version: 66.04
glider: 5
mission: 5
dive: 245
start: 12 28 108 9 33 28
data:
$ID,5
$MISSION,5
$DIVE,245
$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,-92095.695
$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,29
$R_STBD_OVSHOOT,19
$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
$GPS1,092637,6047.800,-439.680,34,0.8,34,-6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-63.3
$GPS2,093309,6047.834,-439.834,10,1.4,10,-6.7
$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,294.0,63237,-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,-81.57,0.000,2,0.000,0.000,422,1960,3269
$GC,103,-0.97,-146.6,4.0,-4.6,4,125,10.70,2.50,-4.00,0.000,4,0.133,0.077,2482,599,3431
$GC,379,-0.75,-146.6,42.5,-11.9,16,384,0.25,2.53,0.00,0.000,6,0.088,0.052,2534,2009,3432
$GC,701,-0.67,-146.6,67.6,-7.2,32,706,0.00,2.60,0.00,0.000,4,0.000,0.068,2535,599,3432
$GC,769,-0.61,-146.6,72.8,-7.8,35,774,0.15,2.53,0.00,0.000,6,0.087,0.053,2567,2010,3432
$GC,1091,-0.61,-146.6,91.2,-5.7,51,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2011,3433
$GC,1400,-0.61,-146.6,108.0,-5.3,66,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2011,3433
$GC,1710,-0.61,-146.6,125.7,-5.9,81,1714,0.00,2.50,0.00,0.000,4,0.000,0.064,2567,3408,3433
$GC,1743,-0.61,-146.6,127.8,-6.0,82,1749,0.00,2.53,0.00,0.000,6,0.000,0.051,2567,1997,3433
$GC,2061,-0.61,-146.6,148.2,-6.8,98,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1997,3433
$GC,2368,-0.61,-146.6,167.5,-6.1,113,2372,0.00,2.58,0.00,0.000,4,0.000,0.063,2567,3408,3433
$GC,2418,-0.65,-146.6,170.9,-6.9,115,2423,0.00,2.50,0.00,0.000,6,0.000,0.050,2566,2003,3433
$GC,2734,-0.65,-146.6,190.6,-6.3,130,2738,0.00,2.58,0.00,0.000,4,0.000,0.064,2567,3411,3433
$GC,2784,-0.70,-146.6,194.2,-7.0,132,2788,0.00,2.50,0.00,0.000,6,0.000,0.051,2567,2013,3433
$GC,3101,-0.70,-146.6,214.7,-6.0,147,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2014,3433
$GC,3409,-0.70,-146.6,232.5,-5.7,162,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2014,3433
$GC,3719,-0.70,-146.6,251.4,-6.5,177,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2014,3433
$GC,4028,-0.70,-146.6,268.0,-5.0,192,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2014,3433
$GC,4337,-0.74,-146.6,286.3,-6.4,207,4339,0.12,0.00,0.00,0.000,6,0.056,0.000,2531,2014,3433
$GC,4646,-0.68,-146.6,307.5,-7.0,222,4651,0.00,2.58,0.00,0.000,4,0.000,0.069,2531,3408,3433
$GC,4759,-0.68,-146.6,316.5,-8.7,227,4763,0.00,2.53,0.00,0.000,6,0.000,0.058,2531,2013,3433
$GC,5080,-0.62,-146.6,341.3,-7.8,243,5082,0.15,0.00,0.00,0.000,6,0.092,0.000,2563,2012,3433
$GC,5390,-0.69,-146.6,360.4,-5.8,258,5394,0.00,2.60,0.00,0.000,4,0.000,0.074,2562,3407,3433
$GC,5430,-0.77,-146.6,363.0,-6.1,260,5435,0.15,2.50,0.00,0.000,6,0.059,0.062,2522,2024,3433
$GC,5758,-0.70,-146.6,388.6,-8.0,276,5763,0.12,2.65,0.00,0.000,4,0.097,0.081,2548,585,3433
$GC,5825,-0.70,-146.6,394.5,-8.5,279,5829,0.00,2.62,0.00,0.000,6,0.000,0.064,2548,2027,3432
$GC,6145,-0.70,-146.6,419.7,-7.5,295,6146,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2028,3431
$GC,6456,-0.70,-146.6,437.0,-4.7,310,6460,0.00,2.72,0.00,0.000,4,0.000,0.085,2548,587,3431
$GC,6489,-0.70,-146.6,438.7,-5.3,311,6495,0.00,2.62,0.00,0.000,6,0.000,0.070,2548,2019,3431
$GC,6804,-0.70,-146.6,456.0,-6.4,327,6809,0.00,2.60,0.00,0.000,4,0.000,0.084,2548,3412,3430
$GC,6845,-0.70,-146.6,458.8,-7.4,329,6850,0.00,2.60,0.00,0.000,6,0.000,0.071,2548,2011,3429
$GC,7171,-0.70,-146.6,484.4,-8.1,345,7172,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2011,3428
$GC,7481,-0.70,-146.6,506.9,-6.6,360,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2011,3427
