version: 66.04
glider: 5
mission: 5
dive: 234
start: 12 25 108 9 56 46
data:
$ID,5
$MISSION,5
$DIVE,234
$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,-91881.32
$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,32
$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
$GPS1,095056,6031.169,-340.517,41,1.5,41,-6.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-56.7
$GPS2,095627,6031.261,-340.214,14,1.6,14,-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,299.6,124251,-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,-81.55,0.000,2,0.000,0.000,419,1977,3059
$GC,102,-0.97,-146.6,3.5,-3.5,4,129,10.55,2.50,-10.50,0.000,4,0.130,0.075,2481,602,3430
$GC,338,-0.78,-146.6,37.7,-13.7,14,345,0.22,2.50,0.00,0.000,6,0.089,0.050,2528,2010,3430
$GC,654,-0.69,-146.6,68.1,-9.6,30,659,0.00,2.58,0.00,0.000,4,0.000,0.066,2528,602,3430
$GC,677,-0.61,-146.6,70.7,-11.0,31,682,0.17,2.47,0.00,0.000,6,0.084,0.051,2566,1996,3430
$GC,999,-0.61,-146.6,93.3,-5.8,47,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1997,3430
$GC,1308,-0.61,-146.6,113.1,-6.7,62,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1997,3430
$GC,1618,-0.61,-146.6,134.7,-7.5,77,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1997,3430
$GC,1926,-0.61,-146.6,157.4,-7.9,92,1930,0.00,2.53,0.00,0.000,4,0.000,0.061,2566,3411,3429
$GC,1970,-0.61,-146.6,161.0,-8.0,94,1974,0.00,2.53,0.00,0.000,6,0.000,0.050,2566,1992,3430
$GC,2292,-0.61,-146.6,179.3,-5.5,110,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1991,3430
$GC,2600,-0.61,-146.6,195.4,-5.4,125,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1991,3430
$GC,2909,-0.61,-146.6,213.7,-6.1,140,2913,0.00,2.58,0.00,0.000,4,0.000,0.061,2566,3411,3430
$GC,2937,-0.61,-146.6,215.4,-6.9,141,2941,0.00,2.53,0.00,0.000,6,0.000,0.050,2566,1991,3430
$GC,3253,-0.61,-146.6,233.3,-5.2,156,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1991,3430
$GC,3562,-0.61,-146.6,253.4,-5.8,171,3567,0.00,2.58,0.00,0.000,4,0.000,0.061,2566,3411,3429
$GC,3597,-0.61,-146.6,255.2,-5.3,172,3603,0.00,2.53,0.00,0.000,6,0.000,0.051,2566,1989,3430
$GC,3914,-0.61,-146.6,276.9,-7.3,188,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1990,3430
$GC,4222,-0.61,-146.6,299.0,-7.9,203,4226,0.00,2.58,0.00,0.000,4,0.000,0.062,2566,3408,3430
$GC,4278,-0.67,-146.6,301.7,-4.7,205,4285,0.00,2.47,0.00,0.000,6,0.000,0.051,2566,2014,3430
$GC,4594,-0.67,-146.6,318.5,-6.2,221,4598,0.00,2.55,0.00,0.000,4,0.000,0.067,2566,594,3430
$GC,4634,-0.71,-146.6,320.9,-6.3,223,4638,0.00,2.53,0.00,0.000,6,0.000,0.051,2566,2019,3429
$GC,4961,-0.71,-146.6,341.5,-8.0,239,4962,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2020,3429
$GC,5269,-0.71,-146.6,368.8,-8.7,254,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2020,3429
$GC,5579,-0.71,-146.6,398.0,-11.1,269,5583,0.00,2.62,0.00,0.000,4,0.000,0.067,2566,589,3429
$GC,5634,-0.71,-146.6,402.7,-7.7,271,5640,0.00,2.53,0.00,0.000,6,0.000,0.053,2566,2012,3429
$GC,5950,-0.71,-146.6,421.7,-5.2,287,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2033,3429
$GC,6260,-0.71,-146.6,445.0,-7.5,302,6264,0.00,2.60,0.00,0.000,4,0.000,0.068,2566,592,3428
$GC,6366,-0.71,-146.6,452.8,-7.1,307,6371,0.00,2.53,0.00,0.000,6,0.000,0.053,2566,2016,3429
$STATE,6608,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6608,begin apogee
$GC,6616,-0.33,0.0,470.4,6.5,319,6742,0.28,0.00,122.97,1.113,6,0.073,0.000,2626,2211,2832
$STATE,6742,end apogee,CONTROL_FINISHED_OK
$STATE,6743,begin climb
$GC,6746,0.97,146.6,476.6,0.0,325,6876,1.27,2.60,122.25,1.086,4,0.061,0.065,2906,3605,2233
$GC,6935,0.97,146.6,470.1,8.7,334,6939,0.00,2.55,0.00,0.000,6,0.000,0.055,2907,2202,2233
$GC,7262,1.13,251.7,459.8,3.1,350,7356,0.17,2.62,86.97,1.072,4,0.050,0.067,2962,790,1804
$GC,7486,1.07,251.7,438.0,8.3,360,7491,0.15,2.55,0.00,0.000,6,0.080,0.051,2931,2211,1805
