version: 66.04
glider: 5
mission: 5
dive: 115
start: 11 25 108 6 45 21
data:
$ID,5
$MISSION,5
$DIVE,115
$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,-89501.672
$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,36
$R_STBD_OVSHOOT,24
$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
$GPS1,063638,6110.187,-207.535,34,1.5,34,-5.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-58.4
$GPS2,064432,6110.155,-207.498,10,1.6,10,-5.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.087,0.229
$KALMAN_X,46373.5,-931.2,-502.5,149413.5,10057.7
$KALMAN_Y,-28740.0,791.4,334.9,-250425.2,-9043.4
$MHEAD_RNG_PITCHd_Wd,344.7,89896,-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,17,-1.22,-146.6,0.0,0.0,0,121,0.00,0.00,-101.78,0.000,2,0.000,0.000,423,1969,3261
$GC,125,-1.22,-146.6,4.1,-3.2,5,147,10.30,2.53,-4.25,0.000,4,0.137,0.074,2426,606,3430
$GC,221,-0.99,-146.6,23.1,-16.6,9,226,0.28,2.47,0.00,0.000,6,0.094,0.049,2482,2002,3430
$GC,543,-0.93,-146.6,55.1,-8.3,25,547,0.00,2.55,0.00,0.000,4,0.000,0.063,2482,599,3430
$GC,587,-0.88,-146.6,59.5,-9.7,27,592,0.12,2.47,0.00,0.000,6,0.097,0.050,2509,1998,3430
$GC,909,-0.88,-146.6,89.2,-10.5,43,913,0.00,2.50,0.00,0.000,4,0.000,0.058,2509,3406,3430
$GC,936,-0.88,-146.6,93.0,-13.5,44,941,0.00,2.47,0.00,0.000,6,0.000,0.048,2509,2007,3430
$GC,1252,-0.88,-146.6,122.8,-9.6,59,1256,0.00,2.53,0.00,0.000,4,0.000,0.063,2509,588,3430
$GC,1296,-0.88,-146.6,127.6,-10.3,61,1300,0.00,2.50,0.00,0.000,6,0.000,0.050,2509,2004,3430
$GC,1617,-0.88,-146.6,161.1,-10.1,77,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2005,3430
$GC,1926,-0.88,-146.6,194.2,-10.6,92,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2005,3430
$GC,2235,-0.88,-146.6,223.0,-8.4,107,2240,0.00,2.55,0.00,0.000,4,0.000,0.064,2509,598,3430
$GC,2269,-0.88,-146.6,225.7,-8.0,108,2275,0.00,2.50,0.00,0.000,6,0.000,0.050,2509,2014,3430
$GC,2585,-0.88,-146.6,255.8,-9.6,124,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2014,3430
$GC,2894,-0.88,-146.6,286.6,-9.9,139,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2014,3430
$GC,3204,-0.88,-146.6,314.4,-8.8,154,3205,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2014,3430
$GC,3513,-0.88,-146.6,343.9,-10.3,169,3517,0.00,2.58,0.00,0.000,4,0.000,0.066,2509,596,3430
$GC,3580,-0.88,-146.6,351.5,-11.5,172,3585,0.00,2.50,0.00,0.000,6,0.000,0.050,2509,2012,3430
$GC,3902,-0.88,-146.6,385.0,-9.8,188,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2013,3430
$GC,4211,-0.88,-146.6,414.9,-9.9,203,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2013,3430
$GC,4521,-0.88,-146.6,443.9,-9.2,218,4525,0.00,2.58,0.00,0.000,4,0.000,0.066,2509,593,3430
$GC,4565,-0.92,-146.6,448.2,-9.6,220,4569,0.00,2.50,0.00,0.000,6,0.000,0.051,2509,2009,3430
$GC,4886,-0.92,-146.6,477.6,-8.9,236,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2009,3430
$GC,5196,-0.92,-146.6,506.9,-9.2,251,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2010,3430
$GC,5505,-0.96,-146.6,531.5,-8.7,266,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2010,3430
$GC,5815,-1.02,-146.6,554.2,-7.6,281,5820,0.15,2.53,0.00,0.000,4,0.053,0.065,2466,3413,3430
$GC,5927,-0.96,-146.6,566.0,-10.6,286,5932,0.12,2.55,0.00,0.000,6,0.089,0.058,2491,1995,3430
$GC,6248,-1.01,-146.6,592.9,-8.0,302,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1994,3430
$GC,6558,-1.31,-146.6,593.0,0.1,317,6563,0.32,2.55,0.00,0.000,4,0.046,0.075,2406,593,3430
$STATE,6628,end dive,NO_VERTICAL_VELOCITY
$STATE,6628,begin apogee
$GC,6638,-0.33,0.0,593.1,0.0,320,6763,0.95,0.00,121.18,1.221,6,0.064,0.000,2622,2248,2832
$STATE,6764,end apogee,CONTROL_FINISHED_OK
$STATE,6764,begin climb
$GC,6767,1.22,146.6,592.9,0.0,326,6895,1.55,2.70,120.07,1.189,4,0.059,0.078,2964,3658,2234
