version: 66.03
glider: 5
mission: 3
dive: 236
start: 7 29 108 11 36 48
data:
$ID,5
$MISSION,3
$DIVE,236
$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,-81048.68
$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,31
$R_STBD_OVSHOOT,19
$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
$GPS1,112755,6224.991,-1047.069,39,1.7,39,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-53.6
$GPS2,113556,6224.921,-1047.145,15,1.8,33,-10.5
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.183,0.125
$KALMAN_X,-53966.8,757.2,163.8,58582.3,-2688.7
$KALMAN_Y,-2866.9,-1053.3,-1180.4,34146.6,4940.6
$MHEAD_RNG_PITCHd_Wd,66.2,73354,-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,26,-1.30,-117.3,0.0,0.0,0,137,0.00,0.00,-108.85,0.000,6,0.000,0.000,424,2129,3099
$GC,141,-1.30,-117.3,2.4,-1.7,5,156,10.30,2.55,0.00,0.000,4,0.136,0.054,2413,3563,3099
$GC,190,-0.94,-117.3,12.2,-14.6,8,196,0.38,2.50,0.00,0.000,6,0.094,0.046,2489,2149,3098
$GC,513,-0.84,-117.3,41.7,-8.1,24,515,0.12,0.00,0.00,0.000,6,0.094,0.000,2516,2132,3098
$GC,822,-0.84,-117.3,68.4,-9.4,39,826,0.00,2.50,0.00,0.000,4,0.000,0.056,2516,744,3098
$GC,952,-0.84,-117.3,80.9,-9.0,45,956,0.00,2.47,0.00,0.000,6,0.000,0.048,2516,2137,3098
$GC,1280,-0.84,-117.3,106.6,-7.7,61,1284,0.00,2.53,0.00,0.000,4,0.000,0.057,2516,3567,3099
$GC,1403,-0.84,-117.3,116.5,-7.5,66,1409,0.00,2.50,0.00,0.000,6,0.000,0.046,2517,2144,3098
$GC,1720,-0.84,-117.3,137.2,-7.0,82,1724,0.00,2.47,0.00,0.000,4,0.000,0.058,2516,750,3099
$GC,1798,-0.84,-117.3,143.1,-7.4,85,1804,0.00,2.50,0.00,0.000,6,0.000,0.050,2516,2147,3099
$GC,2115,-0.84,-117.3,165.3,-7.1,101,2119,0.00,2.55,0.00,0.000,4,0.000,0.060,2516,746,3098
$GC,2165,-0.84,-117.3,169.0,-7.1,103,2169,0.00,2.47,0.00,0.000,6,0.000,0.050,2516,2133,3098
$GC,2481,-0.84,-117.3,189.1,-6.4,118,2486,0.00,2.55,0.00,0.000,4,0.000,0.060,2516,3560,3098
$GC,2567,-0.84,-117.3,195.0,-7.0,122,2571,0.00,2.55,0.00,0.000,6,0.000,0.048,2516,2120,3098
$GC,2894,-0.84,-117.3,217.2,-6.9,138,2898,0.00,2.45,0.00,0.000,4,0.000,0.060,2516,745,3098
$GC,2949,-0.84,-117.3,221.5,-7.7,140,2956,0.00,2.47,0.00,0.000,6,0.000,0.051,2516,2130,3097
$GC,3267,-0.84,-117.3,244.0,-7.5,156,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2130,3097
$GC,3575,-0.84,-117.3,268.8,-8.1,171,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2130,3096
$GC,3884,-0.84,-117.3,292.9,-7.6,186,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2130,3096
$GC,4194,-0.84,-117.3,314.4,-6.9,201,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2130,3096
