version: 66.04
glider: 5
mission: 5
dive: 114
start: 11 25 108 3 3 4
data:
$ID,5
$MISSION,5
$DIVE,114
$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,-89490.117
$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,30
$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
$GPS1,025737,6109.853,-204.116,41,1.1,47,-5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-57.3
$GPS2,030215,6109.802,-204.109,16,1.2,16,-5.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.218,0.113
$KALMAN_X,41550.9,794.6,137.7,154649.7,3782.1
$KALMAN_Y,-27016.9,204.7,293.5,-252166.9,-9740.7
$MHEAD_RNG_PITCHd_Wd,302.8,92925,-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,-81.62,0.000,2,0.000,0.000,419,1967,3240
$GC,102,-1.22,-146.6,4.3,-4.4,4,123,10.35,2.58,-4.68,0.000,4,0.133,0.068,2426,3408,3431
$GC,159,-1.00,-146.6,17.6,-16.3,7,164,0.25,2.50,0.00,0.000,6,0.084,0.049,2479,1994,3431
$GC,487,-0.93,-146.6,52.1,-11.2,23,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1994,3431
$GC,796,-0.85,-146.6,85.3,-12.4,38,800,0.17,2.50,0.00,0.000,4,0.091,0.064,2519,596,3431
$GC,836,-0.91,-146.6,90.4,-12.5,40,840,0.00,2.47,0.00,0.000,6,0.000,0.050,2519,1999,3431
$GC,1170,-0.91,-146.6,126.8,-8.4,56,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2000,3431
$GC,1480,-0.91,-146.6,145.0,-6.9,71,1485,0.00,2.55,0.00,0.000,4,0.000,0.063,2519,596,3431
$GC,1522,-0.95,-146.6,148.3,-7.8,73,1527,0.12,2.45,0.00,0.000,6,0.053,0.051,2482,1987,3431
$GC,1851,-0.90,-146.6,185.1,-11.2,89,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1989,3431
$GC,2158,-0.85,-146.6,217.5,-9.8,104,2160,0.15,0.00,0.00,0.000,6,0.087,0.000,2515,1990,3431
$GC,2467,-0.85,-146.6,240.3,-6.7,119,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1989,3431
$GC,2776,-0.89,-146.6,265.3,-8.4,134,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1990,3431
$GC,3086,-0.89,-146.6,291.5,-7.7,149,3090,0.00,2.53,0.00,0.000,4,0.000,0.062,2515,3404,3431
$GC,3114,-0.94,-146.6,293.6,-7.1,150,3118,0.00,2.53,0.00,0.000,6,0.000,0.052,2515,1986,3431
$GC,3429,-0.94,-146.6,316.6,-11.2,165,3433,0.00,2.47,0.00,0.000,4,0.000,0.064,2514,584,3431
$GC,3498,-0.98,-146.6,326.1,-14.2,168,3503,0.12,2.50,0.00,0.000,6,0.051,0.050,2477,1993,3431
$GC,3825,-0.92,-146.6,367.6,-11.0,184,3827,0.12,0.00,0.00,0.000,6,0.087,0.000,2503,1994,3431
$GC,4134,-0.92,-146.6,397.0,-9.6,199,4138,0.00,2.55,0.00,0.000,4,0.000,0.065,2503,586,3431
$GC,4174,-0.92,-146.6,401.1,-10.4,201,4178,0.00,2.45,0.00,0.000,6,0.000,0.051,2503,1984,3431
$GC,4500,-0.92,-146.6,430.6,-8.5,217,4505,0.00,2.55,0.00,0.000,4,0.000,0.064,2503,3409,3431
$GC,4563,-0.92,-146.6,436.0,-8.3,220,4567,0.00,2.55,0.00,0.000,6,0.000,0.054,2503,1975,3431
$GC,4890,-0.92,-146.6,464.0,-8.6,236,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1974,3431
$GC,5199,-0.92,-146.6,491.2,-8.5,251,5204,0.00,2.60,0.00,0.000,4,0.000,0.063,2503,3409,3431
$GC,5250,-0.96,-146.6,495.8,-8.5,253,5254,0.00,2.53,0.00,0.000,6,0.000,0.054,2503,1990,3430
$GC,5566,-0.96,-146.6,522.5,-8.6,268,5570,0.00,2.55,0.00,0.000,4,0.000,0.062,2503,3408,3431
$GC,5610,-1.00,-146.6,526.7,-9.0,270,5615,0.00,2.53,0.00,0.000,6,0.000,0.054,2503,1992,3431
$GC,5933,-1.09,-146.6,553.1,-7.7,286,5935,0.20,0.00,0.00,0.000,6,0.056,0.000,2450,1971,3431
$GC,6242,-1.54,-146.6,553.3,-0.1,301,6247,0.38,2.60,0.00,0.000,4,0.049,0.065,2357,3415,3431
$STATE,6312,end dive,NO_VERTICAL_VELOCITY
$STATE,6312,begin apogee
$GC,6321,-0.33,0.0,553.3,0.0,304,6446,1.17,0.00,120.68,1.176,6,0.058,0.000,2623,2216,2832
$STATE,6447,end apogee,CONTROL_FINISHED_OK
$STATE,6447,begin climb
