,2.58,0.00,0.000,4,0.000,0.061,2553,3405,3431
$GC,3682,-0.66,-146.6,287.6,-8.7,176,3687,0.00,2.53,0.00,0.000,6,0.000,0.050,2553,1980,3431
$GC,4009,-0.66,-146.6,313.5,-7.9,192,4014,0.00,2.58,0.00,0.000,4,0.000,0.061,2553,3404,3431
$GC,4077,-0.66,-146.6,319.3,-8.7,195,4081,0.00,2.50,0.00,0.000,6,0.000,0.050,2553,1995,3431
$GC,4398,-0.66,-146.6,345.0,-8.0,211,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1994,3431
$GC,4707,-0.66,-146.6,369.8,-8.3,226,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1994,3431
$GC,5017,-0.66,-146.6,393.5,-7.2,241,5022,0.00,2.58,0.00,0.000,4,0.000,0.063,2553,3412,3431
$GC,5073,-0.66,-146.6,397.8,-7.2,243,5079,0.00,2.50,0.00,0.000,6,0.000,0.053,2552,2010,3431
$GC,5388,-0.66,-146.6,419.6,-7.3,259,5392,0.00,2.50,0.00,0.000,4,0.000,0.064,2552,598,3431
$GC,5427,-0.66,-146.6,422.8,-8.1,260,5434,0.00,2.50,0.00,0.000,6,0.000,0.051,2553,2010,3431
$GC,5743,-0.66,-146.6,447.4,-7.3,276,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2013,3431
$GC,6053,-0.66,-146.6,466.4,-6.5,291,6057,0.00,2.53,0.00,0.000,4,0.000,0.068,2553,3410,3431
$GC,6144,-0.66,-146.6,473.2,-7.3,295,6149,0.00,2.50,0.00,0.000,6,0.000,0.057,2553,2021,3431
$GC,6466,-0.66,-146.6,495.4,-6.5,311,6470,0.00,2.58,0.00,0.000,4,0.000,0.072,2553,591,3431
$GC,6498,-0.66,-146.6,497.7,-6.6,312,6505,0.00,2.58,0.00,0.000,6,0.000,0.057,2553,2029,3431
$GC,6814,-0.66,-146.6,517.8,-6.5,328,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2029,3430
$GC,7124,-0.66,-146.6,537.0,-5.8,343,7128,0.00,2.67,0.00,0.000,4,0.000,0.079,2553,597,3430
$GC,7156,-0.66,-146.6,539.3,-7.5,344,7163,0.00,2.60,0.00,0.000,6,0.000,0.061,2553,2033,3430
$GC,7472,-0.66,-146.6,561.6,-7.6,360,7476,0.00,2.53,0.00,0.000,4,0.000,0.078,2553,3406,3428
$GC,7505,-0.66,-146.6,564.3,-7.7,361,7510,0.00,2.53,0.00,0.000,6,0.000,0.069,2553,2029,3428
$GC,7822,-0.66,-146.6,587.6,-7.4,376,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2029,3427
$GC,8131,-0.66,-146.6,610.4,-7.3,391,8135,0.00,2.65,0.00,0.000,4,0.000,0.083,2553,595,3426
$GC,8158,-0.66,-146.6,612.6,-7.3,392,8162,0.00,2.60,0.00,0.000,6,0.000,0.066,2553,2019,3426
$GC,8474,-0.66,-146.6,636.6,-7.8,407,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2019,3425
$GC,8783,-0.66,-146.6,661.0,-7.5,422,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2019,3423
$GC,9093,-0.70,-146.6,683.7,-7.2,437,9097,0.00,2.58,0.00,0.000,4,0.000,0.084,2553,3405,3422
$GC,9120,-0.74,-146.6,685.7,-7.3,438,9125,0.00,2.58,0.00,0.000,6,0.000,0.074,2553,2021,3422
$GC,9437,-0.78,-146.6,707.8,-6.7,453,9438,0.12,0.00,0.00,0.000,6,0.069,0.000,2520,2022,3421
$GC,9746,-0.74,-146.6,731.3,-7.6,468,9750,0.00,2.65,0.00,0.000,4,0.000,0.088,2520,3408,3420
$GC,9785,-0.74,-146.6,734.4,-8.3,470,9789,0.00,2.60,0.00,0.000,6,0.000,0.077,2520,2018,3419
