version: 66.04
glider: 5
mission: 5
dive: 118
start: 11 25 108 19 7 21
data:
$ID,5
$MISSION,5
$DIVE,118
$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,-89564.992
$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,31
$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
$GPS1,190107,6115.990,-216.559,31,1.8,31,-5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-58.3
$GPS2,190632,6116.006,-216.485,16,1.7,16,-5.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.063,0.237
$KALMAN_X,41480.1,-766.0,-2.8,146285.5,1778.0
$KALMAN_Y,-29349.6,1010.1,910.5,-239796.8,-5936.3
$MHEAD_RNG_PITCHd_Wd,350.7,78844,-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,-61.45,0.000,2,0.000,0.000,422,1959,3031
$GC,84,-1.22,-146.6,3.5,-5.3,3,111,10.25,2.47,-10.93,0.000,4,0.132,0.073,2428,597,3429
$GC,307,-1.00,-146.6,38.6,-13.8,13,313,0.25,2.50,0.00,0.000,6,0.091,0.050,2479,2002,3430
$GC,630,-0.93,-146.6,74.4,-11.2,29,634,0.00,2.58,0.00,0.000,4,0.000,0.063,2480,594,3430
$GC,720,-0.87,-146.6,85.5,-11.9,33,725,0.15,2.47,0.00,0.000,6,0.097,0.050,2511,1988,3430
$GC,1042,-0.87,-146.6,119.4,-12.1,49,1047,0.00,2.53,0.00,0.000,4,0.000,0.061,2511,3412,3430
$GC,1093,-0.92,-146.6,125.0,-9.6,51,1101,0.00,2.53,0.00,0.000,6,0.000,0.048,2511,1985,3430
$GC,1417,-0.92,-146.6,153.2,-8.7,67,1422,0.00,2.50,0.00,0.000,4,0.000,0.065,2511,590,3430
$GC,1503,-0.92,-146.6,160.1,-8.3,71,1507,0.00,2.47,0.00,0.000,6,0.000,0.050,2511,1991,3430
$GC,1830,-0.92,-146.6,183.3,-6.9,87,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1992,3430
$GC,2138,-0.92,-146.6,209.4,-8.6,102,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1992,3430
$GC,2448,-0.92,-146.6,240.1,-9.7,117,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1993,3430
$GC,2757,-0.92,-146.6,270.7,-10.2,132,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1993,3430
$GC,3066,-0.92,-146.6,299.1,-8.1,147,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1993,3429
$GC,3375,-0.92,-146.6,328.2,-8.7,162,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1992,3430
$GC,3685,-0.92,-146.6,358.2,-9.8,177,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1993,3430
$GC,3994,-0.92,-146.6,386.2,-8.6,192,3998,0.00,2.55,0.00,0.000,4,0.000,0.067,2511,590,3430
$GC,4033,-0.92,-146.6,389.7,-9.6,194,4038,0.00,2.47,0.00,0.000,6,0.000,0.051,2511,1989,3430
$GC,4360,-0.92,-146.6,416.3,-8.6,210,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1990,3430
$GC,4669,-0.92,-146.6,442.5,-8.8,225,4674,0.00,2.55,0.00,0.000,4,0.000,0.064,2510,3409,3430
$GC,4703,-0.96,-146.6,445.5,-8.6,226,4709,0.00,2.55,0.00,0.000,6,0.000,0.054,2511,1983,3430
$GC,5019,-0.96,-146.6,474.4,-9.2,242,5024,0.00,2.58,0.00,0.000,4,0.000,0.062,2511,3405,3430
$GC,5058,-1.01,-146.6,478.2,-9.7,243,5065,0.15,2.53,0.00,0.000,6,0.055,0.053,2468,1990,3430
$GC,5374,-0.93,-146.6,512.7,-9.9,259,5379,0.12,2.47,0.00,0.000,4,0.091,0.063,2495,596,3430
$GC,5481,-0.93,-146.6,522.9,-9.6,264,5486,0.00,2.45,0.00,0.000,6,0.000,0.051,2495,1985,3430
$GC,5810,-0.93,-146.6,550.9,-8.2,280,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1985,3430
$GC,6119,-0.93,-146.6,575.4,-8.5,295,6123,0.00,2.55,0.00,0.000,4,0.000,0.070,2495,592,3430
$GC,6174,-0.93,-146.6,580.9,-10.1,297,6180,0.00,2.45,0.00,0.000,6,0.000,0.054,2495,1973,3430
