version: 66.04
glider: 5
mission: 5
dive: 142
start: 12 3 108 12 37 49
data:
$ID,5
$MISSION,5
$DIVE,142
$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,-90002.703
$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,33
$R_STBD_OVSHOOT,20
$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
$GPS1,122725,6135.112,-404.011,24,2.0,41,-6.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-61.9
$GPS2,123657,6135.225,-404.219,14,1.7,14,-6.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_NW
$TGT_LATLONG,6140.000,-445.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.181,-0.127
$KALMAN_X,76745.3,-799.6,-76.8,22633.0,4100.1
$KALMAN_Y,27802.9,-462.6,156.9,-259061.4,4694.2
$MHEAD_RNG_PITCHd_Wd,241.5,36920,-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,-146.6,0.0,0.0,0,111,0.00,0.00,-92.60,0.000,6,0.000,0.000,420,1951,3431
$GC,115,-0.97,-146.6,2.9,-3.2,4,131,10.68,2.47,0.00,0.000,4,0.137,0.061,2482,601,3431
$GC,367,-0.75,-146.6,42.5,-11.3,14,372,0.25,2.50,0.00,0.000,6,0.089,0.050,2535,2006,3432
$GC,685,-0.68,-146.6,70.6,-8.7,29,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2010,3432
$GC,993,-0.61,-146.6,96.8,-8.6,44,998,0.15,2.60,0.00,0.000,4,0.087,0.066,2568,598,3432
$GC,1026,-0.61,-146.6,99.5,-7.9,45,1032,0.00,2.50,0.00,0.000,6,0.000,0.051,2568,2005,3433
$GC,1344,-0.61,-146.6,123.2,-8.2,61,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2006,3432
$GC,1652,-0.61,-146.6,144.6,-6.6,76,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2006,3432
$GC,1960,-0.61,-146.6,165.1,-6.8,91,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2006,3432
$GC,2270,-0.61,-146.6,186.9,-7.5,106,2274,0.00,2.50,0.00,0.000,4,0.000,0.062,2568,3403,3432
$GC,2292,-0.61,-146.6,188.6,-7.4,107,2296,0.00,2.50,0.00,0.000,6,0.000,0.049,2568,1996,3432
$GC,2612,-0.61,-146.6,211.0,-6.6,123,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1996,3432
$GC,2922,-0.61,-146.6,233.0,-7.3,138,2926,0.00,2.55,0.00,0.000,4,0.000,0.061,2568,3405,3432
$GC,2950,-0.65,-146.6,235.2,-7.9,139,2954,0.00,2.50,0.00,0.000,6,0.000,0.049,2568,1991,3433
$GC,3271,-0.65,-146.6,258.6,-6.8,155,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1991,3432
$GC,3580,-0.65,-146.6,278.4,-6.2,170,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1990,3432
$GC,3890,-0.65,-146.6,297.1,-6.1,185,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1989,3432
$GC,4198,-0.65,-146.6,317.6,-6.7,200,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1989,3433
$GC,4508,-0.69,-146.6,339.4,-7.1,215,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1990,3432
$GC,4817,-0.69,-146.6,361.4,-7.1,230,4822,0.00,2.58,0.00,0.000,4,0.000,0.063,2568,3406,3432
$GC,4875,-0.75,-146.6,365.6,-8.0,232,4882,0.15,2.53,0.00,0.000,6,0.053,0.051,2525,1988,3433
$GC,5191,-0.66,-146.6,392.0,-8.5,248,5196,0.12,2.60,0.00,0.000,4,0.091,0.062,2552,3406,3432
$GC,5213,-0.66,-146.6,393.8,-7.9,249,5217,0.00,2.53,0.00,0.000,6,0.000,0.053,2552,1991,3432
$GC,5534,-0.66,-146.6,415.8,-7.4,265,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1991,3432
$GC,5843,-0.66,-146.6,438.5,-7.5,280,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1991,3432
$GC,6152,-0.66,-146.6,460.1,-6.5,295,6156,0.00,2.53,0.00,0.000,4,0.000,0.069,2552,590,3431
$GC,6179,-0.66,-146.6,461.9,-6.8,296,6184,0.00,2.55,0.00,0.000,6,0.000,0.054,2552,2019,3432
$GC,6496,-0.66,-146.6,481.1,-6.1,311,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2020,3431
$GC,6804,-0.66,-146.6,501.8,-6.8,326,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2020,3431
$GC,7114,-0.66,-146.6,523.9,-7.2,341,7115,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2020,3430
