version: 66.04
glider: 5
mission: 5
dive: 159
start: 12 6 108 23 24 26
data:
$ID,5
$MISSION,5
$DIVE,159
$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,-90310.461
$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,29
$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
$GPS1,231737,6111.522,-446.291,30,1.5,31,-6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-58.6
$GPS2,232333,6111.494,-446.354,13,1.6,13,-6.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.092,-0.201
$KALMAN_X,67635.4,633.6,229.6,-4632.6,-8024.0
$KALMAN_Y,31486.2,-346.7,-472.0,-306173.7,-545.1
$MHEAD_RNG_PITCHd_Wd,162.3,111600,-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,-81.38,0.000,2,0.000,0.000,424,1967,3184
$GC,102,-0.97,-146.6,3.4,-3.8,4,126,10.60,2.62,-6.53,0.000,4,0.133,0.074,2483,3413,3431
$GC,265,-0.78,-146.6,27.5,-11.1,11,270,0.20,2.53,0.00,0.000,6,0.091,0.050,2526,1999,3432
$GC,595,-0.70,-146.6,58.0,-10.5,27,600,0.10,2.53,0.00,0.000,4,0.095,0.064,2548,597,3432
$GC,628,-0.70,-146.6,61.2,-8.2,28,634,0.00,2.53,0.00,0.000,6,0.000,0.053,2548,2009,3432
$GC,944,-0.70,-146.6,83.5,-7.2,44,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2009,3433
$GC,1254,-0.70,-146.6,107.7,-8.1,59,1259,0.00,2.60,0.00,0.000,4,0.000,0.068,2548,595,3433
$GC,1304,-0.70,-146.6,112.2,-9.7,61,1309,0.00,2.50,0.00,0.000,6,0.000,0.053,2548,1994,3433
$GC,1621,-0.70,-146.6,138.5,-8.0,76,1625,0.00,2.55,0.00,0.000,4,0.000,0.064,2548,3409,3433
$GC,1653,-0.70,-146.6,141.4,-8.2,77,1660,0.00,2.53,0.00,0.000,6,0.000,0.051,2548,1996,3433
$GC,1969,-0.70,-146.6,165.1,-7.2,93,1974,0.00,2.58,0.00,0.000,4,0.000,0.064,2548,3405,3433
$GC,1991,-0.70,-146.6,166.8,-7.3,94,1996,0.00,2.53,0.00,0.000,6,0.000,0.051,2548,1990,3433
$GC,2312,-0.70,-146.6,188.5,-6.8,110,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1990,3434
$GC,2622,-0.70,-146.6,210.5,-7.3,125,2626,0.00,2.60,0.00,0.000,4,0.000,0.064,2548,3413,3434
$GC,2654,-0.70,-146.6,213.1,-7.5,126,2661,0.00,2.53,0.00,0.000,6,0.000,0.052,2548,1999,3434
$GC,2970,-0.70,-146.6,236.4,-7.2,142,2974,0.00,2.58,0.00,0.000,4,0.000,0.064,2548,3408,3434
$GC,2992,-0.70,-146.6,238.1,-7.3,143,2996,0.00,2.50,0.00,0.000,6,0.000,0.051,2548,2008,3434
$GC,3313,-0.70,-146.6,259.8,-6.5,159,3317,0.00,2.53,0.00,0.000,4,0.000,0.068,2548,598,3434
$GC,3340,-0.70,-146.6,261.9,-7.5,160,3344,0.00,2.55,0.00,0.000,6,0.000,0.053,2548,2026,3434
$GC,3656,-0.70,-146.6,284.7,-7.7,175,3660,0.00,2.62,0.00,0.000,4,0.000,0.070,2548,598,3434
$GC,3683,-0.70,-146.6,287.0,-7.7,176,3687,0.00,2.58,0.00,0.000,6,0.000,0.055,2548,2034,3434
$GC,3999,-0.70,-146.6,312.3,-8.2,191,4003,0.00,2.50,0.00,0.000,4,0.000,0.070,2548,3412,3434
