version: 66.04
glider: 5
mission: 5
dive: 127
start: 11 28 108 10 9 37
data:
$ID,5
$MISSION,5
$DIVE,127
$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,-89725.594
$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,20
$R_STBD_OVSHOOT,16
$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
$GPS1,100155,6127.219,-240.311,41,1.1,41,-5.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-63.0
$GPS2,100845,6127.208,-240.262,15,1.3,15,-5.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.216,-0.047
$KALMAN_X,72278.8,-1005.9,368.4,95826.4,7517.2
$KALMAN_Y,-26225.7,-205.3,-438.4,-219562.8,1530.3
$MHEAD_RNG_PITCHd_Wd,263.6,54636,-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,-78.95,0.000,2,0.000,0.000,425,1946,3227
$GC,102,-0.97,-146.6,3.3,-3.2,4,125,10.62,2.65,-5.38,0.000,4,0.137,0.069,2480,3418,3430
$GC,352,-0.76,-146.6,38.9,-11.3,15,357,0.25,2.55,0.00,0.000,6,0.088,0.050,2534,1984,3430
$GC,680,-0.67,-146.6,74.1,-11.8,31,682,0.08,0.00,0.00,0.000,6,0.104,0.000,2551,1983,3430
$GC,988,-0.67,-146.6,105.1,-11.6,46,993,0.00,2.60,0.00,0.000,4,0.000,0.059,2551,3421,3430
$GC,1016,-0.67,-146.6,108.7,-12.6,47,1020,0.00,2.53,0.00,0.000,6,0.000,0.048,2551,1999,3430
$GC,1334,-0.67,-146.6,137.6,-6.9,62,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1986,3430
$GC,1641,-0.67,-146.6,162.0,-8.2,77,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1986,3430
$GC,1950,-0.67,-146.6,182.5,-6.2,92,1955,0.00,2.58,0.00,0.000,4,0.000,0.059,2551,3424,3430
$GC,1978,-0.67,-146.6,184.2,-5.7,93,1982,0.00,2.50,0.00,0.000,6,0.000,0.049,2551,2013,3430
$GC,2294,-0.67,-146.6,205.8,-6.7,108,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2013,3430
$GC,2604,-0.67,-146.6,225.6,-5.7,123,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2013,3430
$GC,2912,-0.67,-146.6,252.3,-8.1,138,2917,0.00,2.55,0.00,0.000,4,0.000,0.059,2551,3424,3430
$GC,2940,-0.67,-146.6,254.7,-8.3,139,2944,0.00,2.50,0.00,0.000,6,0.000,0.050,2551,2016,3430
$GC,3256,-0.67,-146.6,280.8,-8.9,154,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2013,3430
$GC,3565,-0.67,-146.6,304.4,-7.7,169,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2013,3430
$GC,3874,-0.67,-146.6,333.9,-10.0,184,3878,0.00,2.53,0.00,0.000,4,0.000,0.064,2551,596,3430
$GC,3931,-0.67,-146.6,339.5,-9.8,186,3937,0.00,2.50,0.00,0.000,6,0.000,0.049,2551,2016,3430
$GC,4246,-0.67,-146.6,366.4,-8.2,202,4251,0.00,2.50,0.00,0.000,4,0.000,0.064,2551,3412,3430
$GC,4286,-0.67,-146.6,369.8,-8.7,204,4291,0.00,2.50,0.00,0.000,6,0.000,0.052,2551,2004,3430
$GC,4613,-0.67,-146.6,394.5,-7.2,220,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2004,3430
$GC,4923,-0.67,-146.6,416.6,-7.6,235,4927,0.00,2.55,0.00,0.000,4,0.000,0.062,2551,3409,3430
$GC,4962,-0.67,-146.6,419.6,-7.9,237,4966,0.00,2.50,0.00,0.000,6,0.000,0.054,2551,2007,3430
$GC,5289,-0.67,-146.6,444.6,-7.2,253,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2007,3430
$GC,5598,-0.67,-146.6,465.1,-6.5,268,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2007,3430
$GC,5907,-0.67,-146.6,485.8,-6.0,283,5911,0.00,2.55,0.00,0.000,4,0.000,0.063,2551,3409,3430
$GC,5957,-0.67,-146.6,489.2,-6.7,285,5961,0.00,2.50,0.00,0.000,6,0.000,0.054,2552,2011,3430
$GC,6273,-0.67,-146.6,507.7,-5.9,300,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2011,3430
$GC,6582,-0.67,-146.6,528.4,-7.1,315,6586,0.00,2.55,0.00,0.000,4,0.000,0.064,2551,3413,3430
$GC,6622,-0.67,-146.6,531.4,-8.5,317,6626,0.00,2.50,0.00,0.000,6,0.000,0.054,2551,2012,3430
$GC,6948,-0.67,-146.6,553.9,-6.2,333,6949,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2011,3430
$GC,7257,-0.67,-146.6,573.3,-6.1,348,7262,0.00,2.53,0.00,0.000,4,0.000,0.064,2551,3412,3429
