version: 66.04
glider: 5
mission: 5
dive: 113
start: 11 25 108 0 8 45
data:
$ID,5
$MISSION,5
$DIVE,113
$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,-89472.641
$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,35
$R_STBD_OVSHOOT,26
$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
$GPS1,000008,6109.765,-159.607,43,1.4,43,-5.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-62.3
$GPS2,000756,6109.717,-159.707,11,1.5,16,-5.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.220,0.108
$KALMAN_X,38957.3,1893.4,-241.1,160124.6,1671.2
$KALMAN_Y,-25169.1,-146.3,552.5,-254076.3,-8210.5
$MHEAD_RNG_PITCHd_Wd,301.6,96620,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-61.60,0.000,2,0.000,0.000,425,1973,3026
$GC,82,-1.22,-146.6,3.6,-5.4,3,112,10.32,2.60,-11.45,0.000,4,0.137,0.070,2429,3407,3429
$GC,174,-1.06,-146.6,20.1,-16.4,7,179,0.20,2.50,0.00,0.000,6,0.089,0.048,2470,1998,3430
$GC,496,-0.96,-146.6,60.4,-10.2,23,498,0.10,0.00,0.00,0.000,6,0.096,0.000,2489,1999,3429
$GC,805,-0.96,-146.6,96.1,-14.5,38,809,0.00,2.50,0.00,0.000,4,0.000,0.062,2489,593,3429
$GC,849,-0.96,-146.6,102.4,-13.7,40,853,0.00,2.50,0.00,0.000,6,0.000,0.049,2490,2011,3430
$GC,1176,-0.96,-146.6,133.7,-9.2,56,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2011,3430
$GC,1485,-0.96,-146.6,166.8,-10.0,71,1489,0.00,2.58,0.00,0.000,4,0.000,0.065,2489,592,3429
$GC,1518,-0.96,-146.6,170.6,-10.9,72,1524,0.00,2.47,0.00,0.000,6,0.000,0.051,2490,1994,3429
$GC,1835,-0.96,-146.6,201.5,-9.2,88,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2006,3429
$GC,2145,-0.96,-146.6,226.9,-9.5,103,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1997,3429
$GC,2453,-0.96,-146.6,257.1,-8.0,118,2457,0.00,2.53,0.00,0.000,4,0.000,0.064,2490,597,3429
$GC,2508,-0.96,-146.6,262.3,-9.2,120,2515,0.00,2.47,0.00,0.000,6,0.000,0.051,2490,1998,3429
$GC,2824,-0.96,-146.6,298.1,-11.4,136,2829,0.00,2.55,0.00,0.000,4,0.000,0.064,2490,589,3429
$GC,2891,-0.96,-146.6,305.9,-11.3,139,2896,0.00,2.47,0.00,0.000,6,0.000,0.050,2489,1993,3429
$GC,3213,-0.96,-146.6,340.9,-10.9,155,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1994,3429
$GC,3522,-0.96,-146.6,373.3,-10.3,170,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1994,3429
$GC,3832,-0.96,-146.6,406.2,-11.2,185,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1994,3429
$GC,4141,-0.96,-146.6,438.5,-9.9,200,4145,0.00,2.53,0.00,0.000,4,0.000,0.065,2490,3403,3429
$GC,4198,-0.96,-146.6,443.8,-9.6,202,4204,0.00,2.53,0.00,0.000,6,0.000,0.054,2490,1987,3429
$GC,4514,-0.96,-146.6,474.2,-9.9,218,4518,0.00,2.47,0.00,0.000,4,0.000,0.064,2489,593,3429
$GC,4547,-0.96,-146.6,477.7,-10.6,219,4553,0.00,2.47,0.00,0.000,6,0.000,0.051,2490,1998,3429
$STATE,4798,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4798,begin apogee
$GC,4805,-0.33,0.0,502.3,10.0,232,4928,0.62,0.00,119.78,1.121,6,0.077,0.000,2625,2252,2832
$STATE,4929,end apogee,CONTROL_FINISHED_OK
$STATE,4929,begin climb
$GC,4932,1.22,146.6,507.7,0.0,238,5059,1.52,2.65,118.45,1.096,4,0.061,0.059,2962,839,2234
$GC,5098,1.29,193.1,500.5,6.3,245,5146,0.00,2.53,39.05,1.056,6,0.000,0.051,2962,2246,2043
