version: 66.04
glider: 5
mission: 5
dive: 121
start: 11 26 108 12 53 21
data:
$ID,5
$MISSION,5
$DIVE,121
$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,412.5
$T_MISSION,440
$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,-89631.641
$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,41
$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
$GPS1,124537,6122.724,-229.275,38,1.1,38,-5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-58.0
$GPS2,125232,6122.785,-229.142,9,1.1,14,-5.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.242,0.038
$KALMAN_X,39717.2,96.7,480.3,136248.0,-407.6
$KALMAN_Y,-28303.4,-155.1,281.0,-226475.7,99.2
$MHEAD_RNG_PITCHd_Wd,284.6,65173,-14.8,-8.000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,101,0.00,0.00,-81.25,0.000,2,0.000,0.000,422,1954,3427
$GC,104,-1.22,-146.6,4.8,-5.3,4,118,10.32,0.00,0.00,0.000,6,0.135,0.000,2428,1953,3429
$GC,437,-1.00,-146.6,61.0,-13.0,20,438,0.25,0.00,0.00,0.000,6,0.094,0.000,2479,1957,3430
$GC,746,-0.92,-146.6,91.4,-10.2,35,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1957,3429
$GC,1056,-0.85,-146.6,125.7,-11.3,50,1058,0.15,0.00,0.00,0.000,6,0.093,0.000,2511,1957,3429
$GC,1363,-0.85,-146.6,155.0,-9.4,65,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1957,3429
$GC,1673,-0.85,-146.6,182.8,-8.3,80,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1957,3430
$GC,1982,-0.85,-146.6,209.4,-9.3,95,1986,0.00,2.42,0.00,0.000,4,0.000,0.064,2511,612,3430
$GC,2026,-0.85,-146.6,214.5,-11.3,97,2030,0.00,2.47,0.00,0.000,6,0.000,0.050,2511,2009,3430
$GC,2347,-0.85,-146.6,245.6,-9.1,113,2351,0.00,2.55,0.00,0.000,4,0.000,0.066,2511,610,3430
$GC,2391,-0.85,-146.6,249.8,-9.7,115,2395,0.00,2.47,0.00,0.000,6,0.000,0.051,2511,2005,3430
$GC,2718,-0.85,-146.6,278.7,-9.3,131,2722,0.00,2.55,0.00,0.000,4,0.000,0.066,2511,605,3430
$GC,2767,-0.85,-146.6,283.7,-10.1,133,2772,0.00,2.47,0.00,0.000,6,0.000,0.051,2511,2000,3430
$GC,3083,-0.85,-146.6,311.9,-8.7,148,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2001,3430
$GC,3392,-0.85,-146.6,338.3,-8.4,163,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2000,3430
$GC,3702,-0.85,-146.6,365.0,-8.5,178,3706,0.00,2.55,0.00,0.000,4,0.000,0.066,2511,601,3430
$GC,3734,-0.85,-146.6,368.1,-8.7,179,3740,0.00,2.47,0.00,0.000,6,0.000,0.052,2512,1994,3430
$GC,4050,-0.85,-146.6,397.1,-9.3,195,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1995,3430
$GC,4360,-0.85,-146.6,428.0,-10.0,210,4364,0.00,2.53,0.00,0.000,4,0.000,0.067,2511,610,3430
$GC,4421,-0.85,-146.6,434.6,-10.3,213,4426,0.00,2.42,0.00,0.000,6,0.000,0.053,2511,1977,3430
$GC,4748,-0.85,-146.6,464.2,-8.1,229,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1977,3430
$GC,5058,-0.90,-146.6,488.5,-8.1,244,5062,0.00,2.58,0.00,0.000,4,0.000,0.066,2511,3405,3430