$GC,7330,-0.67,-146.6,578.5,-7.5,351,7335,0.00,2.50,0.00,0.000,6,0.000,0.055,2551,2017,3429
$GC,7647,-0.67,-146.6,596.3,-5.2,366,7648,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2015,3429
$GC,7956,-0.67,-146.6,614.3,-6.4,381,7960,0.00,2.55,0.00,0.000,4,0.000,0.071,2551,3405,3429
$GC,8011,-0.67,-146.6,617.9,-6.3,383,8016,0.00,2.47,0.00,0.000,6,0.000,0.061,2551,2039,3428
$GC,8327,-0.67,-146.6,638.1,-6.7,398,8331,0.00,2.62,0.00,0.000,4,0.000,0.074,2551,591,3428
$GC,8377,-0.67,-146.6,641.6,-7.5,400,8381,0.00,2.60,0.00,0.000,6,0.000,0.060,2551,2038,3427
$GC,8693,-0.67,-146.6,659.9,-5.5,415,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2038,3428
$GC,9002,-0.67,-146.6,678.7,-5.9,430,9004,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2038,3427
$GC,9311,-0.67,-146.6,696.6,-5.9,445,9313,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2038,3425
$GC,9620,-0.67,-146.6,713.0,-5.1,460,9622,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2038,3424
$GC,9930,-0.67,-146.6,729.0,-5.2,475,9931,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2038,3422
$GC,10239,-0.71,-146.6,747.7,-6.4,490,10244,0.00,2.75,0.00,0.000,4,0.000,0.090,2551,591,3422
$GC,10274,-0.75,-146.6,750.1,-7.1,491,10280,0.00,2.65,0.00,0.000,6,0.000,0.071,2551,2034,3422
$GC,10590,-0.79,-146.6,770.6,-6.6,507,10592,0.12,0.00,0.00,0.000,6,0.069,0.000,2519,2035,3420
$GC,10900,-0.75,-146.6,794.7,-7.8,522,10901,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2035,3419
$GC,11208,-0.70,-146.6,817.3,-7.1,537,11210,0.12,0.00,0.00,0.000,6,0.104,0.000,2545,2035,3418
$GC,11518,-0.70,-146.6,836.7,-6.0,552,11522,0.00,2.75,0.00,0.000,4,0.000,0.093,2544,597,3417
$GC,11567,-0.70,-146.6,840.1,-7.8,554,11572,0.00,2.65,0.00,0.000,6,0.000,0.074,2545,2029,3416
$GC,11883,-0.70,-146.6,860.9,-6.7,569,11884,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2028,3415
$GC,12192,-0.70,-146.6,882.4,-7.3,584,12194,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2029,3414
$GC,12501,-0.70,-146.6,905.1,-7.3,599,12506,0.00,2.75,0.00,0.000,4,0.000,0.096,2545,593,3413
$GC,12534,-0.70,-146.6,907.8,-8.3,600,12541,0.00,2.65,0.00,0.000,6,0.000,0.076,2545,2022,3413
$GC,12851,-0.70,-146.6,931.0,-7.3,616,12852,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2023,3412
$GC,13159,-0.70,-146.6,953.5,-7.2,631,13164,0.00,2.72,0.00,0.000,4,0.000,0.094,2545,599,3410
$GC,13199,-0.70,-146.6,956.4,-7.8,633,13203,0.00,2.62,0.00,0.000,6,0.000,0.076,2545,2013,3411
$GC,13525,-0.70,-146.6,979.8,-7.2,649,13526,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2013,3410
$STATE,13687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13687,begin apogee
$GC,13694,-0.33,0.0,991.2,6.9,657,13821,0.40,0.00,123.95,1.639,6,0.091,0.000,2626,2256,2832
$STATE,13822,end apogee,CONTROL_FINISHED_OK
$STATE,13822,begin climb
$GC,13825,0.97,146.6,996.1,0.0,663,13956,1.33,0.00,126.82,1.598,6,0.078,0.000,2905,2257,2234
$GC,14263,1.01,171.9,976.5,5.3,685,14293,0.00,2.80,22.80,1.509,4,0.000,0.089,2905,3658,2131
$GC,14392,0.96,171.9,968.6,7.0,690,14399,0.00,2.85,0.00,0.000,6,0.000,0.079,2905,2160,2131
$GC,14708,0.96,171.9,949.4,6.1,706,14712,0.00,2.53,0.00,0.000,4,0.000,0.096,2906,847,2131
$GC,14759,0.90,171.9,946.1,6.4,708,14763,0.00,2.47,0.00,0.000,6,0.000,0.077,2905,2152,2131
$GC,15075,0.90,172.4,927.1,6.0,723,15076,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2152,2131
$GC,15384,0.91,177.2,908.2,5.9,738,15397,0.00,2.58,6.40,1.285,4,0.000,0.093,2905,851,2109
$GC,15432,0.87,177.2,905.0,7.2,740,15436,0.00,2.45,0.00,0.000,6,0.000,0.076,2906,2140,2108
$GC,15753,0.87,177.2,885.6,6.1,756,15754,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2140,2108
