version: 66.04
glider: 5
mission: 5
dive: 241
start: 12 27 108 0 30 45
data:
$ID,5
$MISSION,5
$DIVE,241
$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,2
$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,-92037.109
$T_RSLEEP,27
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,17
$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
$GPS1,001132,6048.562,-353.427,40,0.9,40,-6.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-68.3
$GPS2,003026,6048.588,-353.627,10,0.9,15,-6.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_NW
$TGT_LATLONG,6058.000,-547.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.132,-0.177
$KALMAN_X,220775.9,-921.1,-1644.0,-80717.6,25183.1
$KALMAN_Y,135954.9,-405.3,-1430.2,-453990.2,21805.5
$MHEAD_RNG_PITCHd_Wd,286.0,103381,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-78.80,0.000,2,0.000,0.000,425,1973,3411
$GC,102,-0.97,-146.6,4.9,-5.6,4,119,10.65,2.50,-0.45,0.000,4,0.136,0.073,2483,597,3431
$GC,198,-0.77,-146.6,24.7,-11.6,7,203,0.22,2.55,0.00,0.000,6,0.092,0.053,2530,2015,3432
$GC,515,-0.69,-146.6,52.2,-8.6,22,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2015,3432
$GC,824,-0.61,-146.6,78.8,-8.8,37,826,0.17,0.00,0.00,0.000,6,0.087,0.000,2568,2015,3432
$GC,1133,-0.61,-146.6,100.5,-6.9,52,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2016,3433
$GC,1442,-0.61,-146.6,120.5,-6.5,67,1447,0.00,2.60,0.00,0.000,4,0.000,0.068,2568,599,3433
$GC,1475,-0.61,-146.6,123.0,-7.3,68,1482,0.00,2.53,0.00,0.000,6,0.000,0.054,2568,2007,3433
$GC,1792,-0.61,-146.6,142.3,-6.7,84,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2007,3433
$GC,2101,-0.61,-146.6,163.6,-6.9,99,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2008,3433
$GC,2409,-0.61,-146.6,185.5,-7.1,114,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2008,3433
$GC,2719,-0.61,-146.6,208.9,-7.5,129,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2009,3433
$GC,3028,-0.61,-146.6,232.2,-7.2,144,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2008,3433
$GC,3337,-0.61,-146.6,253.5,-6.6,159,3342,0.00,2.60,0.00,0.000,4,0.000,0.071,2568,597,3433
$GC,3387,-0.61,-146.6,257.3,-7.7,161,3392,0.00,2.53,0.00,0.000,6,0.000,0.054,2568,2007,3433
$GC,3704,-0.61,-146.6,279.6,-7.1,176,3708,0.00,2.60,0.00,0.000,4,0.000,0.071,2568,598,3433
$GC,3760,-0.66,-146.6,283.9,-7.5,178,3766,0.00,2.47,0.00,0.000,6,0.000,0.054,2568,1982,3433
$GC,4075,-0.66,-146.6,304.9,-6.5,194,4079,0.00,2.58,0.00,0.000,4,0.000,0.068,2568,3405,3433
$GC,4131,-0.73,-146.6,308.9,-7.2,196,4138,0.12,2.58,0.00,0.000,6,0.057,0.055,2533,1975,3433
$GC,4447,-0.68,-146.6,333.1,-7.6,212,4452,0.00,2.53,0.00,0.000,4,0.000,0.072,2533,587,3433
$GC,4521,-0.61,-146.6,339.3,-8.8,215,4526,0.15,2.47,0.00,0.000,6,0.091,0.056,2564,1965,3433
$GC,4837,-0.61,-146.6,359.7,-6.1,230,4841,0.00,2.62,0.00,0.000,4,0.000,0.073,2564,3403,3434
$GC,4876,-0.66,-146.6,362.2,-6.5,232,4881,0.00,2.60,0.00,0.000,6,0.000,0.061,2564,1974,3433
$GC,5205,-0.70,-146.6,381.6,-5.7,248,5209,0.00,2.65,0.00,0.000,4,0.000,0.074,2564,3402,3433
$GC,5249,-0.75,-146.6,384.5,-5.9,250,5254,0.12,2.60,0.00,0.000,6,0.061,0.061,2529,1974,3433
$GC,5572,-0.70,-146.6,409.6,-8.2,266,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1973,3432
$GC,5880,-0.66,-146.6,434.2,-7.5,281,5882,0.12,0.00,0.00,0.000,6,0.098,0.000,2555,1974,3431
$GC,6189,-0.66,-146.6,454.4,-6.7,296,6194,0.00,2.70,0.00,0.000,4,0.000,0.081,2555,3401,3430
$GC,6236,-0.66,-146.6,457.4,-7.1,298,6240,0.00,2.62,0.00,0.000,6,0.000,0.070,2555,1981,3430
$GC,6557,-0.66,-146.6,479.1,-6.8,314,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1981,3429
$GC,6866,-0.66,-146.6,498.9,-6.1,329,6870,0.00,2.67,0.00,0.000,4,0.000,0.084,2555,3402,3428