$GC,5103,-0.98,-146.6,492.5,-8.7,246,5108,0.12,2.55,0.00,0.000,6,0.057,0.056,2475,1985,3430
$GC,5425,-0.93,-146.6,521.6,-8.9,262,5427,0.10,0.00,0.00,0.000,6,0.097,0.000,2495,1985,3430
$GC,5733,-0.93,-146.6,547.8,-9.1,277,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1985,3430
$GC,6043,-0.93,-146.6,574.9,-8.7,292,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1984,3430
$GC,6354,-0.93,-146.6,601.0,-8.4,307,6358,0.00,2.62,0.00,0.000,4,0.000,0.074,2495,3402,3429
$GC,6403,-0.93,-146.6,605.7,-9.6,309,6408,0.00,2.58,0.00,0.000,6,0.000,0.062,2495,1988,3429
$GC,6719,-0.93,-146.6,632.6,-8.4,324,6720,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1989,3427
$GC,7028,-0.93,-146.6,658.1,-8.3,339,7033,0.00,2.65,0.00,0.000,4,0.000,0.079,2496,3401,3426
$GC,7086,-0.98,-146.6,663.0,-8.6,341,7092,0.00,2.60,0.00,0.000,6,0.000,0.067,2496,1984,3425
$GC,7402,-0.98,-146.6,687.6,-7.8,357,7403,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1984,3425
$GC,7711,-0.98,-146.6,712.4,-8.0,372,7716,0.00,2.67,0.00,0.000,4,0.000,0.084,2495,3400,3424
$GC,7745,-0.98,-146.6,715.3,-8.6,373,7751,0.00,2.60,0.00,0.000,6,0.000,0.071,2495,1995,3423
$GC,8061,-1.02,-146.6,740.1,-7.8,389,8062,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1995,3422
$GC,8370,-1.06,-146.6,765.2,-8.6,404,8375,0.12,2.67,0.00,0.000,4,0.071,0.087,2465,3401,3422
$GC,8421,-1.01,-146.6,770.3,-10.4,406,8425,0.00,2.62,0.00,0.000,6,0.000,0.075,2465,1993,3421
$GC,8738,-0.96,-146.6,801.0,-9.6,421,8740,0.12,0.00,0.00,0.000,6,0.112,0.000,2487,1993,3419
$GC,9046,-0.96,-146.6,827.3,-8.5,436,9051,0.00,2.70,0.00,0.000,4,0.000,0.089,2488,3404,3418
$GC,9124,-0.96,-146.6,834.3,-9.2,439,9130,0.00,2.62,0.00,0.000,6,0.000,0.076,2487,2000,3417
$GC,9440,-0.96,-146.6,859.5,-7.9,455,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2001,3416
$GC,9749,-0.96,-146.6,883.5,-7.9,470,9753,0.00,2.70,0.00,0.000,4,0.000,0.091,2488,3406,3415
$GC,9793,-0.96,-146.6,887.2,-8.7,472,9797,0.00,2.62,0.00,0.000,6,0.000,0.077,2488,2006,3415
$GC,10114,-0.96,-146.6,912.7,-8.1,488,10115,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2006,3414
$GC,10423,-0.96,-146.6,936.9,-7.9,503,10428,0.00,2.67,0.00,0.000,4,0.000,0.089,2488,3403,3413
$GC,10479,-0.96,-146.6,941.4,-8.5,505,10485,0.00,2.60,0.00,0.000,6,0.000,0.077,2488,2017,3413
$GC,10795,-0.96,-146.6,966.2,-7.9,521,10796,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2017,3412
$STATE,11101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11101,begin apogee
$GC,11109,-0.33,0.0,990.7,8.1,536,11236,0.65,0.00,124.22,1.654,6,0.096,0.000,2623,2253,2832
$STATE,11237,end apogee,CONTROL_FINISHED_OK
$STATE,11237,begin climb
$GC,11240,1.22,146.6,995.3,0.0,542,11372,1.62,0.00,127.60,1.608,6,0.081,0.000,2963,2253,2234
