version: 66.04
glider: 5
mission: 5
dive: 231
start: 12 24 108 23 34 9
data:
$ID,5
$MISSION,5
$DIVE,231
$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,550
$T_MISSION,580
$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,2
$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,-91838.945
$T_RSLEEP,27
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,33
$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
$GPS1,232907,6023.572,-350.830,36,1.6,42,-6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-59.4
$GPS2,233350,6023.602,-350.724,13,1.5,18,-6.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_NW
$TGT_LATLONG,6058.000,-547.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.132,-0.177
$KALMAN_X,220775.9,-921.1,-1644.0,-80717.6,25183.1
$KALMAN_Y,135954.9,-405.3,-1430.2,-453990.2,21805.5
$MHEAD_RNG_PITCHd_Wd,307.6,122396,-11.0,-6.000
$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,-0.97,-146.6,0.0,0.0,0,79,0.00,0.00,-61.55,0.000,2,0.000,0.000,424,1970,3078
$GC,82,-0.97,-146.6,3.5,-4.6,3,108,10.57,2.50,-9.73,0.000,4,0.130,0.076,2482,601,3430
$GC,271,-0.77,-146.6,28.2,-11.0,11,276,0.22,2.50,0.00,0.000,6,0.087,0.049,2531,2005,3431
$GC,588,-0.68,-146.6,60.7,-7.7,26,593,0.10,2.58,0.00,0.000,4,0.095,0.063,2552,599,3431
$GC,643,-0.68,-146.6,65.5,-8.1,28,650,0.00,2.47,0.00,0.000,6,0.000,0.050,2552,1998,3431
$GC,960,-0.68,-146.6,91.1,-8.4,44,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1998,3431
$GC,1268,-0.68,-146.6,116.4,-8.4,59,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1998,3431
$GC,1579,-0.68,-146.6,144.5,-9.4,74,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1998,3431
$GC,1887,-0.68,-146.6,169.8,-7.4,89,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1999,3431
$GC,2196,-0.68,-146.6,192.3,-7.5,104,2200,0.00,2.55,0.00,0.000,4,0.000,0.064,2552,592,3431
$GC,2223,-0.68,-146.6,194.4,-7.3,105,2227,0.00,2.47,0.00,0.000,6,0.000,0.051,2552,1991,3431
$GC,2539,-0.68,-146.6,219.0,-6.5,120,2543,0.00,2.53,0.00,0.000,4,0.000,0.062,2552,3405,3431
$GC,2572,-0.68,-146.6,220.9,-5.6,121,2578,0.00,2.50,0.00,0.000,6,0.000,0.051,2552,1994,3431
$GC,2888,-0.68,-146.6,238.6,-5.7,137,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1994,3431
$GC,3198,-0.68,-146.6,251.7,-3.0,152,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1994,3431
$GC,3506,-0.68,-146.6,271.7,-6.3,167,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1994,3431
$GC,3815,-0.68,-146.6,296.7,-7.5,182,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1994,3431
$GC,4125,-0.68,-146.6,322.2,-9.5,197,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1994,3430
$GC,4434,-0.68,-146.6,343.2,-6.6,212,4438,0.00,2.58,0.00,0.000,4,0.000,0.061,2552,3405,3431
$GC,4461,-0.68,-146.6,345.2,-7.4,213,4465,0.00,2.50,0.00,0.000,6,0.000,0.050,2552,1990,3431
$GC,4777,-0.68,-146.6,366.0,-6.5,228,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1978,3431
$GC,5085,-0.68,-146.6,383.4,-7.3,243,5090,0.00,2.47,0.00,0.000,4,0.000,0.064,2552,598,3431
$GC,5175,-0.68,-146.6,390.7,-8.8,247,5179,0.00,2.47,0.00,0.000,6,0.000,0.050,2552,2005,3431
$GC,5497,-0.99,-146.6,396.8,-0.1,263,5502,0.28,2.50,0.00,0.000,4,0.051,0.061,2477,3408,3431
$GC,5544,-1.20,-146.6,396.7,-0.3,265,5549,0.17,2.50,0.00,0.000,6,0.052,0.055,2427,2006,3431
$STATE,5635,end dive,NO_VERTICAL_VELOCITY
$STATE,5635,begin apogee
$GC,5643,-0.33,0.0,396.7,0.0,270,5768,0.90,0.00,122.25,1.050,6,0.057,0.000,2631,2210,2832