$GC,4503,-0.84,-117.3,336.7,-7.2,216,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2130,3096
$GC,4812,-0.84,-117.3,358.9,-7.2,231,4816,0.00,2.53,0.00,0.000,4,0.000,0.061,2516,737,3095
$GC,4875,-0.84,-117.3,363.4,-6.9,234,4879,0.00,2.47,0.00,0.000,6,0.000,0.052,2516,2132,3095
$GC,5202,-0.84,-117.3,386.3,-6.9,250,5206,0.00,2.58,0.00,0.000,4,0.000,0.063,2516,3561,3094
$GC,5297,-0.84,-117.3,393.6,-7.4,254,5301,0.00,2.55,0.00,0.000,6,0.000,0.050,2516,2131,3094
$GC,5613,-0.84,-117.3,415.6,-6.9,269,5617,0.00,2.47,0.00,0.000,4,0.000,0.062,2516,745,3094
$GC,5675,-0.84,-117.3,420.2,-7.4,272,5680,0.00,2.47,0.00,0.000,6,0.000,0.052,2516,2130,3094
$GC,6003,-0.84,-117.3,442.3,-6.6,288,6007,0.00,2.58,0.00,0.000,4,0.000,0.064,2516,3558,3093
$GC,6070,-0.84,-117.3,447.3,-7.5,291,6074,0.00,2.55,0.00,0.000,6,0.000,0.051,2516,2129,3093
$GC,6391,-0.84,-117.3,468.2,-6.6,307,6395,0.00,2.50,0.00,0.000,4,0.000,0.063,2516,737,3093
$GC,6477,-0.84,-117.3,473.9,-6.8,311,6481,0.00,2.50,0.00,0.000,6,0.000,0.053,2516,2132,3093
$GC,6804,-0.84,-117.3,494.7,-6.6,327,6808,0.00,2.58,0.00,0.000,4,0.000,0.064,2516,3559,3093
$GC,6877,-0.84,-117.3,499.5,-6.6,330,6881,0.00,2.55,0.00,0.000,6,0.000,0.050,2516,2128,3092
$GC,7193,-0.84,-117.3,519.8,-6.2,345,7197,0.00,2.47,0.00,0.000,4,0.000,0.063,2516,747,3092
$GC,7282,-0.84,-117.3,526.0,-6.4,349,7287,0.00,2.50,0.00,0.000,6,0.000,0.053,2515,2137,3092
$GC,7605,-0.84,-117.3,545.1,-6.0,365,7609,0.00,2.55,0.00,0.000,4,0.000,0.063,2516,742,3092
$GC,7812,-0.84,-117.3,560.7,-8.0,374,7816,0.00,2.47,0.00,0.000,6,0.000,0.054,2516,2115,3092
$GC,8129,-0.84,-117.3,583.5,-7.0,389,8133,0.00,2.60,0.00,0.000,4,0.000,0.065,2516,3559,3091
$GC,8376,-0.84,-117.3,601.4,-8.0,400,8380,0.00,2.55,0.00,0.000,6,0.000,0.051,2516,2132,3091
$GC,8697,-0.84,-117.3,621.6,-5.7,416,8702,0.00,2.47,0.00,0.000,4,0.000,0.064,2516,745,3091
$GC,8793,-0.84,-117.3,626.8,-4.9,420,8797,0.00,2.50,0.00,0.000,6,0.000,0.055,2516,2130,3091
$GC,9110,-0.89,-117.3,642.6,-4.9,435,9114,0.00,2.60,0.00,0.000,4,0.000,0.068,2516,3561,3091
$GC,9150,-0.89,-117.3,644.7,-4.9,437,9154,0.00,2.58,0.00,0.000,6,0.000,0.055,2516,2123,3091
$GC,9477,-0.94,-117.3,661.6,-5.7,453,9482,0.00,2.50,0.00,0.000,4,0.000,0.069,2516,747,3091
$GC,9608,-0.98,-117.3,669.8,-6.6,459,9614,0.12,2.53,0.00,0.000,6,0.054,0.059,2480,2136,3091
$GC,9939,-0.94,-117.3,691.1,-6.1,475,9940,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2137,3090
$STATE,10118,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10118,begin apogee
$GC,10125,-0.33,0.0,703.8,6.7,484,10228,0.70,0.00,99.80,1.297,6,0.087,0.000,2626,2086,2620
