version: 66.04
glider: 5
mission: 5
dive: 242
start: 12 27 108 8 53 28
data:
$ID,5
$MISSION,5
$DIVE,242
$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,-92051.039
$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,25
$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
$GPS1,084307,6047.586,-408.365,40,0.8,40,-6.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-64.8
$GPS2,085309,6047.601,-408.467,13,1.0,13,-6.4
$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,288.7,90633,-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,-81.53,0.000,2,0.000,0.000,426,1975,3409
$GC,102,-0.97,-146.6,4.8,-5.3,4,119,10.60,2.53,-0.45,0.000,4,0.134,0.077,2482,590,3430
$GC,306,-0.75,-146.6,37.2,-12.7,12,311,0.25,2.55,0.00,0.000,6,0.087,0.053,2534,2012,3430
$GC,628,-0.68,-146.6,65.2,-8.7,28,632,0.00,2.53,0.00,0.000,4,0.000,0.065,2534,3408,3431
$GC,662,-0.62,-146.6,68.2,-8.7,29,668,0.12,2.53,0.00,0.000,6,0.097,0.051,2563,2000,3432
$GC,979,-0.62,-146.6,91.6,-7.4,45,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2001,3431
$GC,1287,-0.62,-146.6,114.3,-7.3,60,1291,0.00,2.58,0.00,0.000,4,0.000,0.064,2562,3408,3432
$GC,1331,-0.62,-146.6,118.0,-8.5,62,1335,0.00,2.53,0.00,0.000,6,0.000,0.050,2562,1996,3432
$GC,1653,-0.62,-146.6,141.8,-7.5,78,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1996,3432
$GC,1961,-0.62,-146.6,165.8,-7.9,93,1965,0.00,2.60,0.00,0.000,4,0.000,0.064,2562,3415,3432
$GC,2005,-0.62,-146.6,169.2,-8.0,95,2010,0.00,2.53,0.00,0.000,6,0.000,0.050,2562,2000,3432
$GC,2326,-0.62,-146.6,192.4,-7.0,111,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1999,3432
$GC,2635,-0.62,-146.6,216.2,-8.0,126,2640,0.00,2.58,0.00,0.000,4,0.000,0.064,2562,3408,3432
$GC,2669,-0.62,-146.6,219.0,-8.5,127,2675,0.00,2.50,0.00,0.000,6,0.000,0.051,2562,2009,3432
$GC,2984,-0.62,-146.6,243.3,-7.4,143,2989,0.00,2.55,0.00,0.000,4,0.000,0.068,2562,597,3432
$GC,3018,-0.62,-146.6,245.8,-7.1,144,3024,0.00,2.53,0.00,0.000,6,0.000,0.054,2562,2011,3432
$GC,3334,-0.62,-146.6,265.1,-5.8,160,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2011,3432
$GC,3643,-0.62,-146.6,283.4,-6.0,175,3648,0.00,2.62,0.00,0.000,4,0.000,0.072,2562,591,3432
$GC,3677,-0.62,-146.6,285.5,-6.5,176,3683,0.00,2.55,0.00,0.000,6,0.000,0.055,2562,2014,3433
$GC,3993,-0.62,-146.6,303.0,-5.7,192,3997,0.00,2.53,0.00,0.000,4,0.000,0.070,2562,3405,3432
$GC,4032,-0.66,-146.6,305.4,-5.8,193,4038,0.00,2.53,0.00,0.000,6,0.000,0.057,2562,2006,3432
$GC,4348,-0.66,-146.6,323.2,-5.6,209,4353,0.00,2.58,0.00,0.000,4,0.000,0.070,2562,3405,3432
$GC,4399,-0.66,-146.6,326.2,-6.1,211,4403,0.00,2.53,0.00,0.000,6,0.000,0.058,2562,2005,3432
$GC,4715,-0.66,-146.6,344.2,-5.2,226,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2006,3432
$GC,5025,-0.66,-146.6,359.4,-5.2,241,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2004,3432
$GC,5335,-0.71,-146.6,377.7,-6.2,256,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2004,3431
$GC,5643,-0.76,-146.6,398.1,-6.7,271,5648,0.12,2.65,0.00,0.000,4,0.063,0.076,2530,3410,3430
$GC,5683,-0.71,-146.6,401.3,-8.8,273,5688,0.00,2.58,0.00,0.000,6,0.000,0.067,2530,2008,3430
$GC,6011,-0.67,-146.6,426.7,-7.6,289,6013,0.10,0.00,0.00,0.000,6,0.106,0.000,2550,2008,3429
$GC,6319,-0.67,-146.6,449.2,-7.1,304,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2008,3428
$GC,6629,-0.67,-146.6,472.5,-7.4,319,6630,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2008,3428
$GC,6937,-0.67,-146.6,494.4,-6.6,334,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2008,3426
$GC,7247,-0.67,-146.6,514.9,-6.8,349,7251,0.00,2.65,0.00,0.000,4,0.000,0.085,2550,3401,3425