$GC,6922,-0.70,-146.6,502.4,-6.5,331,6928,0.00,2.62,0.00,0.000,6,0.000,0.072,2555,1991,3428
$GC,7238,-0.70,-146.6,520.7,-5.7,347,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1991,3427
$GC,7547,-0.70,-146.6,538.3,-5.8,362,7552,0.00,2.70,0.00,0.000,4,0.000,0.086,2555,3406,3426
$GC,7577,-0.74,-146.6,540.1,-6.5,363,7581,0.00,2.62,0.00,0.000,6,0.000,0.074,2555,1997,3425
$GC,7892,-0.74,-146.6,559.1,-6.1,378,7893,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1996,3424
$GC,8202,-0.78,-146.6,578.3,-6.3,393,8208,0.12,2.70,0.00,0.000,4,0.070,0.089,2523,3405,3423
$GC,8258,-0.73,-146.6,582.7,-8.4,395,8265,0.00,2.65,0.00,0.000,6,0.000,0.077,2523,1994,3422
$GC,8575,-0.69,-146.6,605.9,-7.3,411,8577,0.12,0.00,0.00,0.000,6,0.107,0.000,2549,1994,3421
$GC,8885,-0.69,-146.6,626.0,-6.7,426,8890,0.00,2.67,0.00,0.000,4,0.000,0.087,2548,3404,3421
$GC,8935,-0.69,-146.6,629.8,-7.5,428,8939,0.00,2.62,0.00,0.000,6,0.000,0.077,2548,2003,3421
$GC,9250,-0.69,-146.6,652.2,-7.2,443,9252,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2003,3420
$GC,9560,-0.69,-146.6,672.9,-6.6,458,9565,0.00,2.67,0.00,0.000,4,0.000,0.089,2548,3401,3418
$GC,9610,-0.69,-146.6,676.5,-7.3,460,9614,0.00,2.62,0.00,0.000,6,0.000,0.077,2548,2003,3418
$GC,9925,-0.69,-146.6,697.8,-6.9,475,9926,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2001,3418
$GC,10235,-0.69,-146.6,719.0,-7.0,490,10236,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2002,3417
$GC,10544,-0.69,-146.6,740.5,-6.7,505,10548,0.00,2.70,0.00,0.000,4,0.000,0.089,2549,3408,3416
$GC,10588,-0.69,-146.6,743.6,-7.0,507,10592,0.00,2.60,0.00,0.000,6,0.000,0.077,2548,2014,3416
$GC,10909,-0.69,-146.6,765.0,-6.6,523,10910,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2014,3415
$GC,11218,-0.69,-146.6,784.9,-6.3,538,11222,0.00,2.65,0.00,0.000,4,0.000,0.090,2548,3401,3415
$GC,11251,-0.73,-146.6,787.2,-7.0,539,11257,0.00,2.60,0.00,0.000,6,0.000,0.077,2549,2008,3415
$GC,11567,-0.73,-146.6,806.9,-6.1,555,11568,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2008,3414
$GC,11876,-0.73,-146.6,825.7,-6.0,570,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2008,3414
$GC,12186,-0.73,-146.6,843.6,-5.8,585,12190,0.00,2.67,0.00,0.000,4,0.000,0.090,2548,3401,3413
$GC,12236,-0.77,-146.6,847.0,-6.5,587,12240,0.00,2.60,0.00,0.000,6,0.000,0.077,2548,2018,3413
$GC,12552,-0.77,-146.6,866.5,-6.0,602,12553,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2018,3413
$GC,12861,-0.77,-146.6,887.0,-6.9,617,12862,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2018,3413
$GC,13170,-0.77,-146.6,908.4,-6.8,632,13174,0.00,2.67,0.00,0.000,4,0.000,0.092,2548,3404,3413
$GC,13226,-0.82,-146.6,912.6,-7.3,634,13232,0.12,2.60,0.00,0.000,6,0.076,0.078,2518,2025,3413
$GC,13542,-0.82,-146.6,936.8,-7.8,650,13543,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2025,3412
$GC,13851,-0.78,-146.6,961.1,-7.7,665,13852,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2025,3413
$GC,14160,-0.78,-146.6,983.9,-7.6,680,14161,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2023,3412
$STATE,14239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14239,begin apogee
$GC,14247,-0.33,0.0,990.5,8.0,684,14383,0.52,0.00,131.00,1.660,6,0.094,0.000,2626,2193,2832
$STATE,14384,end apogee,CONTROL_FINISHED_OK
$STATE,14384,begin climb
$GC,14387,0.97,146.6,994.9,0.0,691,14526,1.35,0.00,134.25,1.606,6,0.081,0.000,2907,2193,2234
$GC,14821,1.01,174.4,977.2,5.2,712,14863,0.00,2.85,28.30,1.441,4,0.000,0.094,2907,794,2121
$GC,15005,0.97,174.4,965.8,6.6,720,15009,0.00,2.60,0.00,0.000,6,0.000,0.077,2907,2165,2121
$GC,15326,0.97,175.4,946.9,6.0,736,15327,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2166,2121