$GC,6450,1.22,146.6,553.1,0.0,310,6578,1.55,2.72,120.10,1.141,4,0.061,0.068,2963,3654,2234
$GC,6615,1.18,146.6,545.2,9.3,318,6620,0.00,2.55,0.00,0.000,6,0.000,0.058,2964,2255,2234
$GC,6942,1.18,146.6,519.0,8.3,334,6946,0.00,2.58,0.00,0.000,4,0.000,0.067,2964,845,2233
$GC,6998,1.13,146.6,514.2,9.2,336,7004,0.00,2.55,0.00,0.000,6,0.000,0.055,2964,2252,2233
$GC,7314,1.17,175.5,491.4,7.0,352,7343,0.00,2.65,24.60,1.088,4,0.000,0.066,2963,848,2115
$GC,7384,1.17,175.5,486.0,8.5,355,7388,0.00,2.58,0.00,0.000,6,0.000,0.054,2964,2265,2116
$GC,7705,1.17,175.5,460.5,8.1,371,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2266,2114
$GC,8014,1.18,180.5,435.5,7.8,386,8025,0.00,2.65,5.65,0.854,4,0.000,0.064,2964,843,2095
$GC,8087,1.18,180.5,429.1,8.8,389,8092,0.00,2.58,0.00,0.000,6,0.000,0.053,2964,2275,2095
$GC,8403,1.18,180.5,403.2,8.1,404,8404,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2276,2094
$GC,8712,1.18,182.6,378.1,7.9,419,8717,0.00,2.60,0.00,0.000,4,0.000,0.063,2964,841,2094
$GC,8762,1.18,182.6,373.7,8.3,421,8767,0.00,2.55,0.00,0.000,6,0.000,0.051,2964,2270,2094
$GC,9079,1.20,192.0,349.7,7.7,436,9095,0.00,2.65,11.02,0.946,4,0.000,0.061,2964,847,2048
$GC,9129,1.21,197.5,345.5,7.8,437,9141,0.00,2.53,6.22,0.833,6,0.000,0.051,2964,2254,2026
$GC,9451,1.30,227.8,320.5,6.9,453,9482,0.00,2.65,25.75,0.992,4,0.000,0.061,2964,843,1902
$GC,9527,1.39,252.5,315.0,7.1,456,9555,0.17,2.50,20.98,0.983,6,0.046,0.051,3013,2236,1801
$GC,9866,1.35,252.5,283.2,9.0,473,9871,0.00,2.55,0.00,0.000,4,0.000,0.064,3013,845,1802
$GC,9907,1.29,252.5,279.6,9.1,475,9912,0.17,2.47,0.00,0.000,6,0.084,0.051,2977,2232,1802
$GC,10235,1.39,280.9,254.9,7.0,491,10261,0.10,0.00,24.00,0.946,6,0.057,0.000,3009,2232,1686
$GC,10563,1.40,287.0,227.3,7.8,507,10572,0.00,0.00,6.72,0.787,6,0.000,0.000,3009,2233,1662
$GC,10872,1.46,320.0,208.4,6.8,522,10907,0.00,2.65,27.38,0.920,4,0.000,0.062,3009,845,1527
$GC,10964,1.60,408.9,203.3,4.8,526,11042,0.17,2.47,70.05,0.918,6,0.049,0.051,3057,2220,1164
$GC,11351,1.54,408.9,155.4,14.8,545,11356,0.00,2.53,0.00,0.000,4,0.000,0.065,3056,841,1165
$GC,11379,1.47,408.9,151.1,14.7,546,11384,0.17,2.47,0.00,0.000,6,0.087,0.051,3021,2223,1165
$GC,11696,1.47,408.9,120.6,10.0,561,11697,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2226,1165
$GC,12004,1.47,408.9,77.5,15.4,576,12009,0.00,2.53,0.00,0.000,4,0.000,0.063,3021,842,1165
$GC,12078,1.52,408.9,69.5,10.0,579,12082,0.00,2.45,0.00,0.000,6,0.000,0.049,3021,2217,1165
$GC,12394,1.56,408.9,36.3,13.6,594,12395,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2238,1165
$STATE,12640,end climb,SURFACE_DEPTH_REACHED
$STATE,12641,begin surface coast
$FINISH,0.8,1.013976
$STATE,12660,end surface coast,CONTROL_FINISHED_OK
$STATE,12660,begin surface
$SM_CCo,12744,0.00,0.000,0,0,1166,408.92
$SM_GC,1.61,11.23,0.00,0.00,0.037,0.000,0.000,424,1979,1166,-10.38,-0.76,408.92
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1804
$TCM_TEMP,17.30
$XPDR_PINGS,444
$ALTIM_TOP_PING,18.8,999.0
$24V_AH,23.9,20.171
$10V_AH,10.1,8.970
$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,26.625,107.000,463.150,0.000,0.000,37.764,25.972,108.428,115.750,0.000,0.000,16.849,1132.542,9622.092,549.547,1324.867,396.451,33.356,1249.479,0.000,1294.048,0.000,31.266,0.000
$DEVICE_MAMPS,132.691,68.263,1175.811,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.138,409.166,393.443,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31733,607
$CAP_FILE_SIZE,99366,0
$CFSIZE,254472192,246263808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,251108,063638,6110.187,-207.535,34,1.5,34,-5.5