$GC,7287,-0.67,-146.6,517.7,-7.6,351,7292,0.00,2.60,0.00,0.000,6,0.000,0.074,2551,2006,3425
$GC,7613,-0.67,-146.6,539.4,-6.3,367,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2005,3424
$GC,7923,-0.67,-146.6,559.2,-6.4,382,7927,0.00,2.65,0.00,0.000,4,0.000,0.087,2550,3405,3423
$GC,7956,-0.67,-146.6,561.3,-6.7,383,7962,0.00,2.60,0.00,0.000,6,0.000,0.074,2550,2013,3422
$GC,8272,-0.67,-146.6,580.8,-6.0,399,8273,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2013,3422
$GC,8581,-0.67,-146.6,597.9,-5.3,414,8582,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2013,3420
$GC,8891,-0.67,-146.6,614.2,-5.0,429,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2013,3420
$GC,9200,-0.67,-146.6,629.5,-5.2,444,9204,0.00,2.65,0.00,0.000,4,0.000,0.088,2550,3403,3419
$GC,9233,-0.67,-146.6,631.4,-5.3,445,9240,0.00,2.58,0.00,0.000,6,0.000,0.077,2550,2021,3418
$GC,9550,-0.67,-146.6,646.7,-4.7,461,9551,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2021,3418
$GC,9859,-0.67,-146.6,663.1,-5.7,476,9860,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2021,3417
$GC,10168,-0.67,-146.6,682.0,-6.2,491,10172,0.00,2.65,0.00,0.000,4,0.000,0.091,2550,3405,3417
$GC,10195,-0.67,-146.6,683.8,-6.6,492,10200,0.00,2.60,0.00,0.000,6,0.000,0.077,2550,2024,3416
$GC,10511,-0.67,-146.6,703.2,-6.2,507,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2023,3416
$GC,10820,-0.67,-146.6,722.3,-6.4,522,10821,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2023,3415
$GC,11130,-0.67,-146.6,742.7,-6.8,537,11134,0.00,2.65,0.00,0.000,4,0.000,0.091,2550,3401,3415
$GC,11169,-0.67,-146.6,745.8,-7.9,539,11174,0.00,2.58,0.00,0.000,6,0.000,0.078,2550,2030,3414
$GC,11496,-0.67,-146.6,769.9,-7.3,555,11497,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2029,3414
$GC,11806,-0.67,-146.6,792.3,-7.2,570,11807,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2029,3414
$GC,12115,-0.67,-146.6,813.8,-6.8,585,12119,0.00,2.65,0.00,0.000,4,0.000,0.091,2550,3404,3413
$GC,12142,-0.67,-146.6,815.8,-6.7,586,12146,0.00,2.58,0.00,0.000,6,0.000,0.077,2550,2035,3413
$GC,12458,-0.67,-146.6,837.7,-7.3,601,12460,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2034,3413
$GC,12767,-0.67,-146.6,860.3,-7.4,616,12768,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2034,3413
$GC,13078,-0.71,-146.6,883.8,-7.5,631,13082,0.00,2.62,0.00,0.000,4,0.000,0.091,2550,3401,3413
$GC,13111,-0.76,-146.6,886.6,-8.0,632,13117,0.00,2.58,0.00,0.000,6,0.000,0.077,2550,2033,3413
$GC,13427,-0.80,-146.6,908.9,-6.8,648,13429,0.12,0.00,0.00,0.000,6,0.075,0.000,2519,2033,3413
$GC,13736,-0.80,-146.6,932.5,-7.5,663,13737,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2032,3412
$GC,14045,-0.76,-146.6,954.8,-7.1,678,14047,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2032,3412
$GC,14355,-0.76,-146.6,975.7,-6.6,693,14356,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2033,3412
$STATE,14578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14578,begin apogee
$GC,14586,-0.33,0.0,990.8,6.7,704,14722,0.50,0.00,132.00,1.656,6,0.093,0.000,2623,2204,2832
$STATE,14723,end apogee,CONTROL_FINISHED_OK
$STATE,14723,begin climb
$GC,14726,0.97,146.6,995.1,0.0,711,14865,1.40,0.00,134.38,1.603,6,0.079,0.000,2912,2204,2234
$GC,15172,0.97,146.6,969.2,6.6,733,15177,0.00,2.75,0.00,0.000,4,0.000,0.093,2912,791,2233
$GC,15355,0.88,146.6,957.0,6.6,741,15360,0.00,2.55,0.00,0.000,6,0.000,0.075,2912,2142,2233
$GC,15677,0.81,146.6,935.9,6.5,757,15679,0.17,0.00,0.00,0.000,6,0.099,0.000,2879,2142,2232
$GC,15986,0.83,158.8,918.3,5.7,772,16004,0.00,0.00,12.52,1.460,6,0.000,0.000,2879,2142,2184
