version: 66.03
glider: 5
mission: 3
dive: 234
start: 7 29 108 0 48 38
data:
$ID,5
$MISSION,3
$DIVE,234
$D_SURF,2
$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,600
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,0
$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,547.01898
$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,-80978.211
$T_RSLEEP,12
$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,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2620
$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
$PRESSURE_YINT,-24.477776
$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,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$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
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043890956
$SEABIRD_T_H,0.00065287336
$SEABIRD_T_I,2.754709e-05
$SEABIRD_T_J,3.0424237e-06
$SEABIRD_C_G,-10.354986
$SEABIRD_C_H,1.1996267
$SEABIRD_C_I,-0.0023424325
$SEABIRD_C_J,0.0002635108
$GPS1,003638,6222.194,-1057.812,36,1.2,36,-10.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-55.4
$GPS2,004744,6222.258,-1057.895,11,1.3,16,-10.6
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.187,0.120
$KALMAN_X,-53676.9,376.7,-24.1,49584.3,-4030.9
$KALMAN_Y,-3198.2,-73.2,-652.5,27988.6,5480.8
$MHEAD_RNG_PITCHd_Wd,67.9,83536,-16.7,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.30,-117.3,0.0,0.0,0,135,0.00,0.00,-108.10,0.000,6,0.000,0.000,419,2161,3099
$GC,139,-1.30,-117.3,2.5,-1.8,5,155,10.30,2.53,0.00,0.000,4,0.137,0.054,2410,3561,3098
$GC,184,-0.90,-117.3,12.0,-15.4,7,191,0.45,2.50,0.00,0.000,6,0.094,0.046,2503,2148,3097
$GC,502,-0.83,-117.3,40.6,-9.3,23,506,0.00,2.50,0.00,0.000,4,0.000,0.055,2504,742,3096
$GC,570,-0.76,-117.3,47.7,-10.0,26,576,0.15,2.53,0.00,0.000,6,0.096,0.047,2534,2163,3096
$GC,892,-0.76,-117.3,73.8,-7.8,42,896,0.00,2.47,0.00,0.000,4,0.000,0.055,2534,3556,3097
$GC,1064,-0.80,-117.3,89.1,-9.0,49,1070,0.00,2.47,0.00,0.000,6,0.000,0.044,2534,2158,3097
$GC,1380,-0.85,-117.3,110.2,-6.4,65,1385,0.00,2.50,0.00,0.000,4,0.000,0.058,2534,749,3097
$GC,1538,-0.85,-117.3,123.1,-7.9,72,1543,0.00,2.50,0.00,0.000,6,0.000,0.048,2534,2161,3097
$GC,1860,-0.90,-117.3,143.9,-5.6,88,1862,0.15,0.00,0.00,0.000,6,0.049,0.000,2489,2158,3097
$GC,2169,-0.82,-117.3,162.9,-6.1,103,2174,0.15,2.58,0.00,0.000,4,0.089,0.059,2524,744,3097
$GC,2293,-0.82,-117.3,170.0,-6.0,108,2299,0.00,2.50,0.00,0.000,6,0.000,0.050,2524,2141,3097
$GC,2609,-0.82,-117.3,189.6,-6.6,124,2613,0.00,2.53,0.00,0.000,4,0.000,0.060,2524,3555,3096
$GC,2682,-0.82,-117.3,195.0,-7.7,127,2686,0.00,2.53,0.00,0.000,6,0.000,0.048,2524,2134,3096
$GC,2998,-0.82,-117.3,217.0,-7.3,142,3002,0.00,2.47,0.00,0.000,4,0.000,0.061,2524,746,3096
