version: 66.04
glider: 5
mission: 5
dive: 235
start: 12 25 108 13 57 44
data:
$ID,5
$MISSION,5
$DIVE,235
$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,-91912.336
$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,22
$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
$GPS1,134901,6035.777,-334.608,44,1.1,44,-6.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-61.5
$GPS2,135726,6035.992,-334.220,30,1.0,30,-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,295.0,126112,-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,-146.6,0.0,0.0,0,96,0.00,0.00,-76.97,0.000,6,0.000,0.000,419,1965,3428
$GC,100,-0.97,-146.6,5.4,-5.9,4,116,10.68,2.47,0.00,0.000,4,0.136,0.059,2481,601,3429
$GC,292,-0.77,-146.6,36.9,-11.2,11,299,0.25,2.50,0.00,0.000,6,0.084,0.051,2535,2007,3429
$GC,609,-0.69,-146.6,64.3,-9.5,27,614,0.00,2.58,0.00,0.000,4,0.000,0.065,2534,599,3430
$GC,643,-0.62,-146.6,67.6,-9.4,28,650,0.15,2.47,0.00,0.000,6,0.090,0.051,2567,1994,3430
$GC,961,-0.62,-146.6,90.2,-7.2,44,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1995,3430
$GC,1269,-0.62,-146.6,110.3,-6.4,59,1273,0.00,2.53,0.00,0.000,4,0.000,0.061,2567,3408,3429
$GC,1296,-0.62,-146.6,112.4,-6.5,60,1301,0.00,2.50,0.00,0.000,6,0.000,0.049,2566,2001,3429
$GC,1612,-0.62,-146.6,132.6,-6.3,75,1616,0.00,2.53,0.00,0.000,4,0.000,0.066,2567,596,3429
$GC,1668,-0.62,-146.6,136.3,-6.5,77,1674,0.00,2.50,0.00,0.000,6,0.000,0.051,2567,2008,3429
$GC,1983,-0.62,-146.6,156.2,-6.4,93,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2008,3430
$GC,2293,-0.62,-146.6,177.5,-6.9,108,2297,0.00,2.58,0.00,0.000,4,0.000,0.070,2567,597,3430
$GC,2326,-0.62,-146.6,179.8,-7.0,109,2332,0.00,2.47,0.00,0.000,6,0.000,0.052,2567,1990,3429
$GC,2644,-0.62,-146.6,200.3,-6.5,125,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1990,3430
$GC,2951,-0.62,-146.6,220.3,-6.9,140,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1990,3429
$GC,3260,-0.62,-146.6,244.3,-8.0,155,3265,0.00,2.55,0.00,0.000,4,0.000,0.070,2567,598,3430
$GC,3323,-0.62,-146.6,249.7,-8.8,158,3328,0.00,2.47,0.00,0.000,6,0.000,0.052,2567,1994,3429
$GC,3657,-0.62,-146.6,275.4,-7.3,174,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1994,3429
$GC,3965,-0.62,-146.6,295.5,-6.1,189,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1994,3429
$GC,4274,-0.62,-146.6,314.9,-6.6,204,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1994,3429
$GC,4583,-0.62,-146.6,336.4,-7.0,219,4587,0.00,2.58,0.00,0.000,4,0.000,0.072,2567,598,3429
$GC,4616,-0.62,-146.6,339.0,-7.6,220,4623,0.00,2.47,0.00,0.000,6,0.000,0.054,2567,1993,3429
$GC,4932,-0.62,-146.6,361.6,-7.5,236,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1993,3429
$GC,5242,-0.62,-146.6,383.3,-6.4,251,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1992,3428
$GC,5552,-0.62,-146.6,401.5,-5.5,266,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1993,3428
$GC,5860,-0.62,-146.6,420.4,-6.8,281,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1993,3428
$GC,6170,-0.67,-146.6,445.5,-8.0,296,6174,0.00,2.58,0.00,0.000,4,0.000,0.074,2567,598,3428
$GC,6234,-0.71,-146.6,450.6,-8.4,299,6238,0.00,2.45,0.00,0.000,6,0.000,0.055,2567,1973,3428
$GC,6561,-0.75,-146.6,471.1,-5.7,315,6566,0.15,2.58,0.00,0.000,4,0.055,0.073,2525,591,3428
$GC,6647,-0.66,-146.6,477.9,-7.9,319,6652,0.15,2.45,0.00,0.000,6,0.091,0.056,2556,1964,3428
$GC,6974,-0.66,-146.6,501.5,-7.5,335,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1974,3427
$GC,7283,-0.66,-146.6,522.5,-6.0,350,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1977,3427
$STATE,7363,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7363,begin apogee
$GC,7370,-0.33,0.0,528.2,6.8,354,7497,0.32,0.00,123.45,1.183,6,0.078,0.000,2626,2207,2832
$STATE,7497,end apogee,CONTROL_FINISHED_OK
$STATE,7497,begin climb
$GC,7500,0.97,146.6,533.2,0.0,360,7633,1.30,2.70,123.10,1.153,4,0.066,0.072,2908,3603,2234
$GC,7664,0.98,155.7,528.2,5.8,367,7679,0.00,2.60,9.45,0.983,6,0.000,0.063,2908,2201,2196
$GC,8001,1.05,199.1,509.6,4.8,384,8045,0.00,2.67,37.10,1.124,4,0.000,0.075,2908,785,2019
$GC,8129,1.05,199.1,501.5,6.9,389,8136,0.00,2.55,0.00,0.000,6,0.000,0.059,2908,2176,2019
