version: 66.04
glider: 5
mission: 5
dive: 236
start: 12 25 108 18 25 58
data:
$ID,5
$MISSION,5
$DIVE,236
$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,-91925.5
$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,27
$R_STBD_OVSHOOT,21
$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
$GPS1,182008,6040.320,-330.866,26,1.4,26,-6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-62.6
$GPS2,182539,6040.457,-330.570,12,1.7,12,-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,290.9,126856,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.97,-146.6,0.0,0.0,0,101,0.00,0.00,-81.47,0.000,2,0.000,0.000,423,1967,3340
$GC,104,-0.97,-146.6,4.2,-4.3,4,127,10.65,2.55,-2.15,0.000,4,0.133,0.074,2481,597,3431
$GC,285,-0.68,-146.6,32.0,-8.7,12,291,0.32,2.53,0.00,0.000,6,0.083,0.052,2551,2013,3432
$GC,614,-0.64,-146.6,52.1,-5.5,28,618,0.00,2.60,0.00,0.000,4,0.000,0.067,2551,594,3432
$GC,677,-0.64,-146.6,54.6,-3.2,31,681,0.00,2.45,0.00,0.000,6,0.000,0.051,2551,1971,3432
$GC,1004,-0.60,-146.6,79.6,-9.0,47,1008,0.00,2.55,0.00,0.000,4,0.000,0.067,2551,594,3432
$GC,1066,-0.60,-146.6,85.8,-9.7,50,1071,0.00,2.45,0.00,0.000,6,0.000,0.052,2551,1970,3432
$GC,1395,-0.60,-146.6,111.8,-7.9,66,1400,0.00,2.58,0.00,0.000,4,0.000,0.063,2551,3407,3432
$GC,1451,-0.60,-146.6,115.6,-5.9,68,1458,0.00,2.55,0.00,0.000,6,0.000,0.051,2551,1975,3432
$GC,1768,-0.60,-146.6,134.5,-6.4,84,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1973,3432
$GC,2076,-0.60,-146.6,156.4,-7.0,99,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1974,3432
$GC,2386,-0.60,-146.6,181.2,-8.3,114,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1974,3432
$GC,2695,-0.60,-146.6,206.1,-7.9,129,2700,0.00,2.60,0.00,0.000,4,0.000,0.062,2551,3407,3432
$GC,2745,-0.60,-146.6,210.5,-9.1,131,2750,0.00,2.55,0.00,0.000,6,0.000,0.051,2551,1971,3432
$GC,3062,-0.60,-146.6,236.5,-8.3,146,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1971,3432
$GC,3371,-0.60,-146.6,259.5,-7.5,161,3376,0.00,2.62,0.00,0.000,4,0.000,0.063,2551,3413,3432
$GC,3405,-0.60,-146.6,262.1,-7.4,162,3411,0.00,2.55,0.00,0.000,6,0.000,0.052,2550,1979,3432
$GC,3720,-0.60,-146.6,286.4,-7.8,178,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1979,3432
$GC,4030,-0.60,-146.6,308.7,-7.3,193,4034,0.00,2.60,0.00,0.000,4,0.000,0.064,2551,3408,3431
$GC,4063,-0.60,-146.6,311.3,-7.7,194,4069,0.00,2.55,0.00,0.000,6,0.000,0.053,2551,1978,3432
$GC,4379,-0.60,-146.6,333.8,-7.0,210,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1978,3432
$GC,4688,-0.60,-146.6,354.6,-6.8,225,4693,0.00,2.60,0.00,0.000,4,0.000,0.064,2551,3406,3432
$GC,4761,-0.60,-146.6,360.2,-7.3,228,4765,0.00,2.53,0.00,0.000,6,0.000,0.053,2550,1988,3432
$GC,5076,-0.60,-146.6,383.1,-6.9,243,5081,0.00,2.50,0.00,0.000,4,0.000,0.068,2551,595,3432
$GC,5104,-0.60,-146.6,385.2,-7.4,244,5108,0.00,2.47,0.00,0.000,6,0.000,0.053,2551,1991,3432