$GC,3084,-0.82,-117.3,223.3,-7.6,146,3088,0.00,2.47,0.00,0.000,6,0.000,0.051,2524,2132,3096
$GC,3410,-0.82,-117.3,245.9,-6.9,162,3415,0.00,2.55,0.00,0.000,4,0.000,0.061,2524,3557,3095
$GC,3512,-0.82,-117.3,253.4,-7.5,166,3517,0.00,2.53,0.00,0.000,6,0.000,0.048,2524,2135,3095
$GC,3828,-0.82,-117.3,274.7,-7.0,182,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2135,3095
$GC,4137,-0.82,-117.3,296.3,-7.2,197,4141,0.00,2.58,0.00,0.000,4,0.000,0.061,2524,3556,3094
$GC,4192,-0.82,-117.3,300.5,-7.9,199,4198,0.00,2.53,0.00,0.000,6,0.000,0.051,2524,2136,3095
$GC,4509,-0.82,-117.3,322.2,-6.8,215,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2135,3094
$GC,4818,-0.86,-117.3,343.1,-6.7,230,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2134,3093
$GC,5127,-0.91,-117.3,363.1,-6.5,245,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2134,3093
$GC,5436,-0.91,-117.3,382.5,-6.0,260,5440,0.00,2.60,0.00,0.000,4,0.000,0.062,2524,3562,3092
$GC,5486,-0.91,-117.3,385.7,-6.4,262,5490,0.00,2.53,0.00,0.000,6,0.000,0.053,2524,2143,3093
$GC,5803,-0.95,-117.3,403.2,-5.7,277,5808,0.15,2.50,0.00,0.000,4,0.051,0.061,2476,746,3092
$GC,5865,-0.85,-117.3,408.1,-8.1,280,5870,0.17,2.50,0.00,0.000,6,0.093,0.052,2513,2149,3092
$GC,6193,-0.85,-117.3,429.3,-6.3,296,6197,0.00,2.55,0.00,0.000,4,0.000,0.064,2513,3563,3092
$GC,6255,-0.85,-117.3,433.6,-7.9,299,6260,0.00,2.53,0.00,0.000,6,0.000,0.053,2513,2147,3092
$GC,6583,-0.85,-117.3,452.6,-5.6,315,6587,0.00,2.58,0.00,0.000,4,0.000,0.064,2513,3553,3091
$GC,6661,-0.85,-117.3,457.9,-6.8,318,6667,0.00,2.50,0.00,0.000,6,0.000,0.052,2513,2160,3091
$GC,6977,-0.85,-117.3,479.2,-6.7,334,6982,0.00,2.50,0.00,0.000,4,0.000,0.061,2513,745,3091
$GC,7051,-0.85,-117.3,484.1,-6.5,337,7055,0.00,2.55,0.00,0.000,6,0.000,0.052,2513,2165,3091
$GC,7367,-0.85,-117.3,505.3,-6.4,352,7371,0.00,2.58,0.00,0.000,4,0.000,0.061,2513,742,3091
$GC,7452,-0.85,-117.3,511.0,-6.7,356,7457,0.00,2.53,0.00,0.000,6,0.000,0.054,2513,2151,3091
$GC,7780,-0.85,-117.3,530.7,-6.3,372,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2151,3090
$GC,8091,-0.85,-117.3,550.5,-6.3,387,8096,0.00,2.53,0.00,0.000,4,0.000,0.066,2513,3554,3090
$GC,8159,-0.85,-117.3,555.1,-6.4,390,8163,0.00,2.53,0.00,0.000,6,0.000,0.053,2513,2144,3090
$GC,8481,-0.85,-117.3,574.1,-5.5,406,8485,0.00,2.58,0.00,0.000,4,0.000,0.066,2513,3554,3090
$GC,8530,-0.85,-117.3,577.2,-6.0,408,8535,0.00,2.50,0.00,0.000,6,0.000,0.052,2513,2156,3090
$GC,8847,-0.85,-117.3,592.9,-6.0,423,8851,0.00,2.50,0.00,0.000,4,0.000,0.061,2513,747,3090
$GC,8977,-0.85,-117.3,603.1,-7.2,429,8981,0.00,2.55,0.00,0.000,6,0.000,0.053,2513,2172,3089
