version: 66.04
glider: 5
mission: 5
dive: 117
start: 11 25 108 14 46 32
data:
$ID,5
$MISSION,5
$DIVE,117
$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,-89547.82
$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,34
$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
$GPS1,144008,6114.122,-210.028,39,1.2,39,-5.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-57.5
$GPS2,144544,6114.112,-210.014,16,2.0,34,-5.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.226,0.095
$KALMAN_X,43999.7,-1620.6,-1050.1,151009.6,6722.3
$KALMAN_Y,-31459.7,1052.6,478.0,-240794.7,-8989.1
$MHEAD_RNG_PITCHd_Wd,298.4,85343,-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,-146.6,0.0,0.0,0,81,0.00,0.00,-61.78,0.000,2,0.000,0.000,422,1975,3061
$GC,84,-1.22,-146.6,3.4,-4.7,3,110,10.23,2.45,-10.32,0.000,4,0.131,0.072,2427,602,3431
$GC,238,-1.00,-146.6,28.8,-15.0,10,243,0.25,2.47,0.00,0.000,6,0.092,0.050,2480,2001,3431
$GC,567,-0.93,-146.6,63.1,-10.4,26,572,0.00,2.55,0.00,0.000,4,0.000,0.061,2480,594,3431
$GC,601,-0.85,-146.6,67.3,-11.4,27,608,0.15,2.50,0.00,0.000,6,0.091,0.050,2512,2005,3431
$GC,917,-0.85,-146.6,98.0,-9.7,43,922,0.00,2.55,0.00,0.000,4,0.000,0.064,2512,600,3431
$GC,958,-0.85,-146.6,102.4,-10.8,45,962,0.00,2.47,0.00,0.000,6,0.000,0.051,2512,2000,3432
$GC,1292,-0.85,-146.6,135.4,-9.5,61,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2001,3431
$GC,1599,-0.85,-146.6,166.8,-10.2,76,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2001,3431
$GC,1909,-0.85,-146.6,197.6,-9.7,91,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2001,3431
$GC,2219,-0.85,-146.6,226.4,-8.3,106,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2001,3431
$GC,2527,-0.85,-146.6,257.4,-10.7,121,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2001,3431
$GC,2836,-0.85,-146.6,287.6,-9.9,136,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2002,3431
$GC,3146,-0.85,-146.6,318.6,-9.7,151,3150,0.00,2.53,0.00,0.000,4,0.000,0.064,2512,603,3431
$GC,3209,-0.85,-146.6,325.0,-10.2,154,3213,0.00,2.47,0.00,0.000,6,0.000,0.051,2513,2005,3431
$GC,3535,-0.85,-146.6,357.6,-10.1,170,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2006,3431
$GC,3845,-0.85,-146.6,388.8,-10.0,185,3849,0.00,2.55,0.00,0.000,4,0.000,0.064,2513,598,3431
$GC,3889,-0.90,-146.6,393.5,-10.1,187,3893,0.00,2.45,0.00,0.000,6,0.000,0.051,2512,1984,3431
$GC,4216,-0.90,-146.6,425.0,-9.8,203,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1985,3432
$GC,4525,-0.90,-146.6,454.9,-9.8,218,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1985,3431
$GC,4834,-0.90,-146.6,482.5,-8.3,233,4838,0.00,2.53,0.00,0.000,4,0.000,0.066,2513,594,3431
$GC,4911,-0.90,-146.6,489.3,-9.0,236,4917,0.00,2.45,0.00,0.000,6,0.000,0.051,2513,1980,3431
$GC,5227,-0.90,-146.6,520.0,-10.9,252,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1981,3431
$GC,5537,-0.95,-146.6,550.3,-8.3,267,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1988,3431
$GC,5846,-0.95,-146.6,576.8,-8.4,282,5850,0.00,2.53,0.00,0.000,4,0.000,0.065,2512,600,3432
$GC,5991,-1.01,-146.6,589.0,-8.2,288,5998,0.15,2.45,0.00,0.000,6,0.051,0.052,2469,1982,3431
$GC,6308,-0.95,-146.6,618.3,-10.3,304,6312,0.12,2.58,0.00,0.000,4,0.092,0.066,2495,3409,3431
$GC,6386,-0.95,-146.6,625.4,-8.4,307,6393,0.00,2.55,0.00,0.000,6,0.000,0.061,2495,1997,3431
$GC,6702,-0.95,-146.6,653.0,-8.8,323,6707,0.00,2.60,0.00,0.000,4,0.000,0.072,2495,3405,3431
$GC,6810,-0.95,-146.6,662.0,-8.1,328,6814,0.00,2.53,0.00,0.000,6,0.000,0.063,2495,2015,3431
$GC,7136,-0.95,-146.6,688.0,-8.6,344,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2014,3431
$STATE,7298,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7299,begin apogee
$GC,7306,-0.33,0.0,702.0,8.6,352,7432,0.60,0.00,123.03,1.328,6,0.081,0.000,2623,2247,2832
$STATE,7433,end apogee,CONTROL_FINISHED_OK
$STATE,7433,begin climb
$GC,7436,1.22,146.6,706.8,0.0,358,7564,1.58,0.00,121.53,1.296,6,0.069,0.000,2964,2247,2234
$GC,7875,1.22,146.6,678.0,8.5,380,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2247,2232