$GC,16062,0.89,190.1,867.7,5.6,771,16081,0.00,0.00,12.88,1.467,6,0.000,0.000,2906,2140,2056
$GC,16391,0.91,204.3,849.1,5.6,787,16413,0.00,2.60,13.70,1.466,4,0.000,0.092,2906,852,1999
$GC,16441,0.91,204.3,846.0,6.9,789,16445,0.00,2.45,0.00,0.000,6,0.000,0.075,2906,2138,1999
$GC,16762,0.91,204.3,827.1,6.1,805,16763,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2139,1998
$GC,17071,0.91,204.3,808.0,6.2,820,17072,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2139,1998
$GC,17380,0.91,204.3,788.1,6.4,835,17384,0.00,2.50,0.00,0.000,4,0.000,0.093,2906,847,1998
$GC,17419,0.91,204.3,785.4,7.4,836,17425,0.00,2.40,0.00,0.000,6,0.000,0.075,2906,2124,1998
$GC,17734,0.91,204.3,765.5,6.4,852,17735,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2125,1997
$GC,18044,0.91,204.3,745.7,6.6,867,18048,0.00,2.47,0.00,0.000,4,0.000,0.091,2906,846,1997
$GC,18071,0.91,204.3,743.6,7.2,868,18075,0.00,2.40,0.00,0.000,6,0.000,0.074,2906,2122,1997
$GC,18387,0.91,204.3,720.5,7.4,883,18391,0.00,2.90,0.00,0.000,4,0.000,0.088,2906,3657,1997
$GC,18414,0.91,204.3,718.4,7.5,884,18419,0.00,2.88,0.00,0.000,6,0.000,0.075,2906,2124,1997
$GC,18730,0.91,204.3,697.7,6.4,899,18731,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2125,1997
$GC,19039,0.91,204.3,678.2,6.3,914,19040,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2125,1997
$GC,19348,0.92,211.1,659.4,5.8,929,19357,0.00,0.00,7.20,1.230,6,0.000,0.000,2906,2125,1971
$GC,19657,0.92,211.1,640.7,6.3,944,19662,0.00,2.90,0.00,0.000,4,0.000,0.084,2906,3654,1971
$GC,19707,0.92,211.1,637.0,7.3,946,19711,0.00,2.85,0.00,0.000,6,0.000,0.071,2906,2124,1971
$GC,20023,0.96,233.8,618.4,5.4,961,20049,0.00,2.47,20.83,1.366,4,0.000,0.084,2906,844,1877
$GC,20077,0.96,233.8,615.2,6.8,963,20083,0.00,2.40,0.00,0.000,6,0.000,0.068,2906,2121,1876
$GC,20394,1.03,250.8,597.9,5.5,979,20416,0.00,2.50,15.75,1.318,4,0.000,0.082,2905,849,1808
$GC,20444,1.09,258.5,594.9,5.8,981,20461,0.12,2.38,8.20,1.193,6,0.063,0.067,2940,2115,1778
$GC,20770,1.09,258.5,570.0,8.4,997,20774,0.00,2.40,0.00,0.000,4,0.000,0.082,2940,847,1779
$GC,20844,1.05,258.5,563.9,8.2,1000,20848,0.00,2.30,0.00,0.000,6,0.000,0.066,2941,2088,1779
$GC,21166,1.05,258.5,537.8,8.9,1016,21170,0.00,2.35,0.00,0.000,4,0.000,0.079,2940,847,1779
$GC,21210,1.05,258.5,533.4,10.9,1018,21214,0.00,2.25,0.00,0.000,6,0.000,0.064,2940,2072,1779
$GC,21531,1.05,258.5,507.2,8.1,1034,21533,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2073,1780
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$GC,28141,1.12,268.2,4.1,10.8,1353,28146,0.00,2.17,0.00,0.000,1,0.000,0.050,2941,2057,1736
$STATE,28146,end climb,SURFACE_DEPTH_REACHED
$STATE,28146,begin surface coast
$FINISH,3.3,1.027293
$STATE,28152,end surface coast,CONTROL_FINISHED_OK
$STATE,28152,begin surface
$SM_CCo,28234,0.00,0.000,0,0,1734,269.09
$SM_GC,1.19,11.12,0.00,0.00,0.044,0.000,0.000,423,1947,1734,-10.40,-1.50,269.09
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1761
$TCM_TEMP,17.50
$XPDR_PINGS,460
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,23.6,22.567
$10V_AH,10.1,10.229
$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,24.175,180.900,372.900,0.000,0.000,37.762,27.084,201.543,124.000,0.000,0.000,15.130,2394.815,22344.412,561.459,2639.279,690.325,33.365,1867.441,0.000,2590.000,0.000,58.406,0.000
$DEVICE_MAMPS,137.293,95.875,1639.079,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1009.505,918.135,695.511,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69519,1354
$CAP_FILE_SIZE,184959,0
$CFSIZE,254472192,245227520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,59,0,0
$GPS,281108,180131,6126.783,-245.491,43,1.3,43,-5.9