version: 66.04
glider: 5
mission: 5
dive: 116
start: 11 25 108 10 38 42
data:
$ID,5
$MISSION,5
$DIVE,116
$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,-89513.203
$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,24
$R_STBD_OVSHOOT,23
$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
$GPS1,102938,6111.938,-208.344,33,1.3,33,-5.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-56.6
$GPS2,103751,6111.945,-208.393,10,1.3,10,-5.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.031,0.243
$KALMAN_X,47762.9,-1831.5,-688.8,148403.3,11414.8
$KALMAN_Y,-30870.2,1184.6,597.0,-245637.1,-10739.6
$MHEAD_RNG_PITCHd_Wd,12.9,87985,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.50,0.000,2,0.000,0.000,422,1983,3269
$GC,102,-1.22,-146.6,4.1,-4.2,4,125,10.25,2.55,-4.05,0.000,4,0.133,0.075,2424,586,3431
$GC,378,-1.00,-146.6,50.5,-16.6,16,384,0.28,2.53,0.00,0.000,6,0.091,0.049,2481,2013,3431
$GC,701,-0.93,-146.6,88.4,-10.6,32,705,0.00,2.58,0.00,0.000,4,0.000,0.065,2482,594,3431
$GC,863,-0.89,-146.6,108.4,-10.8,39,868,0.12,2.47,0.00,0.000,6,0.096,0.050,2508,1994,3431
$GC,1179,-0.89,-146.6,134.4,-8.2,54,1184,0.00,2.53,0.00,0.000,4,0.000,0.061,2508,3406,3431
$GC,1207,-0.89,-146.6,136.9,-8.7,55,1211,0.00,2.53,0.00,0.000,6,0.000,0.049,2508,1985,3431
$GC,1523,-0.89,-146.6,165.3,-9.5,70,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1985,3431
$GC,1832,-0.89,-146.6,194.4,-9.4,85,1836,0.00,2.58,0.00,0.000,4,0.000,0.060,2508,3409,3431
$GC,1871,-0.89,-146.6,198.3,-10.0,87,1875,0.00,2.53,0.00,0.000,6,0.000,0.049,2508,1984,3431
$GC,2198,-0.89,-146.6,228.1,-9.2,103,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1983,3431
$GC,2506,-0.89,-146.6,255.0,-8.4,118,2511,0.00,2.58,0.00,0.000,4,0.000,0.060,2508,3410,3431
$GC,2556,-0.93,-146.6,259.3,-9.4,120,2561,0.00,2.50,0.00,0.000,6,0.000,0.049,2508,2000,3430
$GC,2872,-0.93,-146.6,287.0,-9.1,135,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1998,3431
$GC,3181,-0.93,-146.6,314.5,-8.5,150,3185,0.00,2.50,0.00,0.000,4,0.000,0.064,2508,596,3431
$GC,3254,-0.93,-146.6,320.8,-8.4,153,3258,0.00,2.50,0.00,0.000,6,0.000,0.050,2508,2005,3431
$GC,3570,-0.93,-146.6,347.9,-8.7,168,3574,0.00,2.58,0.00,0.000,4,0.000,0.064,2508,596,3431
$GC,3659,-0.93,-146.6,356.7,-10.0,172,3663,0.00,2.50,0.00,0.000,6,0.000,0.050,2508,2005,3431
$GC,3980,-0.93,-146.6,387.3,-10.0,188,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2005,3431
$GC,4288,-0.93,-146.6,418.1,-10.2,203,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2005,3431
$GC,4598,-0.93,-146.6,448.2,-9.3,218,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2005,3431
$GC,4907,-0.93,-146.6,477.6,-10.2,233,4912,0.00,2.50,0.00,0.000,4,0.000,0.064,2508,3405,3431
$GC,4941,-0.97,-146.6,481.2,-10.4,234,4947,0.00,2.53,0.00,0.000,6,0.000,0.054,2508,1989,3431
$GC,5257,-0.97,-146.6,508.7,-8.4,250,5258,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1989,3431
$GC,5566,-0.97,-146.6,535.7,-9.0,265,5570,0.00,2.58,0.00,0.000,4,0.000,0.062,2508,3412,3431
$GC,5606,-1.01,-146.6,539.3,-9.7,267,5611,0.12,2.53,0.00,0.000,6,0.055,0.054,2470,1992,3431
$GC,5933,-0.94,-146.6,570.2,-9.0,283,5938,0.12,2.60,0.00,0.000,4,0.089,0.062,2497,3414,3431
$GC,6022,-0.94,-146.6,577.4,-8.0,287,6027,0.00,2.47,0.00,0.000,6,0.000,0.054,2497,2029,3431
$GC,6346,-0.94,-146.6,601.5,-7.2,303,6351,0.00,2.58,0.00,0.000,4,0.000,0.068,2497,594,3431
$GC,6432,-0.94,-146.6,608.8,-8.8,307,6436,0.00,2.58,0.00,0.000,6,0.000,0.055,2497,2041,3431
$GC,6758,-0.94,-146.6,635.1,-8.2,323,6762,0.00,2.47,0.00,0.000,4,0.000,0.075,2497,3404,3431
$GC,6836,-1.40,-146.6,635.4,0.4,326,6842,0.45,2.50,0.00,0.000,6,0.047,0.064,2385,2037,3431
$STATE,7087,end dive,NO_VERTICAL_VELOCITY
$STATE,7088,begin apogee
$GC,7095,-0.33,0.0,635.5,0.0,338,7220,1.10,0.00,121.97,1.273,6,0.060,0.000,2631,2255,2832
$STATE,7221,end apogee,CONTROL_FINISHED_OK
$STATE,7221,begin climb