$GC,5420,-0.60,-146.6,407.4,-7.2,259,5425,0.00,2.58,0.00,0.000,4,0.000,0.071,2551,588,3432
$GC,5493,-0.60,-146.6,413.3,-8.2,262,5497,0.00,2.47,0.00,0.000,6,0.000,0.054,2550,1982,3432
$GC,5809,-0.60,-146.6,436.4,-7.3,277,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1982,3432
$GC,6118,-0.60,-146.6,457.7,-6.6,292,6122,0.00,2.58,0.00,0.000,4,0.000,0.070,2551,3404,3431
$GC,6162,-0.60,-146.6,460.7,-6.6,294,6166,0.00,2.62,0.00,0.000,6,0.000,0.060,2551,1949,3431
$GC,6483,-0.60,-146.6,482.3,-7.0,310,6487,0.00,2.47,0.00,0.000,4,0.000,0.076,2551,588,3431
$GC,6528,-0.60,-146.6,485.5,-7.5,312,6532,0.00,2.45,0.00,0.000,6,0.000,0.059,2551,1957,3430
$GC,6854,-0.60,-146.6,508.1,-6.8,328,6859,0.00,2.62,0.00,0.000,4,0.000,0.073,2551,3402,3431
$GC,6905,-0.60,-146.6,511.5,-6.6,330,6910,0.00,2.62,0.00,0.000,6,0.000,0.064,2551,1959,3431
$GC,7221,-0.60,-146.6,531.0,-5.9,345,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1959,3430
$GC,7530,-0.60,-146.6,550.7,-6.6,360,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1959,3429
$STATE,7816,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7816,begin apogee
$GC,7824,-0.33,0.0,570.6,6.6,374,7951,0.35,0.00,124.88,1.245,6,0.080,0.000,2625,2199,2832
$STATE,7952,end apogee,CONTROL_FINISHED_OK
$STATE,7952,begin climb
$GC,7955,0.97,146.6,575.6,0.0,380,8087,1.30,2.75,124.38,1.209,4,0.068,0.079,2906,778,2234
$GC,8131,0.92,146.6,569.1,6.1,389,8135,0.00,2.62,0.00,0.000,6,0.000,0.064,2906,2192,2234
$GC,8457,0.96,167.8,552.5,5.4,405,8478,0.00,0.00,19.02,1.146,6,0.000,0.000,2906,2191,2148
$GC,8787,0.97,173.7,533.5,5.8,421,8800,0.00,2.75,6.50,0.979,4,0.000,0.080,2906,786,2124
$GC,8854,0.97,173.7,529.1,6.3,424,8858,0.00,2.60,0.00,0.000,6,0.000,0.065,2906,2192,2123
$GC,9180,1.03,211.4,511.7,5.0,440,9219,0.00,0.00,33.08,1.198,6,0.000,0.000,2906,2192,1970
$GC,9530,1.11,237.3,492.5,5.3,457,9560,0.15,2.75,23.20,1.174,4,0.059,0.081,2946,794,1863
$GC,9619,1.04,237.3,485.9,8.0,461,9623,0.00,2.58,0.00,0.000,6,0.000,0.067,2946,2184,1863
$GC,9946,1.04,237.3,461.7,7.2,477,9947,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2185,1863
$GC,10255,1.00,237.3,440.4,7.2,492,10260,0.15,2.65,0.00,0.000,4,0.094,0.079,2916,791,1863
$GC,10310,1.00,237.3,436.6,7.0,494,10317,0.00,2.55,0.00,0.000,6,0.000,0.064,2916,2178,1863
$GC,10627,1.00,237.3,416.2,6.5,510,10631,0.00,2.60,0.00,0.000,4,0.000,0.078,2916,794,1863
$GC,10659,1.00,237.3,413.7,7.3,511,10666,0.00,2.53,0.00,0.000,6,0.000,0.063,2916,2176,1863
$GC,10975,1.04,237.3,391.4,6.9,527,10980,0.00,2.60,0.00,0.000,4,0.000,0.077,2916,786,1863
$GC,11009,1.04,237.3,388.9,7.0,528,11015,0.00,2.53,0.00,0.000,6,0.000,0.062,2916,2170,1863
$GC,11326,1.12,255.8,370.4,5.5,544,11348,0.12,2.65,16.70,1.095,4,0.061,0.074,2951,794,1789
$GC,11395,1.06,255.8,365.2,8.0,547,11399,0.00,2.47,0.00,0.000,6,0.000,0.060,2950,2149,1789
$GC,11728,1.06,255.8,338.7,7.4,563,11732,0.00,2.55,0.00,0.000,4,0.000,0.074,2950,790,1789
