version: 66.03
glider: 5
mission: 3
dive: 235
start: 7 29 108 6 18 27
data:
$ID,5
$MISSION,3
$DIVE,235
$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,-81014.398
$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,23
$R_STBD_OVSHOOT,22
$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
$GPS1,060938,6224.769,-1052.568,28,1.8,28,-10.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-55.7
$GPS2,061735,6224.764,-1052.408,15,3.0,34,-10.6
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.188,0.117
$KALMAN_X,-55001.3,745.9,1120.0,54134.4,-6120.1
$KALMAN_Y,-1633.4,-669.0,20.4,31017.3,3872.2
$MHEAD_RNG_PITCHd_Wd,68.7,77026,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.30,-117.3,0.0,0.0,0,138,0.00,0.00,-109.72,0.000,6,0.000,0.000,422,2128,3099
$GC,142,-1.30,-117.3,2.2,-1.6,5,158,10.30,2.50,0.00,0.000,4,0.137,0.054,2408,742,3098
$GC,227,-0.95,-117.3,16.8,-13.6,8,232,0.40,2.53,0.00,0.000,6,0.094,0.048,2490,2153,3097
$GC,556,-0.86,-117.3,47.6,-9.6,24,560,0.10,2.55,0.00,0.000,4,0.097,0.055,2512,743,3097
$GC,776,-0.86,-117.3,67.4,-7.2,34,780,0.00,2.45,0.00,0.000,6,0.000,0.048,2512,2126,3097
$GC,1104,-0.86,-117.3,90.1,-7.3,50,1108,0.00,2.53,0.00,0.000,4,0.000,0.059,2512,740,3097
$GC,1138,-0.86,-117.3,92.8,-7.8,51,1144,0.00,2.45,0.00,0.000,6,0.000,0.048,2512,2116,3098
$GC,1456,-0.86,-117.3,115.3,-7.4,67,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2116,3098
$GC,1764,-0.86,-117.3,139.8,-8.5,82,1768,0.00,2.50,0.00,0.000,4,0.000,0.058,2512,741,3098
$GC,1864,-0.86,-117.3,149.2,-9.4,86,1870,0.00,2.45,0.00,0.000,6,0.000,0.049,2512,2113,3098
$GC,2180,-0.86,-117.3,173.9,-7.3,102,2184,0.00,2.58,0.00,0.000,4,0.000,0.059,2512,3553,3097
$GC,2230,-0.86,-117.3,177.8,-8.0,104,2234,0.00,2.58,0.00,0.000,6,0.000,0.046,2512,2100,3097
$GC,2546,-0.86,-117.3,199.4,-6.4,119,2550,0.00,2.42,0.00,0.000,4,0.000,0.061,2512,744,3097
$GC,2624,-0.86,-117.3,205.6,-7.7,122,2631,0.00,2.45,0.00,0.000,6,0.000,0.051,2512,2107,3097
$GC,2940,-0.86,-117.3,231.6,-7.9,138,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2108,3096
$GC,3250,-0.86,-117.3,256.6,-7.8,153,3254,0.00,2.60,0.00,0.000,4,0.000,0.061,2512,3559,3096
$GC,3300,-0.86,-117.3,260.8,-8.2,155,3304,0.00,2.60,0.00,0.000,6,0.000,0.048,2512,2097,3096
$GC,3616,-0.86,-117.3,284.7,-7.7,170,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2097,3096
$GC,3925,-0.86,-117.3,307.1,-7.4,185,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2097,3096
$GC,4235,-0.86,-117.3,328.8,-6.8,200,4240,0.00,2.65,0.00,0.000,4,0.000,0.061,2512,3556,3095