$GC,7790,-0.70,-146.6,526.9,-6.3,375,7795,0.00,2.65,0.00,0.000,4,0.000,0.085,2548,3405,3426
$GC,7835,-0.70,-146.6,530.0,-6.9,377,7839,0.00,2.58,0.00,0.000,6,0.000,0.074,2548,2018,3425
$GC,8156,-0.70,-146.6,551.3,-6.8,393,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2018,3425
$GC,8465,-0.70,-146.6,572.5,-6.8,408,8467,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2018,3424
$GC,8774,-0.70,-146.6,594.0,-7.1,423,8775,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2018,3423
$GC,9083,-0.70,-146.6,616.2,-7.4,438,9088,0.00,2.67,0.00,0.000,4,0.000,0.092,2548,3405,3423
$GC,9124,-0.70,-146.6,618.9,-7.0,440,9128,0.00,2.60,0.00,0.000,6,0.000,0.078,2548,2020,3422
$GC,9451,-0.70,-146.6,638.8,-5.6,456,9452,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2021,3421
$GC,9761,-0.70,-146.6,655.6,-5.7,471,9762,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2020,3420
$GC,10069,-0.70,-146.6,674.3,-6.5,486,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2020,3419
$GC,10379,-0.70,-146.6,697.3,-8.0,501,10380,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2021,3418
$GC,10688,-0.70,-146.6,721.6,-7.7,516,10689,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2020,3418
$GC,10997,-0.70,-146.6,744.3,-7.1,531,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2021,3417
$GC,11306,-0.70,-146.6,765.7,-6.7,546,11308,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2021,3416
$GC,11616,-0.70,-146.6,786.9,-6.8,561,11620,0.00,2.67,0.00,0.000,4,0.000,0.091,2548,3407,3416
$GC,11656,-0.74,-146.6,789.8,-7.4,563,11661,0.00,2.62,0.00,0.000,6,0.000,0.080,2548,2017,3416
$GC,11982,-0.74,-146.6,813.1,-7.1,579,11987,0.00,2.72,0.00,0.000,4,0.000,0.099,2549,588,3415
$GC,12010,-0.74,-146.6,815.3,-6.9,580,12015,0.00,2.67,0.00,0.000,6,0.000,0.078,2548,2018,3415
$GC,12326,-0.74,-146.6,839.7,-8.0,595,12327,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2019,3414
$GC,12635,-0.74,-146.6,863.2,-7.3,610,12636,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2019,3414
$GC,12945,-0.74,-146.6,884.2,-6.7,625,12946,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2019,3414
$GC,13254,-0.74,-146.6,904.7,-6.5,640,13255,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2019,3413
$GC,13564,-0.78,-146.6,925.0,-6.5,655,13565,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2019,3413
$GC,13873,-0.78,-146.6,943.7,-5.7,670,13878,0.00,2.78,0.00,0.000,4,0.000,0.099,2548,589,3413
$GC,13900,-0.78,-146.6,945.5,-6.3,671,13905,0.00,2.67,0.00,0.000,6,0.000,0.079,2548,2021,3413
$GC,14217,-0.78,-146.6,964.7,-6.4,686,14218,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2022,3412
$GC,14527,-0.82,-146.6,984.0,-5.9,701,14529,0.12,0.00,0.00,0.000,6,0.073,0.000,2517,2021,3412
$STATE,14605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14605,begin apogee
$GC,14612,-0.33,0.0,990.1,7.3,705,14748,0.52,0.00,132.15,1.661,6,0.094,0.000,2625,2212,2832
$STATE,14749,end apogee,CONTROL_FINISHED_OK
$STATE,14749,begin climb
$GC,14753,0.97,146.6,995.3,0.0,712,14898,1.35,2.75,134.82,1.606,4,0.079,0.091,2907,3594,2234
$GC,14918,0.94,169.6,989.6,5.4,719,14946,0.00,2.67,22.30,1.504,6,0.000,0.077,2906,2203,2141
$GC,15256,0.94,169.6,970.0,6.2,736,15260,0.00,2.75,0.00,0.000,4,0.000,0.099,2907,784,2141
$GC,15328,0.89,169.6,965.0,7.5,739,15333,0.00,2.67,0.00,0.000,6,0.000,0.079,2907,2188,2141
$GC,15644,0.93,189.9,947.3,5.4,754,15670,0.00,2.80,20.35,1.513,4,0.000,0.095,2907,787,2057
$GC,15705,0.93,191.8,943.6,5.9,757,15710,0.00,2.67,0.00,0.000,6,0.000,0.079,2907,2183,2057
$GC,16032,0.93,191.8,923.6,6.2,773,16036,0.00,2.72,0.00,0.000,4,0.000,0.095,2907,790,2057