$GC,6943,1.17,146.6,583.6,8.8,334,6947,0.00,2.62,0.00,0.000,6,0.000,0.066,2964,2246,2234
$GC,7259,1.21,167.8,560.3,7.2,349,7284,0.00,2.67,18.67,1.119,4,0.000,0.074,2964,850,2147
$GC,7348,1.21,169.9,553.5,7.9,353,7353,0.00,2.55,0.00,0.000,6,0.000,0.061,2964,2234,2147
$GC,7675,1.26,204.3,530.4,6.7,369,7711,0.00,2.70,30.77,1.165,4,0.000,0.075,2964,3657,1998
$GC,7827,1.27,210.5,519.2,7.8,375,7840,0.00,2.62,6.55,0.958,6,0.000,0.064,2964,2232,1973
$GC,8159,1.32,210.5,493.9,8.1,391,8164,0.10,2.55,0.00,0.000,4,0.063,0.070,2993,842,1972
$GC,8214,1.27,210.5,488.4,9.8,393,8221,0.00,2.55,0.00,0.000,6,0.000,0.058,2993,2242,1971
$GC,8530,1.27,210.5,459.2,9.1,409,8534,0.00,2.58,0.00,0.000,4,0.000,0.067,2993,842,1971
$GC,8586,1.22,210.5,453.8,10.1,411,8593,0.15,2.50,0.00,0.000,6,0.090,0.055,2964,2225,1971
$GC,8902,1.29,221.3,429.9,7.6,427,8918,0.00,2.60,10.43,1.019,4,0.000,0.064,2963,843,1928
$GC,8952,1.34,226.2,426.0,7.8,428,8964,0.15,2.47,5.62,0.867,6,0.054,0.053,3003,2212,1909
$GC,9274,1.29,226.2,394.0,10.3,444,9278,0.00,2.53,0.00,0.000,4,0.000,0.064,3004,837,1908
$GC,9315,1.24,226.2,389.6,10.7,446,9321,0.17,2.45,0.00,0.000,6,0.084,0.051,2969,2206,1909
$GC,9643,1.28,226.2,358.4,9.4,462,9644,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2206,1909
$GC,9952,1.34,226.2,331.6,8.7,477,9957,0.12,2.50,0.00,0.000,4,0.054,0.062,3004,842,1909
$GC,10007,1.29,226.2,326.0,10.0,479,10015,0.12,2.42,0.00,0.000,6,0.090,0.051,2976,2200,1910
$GC,10323,1.29,226.2,298.2,9.0,495,10325,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2202,1910
$GC,10632,1.29,226.2,271.0,9.3,510,10633,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2202,1910
$GC,10942,1.29,226.2,244.0,8.5,525,10946,0.00,2.47,0.00,0.000,4,0.000,0.064,2976,842,1910
$GC,10981,1.29,226.2,240.6,9.2,527,10985,0.00,2.40,0.00,0.000,6,0.000,0.051,2976,2193,1911
$GC,11308,1.29,226.2,213.7,8.2,543,11309,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2194,1911
$GC,11618,1.33,226.2,185.8,8.9,558,11622,0.00,2.62,0.00,0.000,4,0.000,0.062,2976,3660,1911
$GC,11657,1.33,226.2,181.9,9.9,560,11662,0.00,2.60,0.00,0.000,6,0.000,0.051,2976,2196,1911
$GC,11985,1.46,309.2,157.4,5.0,576,12054,0.20,0.00,66.03,0.910,6,0.049,0.000,3027,2196,1571
$GC,12355,1.42,309.2,115.9,12.3,594,12359,0.00,2.65,0.00,0.000,4,0.000,0.060,3027,3654,1571
$GC,12433,1.42,309.2,105.5,13.5,597,12439,0.00,2.58,0.00,0.000,6,0.000,0.051,3027,2215,1571
$GC,12749,1.42,309.2,61.3,13.4,613,12753,0.00,2.62,0.00,0.000,4,0.000,0.060,3027,3660,1571
$GC,12804,1.42,309.2,53.6,15.3,615,12811,0.00,2.55,0.00,0.000,6,0.000,0.051,3027,2230,1572
$GC,13122,1.37,309.2,18.1,12.7,631,13127,0.15,2.60,0.00,0.000,4,0.091,0.059,2998,3654,1571
$GC,13155,1.43,309.2,14.5,8.6,632,13162,0.00,2.50,0.00,0.000,6,0.000,0.050,2999,2248,1572
$STATE,13264,end climb,SURFACE_DEPTH_REACHED
$STATE,13264,begin surface coast
$FINISH,0.8,1.023622
$STATE,13305,end surface coast,CONTROL_FINISHED_OK
$STATE,13305,begin surface
$SM_CCo,13388,0.00,0.000,0,0,1570,309.57
$SM_GC,1.44,11.20,0.00,0.00,0.039,0.000,0.000,422,2000,1570,-10.39,0.00,309.57
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1807
$TCM_TEMP,17.30
$XPDR_PINGS,442
$ALTIM_TOP_PING,18.1,999.0
$24V_AH,23.9,20.321
$10V_AH,10.1,9.034
$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,26.175,112.925,379.325,0.000,0.000,75.526,53.815,169.332,115.500,0.000,0.000,10.928,1188.786,10218.455,516.333,1398.144,540.875,33.360,1245.388,0.000,1372.485,0.000,32.861,0.000
$DEVICE_MAMPS,136.526,78.234,1221.064,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,469.726,430.651,400.309,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31605,640
$CAP_FILE_SIZE,105172,0
$CFSIZE,254472192,246206464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
$GPS,251108,102938,6111.938,-208.344,33,1.3,33,-5.5