version: 66.04
glider: 5
mission: 5
dive: 233
start: 12 25 108 6 29 33
data:
$ID,5
$MISSION,5
$DIVE,233
$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,-91866.047
$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,28
$R_STBD_OVSHOOT,23
$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
$GPS1,062408,6027.627,-346.699,30,1.3,30,-6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-54.6
$GPS2,062914,6027.694,-346.439,12,1.4,12,-6.1
$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,303.5,122034,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.53,0.000,2,0.000,0.000,419,1986,3089
$GC,102,-0.97,-146.6,3.2,-3.3,4,129,10.60,2.53,-10.02,0.000,4,0.130,0.075,2482,598,3431
$GC,287,-0.76,-146.6,26.3,-9.8,12,292,0.25,2.50,0.00,0.000,6,0.089,0.050,2535,2007,3431
$GC,604,-0.67,-146.6,56.8,-7.6,27,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2008,3432
$GC,913,-0.60,-146.6,81.7,-8.4,42,914,0.15,0.00,0.00,0.000,6,0.084,0.000,2568,2008,3431
$GC,1222,-0.60,-146.6,103.6,-6.6,57,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2008,3431
$GC,1531,-0.60,-146.6,124.9,-7.4,72,1539,0.00,2.58,0.00,0.000,4,0.000,0.067,2568,597,3431
$GC,1602,-0.60,-146.6,130.8,-8.3,75,1607,0.00,2.50,0.00,0.000,6,0.000,0.051,2568,2010,3431
$GC,1930,-0.60,-146.6,154.6,-7.1,91,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2011,3431
$GC,2239,-0.60,-146.6,174.8,-6.7,106,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2011,3431
$GC,2549,-0.60,-146.6,195.0,-6.5,121,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2013,3431
$GC,2858,-0.60,-146.6,213.8,-5.6,136,2862,0.00,2.58,0.00,0.000,4,0.000,0.067,2568,598,3432
$GC,2893,-0.60,-146.6,215.7,-5.6,137,2899,0.00,2.50,0.00,0.000,6,0.000,0.051,2568,2011,3431
$GC,3209,-0.60,-146.6,234.0,-6.0,153,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2011,3431
$GC,3517,-0.60,-146.6,253.2,-6.4,168,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2011,3431
$GC,3827,-0.60,-146.6,272.0,-6.0,183,3831,0.00,2.58,0.00,0.000,4,0.000,0.067,2568,598,3431
$GC,3871,-0.60,-146.6,274.9,-6.7,185,3876,0.00,2.47,0.00,0.000,6,0.000,0.051,2568,1999,3431
$GC,4199,-0.60,-146.6,290.3,-3.7,201,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1999,3431
$GC,4508,-0.60,-146.6,306.0,-5.2,216,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1999,3431
$GC,4818,-0.60,-146.6,324.6,-5.6,231,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1999,3431
$GC,5127,-0.60,-146.6,339.2,-4.1,246,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1999,3431
$GC,5436,-0.60,-146.6,360.2,-8.1,261,5440,0.00,2.55,0.00,0.000,4,0.000,0.067,2568,598,3431
$GC,5486,-0.60,-146.6,364.5,-8.4,263,5490,0.00,2.45,0.00,0.000,6,0.000,0.051,2568,1984,3431
$GC,5802,-0.66,-146.6,380.3,-4.3,278,5806,0.00,2.55,0.00,0.000,4,0.000,0.065,2568,3404,3431
$GC,5835,-0.71,-146.6,382.5,-6.2,279,5842,0.12,2.55,0.00,0.000,6,0.057,0.054,2532,1975,3430
$GC,6152,-0.65,-146.6,415.9,-11.0,295,6154,0.12,0.00,0.00,0.000,6,0.090,0.000,2558,1974,3430
$GC,6460,-0.65,-146.6,436.0,-8.2,310,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1954,3430
$STATE,6499,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6499,begin apogee
$GC,6507,-0.33,0.0,438.7,8.3,312,6633,0.32,0.00,123.15,1.090,6,0.071,0.000,2629,2207,2832
$STATE,6634,end apogee,CONTROL_FINISHED_OK