$GC,7224,1.22,146.6,635.3,0.0,344,7353,1.50,2.72,120.32,1.237,4,0.061,0.075,2962,847,2234
$GC,7519,1.18,146.6,616.6,8.8,357,7525,0.00,2.60,0.00,0.000,6,0.000,0.064,2962,2249,2232
$GC,7835,1.21,171.3,593.6,7.1,373,7858,0.00,0.00,21.33,1.187,6,0.000,0.000,2962,2249,2133
$GC,8166,1.21,171.3,568.1,8.1,389,8170,0.00,2.65,0.00,0.000,4,0.000,0.078,2962,839,2132
$GC,8255,1.23,183.6,561.3,7.6,393,8272,0.00,2.53,11.35,1.134,6,0.000,0.066,2962,2210,2082
$GC,8581,1.29,220.8,538.3,6.6,409,8623,0.00,2.75,31.80,1.222,4,0.000,0.077,2962,3654,1931
$GC,8721,1.34,220.8,527.2,8.6,415,8726,0.12,2.65,0.00,0.000,6,0.064,0.065,2994,2219,1931
$GC,9043,1.34,220.8,498.3,9.2,431,9047,0.00,2.53,0.00,0.000,4,0.000,0.072,2994,842,1930
$GC,9076,1.29,220.8,495.0,9.6,432,9082,0.00,2.53,0.00,0.000,6,0.000,0.058,2994,2228,1930
$GC,9391,1.29,220.8,464.2,10.1,448,9393,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2228,1930
$GC,9701,1.29,220.8,434.4,9.6,463,9705,0.00,2.55,0.00,0.000,4,0.000,0.065,2994,834,1930
$GC,9740,1.29,220.8,430.6,10.0,465,9745,0.00,2.47,0.00,0.000,6,0.000,0.054,2994,2213,1930
$GC,10067,1.29,220.8,399.7,9.6,481,10068,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2212,1930
$GC,10376,1.29,220.8,369.0,10.0,496,10378,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2212,1930
$GC,10685,1.29,220.8,339.0,9.4,511,10686,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2212,1931
$GC,10995,1.29,220.8,311.3,8.3,526,10998,0.00,2.47,0.00,0.000,4,0.000,0.062,2994,841,1932
$GC,11028,1.29,220.8,308.5,8.3,527,11032,0.00,2.45,0.00,0.000,6,0.000,0.051,2994,2215,1932
$GC,11344,1.29,220.8,280.7,9.6,542,11345,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2215,1932
$GC,11653,1.29,220.8,250.8,9.9,557,11657,0.00,2.50,0.00,0.000,4,0.000,0.064,2994,834,1933
$GC,11680,1.29,220.8,248.0,10.3,558,11684,0.00,2.45,0.00,0.000,6,0.000,0.051,2994,2210,1933
$GC,11996,1.29,220.8,220.0,8.3,573,11997,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2210,1933
$GC,12305,1.29,220.8,191.7,9.3,588,12309,0.00,2.50,0.00,0.000,4,0.000,0.063,2994,835,1934
$GC,12350,1.29,220.8,186.9,10.3,590,12354,0.00,2.42,0.00,0.000,6,0.000,0.051,2994,2197,1934
$GC,12683,1.29,220.8,156.3,9.0,606,12684,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2198,1934
$GC,12992,1.29,220.8,127.3,9.9,621,12996,0.00,2.45,0.00,0.000,4,0.000,0.064,2994,841,1935
$GC,13047,1.29,220.8,121.3,10.9,623,13054,0.00,2.40,0.00,0.000,6,0.000,0.051,2994,2196,1934
$GC,13363,1.29,220.8,90.3,9.8,639,13364,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2197,1935
$GC,13672,1.29,220.8,63.7,8.8,654,13677,0.00,2.47,0.00,0.000,4,0.000,0.063,2994,836,1935
$GC,13723,1.29,220.8,58.2,10.6,656,13727,0.00,2.38,0.00,0.000,6,0.000,0.051,2994,2171,1935
$GC,14039,1.29,220.8,27.1,10.5,671,14040,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2173,1935
$STATE,14324,end climb,SURFACE_DEPTH_REACHED
$STATE,14325,begin surface coast
$FINISH,0.6,1.014363
$STATE,14367,end surface coast,CONTROL_FINISHED_OK
$STATE,14367,begin surface
$SM_CCo,14390,16.12,0.773,0,0,1812,250.21
$SM_GC,1.66,0.00,0.00,16.12,0.000,0.000,0.773,422,1966,1812,-10.48,-0.76,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1804
$TCM_TEMP,16.40
$XPDR_PINGS,419
$ALTIM_TOP_PING,19.0,18.2
$24V_AH,23.9,20.462
$10V_AH,10.1,9.103
$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,25.225,111.975,306.775,16.125,0.000,75.527,60.158,180.909,110.250,0.000,0.000,10.906,1280.968,11052.853,442.460,1557.206,571.153,33.365,1229.623,0.000,1528.209,0.000,36.019,0.000
$DEVICE_MAMPS,133.458,78.234,1273.220,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,505.158,463.134,427.856,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34824,687
$CAP_FILE_SIZE,107256,0
$CFSIZE,254472192,246145024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
$GPS,251108,144008,6114.122,-210.028,39,1.2,39,-5.5