$GC,7423,-0.66,-146.6,544.8,-6.8,356,7427,0.00,2.55,0.00,0.000,4,0.000,0.077,2552,3409,3429
$GC,7514,-0.66,-146.6,551.3,-7.2,360,7518,0.00,2.53,0.00,0.000,6,0.000,0.067,2552,2026,3429
$GC,7841,-0.66,-146.6,572.3,-6.3,376,7845,0.00,2.62,0.00,0.000,4,0.000,0.081,2552,597,3427
$GC,7885,-0.66,-146.6,575.4,-7.3,378,7890,0.00,2.60,0.00,0.000,6,0.000,0.065,2552,2025,3427
$GC,8206,-0.66,-146.6,597.1,-6.6,394,8207,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2026,3426
$GC,8515,-0.66,-146.6,617.8,-6.4,409,8519,0.00,2.58,0.00,0.000,4,0.000,0.084,2552,3415,3425
$GC,8542,-0.66,-146.6,619.8,-7.3,410,8547,0.00,2.60,0.00,0.000,6,0.000,0.071,2552,2010,3425
$GC,8858,-0.66,-146.6,638.6,-5.9,425,8863,0.00,2.62,0.00,0.000,4,0.000,0.087,2552,590,3423
$GC,8886,-0.66,-146.6,640.5,-6.7,426,8890,0.00,2.62,0.00,0.000,6,0.000,0.069,2552,2020,3423
$GC,9203,-0.66,-146.6,658.4,-5.7,441,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2021,3422
$GC,9512,-0.66,-146.6,675.6,-5.3,456,9514,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2021,3422
$GC,9821,-0.66,-146.6,692.8,-5.6,471,9822,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2020,3421
$GC,10131,-0.71,-146.6,709.6,-5.4,486,10132,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2021,3419
$GC,10440,-0.75,-146.6,726.6,-5.7,501,10441,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2021,3418
$GC,10750,-0.79,-146.6,744.3,-5.9,516,10751,0.12,0.00,0.00,0.000,6,0.072,0.000,2521,2021,3416
$GC,11058,-0.75,-146.6,767.2,-7.7,531,11059,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2021,3416
$GC,11367,-0.71,-146.6,790.7,-7.7,546,11373,0.10,2.72,0.00,0.000,4,0.111,0.092,2540,596,3415
$GC,11396,-0.71,-146.6,793.0,-7.7,547,11400,0.00,2.62,0.00,0.000,6,0.000,0.075,2540,2013,3415
$GC,11711,-0.71,-146.6,814.6,-6.8,562,11713,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2014,3413
$GC,12021,-0.71,-146.6,835.4,-6.6,577,12022,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2014,3413
$GC,12330,-0.71,-146.6,856.5,-6.9,592,12331,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2014,3413
$GC,12639,-0.71,-146.6,876.6,-6.5,607,12640,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2014,3412
$GC,12948,-0.71,-146.6,896.5,-6.5,622,12949,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2014,3412
$GC,13258,-0.71,-146.6,917.6,-6.9,637,13259,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2014,3411
$GC,13567,-0.71,-146.6,939.0,-6.9,652,13568,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2014,3411
$GC,13876,-0.71,-146.6,960.3,-6.9,667,13877,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2014,3411
$GC,14186,-0.71,-146.6,981.7,-6.8,682,14187,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2014,3410
$STATE,14306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14306,begin apogee
$GC,14313,-0.33,0.0,990.2,6.9,688,14440,0.40,0.00,124.18,1.664,6,0.093,0.000,2624,2255,2832
$STATE,14441,end apogee,CONTROL_FINISHED_OK
$STATE,14441,begin climb
$GC,14444,0.97,146.6,995.2,0.0,694,14576,1.35,0.00,126.62,1.620,6,0.079,0.000,2905,2255,2234
$GC,14878,1.00,168.3,976.4,5.4,715,14903,0.00,2.83,20.30,1.513,4,0.000,0.091,2906,846,2145
$GC,14910,1.04,189.6,974.4,5.4,716,14935,0.00,2.70,19.88,1.503,6,0.000,0.075,2906,2249,2059
$GC,15252,1.07,209.8,955.4,5.4,733,15278,0.12,2.80,19.15,1.516,4,0.071,0.092,2939,3652,1976
$GC,15393,0.96,209.8,944.9,8.0,739,15399,0.15,2.72,0.00,0.000,6,0.106,0.081,2910,2226,1976
$GC,15715,0.97,215.6,925.9,5.8,755,15729,0.00,2.78,7.05,1.310,4,0.000,0.095,2910,837,1952
$GC,15791,0.97,215.6,920.8,6.4,758,15796,0.00,2.62,0.00,0.000,6,0.000,0.076,2910,2216,1952
$GC,16107,0.97,215.6,901.3,6.1,773,16112,0.00,2.70,0.00,0.000,4,0.000,0.094,2910,835,1952