$GC,10113,-0.70,-146.6,759.4,-7.8,486,10114,0.12,0.00,0.00,0.000,6,0.107,0.000,2546,2019,3418
$GC,10421,-0.70,-146.6,780.8,-7.0,501,10422,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2019,3417
$GC,10731,-0.70,-146.6,802.0,-6.6,516,10732,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2019,3416
$GC,11039,-0.70,-146.6,822.5,-6.5,531,11044,0.00,2.65,0.00,0.000,4,0.000,0.090,2546,3405,3415
$GC,11081,-0.70,-146.6,825.2,-6.9,533,11086,0.00,2.60,0.00,0.000,6,0.000,0.079,2546,2022,3415
$GC,11409,-0.70,-146.6,846.1,-6.1,549,11410,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2022,3414
$GC,11718,-0.70,-146.6,863.9,-5.6,564,11719,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2022,3413
$GC,12027,-0.70,-146.6,880.9,-5.5,579,12032,0.00,2.65,0.00,0.000,4,0.000,0.091,2546,3405,3411
$GC,12068,-0.74,-146.6,883.2,-5.4,581,12073,0.00,2.60,0.00,0.000,6,0.000,0.079,2546,2022,3411
$GC,12395,-0.74,-146.6,901.9,-5.7,597,12396,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2022,3411
$GC,12704,-0.74,-146.6,919.7,-5.9,612,12706,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2022,3410
$GC,13014,-0.78,-146.6,938.1,-5.9,627,13018,0.00,2.62,0.00,0.000,4,0.000,0.090,2546,3405,3410
$GC,13058,-0.82,-146.6,941.1,-6.7,629,13063,0.12,2.58,0.00,0.000,6,0.076,0.080,2515,2038,3409
$GC,13380,-0.78,-146.6,963.4,-6.8,645,13381,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2039,3409
$GC,13689,-0.73,-146.6,984.4,-6.6,660,13691,0.12,0.00,0.00,0.000,6,0.107,0.000,2539,2038,3409
$STATE,13789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13789,begin apogee
$GC,13796,-0.33,0.0,990.8,6.0,665,13924,0.43,0.00,124.55,1.659,6,0.093,0.000,2625,2249,2832
$STATE,13924,end apogee,CONTROL_FINISHED_OK
$STATE,13925,begin climb
$GC,13928,0.97,146.6,994.5,0.0,671,14060,1.35,0.00,127.18,1.612,6,0.081,0.000,2906,2250,2234
$GC,14361,0.97,146.6,969.6,7.0,692,14366,0.00,2.67,0.00,0.000,4,0.000,0.091,2906,3653,2233
$GC,14531,0.89,146.6,957.8,7.4,699,14538,0.00,2.83,0.00,0.000,6,0.000,0.078,2906,2165,2232
$GC,14848,0.83,146.6,937.3,6.4,715,14853,0.12,2.53,0.00,0.000,4,0.107,0.094,2884,846,2232
$GC,14887,0.83,146.6,934.7,6.1,717,14892,0.00,2.50,0.00,0.000,6,0.000,0.076,2884,2167,2232
$GC,15215,0.85,157.6,916.1,5.7,733,15227,0.00,0.00,10.82,1.447,6,0.000,0.000,2884,2167,2189
$GC,15524,0.89,179.5,899.0,5.4,748,15549,0.00,2.62,20.55,1.539,4,0.000,0.090,2884,845,2099
$GC,15572,0.89,179.5,896.1,6.3,750,15576,0.00,2.50,0.00,0.000,6,0.000,0.075,2885,2154,2099
$GC,15888,0.94,212.3,879.3,5.1,765,15919,0.00,0.00,29.85,1.556,6,0.000,0.000,2884,2155,1966
$GC,16218,1.05,240.1,862.2,5.2,781,16249,0.17,2.62,25.10,1.526,4,0.067,0.091,2931,842,1853
$GC,16272,0.99,240.1,858.1,7.3,783,16278,0.00,2.53,0.00,0.000,6,0.000,0.075,2931,2161,1853
$GC,16589,0.95,240.1,834.9,7.6,799,16591,0.12,0.00,0.00,0.000,6,0.104,0.000,2906,2162,1854