$GC,7801,1.07,251.7,416.4,6.4,375,7806,0.00,2.60,0.00,0.000,4,0.000,0.067,2931,790,1806
$GC,7879,1.07,251.7,411.1,7.2,378,7885,0.00,2.53,0.00,0.000,6,0.000,0.053,2931,2194,1806
$GC,8195,1.07,251.7,391.3,6.5,394,8200,0.00,2.60,0.00,0.000,4,0.000,0.068,2931,785,1806
$GC,8268,1.07,251.7,386.6,6.9,397,8272,0.00,2.50,0.00,0.000,6,0.000,0.053,2931,2177,1806
$GC,8584,1.07,251.7,366.6,6.8,412,8588,0.00,2.55,0.00,0.000,4,0.000,0.067,2931,792,1805
$GC,8629,1.07,251.7,363.3,7.7,414,8633,0.00,2.47,0.00,0.000,6,0.000,0.053,2931,2176,1805
$GC,8961,1.07,251.7,338.7,8.3,430,8965,0.00,2.55,0.00,0.000,4,0.000,0.067,2931,790,1805
$GC,8982,1.07,251.7,337.0,7.4,431,8987,0.00,2.47,0.00,0.000,6,0.000,0.053,2931,2172,1805
$GC,9304,1.07,251.7,317.4,6.5,447,9309,0.00,2.55,0.00,0.000,4,0.000,0.067,2931,784,1805
$GC,9332,1.07,251.7,315.2,8.2,448,9336,0.00,2.45,0.00,0.000,6,0.000,0.053,2931,2156,1805
$GC,9648,1.07,251.7,293.4,6.6,463,9649,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2156,1805
$GC,9957,1.07,251.7,274.2,6.7,478,9961,0.00,2.50,0.00,0.000,4,0.000,0.067,2931,790,1805
$GC,10003,1.07,251.7,270.7,7.7,480,10007,0.00,2.42,0.00,0.000,6,0.000,0.053,2931,2150,1805
$GC,10335,1.07,251.7,247.1,6.6,496,10340,0.00,2.50,0.00,0.000,4,0.000,0.067,2931,788,1805
$GC,10369,1.07,251.7,244.8,6.8,497,10375,0.00,2.42,0.00,0.000,6,0.000,0.052,2931,2149,1805
$GC,10685,1.07,251.7,224.4,6.6,513,10689,0.00,2.50,0.00,0.000,4,0.000,0.067,2931,788,1805
$GC,10712,1.07,251.7,222.2,7.7,514,10716,0.00,2.40,0.00,0.000,6,0.000,0.051,2931,2137,1805
$GC,11033,1.07,251.7,199.1,7.3,530,11034,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2137,1805
$GC,11342,1.07,251.7,176.8,7.3,545,11346,0.00,2.45,0.00,0.000,4,0.000,0.064,2931,792,1805
$GC,11381,1.07,251.7,173.7,8.0,547,11385,0.00,2.38,0.00,0.000,6,0.000,0.051,2931,2129,1805
$GC,11709,1.11,251.7,149.5,7.8,563,11713,0.00,2.45,0.00,0.000,4,0.000,0.066,2931,786,1805
$GC,11742,1.11,251.7,146.6,8.4,564,11748,0.00,2.38,0.00,0.000,6,0.000,0.051,2931,2122,1805
$GC,12058,1.11,251.7,123.1,7.3,580,12059,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2121,1805
$GC,12369,1.11,251.7,102.6,6.3,595,12370,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2122,1805
$GC,12677,1.16,251.7,79.2,8.5,610,12681,0.00,2.45,0.00,0.000,4,0.000,0.067,2931,782,1805
$GC,12704,1.16,251.7,76.4,9.2,611,12708,0.00,2.38,0.00,0.000,6,0.000,0.051,2931,2117,1805
$GC,13021,1.16,251.7,54.0,6.6,626,13022,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2117,1805
$GC,13330,1.21,251.7,34.0,6.1,641,13335,0.15,2.45,0.00,0.000,4,0.049,0.065,2977,788,1805
$GC,13352,1.16,251.7,32.1,7.6,642,13357,0.12,2.38,0.00,0.000,6,0.085,0.051,2949,2126,1805
$GC,13674,1.16,251.7,8.4,6.7,658,13678,0.00,2.45,0.00,0.000,4,0.000,0.066,2949,785,1806
$GC,13718,1.16,251.7,4.6,10.0,660,13722,0.00,2.35,0.00,0.000,6,0.000,0.051,2949,2108,1806
$STATE,13727,end climb,SURFACE_DEPTH_REACHED
$STATE,13727,begin surface coast
$FINISH,0.8,1.027344
$STATE,13772,end surface coast,CONTROL_FINISHED_OK
$STATE,13772,begin surface
$SM_CCo,13855,0.00,0.000,0,0,1804,251.92
$SM_GC,1.52,10.98,0.00,0.00,0.038,0.000,0.000,419,1981,1804,-10.40,-0.54,251.92
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1800
$TCM_TEMP,17.30
$XPDR_PINGS,519
$ALTIM_TOP_PING,18.7,17.8
$ALTIM_BOTTOM_PING,426.6,53.1
$24V_AH,23.9,41.089
$10V_AH,10.1,20.091
$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,24.075,120.725,332.200,0.000,0.000,37.761,31.272,149.337,133.500,0.000,0.000,14.649,1230.260,10559.098,450.101,1479.567,471.057,0.000,1209.399,0.000,1449.873,0.000,26.261,0.000
$DEVICE_MAMPS,130.390,75.166,1112.917,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,486.825,446.538,485.974,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34848,663
$CAP_FILE_SIZE,103227,0
$CFSIZE,254472192,238051328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,0,0
$GPS,251208,134901,6035.777,-334.608,44,1.1,44,-6.1