$GC,11679,1.17,146.6,967.0,8.0,564,11683,0.00,2.75,0.00,0.000,4,0.000,0.091,2963,842,2233
$GC,11735,1.10,152.1,962.2,7.8,566,11747,0.12,2.67,6.35,1.242,6,0.110,0.074,2942,2256,2212
$GC,12071,1.13,173.5,938.0,7.2,583,12096,0.00,2.83,19.75,1.516,4,0.000,0.091,2942,839,2124
$GC,12125,1.14,177.2,933.6,7.9,585,12137,0.00,2.67,5.03,1.133,6,0.000,0.075,2942,2242,2109
$GC,12446,1.15,185.5,908.8,7.7,601,12461,0.00,2.78,9.10,1.385,4,0.000,0.092,2941,845,2075
$GC,12501,1.15,185.5,904.1,8.0,603,12506,0.00,2.65,0.00,0.000,6,0.000,0.076,2942,2233,2075
$GC,12818,1.22,197.7,880.0,7.6,618,12840,0.10,2.80,12.38,1.453,4,0.077,0.091,2966,846,2025
$GC,12868,1.22,197.7,875.4,9.8,620,12873,0.00,2.62,0.00,0.000,6,0.000,0.075,2966,2225,2024
$GC,13190,1.22,197.7,846.7,9.0,636,13194,0.00,2.70,0.00,0.000,4,0.000,0.093,2966,839,2024
$GC,13223,1.22,197.7,843.5,9.1,637,13229,0.00,2.60,0.00,0.000,6,0.000,0.078,2966,2217,2023
$GC,13539,1.22,197.7,815.2,9.1,653,13540,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2218,2023
$GC,13848,1.22,197.7,788.4,8.3,668,13852,0.00,2.67,0.00,0.000,4,0.000,0.092,2966,841,2023
$GC,13897,1.22,197.7,783.8,8.6,670,13902,0.00,2.58,0.00,0.000,6,0.000,0.075,2966,2211,2023
$GC,14213,1.22,197.7,756.2,9.0,685,14218,0.00,2.65,0.00,0.000,4,0.000,0.091,2966,842,2023
$GC,14252,1.22,197.7,752.4,9.4,687,14257,0.00,2.58,0.00,0.000,6,0.000,0.076,2966,2210,2023
$GC,14579,1.22,197.7,722.8,9.1,703,14580,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2211,2023
$GC,14888,1.22,197.7,694.6,8.9,718,14892,0.00,2.65,0.00,0.000,4,0.000,0.091,2965,838,2023
$GC,14932,1.22,197.7,690.4,10.6,720,14937,0.00,2.55,0.00,0.000,6,0.000,0.074,2966,2196,2022
$GC,15254,1.23,204.1,664.3,7.8,736,15262,0.00,0.00,6.53,1.223,6,0.000,0.000,2966,2197,2000
$GC,15563,1.26,220.2,640.3,7.4,751,15585,0.00,2.70,15.38,1.382,4,0.000,0.088,2965,842,1934
$GC,15619,1.26,224.5,635.8,7.8,753,15631,0.00,2.55,5.50,1.117,6,0.000,0.074,2966,2187,1916
$GC,15940,1.29,243.4,612.1,7.3,769,15963,0.00,2.70,17.12,1.362,4,0.000,0.087,2966,845,1839
$GC,15996,1.29,243.4,607.4,8.7,771,16001,0.00,2.53,0.00,0.000,6,0.000,0.073,2966,2177,1839
$GC,16313,1.34,243.4,581.8,8.2,786,16318,0.12,2.58,0.00,0.000,4,0.069,0.087,2996,845,1839
$GC,16341,1.29,243.4,579.1,10.0,787,16345,0.00,2.47,0.00,0.000,6,0.000,0.072,2996,2165,1840
$GC,16657,1.24,243.4,547.1,10.3,802,16659,0.12,0.00,0.00,0.000,6,0.107,0.000,2973,2166,1840
$GC,16966,1.25,248.2,522.0,7.8,817,16974,0.00,0.00,6.25,1.110,6,0.000,0.000,2973,2166,1820
$GC,17275,1.25,248.2,496.2,8.1,832,17279,0.00,2.50,0.00,0.000,4,0.000,0.081,2973,842,1820
$GC,17308,1.28,270.5,493.4,7.2,833,17333,0.00,2.45,20.02,1.272,6,0.000,0.067,2973,2166,1729
$GC,17644,1.28,270.5,462.9,9.4,849,17649,0.00,2.50,0.00,0.000,4,0.000,0.077,2973,835,1730