$GC,4020,-0.70,-146.6,314.1,-7.9,192,4025,0.00,2.50,0.00,0.000,6,0.000,0.058,2548,2030,3434
$GC,4341,-0.70,-146.6,339.1,-7.5,208,4346,0.00,2.55,0.00,0.000,4,0.000,0.070,2548,3416,3434
$GC,4369,-0.70,-146.6,341.2,-7.7,209,4373,0.00,2.50,0.00,0.000,6,0.000,0.059,2548,2033,3434
$GC,4685,-0.70,-146.6,362.7,-7.0,224,4689,0.00,2.55,0.00,0.000,4,0.000,0.073,2548,3417,3434
$GC,4718,-0.70,-146.6,365.3,-7.7,225,4724,0.00,2.50,0.00,0.000,6,0.000,0.061,2548,2042,3434
$GC,5034,-0.70,-146.6,388.0,-7.4,241,5038,0.00,2.65,0.00,0.000,4,0.000,0.080,2547,592,3433
$GC,5061,-0.70,-146.6,390.2,-7.7,242,5065,0.00,2.62,0.00,0.000,6,0.000,0.063,2548,2041,3433
$GC,5377,-0.70,-146.6,413.2,-7.0,257,5381,0.00,2.53,0.00,0.000,4,0.000,0.080,2548,3408,3432
$GC,5421,-0.70,-146.6,416.6,-7.3,259,5425,0.00,2.53,0.00,0.000,6,0.000,0.068,2548,2041,3432
$GC,5742,-0.70,-146.6,437.2,-6.6,275,5746,0.00,2.70,0.00,0.000,4,0.000,0.084,2548,585,3431
$GC,5786,-0.70,-146.6,440.5,-7.2,277,5790,0.00,2.67,0.00,0.000,6,0.000,0.067,2548,2047,3430
$GC,6106,-0.70,-146.6,463.0,-7.1,293,6110,0.00,2.50,0.00,0.000,4,0.000,0.083,2548,3405,3429
$GC,6134,-0.70,-146.6,465.0,-7.2,294,6139,0.00,2.55,0.00,0.000,6,0.000,0.073,2548,2035,3429
$GC,6456,-0.70,-146.6,488.8,-7.5,310,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2035,3428
$GC,6765,-0.70,-146.6,512.2,-7.5,325,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2034,3427
$GC,7075,-0.70,-146.6,535.2,-7.3,340,7079,0.00,2.62,0.00,0.000,4,0.000,0.085,2548,3413,3425
$GC,7096,-0.70,-146.6,536.8,-7.1,341,7100,0.00,2.58,0.00,0.000,6,0.000,0.075,2548,2036,3425
$GC,7417,-0.70,-146.6,559.6,-7.1,357,7421,0.00,2.70,0.00,0.000,4,0.000,0.088,2548,591,3424
$GC,7444,-0.70,-146.6,561.7,-7.9,358,7449,0.00,2.67,0.00,0.000,6,0.000,0.072,2548,2038,3424
$GC,7760,-0.70,-146.6,584.6,-7.1,373,7761,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2039,3424
$GC,8069,-0.70,-146.6,606.3,-6.9,388,8074,0.00,2.78,0.00,0.000,4,0.000,0.094,2548,590,3423
$GC,8097,-0.70,-146.6,608.2,-7.4,389,8101,0.00,2.67,0.00,0.000,6,0.000,0.074,2548,2029,3423
$GC,8412,-0.70,-146.6,629.6,-6.8,404,8413,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2030,3422
$GC,8722,-0.70,-146.6,650.2,-6.7,419,8724,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2030,3421
$GC,9031,-0.70,-146.6,671.2,-6.8,434,9032,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2030,3420
$GC,9340,-0.70,-146.6,692.3,-7.1,449,9341,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2030,3419
$GC,9649,-0.70,-146.6,713.6,-6.9,464,9650,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2030,3418
$GC,9959,-0.70,-146.6,734.5,-6.7,479,9960,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2030,3418