$STATE,5769,end apogee,CONTROL_FINISHED_OK
$STATE,5769,begin climb
$GC,5772,0.97,146.6,396.5,0.0,276,5901,1.25,2.62,120.85,1.020,4,0.051,0.059,2912,792,2233
$GC,6006,1.01,175.6,386.9,5.2,287,6036,0.00,2.50,24.75,0.966,6,0.000,0.050,2913,2190,2116
$GC,6352,1.01,175.6,366.7,6.6,304,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2190,2116
$GC,6662,1.08,215.4,350.7,4.9,319,6705,0.10,2.62,33.83,0.988,4,0.057,0.061,2946,797,1954
$GC,6762,1.01,216.5,344.9,6.0,323,6767,0.15,2.50,0.00,0.000,6,0.082,0.051,2916,2191,1953
$GC,7079,1.19,293.4,328.1,3.9,338,7151,0.17,2.65,64.40,0.989,4,0.048,0.062,2972,791,1635
$GC,7188,1.13,293.4,320.4,9.7,343,7193,0.12,2.50,0.00,0.000,6,0.081,0.051,2945,2184,1636
$GC,7516,1.13,293.4,295.6,9.2,359,7520,0.00,2.55,0.00,0.000,4,0.000,0.063,2945,789,1637
$GC,7555,1.13,293.4,291.6,10.5,361,7560,0.00,2.47,0.00,0.000,6,0.000,0.051,2945,2176,1637
$GC,7882,1.13,293.4,261.4,9.1,377,7887,0.00,2.53,0.00,0.000,4,0.000,0.063,2944,791,1638
$GC,7916,1.13,293.4,258.1,9.6,378,7922,0.00,2.45,0.00,0.000,6,0.000,0.051,2945,2164,1638
$GC,8232,1.13,293.4,230.8,7.7,394,8236,0.00,2.50,0.00,0.000,4,0.000,0.065,2944,795,1638
$GC,8278,1.13,293.4,226.3,9.9,396,8282,0.00,2.42,0.00,0.000,6,0.000,0.051,2945,2156,1638
$GC,8605,1.13,293.4,200.6,6.9,412,8609,0.00,2.50,0.00,0.000,4,0.000,0.064,2945,788,1638
$GC,8638,1.13,293.4,198.3,7.0,413,8644,0.00,2.40,0.00,0.000,6,0.000,0.050,2945,2140,1638
$GC,8953,1.13,293.4,180.4,6.0,429,8955,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2140,1638
$GC,9262,1.13,293.4,157.2,8.2,444,9266,0.00,2.45,0.00,0.000,4,0.000,0.065,2944,789,1638
$GC,9313,1.13,293.4,153.2,7.7,446,9317,0.00,2.40,0.00,0.000,6,0.000,0.051,2945,2140,1638
$GC,9634,1.13,293.4,128.7,7.7,462,9635,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2140,1638
$GC,9943,1.13,293.4,103.4,8.1,477,9948,0.00,2.45,0.00,0.000,4,0.000,0.064,2945,794,1638
$GC,9984,1.13,293.4,100.0,8.6,479,9988,0.00,2.38,0.00,0.000,6,0.000,0.051,2945,2137,1638
$GC,10317,1.13,293.4,73.3,7.4,495,10322,0.00,2.45,0.00,0.000,4,0.000,0.064,2945,790,1638
$GC,10351,1.13,293.4,70.3,8.9,496,10357,0.00,2.38,0.00,0.000,6,0.000,0.051,2944,2128,1638
$GC,10669,1.13,293.4,45.1,7.1,512,10670,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2129,1638
$GC,10977,1.17,293.4,19.9,8.4,527,10981,0.00,2.45,0.00,0.000,4,0.000,0.067,2945,789,1638
$GC,11010,1.22,293.4,17.3,6.8,528,11017,0.00,2.35,0.00,0.000,6,0.000,0.051,2945,2114,1638
$STATE,11179,end climb,SURFACE_DEPTH_REACHED
$STATE,11179,begin surface coast
$FINISH,0.7,1.011756
$STATE,11222,end surface coast,CONTROL_FINISHED_OK
$STATE,11222,begin surface
$SM_CCo,11305,0.00,0.000,0,0,1638,292.89
$SM_GC,1.44,10.90,0.00,0.00,0.036,0.000,0.000,419,2052,1638,-10.40,1.47,292.89
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1813
$TCM_TEMP,17.40
$XPDR_PINGS,396
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,24.0,40.659
$10V_AH,10.1,19.901
$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,24.950,90.075,366.075,0.000,0.000,37.760,28.804,106.775,102.000,0.000,0.000,18.047,1001.410,8568.035,437.710,1202.041,384.421,0.000,1070.457,0.000,1175.388,0.000,20.133,0.000
$DEVICE_MAMPS,130.390,82.069,1050.023,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.975,362.317,413.722,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25384,539
$CAP_FILE_SIZE,84080,0
$CFSIZE,254472192,238211072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
$GPS,251208,024338,6024.999,-350.613,28,1.4,28,-6.2