$GC,6490,-0.93,-146.6,607.1,-7.9,313,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1973,3430
$GC,6799,-0.93,-146.6,631.7,-8.1,328,6800,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1973,3430
$GC,7108,-0.93,-146.6,656.9,-7.7,343,7113,0.00,2.58,0.00,0.000,4,0.000,0.077,2495,587,3430
$GC,7138,-0.93,-146.6,659.1,-7.8,344,7142,0.00,2.47,0.00,0.000,6,0.000,0.061,2495,1958,3429
$GC,7454,-0.93,-146.6,685.6,-8.8,359,7458,0.00,2.67,0.00,0.000,4,0.000,0.077,2495,3411,3428
$GC,7494,-0.93,-146.6,689.3,-9.5,361,7498,0.00,2.67,0.00,0.000,6,0.000,0.069,2495,1955,3428
$GC,7820,-0.93,-146.6,717.8,-9.0,377,7821,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1955,3426
$GC,8129,-0.97,-146.6,744.0,-8.6,392,8134,0.00,2.72,0.00,0.000,4,0.000,0.082,2495,3401,3425
$GC,8207,-0.97,-146.6,751.1,-9.6,395,8214,0.00,2.67,0.00,0.000,6,0.000,0.073,2495,1960,3425
$GC,8524,-1.02,-146.6,779.2,-8.6,411,8528,0.00,2.72,0.00,0.000,4,0.000,0.084,2495,3401,3423
$GC,8551,-1.07,-146.6,781.7,-8.8,412,8557,0.12,2.67,0.00,0.000,6,0.071,0.075,2465,1968,3422
$GC,8868,-1.03,-146.6,811.2,-10.0,427,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1968,3422
$GC,9177,-0.97,-146.6,842.3,-10.9,442,9182,0.12,2.70,0.00,0.000,4,0.113,0.084,2488,3401,3420
$STATE,9224,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9224,begin apogee
$GC,9233,-0.33,0.0,847.1,8.6,444,9364,0.60,0.00,123.15,1.510,6,0.094,0.000,2619,2225,2832
$STATE,9365,end apogee,CONTROL_FINISHED_OK
$STATE,9365,begin climb
$GC,9368,1.22,146.6,852.8,0.0,451,9497,1.65,0.00,124.57,1.462,6,0.077,0.000,2966,2225,2234
$GC,9797,1.21,179.2,829.0,6.8,472,9827,0.00,0.00,28.65,1.402,6,0.000,0.000,2965,2225,2101
$GC,10124,1.23,195.2,804.5,7.4,488,10143,0.00,0.00,15.18,1.355,6,0.000,0.000,2966,2225,2037
$GC,10453,1.24,201.4,779.7,7.8,504,10462,0.00,0.00,7.03,1.204,6,0.000,0.000,2966,2225,2010
$GC,10786,1.26,208.5,753.2,7.7,520,10800,0.00,2.72,7.47,1.234,4,0.000,0.088,2966,845,1981
$GC,10863,1.26,208.5,747.0,8.0,523,10868,0.00,2.65,0.00,0.000,6,0.000,0.074,2965,2243,1981
$GC,11179,1.27,216.2,722.9,7.7,538,11193,0.00,2.78,8.12,1.263,4,0.000,0.090,2966,848,1950
$GC,11228,1.27,216.2,718.4,9.8,540,11232,0.00,2.65,0.00,0.000,6,0.000,0.076,2965,2240,1949
$GC,11549,1.27,216.2,690.0,9.1,556,11553,0.00,2.70,0.00,0.000,4,0.000,0.091,2966,845,1949
$GC,11588,1.27,216.2,686.1,9.8,558,11593,0.00,2.62,0.00,0.000,6,0.000,0.076,2965,2234,1949
$GC,11915,1.27,216.2,657.7,8.3,574,11919,0.00,2.67,0.00,0.000,4,0.000,0.089,2966,845,1948
$GC,11977,1.27,217.1,652.5,8.0,577,11981,0.00,2.58,0.00,0.000,6,0.000,0.074,2966,2224,1949
$GC,12304,1.27,219.6,627.6,7.9,593,12313,0.00,2.67,4.35,0.995,4,0.000,0.087,2965,844,1936
$GC,12365,1.27,219.6,622.5,8.5,595,12371,0.00,2.55,0.00,0.000,6,0.000,0.074,2966,2204,1936
$GC,12681,1.27,219.6,597.7,8.7,611,12685,0.00,2.60,0.00,0.000,4,0.000,0.084,2966,842,1935
$GC,12725,1.27,219.6,593.7,8.6,613,12729,0.00,2.50,0.00,0.000,6,0.000,0.069,2966,2189,1935
$GC,13046,1.28,224.1,568.7,7.8,629,13056,0.00,2.78,5.55,1.071,4,0.000,0.079,2966,3662,1917
$GC,13086,1.28,224.1,565.3,8.7,631,13091,0.00,2.75,0.00,0.000,6,0.000,0.068,2966,2185,1917
$GC,13413,1.28,224.1,536.7,9.0,647,13414,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2185,1917
