version: 66.03
glider: 5
mission: 3
dive: 238
start: 7 29 108 22 1 27
data:
$ID,5
$MISSION,3
$DIVE,238
$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,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,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,-81081.523
$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,33
$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
$GPS1,215438,6224.397,-1035.394,29,1.3,29,-10.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-54.1
$GPS2,220033,6224.320,-1035.345,17,1.3,17,-10.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.132,0.178
$KALMAN_X,-52753.2,102.3,638.1,67765.4,-835.4
$KALMAN_Y,-11408.5,-284.2,-511.2,40114.6,-1979.4
$MHEAD_RNG_PITCHd_Wd,47.1,66724,-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,-117.3,0.0,0.0,0,136,0.00,0.00,-109.07,0.000,6,0.000,0.000,416,2119,3100
$GC,140,-1.30,-117.3,2.3,-1.7,5,156,10.30,2.55,0.00,0.000,4,0.135,0.054,2410,3557,3099
$GC,218,-0.95,-117.3,16.2,-12.9,7,226,0.40,2.50,0.00,0.000,6,0.093,0.045,2491,2148,3098
$GC,537,-0.86,-117.3,44.1,-7.7,23,542,0.10,2.50,0.00,0.000,4,0.103,0.057,2513,747,3098
$GC,721,-0.86,-117.3,58.4,-7.8,31,726,0.00,2.47,0.00,0.000,6,0.000,0.048,2513,2149,3099
$GC,1037,-0.86,-117.3,82.8,-8.4,46,1041,0.00,2.50,0.00,0.000,4,0.000,0.058,2512,3555,3099
$GC,1110,-0.86,-117.3,89.2,-9.0,49,1115,0.00,2.58,0.00,0.000,6,0.000,0.047,2513,2104,3099
$GC,1427,-0.86,-117.3,115.1,-7.8,64,1431,0.00,2.42,0.00,0.000,4,0.000,0.061,2512,749,3099
$GC,1521,-0.86,-117.3,123.0,-8.2,68,1526,0.00,2.42,0.00,0.000,6,0.000,0.049,2513,2109,3099
$GC,1838,-0.86,-117.3,147.1,-7.5,83,1843,0.00,2.58,0.00,0.000,4,0.000,0.058,2513,3555,3099
$GC,1902,-0.86,-117.3,152.2,-7.8,86,1906,0.00,2.60,0.00,0.000,6,0.000,0.048,2512,2089,3099
$GC,2228,-0.86,-117.3,178.0,-8.2,102,2232,0.00,2.40,0.00,0.000,4,0.000,0.061,2513,747,3099
$GC,2314,-0.86,-117.3,185.0,-8.6,106,2318,0.00,2.42,0.00,0.000,6,0.000,0.050,2513,2104,3099
$GC,2640,-0.86,-117.3,211.3,-7.8,122,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2104,3098
$GC,2950,-0.86,-117.3,236.4,-8.0,137,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2104,3097
$GC,3258,-0.86,-117.3,261.6,-8.7,152,3263,0.00,2.50,0.00,0.000,4,0.000,0.063,2512,741,3098
$GC,3354,-0.86,-117.3,270.4,-9.0,156,3358,0.00,2.42,0.00,0.000,6,0.000,0.051,2512,2090,3097
$GC,3671,-0.86,-117.3,297.3,-8.4,171,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2089,3097
$GC,3979,-0.86,-117.3,321.9,-7.8,186,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2090,3097
$GC,4288,-0.86,-117.3,344.5,-7.3,201,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2090,3096
$GC,4599,-0.86,-117.3,366.9,-7.2,216,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2090,3096
$GC,4907,-0.86,-117.3,391.1,-8.0,231,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2090,3096
$GC,5217,-0.86,-117.3,415.3,-7.7,246,5221,0.00,2.45,0.00,0.000,4,0.000,0.062,2512,742,3095
$GC,5308,-0.86,-117.3,422.6,-7.8,250,5312,0.00,2.40,0.00,0.000,6,0.000,0.052,2512,2082,3095
$GC,5635,-0.86,-117.3,447.4,-7.9,266,5640,0.00,2.65,0.00,0.000,4,0.000,0.064,2512,3552,3094
$GC,5748,-0.86,-117.3,457.0,-8.6,271,5752,0.00,2.65,0.00,0.000,6,0.000,0.051,2512,2070,3094
$GC,6069,-0.86,-117.3,481.0,-6.9,287,6073,0.00,2.35,0.00,0.000,4,0.000,0.061,2512,744,3094