$GC,8184,1.18,149.6,653.3,7.9,395,8189,0.00,0.00,3.67,0.778,6,0.000,0.000,2963,2247,2223
$GC,8493,1.20,196.4,632.1,6.3,410,8538,0.00,2.72,40.03,1.305,4,0.000,0.087,2964,3650,2030
$GC,8578,1.22,210.1,625.9,7.5,414,8598,0.00,2.65,12.75,1.208,6,0.000,0.076,2963,2252,1974
$GC,8926,1.22,210.1,594.7,9.1,431,8928,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2245,1973
$GC,9236,1.22,210.1,566.7,8.4,446,9240,0.00,2.65,0.00,0.000,4,0.000,0.081,2964,835,1972
$GC,9330,1.22,210.1,558.6,9.1,450,9335,0.00,2.60,0.00,0.000,6,0.000,0.066,2964,2238,1971
$GC,9646,1.22,210.1,529.9,8.8,465,9650,0.00,2.60,0.00,0.000,4,0.000,0.074,2964,841,1971
$GC,9701,1.22,210.1,524.6,9.8,467,9707,0.00,2.55,0.00,0.000,6,0.000,0.062,2963,2232,1970
$GC,10017,1.22,210.1,496.9,8.2,483,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2232,1971
$GC,10326,1.22,210.1,467.5,9.9,498,10330,0.00,2.55,0.00,0.000,4,0.000,0.067,2964,841,1971
$GC,10376,1.22,210.1,462.4,9.9,500,10380,0.00,2.50,0.00,0.000,6,0.000,0.056,2964,2228,1971
$GC,10697,1.22,210.1,432.0,9.3,516,10701,0.00,2.55,0.00,0.000,4,0.000,0.067,2964,840,1971
$GC,10730,1.22,210.1,428.7,9.4,517,10736,0.00,2.47,0.00,0.000,6,0.000,0.054,2964,2219,1971
$GC,11046,1.22,210.1,402.1,8.7,533,11050,0.00,2.53,0.00,0.000,4,0.000,0.065,2964,839,1972
$GC,11091,1.22,210.1,397.6,9.9,535,11095,0.00,2.45,0.00,0.000,6,0.000,0.053,2964,2211,1972
$GC,11425,1.27,210.1,368.7,9.3,551,11429,0.00,2.50,0.00,0.000,4,0.000,0.065,2964,841,1972
$GC,11469,1.27,210.1,364.3,9.8,553,11473,0.00,2.40,0.00,0.000,6,0.000,0.051,2964,2189,1973
$GC,11791,1.31,210.1,335.6,8.2,569,11795,0.00,2.47,0.00,0.000,4,0.000,0.064,2964,834,1973
$GC,11824,1.31,210.1,332.5,8.2,570,11830,0.00,2.40,0.00,0.000,6,0.000,0.051,2963,2178,1973
$GC,12141,1.36,210.1,304.3,9.4,586,12142,0.15,0.00,0.00,0.000,6,0.055,0.000,3005,2178,1974
$GC,12449,1.31,210.1,270.0,10.6,601,12450,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2178,1975
$GC,12759,1.25,210.1,235.9,12.5,616,12764,0.17,2.62,0.00,0.000,4,0.085,0.061,2966,3654,1975
$GC,12822,1.31,210.1,229.4,8.2,619,12826,0.00,2.65,0.00,0.000,6,0.000,0.052,2966,2164,1976
$GC,13148,1.36,210.1,195.9,8.3,635,13150,0.15,0.00,0.00,0.000,6,0.053,0.000,3006,2147,1976
$GC,13458,1.29,210.1,159.7,12.1,650,13463,0.12,2.72,0.00,0.000,4,0.095,0.060,2980,3657,1977
$GC,13502,1.29,210.1,154.0,12.7,652,13507,0.00,2.65,0.00,0.000,6,0.000,0.049,2980,2160,1976
$GC,13824,1.29,213.6,127.1,7.9,668,13834,0.00,2.38,5.22,0.694,4,0.000,0.063,2981,841,1960
$GC,13868,1.29,213.6,122.5,10.4,670,13872,0.00,2.38,0.00,0.000,6,0.000,0.049,2980,2176,1960
$GC,14195,1.29,213.6,94.2,8.8,686,14196,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2177,1961
$GC,14504,1.29,213.6,63.4,9.5,701,14505,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2177,1962
$GC,14815,1.29,213.6,31.9,9.0,716,14819,0.00,2.45,0.00,0.000,4,0.000,0.064,2980,833,1961
$GC,14838,1.29,213.6,29.4,9.7,717,14842,0.00,2.38,0.00,0.000,6,0.000,0.050,2980,2176,1961
$STATE,15115,end climb,SURFACE_DEPTH_REACHED
$STATE,15115,begin surface coast
$FINISH,0.6,1.007674
$STATE,15161,end surface coast,CONTROL_FINISHED_OK
$STATE,15161,begin surface
$SM_CCo,15185,19.05,0.784,0,0,1812,250.21
$SM_GC,1.13,0.00,0.00,19.05,0.000,0.000,0.784,422,1966,1812,-10.48,-0.93,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1790
$TCM_TEMP,17.30
$XPDR_PINGS,410
$ALTIM_TOP_PING,19.0,18.4
$ALTIM_BOTTOM_PING,651.2,59.7
$24V_AH,23.9,20.601
$10V_AH,10.1,9.173
$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,24.800,106.850,306.225,19.050,0.000,37.761,31.384,134.891,108.500,0.000,0.000,33.992,1340.837,11730.169,447.049,1565.874,458.044,33.354,1217.510,0.000,1513.360,0.000,40.594,0.000
$DEVICE_MAMPS,131.157,87.438,1328.444,783.874,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,542.244,494.431,453.565,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38074,733
$CAP_FILE_SIZE,107865,0
$CFSIZE,254472192,246091776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,0,0
$GPS,251108,190107,6115.990,-216.559,31,1.8,31,-5.6