$GC,13721,1.28,224.1,510.7,8.0,662,13726,0.00,2.45,0.00,0.000,4,0.000,0.074,2965,844,1917
$GC,13755,1.28,224.1,507.7,8.1,663,13761,0.00,2.47,0.00,0.000,6,0.000,0.061,2965,2201,1917
$GC,14071,1.28,224.1,480.6,9.3,679,14072,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2201,1917
$GC,14379,1.28,224.1,452.4,8.6,694,14384,0.00,2.50,0.00,0.000,4,0.000,0.067,2966,842,1919
$GC,14430,1.28,224.1,447.6,8.4,696,14434,0.00,2.45,0.00,0.000,6,0.000,0.056,2966,2205,1919
$GC,14752,1.36,245.5,423.5,7.2,712,14774,0.12,0.00,19.30,1.119,6,0.058,0.000,3001,2205,1831
$GC,15080,1.36,245.5,388.4,11.2,728,15084,0.00,2.50,0.00,0.000,4,0.000,0.065,3001,837,1831
$GC,15119,1.36,245.5,383.9,11.1,730,15123,0.00,2.42,0.00,0.000,6,0.000,0.053,3001,2186,1832
$GC,15453,1.36,245.5,348.8,10.6,746,15454,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2187,1832
$GC,15762,1.36,245.5,318.6,8.8,761,15766,0.00,2.45,0.00,0.000,4,0.000,0.064,3001,842,1832
$GC,15795,1.31,245.5,315.0,10.3,762,15801,0.00,2.40,0.00,0.000,6,0.000,0.052,3000,2181,1833
$GC,16111,1.31,245.5,282.4,10.4,778,16112,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2181,1834
$GC,16420,1.31,245.5,250.8,10.0,793,16421,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2181,1834
$GC,16729,1.31,245.5,218.7,10.6,808,16730,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2181,1835
$GC,17039,1.31,245.5,186.9,10.2,823,17040,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2180,1836
$GC,17348,1.31,245.5,156.2,10.0,838,17349,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2181,1836
$GC,17658,1.31,245.5,125.0,10.3,853,17662,0.00,2.45,0.00,0.000,4,0.000,0.062,3001,837,1837
$GC,17685,1.31,245.5,121.9,11.5,854,17689,0.00,2.40,0.00,0.000,6,0.000,0.051,3001,2180,1837
$GC,18001,1.31,245.5,91.9,9.3,869,18005,0.00,2.65,0.00,0.000,4,0.000,0.061,3001,3661,1838
$GC,18067,1.31,245.5,84.6,10.5,872,18072,0.00,2.62,0.00,0.000,6,0.000,0.050,3001,2185,1838
$GC,18389,1.31,245.5,50.0,12.0,888,18390,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2185,1838
$GC,18698,1.31,245.5,7.7,12.2,903,18702,0.00,2.40,0.00,0.000,4,0.000,0.064,3001,842,1838
$GC,18738,1.26,245.5,4.7,8.7,905,18743,0.12,2.40,0.00,0.000,6,0.094,0.048,2976,2201,1838
$STATE,18746,end climb,SURFACE_DEPTH_REACHED
$STATE,18746,begin surface coast
$FINISH,0.5,1.027339
$STATE,18795,end surface coast,CONTROL_FINISHED_OK
$STATE,18796,begin surface
$SM_CCo,18819,3.70,0.527,0,0,1811,250.21
$SM_GC,1.80,0.00,0.00,3.70,0.000,0.000,0.527,421,1964,1811,-10.48,-1.02,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1794
$TCM_TEMP,17.30
$XPDR_PINGS,397
$ALTIM_TOP_PING,17.7,999.0
$ALTIM_BOTTOM_PING,775.6,81.5
$24V_AH,23.7,20.764
$10V_AH,10.1,9.255
$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,24.750,143.525,343.375,3.700,0.000,37.763,29.524,140.560,106.500,0.000,0.000,16.550,1646.556,14612.412,503.099,1876.495,511.242,33.360,1440.686,0.000,1834.253,0.000,48.643,0.000
$DEVICE_MAMPS,131.924,90.506,1510.223,526.929,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,673.487,613.924,492.947,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47450,908
$CAP_FILE_SIZE,133152,0
$CFSIZE,254472192,246001664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,44,0,0
$GPS,261108,002308,6118.877,-219.231,84,2.0,84,-5.6