$GC,4303,-0.86,-117.3,333.7,-6.8,203,4307,0.00,2.60,0.00,0.000,6,0.000,0.048,2512,2093,3095
$GC,4625,-0.86,-117.3,355.2,-6.5,219,4629,0.00,2.40,0.00,0.000,4,0.000,0.061,2511,746,3095
$GC,4672,-0.86,-117.3,358.5,-7.6,221,4676,0.00,2.42,0.00,0.000,6,0.000,0.051,2511,2104,3095
$GC,4999,-0.86,-117.3,379.8,-6.2,237,5003,0.00,2.62,0.00,0.000,4,0.000,0.064,2512,3561,3095
$GC,5072,-0.86,-117.3,384.9,-7.4,240,5076,0.00,2.62,0.00,0.000,6,0.000,0.051,2512,2091,3094
$GC,5388,-0.86,-117.3,405.9,-7.4,255,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2090,3094
$GC,5697,-0.86,-117.3,432.6,-9.1,270,5701,0.00,2.40,0.00,0.000,4,0.000,0.061,2511,746,3094
$GC,5759,-0.86,-117.3,438.7,-9.8,273,5763,0.00,2.40,0.00,0.000,6,0.000,0.051,2512,2087,3093
$GC,6086,-0.86,-117.3,470.1,-9.4,289,6091,0.00,2.65,0.00,0.000,4,0.000,0.063,2512,3563,3093
$GC,6217,-0.86,-117.3,482.5,-9.6,295,6221,0.00,2.60,0.00,0.000,6,0.000,0.051,2512,2097,3093
$GC,6544,-0.86,-117.3,508.7,-7.8,311,6548,0.00,2.67,0.00,0.000,4,0.000,0.064,2512,3553,3093
$GC,6588,-0.86,-117.3,512.5,-8.9,313,6592,0.00,2.60,0.00,0.000,6,0.000,0.052,2512,2102,3093
$GC,6910,-0.86,-117.3,538.0,-7.5,329,6913,0.00,2.42,0.00,0.000,4,0.000,0.062,2511,746,3093
$GC,7016,-0.86,-117.3,546.1,-7.7,333,7022,0.00,2.42,0.00,0.000,6,0.000,0.052,2512,2097,3092
$GC,7332,-0.86,-117.3,563.3,-5.1,349,7337,0.00,2.62,0.00,0.000,4,0.000,0.065,2512,3554,3092
$GC,7463,-0.86,-117.3,572.0,-7.1,355,7468,0.00,2.55,0.00,0.000,6,0.000,0.051,2512,2121,3092
$GC,7791,-0.86,-117.3,589.6,-5.6,371,7795,0.00,2.47,0.00,0.000,4,0.000,0.064,2512,743,3092
$GC,7962,-0.86,-117.3,601.8,-7.1,378,7968,0.00,2.47,0.00,0.000,6,0.000,0.055,2512,2113,3092
$GC,8279,-0.86,-117.3,626.0,-7.8,394,8283,0.00,2.50,0.00,0.000,4,0.000,0.064,2512,741,3092
$GC,8536,-0.86,-117.3,642.2,-5.4,405,8543,0.00,2.42,0.00,0.000,6,0.000,0.056,2511,2083,3092
$GC,8853,-0.90,-117.3,660.1,-6.3,421,8858,0.00,2.67,0.00,0.000,4,0.000,0.068,2512,3556,3092
$GC,8944,-0.90,-117.3,665.8,-6.1,425,8948,0.00,2.62,0.00,0.000,6,0.000,0.056,2512,2099,3092
$GC,9266,-0.95,-117.3,681.8,-4.5,441,9270,0.00,2.45,0.00,0.000,4,0.000,0.070,2512,744,3091
$GC,9454,-0.95,-117.3,691.7,-6.6,449,9458,0.00,2.45,0.00,0.000,6,0.000,0.061,2512,2084,3091
$GC,9770,-1.36,-117.3,703.5,-0.1,464,9775,0.45,2.67,0.00,0.000,4,0.044,0.074,2397,3552,3090
$GC,10028,-1.74,-117.3,703.4,-0.0,475,10036,0.35,2.72,0.00,0.000,6,0.046,0.064,2311,2053,3090
$GC,10346,-2.03,-117.3,703.4,0.1,491,10351,0.22,2.30,0.00,0.000,3,0.051,0.075,2251,3278,3089