$GC,15635,0.97,175.4,928.3,6.4,751,15639,0.00,2.70,0.00,0.000,4,0.000,0.095,2907,786,2121
$GC,15679,0.97,175.4,925.5,6.7,753,15683,0.00,2.62,0.00,0.000,6,0.000,0.078,2907,2168,2121
$GC,16000,0.97,175.4,906.3,6.1,769,16001,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2168,2121
$GC,16309,0.97,175.4,887.2,6.2,784,16313,0.00,2.70,0.00,0.000,4,0.000,0.096,2907,783,2121
$GC,16353,0.97,175.4,884.1,6.9,786,16358,0.00,2.60,0.00,0.000,6,0.000,0.078,2907,2156,2121
$GC,16674,0.99,191.6,865.5,5.6,802,16694,0.00,0.00,17.62,1.508,6,0.000,0.000,2907,2156,2050
$GC,17003,1.02,211.0,846.5,5.5,818,17028,0.00,2.78,18.70,1.503,4,0.000,0.094,2907,791,1971
$GC,17063,1.02,211.0,842.8,6.5,820,17069,0.00,2.60,0.00,0.000,6,0.000,0.077,2907,2152,1971
$GC,17379,1.04,221.3,825.1,5.7,836,17392,0.00,0.00,11.02,1.420,6,0.000,0.000,2908,2153,1929
$GC,17689,1.05,229.6,807.7,5.8,851,17700,0.10,0.00,9.25,1.372,6,0.074,0.000,2935,2152,1895
$GC,17997,1.01,229.6,787.2,6.9,866,18001,0.00,2.65,0.00,0.000,4,0.000,0.095,2935,789,1895
$GC,18030,0.95,229.6,784.5,8.1,867,18037,0.15,2.58,0.00,0.000,6,0.104,0.078,2905,2146,1895
$GC,18347,0.95,234.3,766.2,5.9,883,18354,0.00,0.00,6.10,1.229,6,0.000,0.000,2906,2146,1876
$GC,18655,0.95,234.3,747.6,6.1,898,18659,0.00,2.62,0.00,0.000,4,0.000,0.094,2906,792,1876
$GC,18687,0.95,234.3,745.3,6.8,899,18694,0.00,2.55,0.00,0.000,6,0.000,0.078,2906,2148,1876
$GC,19004,0.95,234.3,726.0,6.4,915,19005,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2148,1876
$GC,19313,1.00,234.3,706.4,6.5,930,19317,0.00,2.65,0.00,0.000,4,0.000,0.095,2906,786,1876
$GC,19345,1.00,234.3,704.0,7.6,931,19352,0.00,2.55,0.00,0.000,6,0.000,0.077,2906,2141,1876
$GC,19662,1.04,234.3,684.1,6.4,947,19663,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2141,1876
$GC,19971,1.09,234.3,664.5,6.5,962,19976,0.15,2.62,0.00,0.000,4,0.067,0.092,2943,793,1876
$GC,20011,1.00,234.3,661.3,7.9,964,20016,0.12,2.53,0.00,0.000,6,0.105,0.077,2919,2137,1876
$GC,20338,1.00,234.3,638.6,6.9,980,20339,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2138,1876
$GC,20647,1.00,234.3,617.8,6.7,995,20648,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2138,1876
$GC,20956,1.00,234.3,597.6,6.6,1010,20961,0.00,2.60,0.00,0.000,4,0.000,0.093,2919,790,1876
$GC,20996,1.00,234.3,594.7,7.2,1012,21001,0.00,2.53,0.00,0.000,6,0.000,0.076,2919,2137,1876
$GC,21324,1.03,252.0,574.9,5.5,1028,21343,0.00,0.00,17.05,1.343,6,0.000,0.000,2919,2137,1803
$GC,21653,1.07,272.6,556.4,5.4,1044,21675,0.00,0.00,19.27,1.338,6,0.000,0.000,2919,2137,1720
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$STATE,29337,end climb,SURFACE_DEPTH_REACHED
$STATE,29337,begin surface coast
$FINISH,0.4,1.017049
$STATE,29381,end surface coast,CONTROL_FINISHED_OK
$STATE,29381,begin surface
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$SM_GC,1.36,11.05,0.00,0.00,0.043,0.000,0.000,426,1993,1695,-10.38,-0.20,278.91
$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1793
$TCM_TEMP,16.70
$XPDR_PINGS,222
$ALTIM_TOP_PING,18.9,999.0
$ALTIM_BOTTOM_PING,976.1,68.6
$24V_AH,23.5,42.266
$10V_AH,10.0,20.744
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$DEVICE_SECS,25.700,177.325,403.425,0.000,0.000,188.793,319.501,235.589,64.750,0.000,0.000,15.692,2503.259,23577.656,592.309,2721.816,1193.744,0.000,1924.125,0.000,2665.904,0.000,61.600,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1053.907,962.977,758.939,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72605,1418
$CAP_FILE_SIZE,197270,0
$CFSIZE,254472192,237473792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,61,1,0
$GPS,271208,084307,6047.586,-408.365,40,0.8,40,-6.4