$GC,6154,-0.86,-117.3,487.6,-8.2,291,6158,0.00,2.38,0.00,0.000,6,0.000,0.052,2513,2070,3094
$GC,6482,-0.86,-117.3,511.0,-6.9,307,6486,0.00,2.67,0.00,0.000,4,0.000,0.064,2513,3554,3094
$GC,6652,-0.86,-117.3,523.1,-7.4,314,6658,0.00,2.60,0.00,0.000,6,0.000,0.052,2513,2098,3093
$GC,6968,-0.86,-117.3,543.3,-6.9,330,6973,0.00,2.42,0.00,0.000,4,0.000,0.064,2513,749,3093
$GC,7047,-0.86,-117.3,548.9,-6.5,333,7053,0.00,2.45,0.00,0.000,6,0.000,0.054,2512,2109,3093
$GC,7364,-0.86,-117.3,565.3,-4.4,349,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2109,3093
$GC,7672,-0.86,-117.3,577.6,-4.0,364,7677,0.00,2.50,0.00,0.000,4,0.000,0.063,2512,744,3093
$GC,7869,-0.86,-117.3,587.8,-5.8,373,7874,0.00,2.45,0.00,0.000,6,0.000,0.056,2513,2102,3092
$GC,8197,-0.86,-117.3,608.8,-6.5,389,8201,0.00,2.65,0.00,0.000,4,0.000,0.068,2512,3559,3092
$GC,8297,-0.86,-117.3,616.1,-7.3,393,8303,0.00,2.67,0.00,0.000,6,0.000,0.055,2513,2070,3092
$GC,8614,-0.91,-117.3,634.4,-5.3,409,8619,0.00,2.75,0.00,0.000,4,0.000,0.067,2512,3559,3092
$GC,8722,-0.91,-117.3,641.0,-6.5,414,8727,0.00,2.62,0.00,0.000,6,0.000,0.055,2512,2094,3091
$GC,9052,-0.95,-117.3,656.6,-4.4,430,9053,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2076,3091
$GC,9358,-1.00,-117.3,672.8,-5.9,445,9360,0.15,0.00,0.00,0.000,6,0.058,0.000,2472,2076,3091
$STATE,9644,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9644,begin apogee
$GC,9651,-0.33,0.0,694.3,8.0,459,9754,0.73,0.00,99.78,1.309,6,0.087,0.000,2624,2075,2620
$STATE,9754,end apogee,CONTROL_FINISHED_OK
$STATE,9755,begin climb
$GC,9758,1.30,117.3,697.0,0.0,464,9865,1.65,2.65,99.25,1.282,4,0.074,0.072,2977,691,2140
$GC,9893,1.26,117.3,688.7,9.1,470,9900,0.00,2.62,0.00,0.000,6,0.000,0.063,2977,2104,2140
$GC,10210,1.26,117.3,662.7,8.3,486,10214,0.00,2.62,0.00,0.000,4,0.000,0.076,2977,3510,2138
$GC,10282,1.26,117.3,656.1,9.2,489,10286,0.00,2.58,0.00,0.000,6,0.000,0.063,2977,2123,2138
$GC,10599,1.29,138.0,630.7,7.1,504,10619,0.00,0.00,18.25,1.206,6,0.000,0.000,2976,2110,2057
$GC,10927,1.29,138.0,604.5,8.0,520,10931,0.00,2.62,0.00,0.000,4,0.000,0.076,2977,3512,2055
$GC,10999,1.29,138.0,598.3,8.7,523,11003,0.00,2.60,0.00,0.000,6,0.000,0.061,2977,2098,2054
$GC,11315,1.29,140.3,574.0,7.9,538,11320,0.00,2.65,0.00,0.000,4,0.000,0.073,2977,3512,2054
$GC,11361,1.29,140.3,570.1,8.4,540,11365,0.00,2.58,0.00,0.000,6,0.000,0.060,2977,2107,2053
$GC,11682,1.29,140.3,540.0,10.0,556,11687,0.00,2.60,0.00,0.000,4,0.000,0.069,2976,3508,2053
$GC,11705,1.29,140.3,537.3,11.3,557,11709,0.00,2.53,0.00,0.000,6,0.000,0.058,2977,2125,2053
$GC,12026,1.29,140.3,504.7,9.7,573,12030,0.00,2.60,0.00,0.000,4,0.000,0.067,2977,3517,2052
$GC,12070,1.29,140.3,499.9,10.6,575,12074,0.00,2.53,0.00,0.000,6,0.000,0.056,2977,2130,2052
$GC,12391,1.29,140.3,471.2,8.4,591,12396,0.00,2.58,0.00,0.000,4,0.000,0.066,2977,3515,2052
$GC,12431,1.29,140.3,467.6,8.7,593,12436,0.00,2.47,0.00,0.000,6,0.000,0.054,2977,2145,2052
$GC,12758,1.29,140.3,439.5,8.5,609,12763,0.00,2.53,0.00,0.000,4,0.000,0.065,2977,3517,2052
$GC,12787,1.29,140.3,436.8,9.6,610,12791,0.00,2.47,0.00,0.000,6,0.000,0.052,2977,2146,2052
$GC,13102,1.29,140.3,409.3,8.6,625,13107,0.00,2.50,0.00,0.000,4,0.000,0.064,2977,3518,2052
$GC,13136,1.29,140.3,406.3,8.4,626,13141,0.00,2.45,0.00,0.000,6,0.000,0.051,2977,2155,2052