$STATE,10352,end dive,NO_VERTICAL_VELOCITY
$STATE,10352,begin apogee
$GC,10361,-0.33,0.0,703.5,0.0,491,10464,1.70,0.00,99.65,1.325,6,0.070,0.000,2622,2075,2620
$STATE,10465,end apogee,CONTROL_FINISHED_OK
$STATE,10465,begin climb
$GC,10468,1.30,117.3,702.8,0.0,496,10576,1.65,2.72,99.40,1.295,4,0.068,0.074,2979,3502,2141
$GC,10643,1.23,117.3,687.8,10.8,504,10648,0.00,2.62,0.00,0.000,6,0.000,0.064,2979,2099,2139
$GC,10959,1.23,117.3,660.7,9.1,519,10964,0.00,2.65,0.00,0.000,4,0.000,0.076,2979,3503,2138
$GC,10982,1.19,117.3,658.5,9.8,520,10986,0.00,2.60,0.00,0.000,6,0.000,0.064,2979,2105,2138
$GC,11303,1.15,117.3,627.9,9.2,536,11308,0.15,2.60,0.00,0.000,4,0.093,0.076,2947,691,2137
$GC,11325,1.15,117.3,625.8,9.0,537,11330,0.00,2.58,0.00,0.000,6,0.000,0.064,2947,2082,2137
$GC,11648,1.27,147.0,603.5,6.6,553,11679,0.12,2.70,25.52,1.232,4,0.058,0.072,2981,3508,2019
$GC,11696,1.27,147.0,599.3,9.4,555,11701,0.00,2.65,0.00,0.000,6,0.000,0.061,2981,2084,2019
$GC,12013,1.27,147.0,572.4,9.5,570,12017,0.00,2.65,0.00,0.000,4,0.000,0.070,2981,3508,2017
$GC,12045,1.27,147.0,568.8,10.3,571,12051,0.00,2.60,0.00,0.000,6,0.000,0.058,2981,2089,2017
$GC,12361,1.27,147.0,539.3,9.3,587,12365,0.00,2.62,0.00,0.000,4,0.000,0.067,2981,3509,2017
$GC,12427,1.27,147.0,532.5,10.1,590,12432,0.00,2.55,0.00,0.000,6,0.000,0.054,2981,2107,2017
$GC,12750,1.27,147.0,501.4,9.4,606,12754,0.00,2.60,0.00,0.000,4,0.000,0.065,2981,3509,2017
$GC,12783,1.27,147.0,497.9,10.3,607,12789,0.00,2.53,0.00,0.000,6,0.000,0.054,2981,2116,2017
$GC,13099,1.27,147.0,467.8,9.4,623,13104,0.00,2.55,0.00,0.000,4,0.000,0.063,2981,3510,2017
$GC,13144,1.27,147.0,463.4,9.9,625,13148,0.00,2.50,0.00,0.000,6,0.000,0.052,2981,2125,2017
$GC,13465,1.27,147.0,431.7,9.9,641,13469,0.00,2.55,0.00,0.000,4,0.000,0.063,2981,3510,2017
$GC,13515,1.27,147.0,426.5,9.6,643,13519,0.00,2.45,0.00,0.000,6,0.000,0.051,2981,2146,2017
$GC,13831,1.27,147.0,397.3,8.8,658,13835,0.00,2.53,0.00,0.000,4,0.000,0.063,2981,3516,2018
$GC,13876,1.27,147.0,393.3,8.7,660,13881,0.00,2.45,0.00,0.000,6,0.000,0.050,2981,2153,2018
$GC,14199,1.27,147.0,365.4,9.0,676,14203,0.00,2.50,0.00,0.000,4,0.000,0.061,2981,3512,2019
$GC,14254,1.27,147.0,359.8,9.6,678,14260,0.00,2.40,0.00,0.000,6,0.000,0.050,2981,2173,2019
$GC,14570,1.27,147.0,328.8,10.0,694,14574,0.00,2.45,0.00,0.000,4,0.000,0.061,2981,3517,2019
$GC,14593,1.27,147.0,326.2,11.8,695,14597,0.00,2.40,0.00,0.000,6,0.000,0.049,2981,2173,2020
$GC,14915,1.27,147.0,295.6,9.4,711,14919,0.00,2.45,0.00,0.000,4,0.000,0.061,2981,3517,2020