$GC,5459,1.40,222.2,474.8,6.9,263,5489,0.17,2.62,24.65,1.032,4,0.047,0.066,3014,3656,1926
$GC,5535,1.34,222.2,466.9,10.6,266,5542,0.12,2.55,0.00,0.000,6,0.091,0.056,2991,2251,1926
$GC,5850,1.34,222.2,437.4,9.2,282,5855,0.00,2.53,0.00,0.000,4,0.000,0.064,2991,843,1925
$GC,5906,1.34,222.2,431.5,10.7,284,5912,0.00,2.53,0.00,0.000,6,0.000,0.051,2991,2250,1925
$GC,6222,1.34,222.2,401.9,8.9,300,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2251,1925
$GC,6531,1.34,222.2,374.0,9.0,315,6535,0.00,2.55,0.00,0.000,4,0.000,0.062,2991,842,1925
$GC,6580,1.34,222.2,369.5,9.2,317,6585,0.00,2.50,0.00,0.000,6,0.000,0.051,2991,2243,1925
$GC,6896,1.34,222.2,340.2,9.6,332,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2244,1925
$GC,7205,1.34,222.2,314.7,9.1,347,7210,0.00,2.55,0.00,0.000,4,0.000,0.061,2991,841,1925
$GC,7250,1.34,222.2,310.9,8.5,349,7254,0.00,2.50,0.00,0.000,6,0.000,0.050,2991,2244,1925
$GC,7571,1.35,227.2,281.6,7.8,365,7582,0.00,2.60,5.97,0.778,4,0.000,0.061,2991,837,1904
$GC,7604,1.50,320.8,279.7,4.6,366,7686,0.17,2.50,74.05,0.974,6,0.048,0.051,3037,2235,1524
$GC,8003,1.43,320.8,236.6,12.7,386,8008,0.15,2.58,0.00,0.000,4,0.087,0.061,3008,838,1525
$GC,8030,1.43,320.8,232.9,14.2,387,8034,0.00,2.47,0.00,0.000,6,0.000,0.049,3008,2228,1526
$GC,8346,1.43,320.8,200.4,11.4,402,8350,0.00,2.53,0.00,0.000,4,0.000,0.062,3008,844,1527
$GC,8401,1.43,320.8,193.6,11.7,404,8407,0.00,2.45,0.00,0.000,6,0.000,0.051,3008,2216,1527
$GC,8717,1.43,320.8,159.3,10.2,420,8721,0.00,2.50,0.00,0.000,4,0.000,0.063,3007,844,1528
$GC,8744,1.43,320.8,155.2,15.6,421,8748,0.00,2.42,0.00,0.000,6,0.000,0.051,3008,2203,1528
$GC,9060,1.43,320.8,114.4,12.0,436,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2205,1528
$GC,9369,1.43,320.8,73.9,12.3,451,9374,0.00,2.47,0.00,0.000,4,0.000,0.063,3008,843,1528
$GC,9432,1.43,320.8,65.0,14.2,454,9436,0.00,2.40,0.00,0.000,6,0.000,0.049,3008,2196,1529
$GC,9759,1.43,320.8,24.7,10.0,470,9760,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2197,1528
$STATE,9941,end climb,SURFACE_DEPTH_REACHED
$STATE,9942,begin surface coast
$FINISH,0.7,1.027294
$STATE,9965,end surface coast,CONTROL_FINISHED_OK
$STATE,9965,begin surface
$SM_CCo,10048,0.00,0.000,0,0,1528,319.87
$SM_GC,1.36,11.12,0.00,0.00,0.034,0.000,0.000,419,1964,1528,-10.40,-1.02,319.87
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1794
$TCM_TEMP,17.40
$XPDR_PINGS,309
$ALTIM_TOP_PING,17.5,999.0
$ALTIM_BOTTOM_PING,426.1,85.5
$24V_AH,24.0,20.010
$10V_AH,10.1,8.908
$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,24.525,86.400,381.950,0.000,0.000,75.516,120.159,110.783,81.000,0.000,0.000,16.537,886.773,7622.241,451.951,1065.985,493.775,33.354,1029.510,0.000,1040.795,0.000,26.378,0.000
$DEVICE_MAMPS,137.293,69.797,1120.587,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,353.047,321.502,331.654,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22199,480
$CAP_FILE_SIZE,76940,0
$CFSIZE,254472192,246337536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,251108,025737,6109.853,-204.116,41,1.1,47,-5.5