$STATE,10229,end apogee,CONTROL_FINISHED_OK
$STATE,10229,begin climb
$GC,10232,1.30,117.3,707.1,0.0,489,10336,1.62,0.00,99.55,1.273,6,0.066,0.000,2979,2086,2142
$GC,10644,1.30,117.3,673.0,9.2,509,10648,0.00,2.65,0.00,0.000,4,0.000,0.074,2979,3508,2139
$GC,10688,1.30,117.3,669.0,9.3,511,10692,0.00,2.58,0.00,0.000,6,0.000,0.062,2979,2120,2139
$GC,11009,1.30,117.3,642.3,8.4,527,11013,0.00,2.62,0.00,0.000,4,0.000,0.075,2979,3514,2138
$GC,11031,1.31,122.4,640.3,7.8,528,11041,0.00,2.62,5.35,0.937,6,0.000,0.064,2979,2099,2121
$GC,11352,1.31,122.4,615.2,8.3,543,11356,0.00,2.62,0.00,0.000,4,0.000,0.074,2979,3507,2120
$GC,11392,1.31,122.4,612.0,8.4,545,11396,0.00,2.58,0.00,0.000,6,0.000,0.061,2979,2107,2120
$GC,11719,1.34,136.6,588.3,7.4,561,11740,0.00,2.70,13.35,1.160,4,0.000,0.070,2979,3507,2062
$GC,11774,1.34,136.6,583.5,8.2,563,11778,0.00,2.55,0.00,0.000,6,0.000,0.059,2979,2124,2061
$GC,12090,1.34,136.6,554.4,9.8,578,12091,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2111,2061
$GC,12398,1.34,136.6,523.4,10.4,593,12403,0.00,2.58,0.00,0.000,4,0.000,0.067,2979,3516,2060
$GC,12409,1.34,136.6,522.2,10.4,593,12415,0.00,2.55,0.00,0.000,6,0.000,0.055,2979,2115,2060
$GC,12725,1.34,136.6,491.6,9.0,609,12730,0.00,2.58,0.00,0.000,4,0.000,0.064,2979,3508,2060
$GC,12788,1.34,136.6,485.9,8.7,612,12792,0.00,2.47,0.00,0.000,6,0.000,0.053,2979,2134,2060
$GC,13114,1.34,136.6,458.4,8.7,628,13119,0.00,2.55,0.00,0.000,4,0.000,0.063,2979,3514,2060
$GC,13159,1.34,136.6,454.0,9.5,630,13164,0.00,2.47,0.00,0.000,6,0.000,0.054,2979,2146,2060
$GC,13481,1.34,136.6,425.3,9.1,646,13486,0.00,2.53,0.00,0.000,4,0.000,0.063,2979,3514,2060
$GC,13515,1.34,136.6,421.7,10.3,647,13520,0.00,2.45,0.00,0.000,6,0.000,0.051,2979,2155,2060
$GC,13831,1.34,136.6,391.8,10.0,663,13835,0.00,2.47,0.00,0.000,4,0.000,0.061,2979,3510,2061
$GC,13858,1.34,136.6,388.9,10.1,664,13862,0.00,2.42,0.00,0.000,6,0.000,0.051,2979,2162,2061
$GC,14174,1.34,136.6,356.4,10.2,679,14178,0.00,2.47,0.00,0.000,4,0.000,0.061,2979,3516,2061
$GC,14207,1.34,136.6,352.9,10.2,680,14213,0.00,2.42,0.00,0.000,6,0.000,0.051,2979,2166,2061
$GC,14523,1.34,136.6,320.1,10.4,696,14527,0.00,2.42,0.00,0.000,4,0.000,0.061,2979,3509,2062
$GC,14545,1.34,136.6,317.7,10.4,697,14549,0.00,2.40,0.00,0.000,6,0.000,0.051,2979,2174,2062
$GC,14866,1.34,136.6,289.1,8.6,713,14871,0.00,2.45,0.00,0.000,4,0.000,0.060,2979,3509,2063
$GC,14906,1.34,136.6,285.6,8.9,715,14911,0.00,2.35,0.00,0.000,6,0.000,0.051,2979,2190,2063
$GC,15234,1.34,136.6,258.9,8.3,731,15238,0.00,2.40,0.00,0.000,4,0.000,0.060,2979,3511,2063