$GC,14936,1.27,147.0,293.3,9.7,712,14941,0.00,2.40,0.00,0.000,6,0.000,0.049,2981,2179,2020
$GC,15258,1.27,147.0,263.0,9.7,728,15262,0.00,2.42,0.00,0.000,4,0.000,0.060,2981,3511,2020
$GC,15285,1.27,147.0,260.1,10.6,729,15290,0.00,2.38,0.00,0.000,6,0.000,0.050,2981,2188,2020
$GC,15601,1.27,147.0,230.9,9.0,744,15605,0.00,2.42,0.00,0.000,4,0.000,0.060,2981,3517,2021
$GC,15641,1.27,147.0,227.1,9.2,746,15645,0.00,2.35,0.00,0.000,6,0.000,0.049,2981,2202,2021
$GC,15968,1.27,147.0,197.6,9.3,762,15969,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2201,2021
$GC,16276,1.27,147.0,169.5,9.2,777,16278,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2196,2022
$GC,16588,1.27,147.0,142.2,8.8,792,16592,0.00,2.40,0.00,0.000,4,0.000,0.059,2981,3514,2022
$GC,16616,1.27,147.0,139.2,11.2,793,16620,0.00,2.38,0.00,0.000,6,0.000,0.050,2981,2190,2022
$GC,16932,1.27,147.0,109.9,9.0,808,16936,0.00,2.40,0.00,0.000,4,0.000,0.059,2981,3514,2022
$GC,16950,1.27,147.0,108.3,8.8,809,16954,0.00,2.35,0.00,0.000,6,0.000,0.050,2981,2196,2022
$GC,17278,1.29,156.3,82.1,7.6,825,17293,0.00,2.42,9.85,0.775,4,0.000,0.058,2982,3514,1982
$GC,17317,1.29,160.0,78.9,7.8,826,17327,0.00,2.33,4.70,0.629,6,0.000,0.048,2981,2214,1967
$GC,17645,1.34,160.0,52.3,8.4,842,17646,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2212,1967
$GC,17954,1.41,164.9,28.0,7.8,857,17965,0.10,2.75,5.72,0.660,4,0.054,0.060,3015,686,1946
$GC,17999,1.36,164.9,23.3,9.6,859,18004,0.00,2.75,0.00,0.000,6,0.000,0.049,3015,2233,1946
$STATE,18215,end climb,SURFACE_DEPTH_REACHED
$STATE,18215,begin surface coast
$FINISH,0.3,1.026772
$STATE,18237,end surface coast,CONTROL_FINISHED_OK
$STATE,18237,begin surface
$SM_CCo,18260,228.00,0.771,0,0,390,547.02
$SM_GC,0.56,0.00,0.00,228.00,0.000,0.000,0.771,424,2141,390,-10.47,-0.25,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1677
$TCM_TEMP,17.70
$XPDR_PINGS,554
$ALTIM_TOP_PING,18.2,17.4
$24V_AH,23.7,45.594
$10V_AH,10.1,22.163
$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,26.725,201.650,244.850,228.000,0.000,37.758,26.922,259.466,144.500,0.000,0.000,35.562,1686.743,13765.497,684.147,2150.934,676.015,33.360,1747.922,0.000,2082.482,0.000,39.696
$DEVICE_MAMPS,137.293,75.933,1324.609,770.835,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,597.434,642.849,535.034,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44281,871
$CAP_FILE_SIZE,151097,0
$CFSIZE,254472192,236253184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,290708,112755,6224.991,-1047.069,39,1.7,39,-10.5