$GC,10269,-0.70,-146.6,755.7,-6.8,494,10273,0.00,2.78,0.00,0.000,4,0.000,0.097,2548,595,3417
$GC,10292,-0.70,-146.6,757.4,-7.2,495,10296,0.00,2.67,0.00,0.000,6,0.000,0.077,2547,2027,3417
$GC,10613,-0.70,-146.6,779.8,-7.2,511,10614,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2028,3416
$GC,10922,-0.70,-146.6,802.5,-7.2,526,10927,0.00,2.60,0.00,0.000,4,0.000,0.092,2548,3408,3415
$GC,10952,-0.74,-146.6,804.7,-7.6,527,10957,0.00,2.62,0.00,0.000,6,0.000,0.081,2548,2017,3415
$GC,11268,-0.74,-146.6,827.3,-6.8,542,11269,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2016,3415
$GC,11577,-0.74,-146.6,847.8,-6.2,557,11582,0.00,2.67,0.00,0.000,4,0.000,0.092,2548,3415,3414
$GC,11610,-0.78,-146.6,849.9,-6.8,558,11619,0.00,2.62,0.00,0.000,6,0.000,0.081,2548,2026,3414
$GC,11927,-0.78,-146.6,869.1,-5.7,574,11928,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2026,3414
$GC,12235,-0.78,-146.6,886.2,-5.2,589,12237,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2026,3414
$GC,12545,-0.82,-146.6,904.0,-6.0,604,12550,0.12,2.65,0.00,0.000,4,0.073,0.091,2517,3412,3413
$GC,12586,-0.82,-146.6,907.3,-8.4,606,12590,0.00,2.60,0.00,0.000,6,0.000,0.081,2517,2033,3413
$STATE,12641,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12642,begin apogee
$GC,12649,-0.33,0.0,911.6,7.3,609,12776,0.52,0.00,124.53,1.610,6,0.094,0.000,2624,2251,2832
$STATE,12777,end apogee,CONTROL_FINISHED_OK
$STATE,12777,begin climb
$GC,12780,0.97,146.6,915.9,0.0,615,12910,1.35,0.00,125.78,1.559,6,0.083,0.000,2905,2251,2235
$GC,13215,0.97,146.6,894.1,6.3,636,13219,0.00,2.75,0.00,0.000,4,0.000,0.091,2905,841,2233
$GC,13435,0.91,146.6,880.8,6.7,646,13439,0.00,2.55,0.00,0.000,6,0.000,0.075,2905,2194,2234
$GC,13762,0.90,172.5,863.0,5.3,662,13791,0.00,2.72,23.45,1.494,4,0.000,0.092,2906,847,2128
$GC,13828,0.86,172.5,858.9,6.4,665,13833,0.00,2.55,0.00,0.000,6,0.000,0.076,2905,2182,2128
$GC,14155,0.88,185.2,840.4,5.7,681,14177,0.00,2.70,12.75,1.424,4,0.000,0.091,2905,845,2076
$GC,14193,0.88,185.2,837.8,6.5,682,14200,0.00,2.53,0.00,0.000,6,0.000,0.076,2905,2164,2076
$GC,14510,0.88,185.2,818.3,6.5,698,14511,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2164,2076
$GC,14818,0.88,185.2,799.1,6.1,713,14823,0.00,2.55,0.00,0.000,4,0.000,0.094,2905,843,2076
$GC,14863,0.88,185.2,796.1,7.0,715,14867,0.00,2.47,0.00,0.000,6,0.000,0.076,2905,2153,2076
$GC,15185,0.92,211.0,778.3,5.3,731,15215,0.00,2.65,23.35,1.482,4,0.000,0.093,2905,848,1971
$GC,15233,0.93,215.0,775.6,5.9,733,15243,0.00,2.47,5.28,1.135,6,0.000,0.075,2905,2143,1955
$GC,15554,0.96,235.2,758.5,5.4,748,15575,0.00,0.00,18.70,1.447,6,0.000,0.000,2905,2143,1873