$GC,9303,-0.85,-117.3,632.6,-9.4,445,9307,0.00,2.50,0.00,0.000,4,0.000,0.066,2513,3554,3089
$GC,9467,-0.85,-117.3,648.0,-9.3,452,9471,0.00,2.45,0.00,0.000,6,0.000,0.052,2513,2186,3089
$GC,9783,-0.85,-117.3,673.0,-7.6,467,9787,0.00,2.58,0.00,0.000,4,0.000,0.061,2513,745,3089
$GC,9954,-0.85,-117.3,683.4,-6.2,474,9960,0.00,2.55,0.00,0.000,6,0.000,0.055,2513,2155,3089
$GC,10271,-0.85,-117.3,695.9,-2.0,490,10272,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2156,3089
$GC,10580,-0.85,-117.3,700.4,-2.2,505,10584,0.00,2.60,0.00,0.000,4,0.000,0.064,2513,738,3089
$GC,10687,-0.85,-117.3,706.4,-7.9,510,10691,0.00,2.55,0.00,0.000,6,0.000,0.057,2513,2153,3089
$GC,11015,-0.90,-117.3,732.1,-8.8,526,11019,0.00,2.60,0.00,0.000,4,0.000,0.068,2513,745,3088
$GC,11272,-0.90,-117.3,743.3,3.8,537,11278,0.00,2.47,0.00,0.000,6,0.000,0.057,2513,2115,3088
$GC,11589,-0.95,-117.3,744.6,-5.9,553,11594,0.00,2.53,0.00,0.000,4,0.000,0.069,2513,745,3088
$GC,11850,-0.88,-117.3,764.0,-2.9,564,11856,0.00,2.50,0.00,0.000,6,0.000,0.062,2513,2105,3088
$STATE,12122,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12122,begin apogee
$GC,12129,-0.33,0.0,770.9,5.1,578,12232,0.55,0.00,99.85,1.359,6,0.087,0.000,2626,2106,2620
$STATE,12232,end apogee,CONTROL_FINISHED_OK
$STATE,12232,begin climb
$GC,12235,1.30,117.3,771.7,0.0,583,12346,1.65,2.67,100.55,1.328,4,0.072,0.073,2979,3510,2140
$GC,12374,1.19,125.8,762.9,7.6,589,12389,0.00,2.62,8.68,1.104,6,0.000,0.064,2979,2094,2107
$GC,12715,1.19,151.5,732.8,6.8,606,12744,0.00,2.72,23.12,1.254,4,0.000,0.074,2979,3501,2002
$GC,12804,1.31,258.8,728.3,3.1,610,12901,0.00,2.55,90.75,1.307,6,0.000,0.062,2979,2092,1565
$GC,13212,1.37,298.1,692.4,6.2,629,13252,0.00,2.70,34.67,1.270,4,0.000,0.077,2979,723,1404
$GC,13269,1.42,298.1,687.6,8.3,631,13276,0.12,2.65,0.00,0.000,6,0.057,0.065,3014,2129,1404
$GC,13585,1.36,298.1,646.8,12.5,647,13590,0.00,2.67,0.00,0.000,4,0.000,0.075,3014,717,1404
$GC,13631,1.29,298.1,640.3,14.3,649,13636,0.17,2.60,0.00,0.000,6,0.094,0.062,2981,2119,1403
$GC,13953,1.34,298.1,604.3,11.1,665,13954,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2119,1403
$GC,14262,1.38,298.1,573.1,9.6,680,14267,0.00,2.60,0.00,0.000,4,0.000,0.069,2981,721,1403
$GC,14296,1.44,298.1,569.6,9.4,681,14303,0.15,2.53,0.00,0.000,6,0.053,0.058,3020,2105,1403
$GC,14612,1.36,298.1,525.0,14.4,697,14614,0.12,0.00,0.00,0.000,6,0.094,0.000,2997,2105,1403
$GC,14921,1.36,298.1,486.0,12.1,712,14923,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2104,1403
$GC,15230,1.36,298.1,449.1,11.8,727,15231,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2104,1404
$GC,15539,1.36,298.1,413.2,11.5,742,15544,0.00,2.53,0.00,0.000,4,0.000,0.063,2997,3513,1404