$GC,11755,1.00,255.8,336.7,6.7,564,11760,0.17,2.45,0.00,0.000,6,0.087,0.059,2915,2141,1789
$GC,12072,1.09,264.8,318.3,5.8,579,12084,0.10,0.00,9.35,0.981,6,0.064,0.000,2944,2141,1752
$GC,12380,1.09,264.8,294.2,8.1,594,12384,0.00,2.50,0.00,0.000,4,0.000,0.071,2944,793,1752
$GC,12413,1.09,264.8,291.3,8.3,595,12417,0.00,2.42,0.00,0.000,6,0.000,0.057,2944,2137,1752
$GC,12729,1.09,264.8,266.0,7.9,610,12730,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2138,1753
$GC,13037,1.09,264.8,243.5,7.1,625,13041,0.00,2.50,0.00,0.000,4,0.000,0.071,2944,787,1753
$GC,13078,1.09,264.8,240.5,7.4,626,13084,0.00,2.42,0.00,0.000,6,0.000,0.055,2944,2137,1753
$GC,13394,1.09,264.8,217.6,7.5,642,13395,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2137,1753
$GC,13703,1.09,264.8,196.4,6.6,657,13707,0.00,2.47,0.00,0.000,4,0.000,0.069,2944,791,1755
$GC,13730,1.09,264.8,194.4,7.3,658,13734,0.00,2.40,0.00,0.000,6,0.000,0.054,2945,2131,1754
$GC,14046,1.09,264.8,171.9,7.0,673,14047,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2131,1754
$GC,14354,1.09,264.8,149.5,7.3,688,14356,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2131,1754
$GC,14666,1.09,264.8,127.8,6.2,703,14667,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2131,1755
$GC,14973,1.09,264.8,105.0,8.3,718,14978,0.00,2.47,0.00,0.000,4,0.000,0.069,2944,787,1755
$GC,15007,1.09,264.8,101.9,9.1,719,15014,0.00,2.40,0.00,0.000,6,0.000,0.053,2945,2132,1756
$GC,15325,1.09,264.8,78.9,6.8,735,15326,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2132,1755
$GC,15632,1.09,264.8,58.3,6.9,750,15634,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2132,1756
$GC,15942,1.09,264.8,36.4,7.0,765,15944,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2132,1756
$GC,16251,1.09,264.8,15.7,6.8,780,16252,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2132,1757
$STATE,16435,end climb,SURFACE_DEPTH_REACHED
$STATE,16435,begin surface coast
$FINISH,0.5,1.014002
$STATE,16476,end surface coast,CONTROL_FINISHED_OK
$STATE,16476,begin surface
$SM_CCo,16559,0.00,0.000,0,0,1756,264.19
$SM_GC,1.24,10.98,0.00,0.00,0.039,0.000,0.000,421,1988,1756,-10.40,-0.34,264.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1829
$TCM_TEMP,16.80
$XPDR_PINGS,337
$ALTIM_TOP_PING,18.6,18.0
$ALTIM_BOTTOM_PING,501.1,79.5
$24V_AH,23.8,41.381
$10V_AH,10.1,20.241
$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,24.300,128.200,357.100,0.000,0.000,37.763,40.585,134.341,88.750,0.000,0.000,12.532,1441.670,12794.105,512.098,1644.359,498.501,0.000,1333.234,0.000,1615.110,0.000,31.095,0.000
$DEVICE_MAMPS,133.458,80.535,1244.841,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,584.101,532.528,544.370,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41161,791
$CAP_FILE_SIZE,115680,0
$CFSIZE,254472192,237924352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,43,0,0
$GPS,251208,230328,6044.574,-328.640,35,2.7,54,-6.1