$GC,17694,1.28,270.5,457.8,10.2,851,17699,0.00,2.45,0.00,0.000,6,0.000,0.064,2973,2164,1730
$GC,18011,1.33,270.5,427.1,9.7,866,18016,0.00,2.47,0.00,0.000,4,0.000,0.074,2973,842,1730
$GC,18039,1.37,270.5,423.9,9.7,867,18044,0.12,2.38,0.00,0.000,6,0.066,0.061,3003,2139,1730
$GC,18355,1.37,270.5,387.5,11.3,882,18356,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2140,1731
$GC,18664,1.37,270.5,352.1,11.1,897,18666,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2139,1732
$GC,18973,1.37,270.5,317.6,11.1,912,18975,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2140,1733
$GC,19283,1.37,270.5,283.0,11.5,927,19287,0.00,2.75,0.00,0.000,4,0.000,0.067,3003,3660,1734
$GC,19316,1.37,270.5,279.1,12.0,928,19322,0.00,2.75,0.00,0.000,6,0.000,0.056,3003,2134,1735
$GC,19631,1.37,270.5,244.4,10.6,944,19636,0.00,2.80,0.00,0.000,4,0.000,0.066,3003,3665,1735
$GC,19664,1.37,270.5,240.6,10.8,945,19671,0.00,2.75,0.00,0.000,6,0.000,0.054,3003,2130,1736
$GC,19980,1.37,270.5,206.2,11.3,961,19982,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2130,1736
$GC,20289,1.37,270.5,168.6,12.7,976,20294,0.00,2.80,0.00,0.000,4,0.000,0.064,3003,3661,1737
$GC,20352,1.37,270.5,160.2,14.0,979,20361,0.00,2.70,3.67,0.617,6,0.000,0.052,3003,2140,1729
$GC,20684,1.37,270.5,124.0,9.4,995,20689,0.00,2.78,0.00,0.000,4,0.000,0.064,3003,3660,1729
$GC,20734,1.37,270.5,117.3,13.3,997,20738,0.00,2.67,0.00,0.000,6,0.000,0.051,3003,2159,1730
$GC,21050,1.37,270.5,75.8,12.6,1012,21051,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2159,1730
$GC,21359,1.37,270.5,41.2,9.3,1027,21363,0.00,2.72,0.00,0.000,4,0.000,0.061,3004,3660,1731
$GC,21425,1.37,270.5,34.4,12.2,1030,21430,0.00,2.67,0.00,0.000,6,0.000,0.049,3004,2154,1731
$STATE,21640,end climb,SURFACE_DEPTH_REACHED
$STATE,21640,begin surface coast
$FINISH,0.3,1.027354
$STATE,21663,end surface coast,CONTROL_FINISHED_OK
$STATE,21663,begin surface
$SM_CCo,21746,0.00,0.000,0,0,1731,270.08
$SM_GC,0.99,11.25,0.00,0.00,0.040,0.000,0.000,422,1971,1731,-10.40,-0.82,270.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1804
$TCM_TEMP,16.00
$XPDR_PINGS,281
$ALTIM_TOP_PING,18.5,999.0
$24V_AH,23.6,21.348
$10V_AH,10.1,9.538
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.325,168.150,378.900,0.000,0.000,37.754,27.268,221.818,79.250,0.000,0.000,14.862,1873.514,17031.643,557.449,2059.798,629.545,33.353,1595.606,0.000,2014.742,0.000,58.412,0.000
$DEVICE_MAMPS,134.992,92.807,1654.419,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,778.588,705.383,523.667,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53755,1042
$CAP_FILE_SIZE,153351,0
$CFSIZE,254472192,245760000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,61,0,0
$GPS,261108,185757,6123.174,-232.877,74,3.3,93,-5.8