$GC,15550,1.36,298.1,411.8,11.5,742,15556,0.00,2.50,0.00,0.000,6,0.000,0.052,2997,2127,1404
$GC,15866,1.36,298.1,374.7,12.0,758,15871,0.00,2.60,0.00,0.000,4,0.000,0.065,2997,683,1405
$GC,15877,1.36,298.1,373.1,12.0,758,15883,0.00,2.55,0.00,0.000,6,0.000,0.054,2997,2107,1405
$GC,16193,1.36,298.1,335.7,11.5,774,16194,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2106,1405
$GC,16503,1.36,298.1,299.4,12.0,789,16507,0.00,2.58,0.00,0.000,4,0.000,0.064,2997,691,1406
$GC,16513,1.36,298.1,298.0,11.7,789,16519,0.00,2.53,0.00,0.000,6,0.000,0.052,2997,2102,1405
$GC,16829,1.36,298.1,261.6,11.4,805,16830,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2102,1406
$GC,17139,1.40,298.1,226.9,11.2,820,17143,0.00,2.53,0.00,0.000,4,0.000,0.061,2997,3513,1406
$GC,17158,1.46,298.1,225.1,10.7,821,17162,0.00,2.53,0.00,0.000,6,0.000,0.051,2997,2100,1406
$GC,17484,1.46,298.1,190.5,10.5,837,17486,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2100,1407
$GC,17795,1.50,298.1,155.8,11.3,852,17800,0.15,2.58,0.00,0.000,4,0.049,0.058,3042,3513,1407
$GC,17812,1.50,298.1,153.5,11.7,853,17816,0.00,2.50,0.00,0.000,6,0.000,0.049,3042,2107,1407
$GC,18141,1.41,298.1,105.5,13.9,869,18146,0.15,2.53,0.00,0.000,4,0.091,0.058,3009,3509,1407
$GC,18152,1.32,298.1,103.6,13.8,869,18158,0.00,2.50,0.00,0.000,6,0.000,0.050,3009,2108,1407
$GC,18470,1.32,298.1,66.4,11.3,885,18471,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2107,1407
$GC,18777,1.32,298.1,27.4,12.6,900,18782,0.00,2.55,0.00,0.000,4,0.000,0.064,3009,689,1407
$GC,18796,1.32,298.1,25.2,11.8,901,18801,0.00,2.55,0.00,0.000,6,0.000,0.049,3009,2124,1408
$STATE,18997,end climb,SURFACE_DEPTH_REACHED
$STATE,18997,begin surface coast
$FINISH,0.2,1.012794
$STATE,19019,end surface coast,CONTROL_FINISHED_OK
$STATE,19019,begin surface
$SM_CCo,19041,149.15,0.785,0,0,390,547.02
$SM_GC,0.74,0.00,0.00,149.15,0.000,0.000,0.785,422,2133,390,-10.48,-0.25,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1698
$TCM_TEMP,17.50
$XPDR_PINGS,577
$ALTIM_TOP_PING,18.0,999.0
$ALTIM_BOTTOM_PING,726.8,53.9
$24V_AH,23.7,45.421
$10V_AH,10.1,22.073
$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
$DEVICE_SECS,25.725,178.025,357.625,149.150,0.000,75.523,52.504,337.504,150.750,0.000,0.000,16.277,1734.557,14452.027,690.381,2157.446,823.226,33.350,1774.371,0.000,2103.885,0.000,44.317
$DEVICE_MAMPS,136.526,76.700,1359.124,785.408,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,624.043,675.832,519.497,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47387,912
$CAP_FILE_SIZE,155736,0
$CFSIZE,254472192,236310528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,290708,060938,6224.769,-1052.568,28,1.8,28,-10.6