$GC,15251,1.34,136.6,257.2,8.5,731,15257,0.00,2.35,0.00,0.000,6,0.000,0.050,2979,2198,2063
$GC,15567,1.34,136.6,230.5,8.3,747,15570,0.00,2.38,0.00,0.000,4,0.000,0.061,2979,3512,2063
$GC,15590,1.34,136.6,228.4,8.9,748,15594,0.00,2.35,0.00,0.000,6,0.000,0.051,2979,2198,2064
$GC,15917,1.34,136.6,200.5,8.9,764,15921,0.00,2.40,0.00,0.000,4,0.000,0.060,2979,3511,2064
$GC,15944,1.34,136.6,197.7,8.8,765,15948,0.00,2.33,0.00,0.000,6,0.000,0.049,2979,2208,2064
$GC,16265,1.34,136.6,170.1,8.5,781,16270,0.00,2.38,0.00,0.000,4,0.000,0.059,2979,3514,2064
$GC,16283,1.34,136.6,168.5,8.1,782,16287,0.00,2.33,0.00,0.000,6,0.000,0.049,2979,2212,2065
$GC,16610,1.34,136.6,139.2,8.9,798,16614,0.00,2.35,0.00,0.000,4,0.000,0.058,2979,3511,2065
$GC,16628,1.34,136.6,137.8,8.3,799,16633,0.00,2.30,0.00,0.000,6,0.000,0.049,2979,2220,2065
$GC,16956,1.34,136.6,110.1,8.7,815,16960,0.00,2.75,0.00,0.000,4,0.000,0.064,2979,687,2064
$GC,16974,1.34,136.6,108.4,9.1,816,16978,0.00,2.72,0.00,0.000,6,0.000,0.051,2979,2219,2065
$GC,17301,1.34,136.6,79.4,8.1,832,17302,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2220,2065
$GC,17610,1.34,141.4,54.2,7.8,847,17623,0.00,2.83,6.12,0.684,4,0.000,0.061,2979,681,2043
$GC,17655,1.35,145.5,50.7,7.8,849,17665,0.00,2.75,5.05,0.637,6,0.000,0.051,2980,2220,2026
$GC,17982,1.42,156.9,26.6,7.5,865,17999,0.12,2.33,10.85,0.752,4,0.051,0.057,3019,3510,1980
$GC,18028,1.36,156.9,22.1,9.5,866,18032,0.12,2.33,0.00,0.000,6,0.092,0.047,2997,2212,1979
$STATE,18264,end climb,SURFACE_DEPTH_REACHED
$STATE,18264,begin surface coast
$FINISH,0.3,1.003749
$STATE,18288,end surface coast,CONTROL_FINISHED_OK
$STATE,18288,begin surface
$SM_CCo,18310,232.70,0.770,0,0,390,547.02
$SM_GC,0.73,0.00,0.00,232.70,0.000,0.000,0.770,423,2197,390,-10.47,0.88,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1684
$TCM_TEMP,17.70
$XPDR_PINGS,568
$ALTIM_TOP_PING,19.2,18.8
$ALTIM_BOTTOM_PING,701.1,11.9
$24V_AH,23.8,45.764
$10V_AH,10.1,22.253
$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,24.650,195.550,240.075,232.700,0.000,37.760,30.700,260.912,148.250,0.000,0.000,33.652,1683.612,13912.407,681.630,2063.885,681.344,33.352,1708.538,0.000,1998.586,0.000,42.550
$DEVICE_MAMPS,135.759,93.574,1296.997,770.068,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,602.938,649.344,545.389,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44270,879
$CAP_FILE_SIZE,148350,0
$CFSIZE,254472192,236183552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
$GPS,290708,164708,6224.829,-1043.658,36,1.1,36,-10.5