$GC,15883,0.96,235.2,739.4,6.0,764,15887,0.00,2.53,0.00,0.000,4,0.000,0.096,2905,845,1873
$GC,15915,0.96,235.2,737.1,6.7,765,15922,0.00,2.45,0.00,0.000,6,0.000,0.077,2905,2144,1873
$GC,16232,0.96,235.6,718.2,6.0,781,16237,0.00,2.55,0.00,0.000,4,0.000,0.095,2906,840,1873
$GC,16260,0.96,235.6,716.4,7.2,782,16264,0.00,2.42,0.00,0.000,6,0.000,0.075,2905,2125,1873
$GC,16576,0.99,252.3,698.6,5.5,797,16595,0.00,0.00,16.58,1.414,6,0.000,0.000,2905,2125,1803
$GC,16906,1.08,277.1,680.5,5.3,813,16936,0.12,2.60,22.60,1.424,4,0.071,0.093,2938,846,1702
$GC,16964,1.03,277.1,676.4,6.9,815,16971,0.00,2.42,0.00,0.000,6,0.000,0.076,2938,2118,1701
$GC,17281,1.03,277.1,655.4,6.8,831,17285,0.00,2.47,0.00,0.000,4,0.000,0.094,2938,839,1702
$GC,17308,0.99,277.1,653.2,7.5,832,17313,0.12,2.40,0.00,0.000,6,0.106,0.075,2914,2108,1702
$GC,17630,1.04,277.1,632.4,6.7,848,17631,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2108,1702
$GC,17939,1.10,277.1,612.3,6.6,863,17944,0.10,2.47,0.00,0.000,4,0.076,0.094,2940,841,1702
$GC,17961,1.10,277.1,610.6,6.4,864,17965,0.00,2.38,0.00,0.000,6,0.000,0.074,2940,2102,1702
$GC,18282,1.10,277.1,585.6,7.9,880,18283,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2102,1702
$GC,18591,1.10,277.1,561.5,7.8,895,18596,0.00,2.45,0.00,0.000,4,0.000,0.093,2940,839,1702
$GC,18632,1.05,277.1,557.9,10.0,897,18636,0.00,2.38,0.00,0.000,6,0.000,0.075,2940,2101,1702
$GC,18958,1.05,277.1,531.4,8.3,913,18959,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2101,1702
$GC,19268,1.05,277.1,508.1,7.1,928,19272,0.00,2.42,0.00,0.000,4,0.000,0.091,2940,843,1702
$GC,19318,1.00,277.1,504.1,8.0,930,19322,0.00,2.33,0.00,0.000,6,0.000,0.074,2940,2079,1702
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$STATE,26274,end climb,SURFACE_DEPTH_REACHED
$STATE,26274,begin surface coast
$FINISH,2.5,1.027421
$STATE,26287,end surface coast,CONTROL_FINISHED_OK
$STATE,26287,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1778
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$XPDR_PINGS,204
$ALTIM_TOP_PING,19.1,999.0
$ALTIM_BOTTOM_PING,850.3,70.9
$24V_AH,23.6,28.172
$10V_AH,10.0,13.350
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$DEVICE_SECS,24.400,236.550,399.575,0.000,0.000,37.756,25.165,163.696,59.000,0.000,0.000,15.806,2277.567,20651.227,592.766,2546.315,653.895,33.370,1898.778,0.000,2491.090,0.000,53.579,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,940.664,858.382,688.769,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63103,1265
$CAP_FILE_SIZE,185894,0
$CFSIZE,254472192,242921472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,77,0,0
$GPS,071208,064508,6107.766,-442.443,32,1.3,32,-6.8