$GC,16897,0.95,240.1,815.0,6.5,814,16901,0.00,2.55,0.00,0.000,4,0.000,0.093,2906,846,1855
$GC,16935,0.95,240.1,812.4,6.5,815,16942,0.00,2.47,0.00,0.000,6,0.000,0.076,2906,2155,1855
$GC,17252,0.95,240.1,791.0,7.1,831,17253,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2155,1855
$GC,17561,0.95,240.1,770.4,6.5,846,17565,0.00,2.55,0.00,0.000,4,0.000,0.092,2906,842,1855
$GC,17604,0.95,240.1,767.1,6.7,848,17609,0.00,2.45,0.00,0.000,6,0.000,0.075,2906,2142,1855
$GC,17927,0.99,240.1,747.0,6.2,864,17928,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2143,1854
$GC,18235,0.99,240.1,727.7,6.3,879,18239,0.00,2.53,0.00,0.000,4,0.000,0.092,2906,841,1855
$GC,18262,0.99,240.1,725.6,6.5,880,18266,0.00,2.45,0.00,0.000,6,0.000,0.074,2906,2144,1854
$GC,18578,1.03,240.1,704.6,6.8,895,18580,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2144,1854
$GC,18887,1.08,240.1,684.2,6.7,910,18892,0.12,2.53,0.00,0.000,4,0.071,0.091,2938,838,1855
$GC,18927,1.00,240.1,680.9,8.4,912,18932,0.00,2.45,0.00,0.000,6,0.000,0.075,2938,2142,1854
$GC,19255,0.95,240.1,655.4,7.9,928,19257,0.15,0.00,0.00,0.000,6,0.103,0.000,2908,2142,1854
$GC,19563,0.95,240.1,635.5,6.4,943,19568,0.00,2.50,0.00,0.000,4,0.000,0.090,2907,845,1855
$GC,19627,0.95,240.1,631.1,7.4,946,19631,0.00,2.38,0.00,0.000,6,0.000,0.074,2908,2124,1854
$GC,19960,1.03,258.4,611.7,5.5,962,19981,0.00,0.00,17.67,1.375,6,0.000,0.000,2907,2124,1778
$GC,20291,1.14,286.8,594.5,5.2,978,20319,0.17,0.00,25.40,1.388,6,0.065,0.000,2949,2124,1662
$GC,20621,1.10,286.8,570.5,7.2,994,20622,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2123,1662
$GC,20929,1.10,286.8,549.1,7.5,1009,20933,0.00,2.45,0.00,0.000,4,0.000,0.089,2949,844,1662
$GC,20956,1.04,286.8,546.9,7.3,1010,20961,0.12,2.40,0.00,0.000,6,0.103,0.072,2926,2124,1663
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$STATE,27971,end climb,SURFACE_DEPTH_REACHED
$STATE,27971,begin surface coast
$FINISH,2.1,1.027328
$STATE,27993,end surface coast,CONTROL_FINISHED_OK
$STATE,27993,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1764
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$XPDR_PINGS,379
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$24V_AH,23.6,25.265
$10V_AH,10.0,11.788
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$DEVICE_SECS,26.500,190.700,409.550,0.000,0.000,77.610,54.395,254.692,103.750,0.000,0.000,15.994,2419.798,22160.449,590.342,2667.248,821.033,33.372,1917.729,0.000,2614.657,0.000,58.459,0.000
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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,69456,1350
$CAP_FILE_SIZE,196976,0
$CFSIZE,254472192,244080640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,63,0,0
$GPS,031208,041208,6136.822,-400.424,40,1.0,40,-6.6