$GC,13452,1.29,140.3,380.1,8.6,642,13456,0.00,2.50,0.00,0.000,4,0.000,0.061,2977,3515,2053
$GC,13475,1.29,140.3,378.0,9.1,643,13479,0.00,2.42,0.00,0.000,6,0.000,0.051,2977,2166,2053
$GC,13797,1.29,140.3,348.4,9.3,659,13801,0.00,2.47,0.00,0.000,4,0.000,0.061,2976,3512,2054
$GC,13819,1.29,140.3,346.1,9.8,660,13823,0.00,2.40,0.00,0.000,6,0.000,0.051,2977,2176,2054
$GC,14140,1.29,140.3,316.1,9.3,676,14144,0.00,2.45,0.00,0.000,4,0.000,0.061,2977,3518,2054
$GC,14150,1.29,140.3,314.9,9.2,676,14156,0.00,2.42,0.00,0.000,6,0.000,0.051,2977,2169,2054
$GC,14466,1.29,140.3,286.2,9.0,692,14470,0.00,2.45,0.00,0.000,4,0.000,0.060,2977,3515,2055
$GC,14494,1.29,140.3,283.4,9.9,693,14498,0.00,2.40,0.00,0.000,6,0.000,0.049,2977,2176,2055
$GC,14809,1.29,140.3,255.5,8.5,708,14813,0.00,2.45,0.00,0.000,4,0.000,0.061,2977,3511,2055
$GC,14837,1.29,140.3,253.1,8.8,709,14841,0.00,2.38,0.00,0.000,6,0.000,0.049,2977,2186,2055
$GC,15153,1.29,140.3,227.2,8.0,724,15157,0.00,2.40,0.00,0.000,4,0.000,0.059,2976,3511,2055
$GC,15175,1.29,140.3,225.2,8.6,725,15179,0.00,2.38,0.00,0.000,6,0.000,0.050,2977,2187,2055
$GC,15497,1.30,146.3,200.5,7.7,741,15511,0.00,2.47,8.45,0.829,4,0.000,0.058,2977,3512,2024
$GC,15520,1.30,146.3,198.6,8.3,742,15524,0.00,2.38,0.00,0.000,6,0.000,0.050,2977,2195,2023
$GC,15847,1.38,166.0,174.6,7.1,758,15869,0.10,2.50,17.10,0.887,4,0.056,0.058,3008,3511,1943
$GC,15887,1.34,166.0,171.1,9.4,759,15893,0.00,2.38,0.00,0.000,6,0.000,0.049,3008,2206,1943
$GC,16204,1.34,166.0,142.1,9.5,775,16208,0.00,2.38,0.00,0.000,4,0.000,0.059,3008,3510,1943
$GC,16214,1.34,166.0,140.7,9.6,775,16221,0.00,2.33,0.00,0.000,6,0.000,0.049,3008,2213,1942
$GC,16530,1.34,166.0,110.2,9.8,791,16534,0.00,2.38,0.00,0.000,4,0.000,0.058,3007,3517,1943
$GC,16542,1.34,166.0,109.0,10.0,791,16548,0.00,2.33,0.00,0.000,6,0.000,0.049,3007,2213,1942
$GC,16858,1.34,166.0,80.6,8.7,807,16859,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2210,1942
$GC,17169,1.34,166.0,54.0,8.8,822,17173,0.00,2.38,0.00,0.000,4,0.000,0.058,3007,3511,1942
$GC,17210,1.34,166.0,50.2,9.4,824,17214,0.00,2.33,0.00,0.000,6,0.000,0.048,3008,2208,1943
$GC,17537,1.34,166.0,17.0,11.1,840,17541,0.00,2.38,0.00,0.000,4,0.000,0.057,3008,3511,1943
$GC,17558,1.34,166.0,14.5,11.7,841,17562,0.00,2.28,0.00,0.000,6,0.000,0.048,3008,2234,1943
$STATE,17712,end climb,SURFACE_DEPTH_REACHED
$STATE,17713,begin surface coast
$FINISH,0.3,1.026792
$STATE,17734,end surface coast,CONTROL_FINISHED_OK
$STATE,17734,begin surface
$SM_CCo,17758,226.85,0.774,0,0,390,547.02
$SM_GC,0.58,0.00,0.00,226.85,0.000,0.000,0.774,420,2113,390,-10.48,-0.82,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1697
$TCM_TEMP,17.80
$XPDR_PINGS,483
$ALTIM_TOP_PING,19.2,18.3
$ALTIM_BOTTOM_PING,650.2,54.0
$24V_AH,23.8,46.090
$10V_AH,10.1,22.419
$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,24.500,179.450,242.825,226.850,0.000,37.762,27.830,156.716,126.500,0.000,0.000,17.880,1612.486,13546.633,673.600,1946.981,562.302,33.359,1650.179,0.000,1899.340,0.000,41.532
$DEVICE_MAMPS,134.992,75.933,1308.502,773.903,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,583.019,631.632,520.005,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44292,850
$CAP_FILE_SIZE,138454,0
$CFSIZE,254472192,236060672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,300708,030237,6223.368,-1030.627,40,1.6,45,-10.4