$GC,8445,1.08,214.9,483.3,5.6,405,8468,0.10,2.65,14.57,1.071,4,0.062,0.075,2939,792,1955
$GC,8496,1.01,214.9,479.7,7.2,407,8501,0.00,2.53,0.00,0.000,6,0.000,0.060,2939,2171,1955
$GC,8818,1.01,214.9,459.6,6.1,423,8823,0.00,2.60,0.00,0.000,4,0.000,0.077,2939,783,1954
$GC,8908,0.96,215.7,454.0,6.0,427,8913,0.15,2.50,0.00,0.000,6,0.090,0.060,2908,2156,1954
$GC,9231,1.07,253.5,439.3,5.0,443,9274,0.10,2.65,32.90,1.132,4,0.064,0.074,2938,793,1798
$GC,9302,1.07,253.5,434.5,7.2,446,9306,0.00,2.50,0.00,0.000,6,0.000,0.060,2939,2154,1798
$GC,9623,1.07,253.5,411.5,7.5,462,9624,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2154,1798
$GC,9933,1.07,253.5,388.9,7.1,477,9937,0.00,2.55,0.00,0.000,4,0.000,0.073,2939,786,1799
$GC,9982,1.07,253.5,385.2,7.3,479,9986,0.00,2.47,0.00,0.000,6,0.000,0.058,2939,2149,1798
$GC,10298,1.07,253.5,364.2,6.7,494,10299,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2149,1798
$GC,10608,1.09,264.6,345.2,5.7,509,10624,0.00,2.58,11.10,0.995,4,0.000,0.070,2939,792,1752
$GC,10670,1.09,264.6,341.1,6.6,511,10674,0.00,2.45,0.00,0.000,6,0.000,0.055,2939,2146,1752
$GC,11003,1.09,264.6,318.5,7.5,527,11008,0.00,2.53,0.00,0.000,4,0.000,0.071,2939,783,1752
$GC,11036,1.09,264.6,315.6,7.8,528,11042,0.00,2.42,0.00,0.000,6,0.000,0.055,2939,2131,1752
$GC,11352,1.09,264.6,292.6,6.9,544,11353,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2132,1752
$GC,11662,1.09,265.9,274.0,6.0,559,11663,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2131,1753
$GC,11970,1.09,265.9,254.1,6.8,574,11974,0.00,2.47,0.00,0.000,4,0.000,0.070,2938,789,1753
$GC,12009,1.09,265.9,251.3,7.1,575,12016,0.00,2.40,0.00,0.000,6,0.000,0.054,2939,2131,1753
$GC,12325,1.09,265.9,228.8,7.1,591,12326,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2131,1753
$GC,12635,1.09,265.9,207.3,6.6,606,12640,0.00,2.47,0.00,0.000,4,0.000,0.069,2939,787,1753
$GC,12668,1.09,265.9,204.9,7.1,607,12675,0.00,2.40,0.00,0.000,6,0.000,0.053,2939,2129,1754
$GC,12984,1.09,265.9,183.7,6.9,623,12985,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2130,1754
$GC,13294,1.09,265.9,161.6,7.1,638,13298,0.00,2.47,0.00,0.000,4,0.000,0.069,2939,782,1754
$GC,13326,1.09,265.9,159.0,7.5,639,13331,0.00,2.40,0.00,0.000,6,0.000,0.054,2939,2125,1754
$GC,13643,1.09,265.9,136.7,6.7,654,13644,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2124,1754
$GC,13953,1.13,292.1,119.0,5.3,669,13983,0.00,2.55,23.45,0.883,4,0.000,0.068,2939,792,1641
$GC,14006,1.13,292.1,115.4,7.3,671,14010,0.00,2.40,0.00,0.000,6,0.000,0.053,2939,2121,1641
$GC,14324,1.18,292.1,95.8,6.1,686,14329,0.00,2.45,0.00,0.000,4,0.000,0.068,2939,791,1641
$GC,14358,1.18,292.1,93.3,7.0,687,14364,0.00,2.35,0.00,0.000,6,0.000,0.053,2939,2103,1641
$GC,14674,1.18,292.1,71.7,7.1,703,14675,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2104,1641
$GC,14985,1.23,292.1,51.1,6.7,718,14987,0.12,0.00,0.00,0.000,6,0.054,0.000,2977,2118,1641
$GC,15294,1.15,292.1,24.0,8.8,733,15298,0.15,2.42,0.00,0.000,4,0.080,0.065,2945,791,1641
$GC,15334,1.15,292.1,20.7,8.0,735,15338,0.00,2.33,0.00,0.000,6,0.000,0.052,2945,2093,1641
$STATE,15555,end climb,SURFACE_DEPTH_REACHED
$STATE,15555,begin surface coast
$FINISH,0.8,1.027416
$STATE,15598,end surface coast,CONTROL_FINISHED_OK
$STATE,15598,begin surface
$SM_CCo,15681,0.00,0.000,0,0,1639,292.64
$SM_GC,1.42,11.00,0.00,0.00,0.041,0.000,0.000,424,1983,1639,-10.38,-0.51,292.64
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1816
$TCM_TEMP,16.80
$XPDR_PINGS,407
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,450.3,87.5
$24V_AH,23.9,41.237
$10V_AH,10.1,20.166
$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,24.625,115.925,375.125,0.000,0.000,75.520,64.970,167.543,105.750,0.000,0.000,30.390,1360.277,12146.687,485.507,1614.017,580.933,0.000,1303.510,0.000,1564.769,0.000,27.975,0.000
$DEVICE_MAMPS,135.759,76.700,1182.714,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,547.847,503.135,520.303,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37952,748
$CAP_FILE_SIZE,112314,0
$CFSIZE,254472192,237985792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,0,0
$GPS,251208,182008,6040.320,-330.866,26,1.4,26,-6.1