$STATE,6634,begin climb
$GC,6637,0.97,146.6,445.3,0.0,318,6768,1.27,2.72,121.62,1.058,4,0.058,0.061,2911,790,2234
$GC,6910,0.95,173.1,436.0,5.3,330,6938,0.00,2.53,23.10,0.997,6,0.000,0.051,2911,2202,2126
$GC,7247,0.95,173.1,415.0,8.4,347,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2202,2126
$GC,7557,1.25,358.0,401.6,0.9,362,7717,0.22,2.70,151.07,1.037,4,0.045,0.067,2978,790,1372
$GC,7791,1.18,358.0,383.7,11.5,373,7796,0.00,2.53,0.00,0.000,6,0.000,0.052,2978,2192,1372
$GC,8119,1.13,358.0,350.0,9.8,389,8124,0.17,2.60,0.00,0.000,4,0.077,0.066,2938,794,1374
$GC,8169,1.21,358.0,345.4,8.3,391,8174,0.12,2.50,0.00,0.000,6,0.051,0.051,2975,2188,1374
$GC,8486,1.21,358.0,318.5,8.7,406,8490,0.00,2.58,0.00,0.000,4,0.000,0.067,2976,789,1375
$GC,8530,1.21,358.0,314.5,8.6,408,8534,0.00,2.47,0.00,0.000,6,0.000,0.052,2975,2172,1374
$GC,8857,1.21,358.0,286.2,8.8,424,8861,0.00,2.53,0.00,0.000,4,0.000,0.067,2976,796,1375
$GC,8900,1.21,358.0,282.0,9.2,426,8905,0.00,2.42,0.00,0.000,6,0.000,0.051,2976,2153,1375
$GC,9222,1.21,358.0,253.2,9.0,442,9227,0.00,2.50,0.00,0.000,4,0.000,0.067,2976,793,1375
$GC,9262,1.21,358.0,249.3,10.1,444,9267,0.00,2.40,0.00,0.000,6,0.000,0.051,2976,2139,1375
$GC,9590,1.21,358.0,219.5,9.1,460,9594,0.00,2.47,0.00,0.000,4,0.000,0.067,2976,791,1375
$GC,9617,1.21,358.0,216.7,9.7,461,9621,0.00,2.40,0.00,0.000,6,0.000,0.051,2976,2138,1375
$GC,9933,1.21,358.0,187.9,8.8,476,9937,0.00,2.45,0.00,0.000,4,0.000,0.066,2975,793,1375
$GC,9960,1.21,358.0,185.3,9.1,477,9965,0.00,2.38,0.00,0.000,6,0.000,0.051,2976,2128,1374
$GC,10282,1.21,358.0,157.1,9.1,493,10287,0.00,2.45,0.00,0.000,4,0.000,0.067,2976,792,1375
$GC,10311,1.21,358.0,154.4,10.0,494,10316,0.00,2.35,0.00,0.000,6,0.000,0.051,2976,2114,1374
$GC,10628,1.21,358.0,123.8,10.7,509,10629,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2114,1375
$GC,10937,1.21,358.0,93.4,9.2,524,10938,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2115,1375
$GC,11246,1.21,358.0,63.8,9.6,539,11250,0.00,2.42,0.00,0.000,4,0.000,0.067,2976,790,1375
$GC,11279,1.21,358.0,60.1,10.9,540,11285,0.00,2.35,0.00,0.000,6,0.000,0.050,2976,2114,1375
$GC,11597,1.21,358.0,30.4,9.1,556,11598,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2115,1375
$STATE,11881,end climb,SURFACE_DEPTH_REACHED
$STATE,11881,begin surface coast
$FINISH,0.7,1.011769
$STATE,11923,end surface coast,CONTROL_FINISHED_OK
$STATE,11923,begin surface
$SM_CCo,12006,0.00,0.000,0,0,1374,357.40
$SM_GC,1.30,11.02,0.00,0.00,0.035,0.000,0.000,419,1987,1374,-10.40,-0.37,357.40
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1798
$TCM_TEMP,17.30
$XPDR_PINGS,426
$ALTIM_TOP_PING,18.2,999.0
$ALTIM_BOTTOM_PING,425.6,22.1
$24V_AH,24.0,40.959
$10V_AH,10.1,20.024
$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,24.400,80.750,418.950,0.000,0.000,37.763,28.121,124.980,110.250,0.000,0.000,12.966,1049.180,9114.800,489.742,1250.979,410.357,0.000,1145.747,0.000,1226.831,0.000,26.232,0.000
$DEVICE_MAMPS,130.390,75.166,1089.907,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.819,383.753,420.593,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28560,572
$CAP_FILE_SIZE,85521,0
$CFSIZE,254472192,238120960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,251208,095056,6031.169,-340.517,41,1.5,41,-6.1