$GC,16316,0.89,167.2,899.3,5.8,788,16330,0.00,2.70,8.90,1.390,4,0.000,0.095,2879,790,2150
$GC,16365,0.93,195.5,896.3,5.2,790,16402,0.10,2.58,27.23,1.536,6,0.074,0.077,2903,2139,2034
$GC,16714,0.93,195.5,873.9,6.7,807,16715,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2139,2034
$GC,17021,0.93,195.5,853.2,6.4,822,17022,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2139,2034
$GC,17329,0.93,195.5,833.9,6.0,837,17330,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2138,2034
$GC,17639,0.93,195.5,814.6,6.3,852,17640,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2139,2034
$GC,17948,0.93,195.5,795.7,6.1,867,17953,0.00,2.62,0.00,0.000,4,0.000,0.094,2903,790,2034
$GC,17982,0.93,195.5,793.3,6.9,868,17988,0.00,2.55,0.00,0.000,6,0.000,0.078,2903,2138,2033
$GC,18297,0.94,199.5,774.2,5.9,884,18304,0.00,0.00,5.25,1.172,6,0.000,0.000,2903,2139,2018
$GC,18607,0.96,211.1,756.3,5.7,899,18625,0.00,0.00,12.07,1.408,6,0.000,0.000,2902,2139,1971
$GC,18936,0.97,216.8,737.2,5.8,915,18944,0.00,0.00,6.90,1.262,6,0.000,0.000,2903,2139,1948
$GC,19245,0.98,228.7,720.1,5.7,930,19267,0.00,2.75,12.20,1.385,4,0.000,0.092,2903,777,1899
$GC,19284,0.98,228.7,717.8,6.4,931,19290,0.00,2.60,0.00,0.000,6,0.000,0.077,2903,2134,1899
$GC,19600,1.06,246.0,700.1,5.5,947,19620,0.12,0.00,16.92,1.413,6,0.070,0.000,2935,2134,1828
$GC,19929,1.06,246.0,677.1,7.0,963,19934,0.00,2.62,0.00,0.000,4,0.000,0.095,2935,790,1828
$GC,19975,1.01,246.0,673.5,7.9,965,19979,0.00,2.53,0.00,0.000,6,0.000,0.077,2935,2123,1828
$GC,20296,1.01,246.0,648.5,8.0,981,20297,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2123,1829
$GC,20606,1.01,246.0,624.4,7.5,996,20610,0.00,2.60,0.00,0.000,4,0.000,0.094,2935,784,1829
$GC,20651,0.95,246.0,620.7,7.8,998,20656,0.12,2.53,0.00,0.000,6,0.106,0.077,2909,2121,1829
$GC,20972,1.00,246.0,598.5,6.6,1014,20973,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2121,1829
$GC,21282,1.05,246.0,578.5,6.2,1029,21283,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2122,1829
$GC,21591,1.10,246.0,558.4,6.6,1044,21596,0.12,2.58,0.00,0.000,4,0.071,0.092,2941,789,1829
$GC,21618,1.10,246.0,556.1,8.6,1045,21622,0.00,2.53,0.00,0.000,6,0.000,0.077,2940,2128,1829
$GC,21937,1.10,246.0,532.9,7.3,1060,21941,0.00,2.60,0.00,0.000,4,0.000,0.093,2941,787,1829
$GC,21964,1.05,246.0,530.5,8.3,1061,21968,0.00,2.50,0.00,0.000,6,0.000,0.077,2941,2113,1829
$GC,22281,1.05,246.0,508.9,6.7,1076,22282,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2114,1829
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$GC,23966,1.11,328.4,397.5,10.0,1158,23970,0.15,2.58,0.00,0.000,4,0.099,0.089,2941,792,1494
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$STATE,28699,end climb,SURFACE_DEPTH_REACHED
$STATE,28699,begin surface coast
$FINISH,0.4,1.027455
$STATE,28742,end surface coast,CONTROL_FINISHED_OK
$STATE,28742,begin surface
$SM_CCo,28826,0.00,0.000,0,0,1493,328.46
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1794
$TCM_TEMP,16.50
$XPDR_PINGS,175
$ALTIM_TOP_PING,18.8,17.5
$24V_AH,23.5,42.484
$10V_AH,10.0,20.862
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$DEVICE_SECS,26.075,169.925,445.300,0.000,0.000,75.540,60.002,255.849,52.750,0.000,0.000,13.304,2445.251,22866.605,632.862,2633.496,836.411,0.000,1931.303,0.000,2582.330,0.000,58.567,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1032.709,942.964,710.878,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69359,1389
$CAP_FILE_SIZE,191030,0
$CFSIZE,254472192,237404160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,57,0,0
$GPS,271208,165508,6046.631,-421.160,37,0.8,37,-6.5