$GC,16065,0.93,191.8,921.2,6.7,774,16071,0.00,2.62,0.00,0.000,6,0.000,0.079,2907,2173,2057
$GC,16381,0.93,191.8,901.5,6.3,790,16382,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2173,2056
$GC,16690,0.93,191.8,881.8,6.3,805,16694,0.00,2.70,0.00,0.000,4,0.000,0.096,2906,791,2056
$GC,16747,0.93,191.8,877.8,7.7,807,16753,0.00,2.62,0.00,0.000,6,0.000,0.079,2907,2176,2056
$GC,17063,0.93,191.8,857.0,6.4,823,17064,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2176,2056
$GC,17372,0.93,191.8,837.3,6.3,838,17376,0.00,2.70,0.00,0.000,4,0.000,0.095,2907,790,2056
$GC,17411,0.93,191.8,834.6,6.9,840,17416,0.00,2.60,0.00,0.000,6,0.000,0.079,2907,2165,2055
$GC,17739,0.94,196.5,814.6,5.9,856,17748,0.00,0.00,7.40,1.326,6,0.000,0.000,2907,2165,2030
$GC,18047,0.94,196.5,795.5,6.4,871,18052,0.00,2.70,0.00,0.000,4,0.000,0.096,2906,785,2030
$GC,18088,0.94,196.5,792.7,7.9,873,18092,0.00,2.60,0.00,0.000,6,0.000,0.079,2907,2160,2030
$GC,18414,0.94,196.5,771.9,6.4,889,18415,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2160,2030
$GC,18723,0.94,196.5,752.0,6.7,904,18728,0.00,2.67,0.00,0.000,4,0.000,0.094,2907,784,2030
$GC,18757,0.94,196.5,749.5,6.9,905,18763,0.00,2.58,0.00,0.000,6,0.000,0.078,2907,2148,2029
$GC,19073,0.94,196.5,728.1,6.8,921,19074,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2149,2029
$GC,19383,0.94,196.5,706.9,7.1,936,19385,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2149,2030
$GC,19692,0.94,196.5,684.0,7.6,951,19696,0.00,2.65,0.00,0.000,4,0.000,0.094,2908,781,2029
$GC,19731,0.94,196.5,680.6,8.5,953,19736,0.00,2.58,0.00,0.000,6,0.000,0.077,2907,2146,2029
$GC,20058,0.94,196.5,657.3,6.7,969,20060,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2146,2029
$GC,20368,0.94,196.5,637.7,6.1,984,20372,0.00,2.62,0.00,0.000,4,0.000,0.093,2907,790,2029
$GC,20395,0.94,196.5,635.7,7.0,985,20400,0.00,2.55,0.00,0.000,6,0.000,0.078,2907,2142,2029
$GC,20711,0.94,199.4,615.8,5.9,1000,20717,0.00,0.00,4.20,0.995,6,0.000,0.000,2907,2142,2019
$GC,21021,0.95,207.4,598.2,5.8,1015,21032,0.00,0.00,9.10,1.271,6,0.000,0.000,2907,2142,1985
$GC,21330,0.96,211.0,579.5,5.9,1030,21339,0.00,2.65,4.78,1.045,4,0.000,0.093,2907,791,1972
$GC,21362,0.98,225.8,577.4,5.6,1031,21382,0.00,2.55,14.82,1.322,6,0.000,0.077,2906,2138,1911
$GC,21702,1.03,230.4,557.6,5.9,1048,21710,0.00,0.00,5.70,1.105,6,0.000,0.000,2907,2137,1892
$GC,22009,1.08,230.4,538.3,6.7,1063,22010,0.12,0.00,0.00,0.000,6,0.069,0.000,2941,2137,1892
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$STATE,29294,end climb,SURFACE_DEPTH_REACHED
$STATE,29295,begin surface coast
$FINISH,0.4,1.007917
$STATE,29337,end surface coast,CONTROL_FINISHED_OK
$STATE,29337,begin surface
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$SM_GC,1.27,11.07,0.00,0.00,0.041,0.000,0.000,422,1970,1635,-10.39,-0.82,293.62
$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1790
$TCM_TEMP,16.80
$XPDR_PINGS,224
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,975.3,73.8
$24V_AH,23.5,43.110
$10V_AH,10.0,21.219
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$DEVICE_SECS,25.850,198.350,415.525,0.000,0.000,37.760,33.868,176.935,65.250,0.000,0.000,10.718,2518.659,23208.078,593.750,2777.467,703.670,0.000,1975.569,0.000,2720.379,0.000,61.620,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1050.135,962.041,750.316,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72566,1417
$CAP_FILE_SIZE,197824,0
$CFSIZE,254472192,237137920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,66,0,0
$GPS,281208,174507,6048.444,-452.054,40,0.8,40,-6.8