$GC,16157,0.97,215.6,897.9,6.7,775,16161,0.00,2.60,0.00,0.000,6,0.000,0.077,2910,2207,1952
$GC,16473,0.97,215.6,877.9,6.4,790,16477,0.00,2.65,0.00,0.000,4,0.000,0.094,2910,841,1952
$GC,16512,0.97,215.6,874.9,8.1,792,16517,0.00,2.55,0.00,0.000,6,0.000,0.077,2910,2190,1952
$GC,16839,0.97,215.6,853.8,6.7,808,16844,0.00,2.62,0.00,0.000,4,0.000,0.094,2910,841,1951
$GC,16879,0.97,215.6,851.0,7.2,810,16884,0.00,2.53,0.00,0.000,6,0.000,0.076,2910,2179,1951
$GC,17207,0.97,215.6,828.3,7.2,826,17211,0.00,2.60,0.00,0.000,4,0.000,0.094,2910,841,1951
$GC,17234,0.97,215.6,826.0,7.2,827,17238,0.00,2.50,0.00,0.000,6,0.000,0.076,2910,2167,1951
$GC,17550,0.97,215.6,804.3,7.0,842,17554,0.00,2.58,0.00,0.000,4,0.000,0.094,2910,841,1951
$GC,17590,0.97,215.6,801.4,7.8,844,17594,0.00,2.47,0.00,0.000,6,0.000,0.076,2910,2160,1951
$GC,17917,0.97,215.6,779.9,6.7,860,17918,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2160,1951
$GC,18226,0.97,215.6,759.3,6.8,875,18230,0.00,2.58,0.00,0.000,4,0.000,0.094,2910,837,1951
$GC,18270,0.97,215.6,755.8,7.4,877,18274,0.00,2.47,0.00,0.000,6,0.000,0.076,2910,2149,1951
$GC,18591,0.97,215.6,733.9,7.0,893,18592,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2150,1951
$GC,18900,0.97,215.6,711.3,7.3,908,18904,0.00,2.55,0.00,0.000,4,0.000,0.093,2910,836,1951
$GC,18939,0.97,215.6,708.3,8.1,910,18944,0.00,2.47,0.00,0.000,6,0.000,0.076,2910,2154,1951
$GC,19267,0.97,215.6,685.4,6.8,926,19268,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2154,1951
$GC,19576,0.97,215.6,664.7,6.4,941,19581,0.00,2.55,0.00,0.000,4,0.000,0.093,2910,837,1951
$GC,19627,0.97,215.6,661.0,6.9,943,19631,0.00,2.45,0.00,0.000,6,0.000,0.075,2910,2142,1951
$GC,19942,0.97,215.6,641.0,6.3,958,19944,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2142,1951
$GC,20252,0.97,215.6,621.6,6.2,973,20256,0.00,2.50,0.00,0.000,4,0.000,0.091,2910,840,1951
$GC,20279,0.97,215.6,619.6,6.3,974,20284,0.00,2.42,0.00,0.000,6,0.000,0.074,2910,2135,1951
$GC,20601,0.97,215.6,598.9,6.4,990,20603,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2136,1950
$GC,20910,0.97,215.6,578.8,6.5,1005,20914,0.00,2.50,0.00,0.000,4,0.000,0.091,2910,838,1950
$GC,20950,0.97,215.6,576.1,6.2,1007,20954,0.00,2.42,0.00,0.000,6,0.000,0.074,2910,2138,1951
$GC,21277,0.97,215.6,555.5,6.1,1023,21281,0.00,2.50,0.00,0.000,4,0.000,0.089,2910,836,1951
$GC,21305,0.97,215.6,553.8,6.9,1024,21309,0.00,2.40,0.00,0.000,6,0.000,0.074,2909,2121,1950
$GC,21621,1.00,233.7,535.8,5.5,1039,21644,0.00,2.55,16.33,1.309,4,0.000,0.087,2910,836,1879
$GC,21667,1.00,233.7,533.2,6.2,1041,21672,0.00,2.45,0.00,0.000,6,0.000,0.072,2910,2131,1878
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$STATE,28692,end climb,SURFACE_DEPTH_REACHED
$STATE,28692,begin surface coast
$FINISH,1.2,1.027345
$STATE,28735,end surface coast,CONTROL_FINISHED_OK
$STATE,28735,begin surface
$SM_CCo,28817,0.00,0.000,0,0,1783,257.07
$SM_GC,1.20,11.02,0.00,0.00,0.047,0.000,0.000,424,1979,1783,-10.39,-0.59,257.07
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1766
$TCM_TEMP,17.20
$XPDR_PINGS,325
$ALTIM_TOP_PING,19.0,999.0
$24V_AH,23.6,25.653
$10V_AH,10.0,12.025
$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,25.200,174.900,359.100,0.000,0.000,75.523,55.594,235.016,90.250,0.000,0.000,14.161,2444.995,22939.246,532.685,2661.474,797.316,33.372,1847.669,0.000,2612.260,0.000,58.495,0.000
$DEVICE_MAMPS,136.526,95.108,1663.623,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1032.465,939.936,707.446,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69431,1384
$CAP_FILE_SIZE,188399,0
$CFSIZE,254472192,243920896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,54,0,0
$GPS,031208,203925,6133.953,-412.946,42,1.0,42,-6.7