version: 66.04
glider: 5
mission: 5
dive: 237
start: 12 25 108 23 9 28
data:
$ID,5
$MISSION,5
$DIVE,237
$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,-91957.828
$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,25
$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
$GPS1,230328,6044.574,-328.640,35,2.7,54,-6.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-65.8
$GPS2,230911,6044.623,-328.564,11,2.9,30,-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,287.4,126870,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.97,-146.6,0.0,0.0,0,82,0.00,0.00,-61.75,0.000,2,0.000,0.000,421,1968,3008
$GC,85,-0.97,-146.6,3.3,-4.5,3,116,10.60,2.58,-12.50,0.000,4,0.136,0.077,2480,592,3431
$GC,179,-0.74,-146.6,17.3,-14.3,7,184,0.28,2.53,0.00,0.000,6,0.087,0.053,2539,2004,3431
$GC,501,-0.67,-146.6,48.3,-8.2,23,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2004,3431
$GC,811,-0.61,-146.6,73.1,-8.0,38,812,0.12,0.00,0.00,0.000,6,0.094,0.000,2566,2005,3431
$GC,1119,-0.61,-146.6,93.1,-6.6,53,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2005,3431
$GC,1428,-0.61,-146.6,115.6,-7.2,68,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2005,3431
$GC,1738,-0.61,-146.6,134.3,-6.1,83,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2005,3431
$GC,2047,-0.61,-146.6,155.7,-7.4,98,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2005,3431
$GC,2356,-0.61,-146.6,177.2,-6.8,113,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2005,3432
$GC,2665,-0.61,-146.6,198.8,-7.0,128,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2005,3432
$GC,2975,-0.61,-146.6,217.7,-6.0,143,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2005,3432
$GC,3284,-0.61,-146.6,235.7,-5.4,158,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2005,3431
$GC,3594,-0.61,-146.6,253.2,-5.5,173,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2005,3432
$GC,3902,-0.61,-146.6,272.9,-6.9,188,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2005,3431
$GC,4211,-0.61,-146.6,293.6,-6.7,203,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2006,3431
$GC,4521,-0.61,-146.6,311.4,-5.9,218,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2006,3431
$GC,4830,-0.61,-146.6,330.2,-5.9,233,4834,0.00,2.53,0.00,0.000,4,0.000,0.067,2566,3408,3431
$GC,4870,-0.66,-146.6,332.8,-6.4,235,4874,0.00,2.55,0.00,0.000,6,0.000,0.055,2566,1985,3432
$GC,5197,-0.66,-146.6,353.8,-7.1,251,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1984,3431
$GC,5507,-0.70,-146.6,375.5,-7.0,266,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1984,3431
$GC,5815,-0.75,-146.6,394.2,-6.0,281,5820,0.12,2.55,0.00,0.000,4,0.060,0.074,2530,585,3431
$GC,5849,-0.67,-146.6,396.6,-8.1,282,5856,0.10,2.50,0.00,0.000,6,0.096,0.058,2551,1988,3432
$GC,6165,-0.67,-146.6,419.0,-7.1,298,6169,0.00,2.58,0.00,0.000,4,0.000,0.073,2551,3402,3431
$GC,6237,-0.67,-146.6,424.6,-8.1,301,6241,0.00,2.55,0.00,0.000,6,0.000,0.061,2551,1996,3432
$GC,6554,-0.67,-146.6,445.3,-6.6,316,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1997,3432
$GC,6863,-0.67,-146.6,465.0,-6.3,331,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1997,3431
$GC,7172,-0.67,-146.6,484.9,-6.6,346,7177,0.00,2.62,0.00,0.000,4,0.000,0.077,2551,3402,3431
$GC,7222,-0.67,-146.6,488.5,-6.9,348,7227,0.00,2.58,0.00,0.000,6,0.000,0.067,2551,1997,3430
$GC,7538,-0.67,-146.6,509.7,-6.9,363,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1997,3429
$GC,7848,-0.67,-146.6,529.9,-6.0,378,7849,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1997,3429
$GC,8157,-0.67,-146.6,549.5,-6.3,393,8161,0.00,2.62,0.00,0.000,4,0.000,0.088,2551,588,3428
$GC,8197,-0.67,-146.6,552.3,-7.0,395,8201,0.00,2.58,0.00,0.000,6,0.000,0.069,2551,2000,3428
$GC,8524,-0.67,-146.6,573.0,-6.3,411,8528,0.00,2.62,0.00,0.000,4,0.000,0.085,2551,3412,3426
$GC,8557,-0.67,-146.6,575.3,-7.2,412,8563,0.00,2.62,0.00,0.000,6,0.000,0.076,2551,1998,3426
$GC,8873,-0.67,-146.6,596.2,-6.6,428,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1998,3425
$GC,9183,-0.67,-146.6,615.8,-5.3,443,9187,0.00,2.70,0.00,0.000,4,0.000,0.091,2551,3406,3424
$GC,9227,-0.67,-146.6,618.9,-7.6,445,9231,0.00,2.62,0.00,0.000,6,0.000,0.078,2551,2004,3424
$STATE,9442,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9442,begin apogee
$GC,9449,-0.33,0.0,632.9,6.8,456,9578,0.35,0.00,126.12,1.364,6,0.090,0.000,2624,2201,2832
$STATE,9579,end apogee,CONTROL_FINISHED_OK
$STATE,9579,begin climb
$GC,9583,0.97,146.6,637.1,0.0,462,9714,1.35,0.00,126.80,1.317,6,0.079,0.000,2908,2202,2234
$GC,10023,0.97,146.6,616.9,6.1,484,10024,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2202,2233
$GC,10329,1.03,187.6,602.1,4.9,499,10371,0.00,2.83,35.88,1.300,4,0.000,0.092,2909,791,2067
$GC,10405,1.03,187.6,597.7,6.7,502,10410,0.00,2.65,0.00,0.000,6,0.000,0.074,2908,2190,2066
$GC,10721,1.07,208.7,580.8,5.4,517,10747,0.10,2.78,19.35,1.276,4,0.072,0.091,2936,795,1981
$GC,10770,1.00,208.7,577.6,7.1,519,10775,0.00,2.65,0.00,0.000,6,0.000,0.075,2936,2188,1980
$GC,11091,0.95,208.7,554.6,7.3,535,11096,0.15,2.72,0.00,0.000,4,0.100,0.093,2906,795,1979
$GC,11131,0.95,208.7,551.7,6.6,537,11136,0.00,2.60,0.00,0.000,6,0.000,0.076,2906,2176,1979
$GC,11458,0.95,208.7,530.3,6.3,553,11462,0.00,2.67,0.00,0.000,4,0.000,0.094,2906,794,1979
$GC,11485,0.95,208.7,528.2,7.4,554,11490,0.00,2.58,0.00,0.000,6,0.000,0.077,2906,2165,1979
$GC,11802,0.97,220.9,509.1,5.7,569,11823,0.00,2.72,11.73,1.231,4,0.000,0.091,2906,795,1931
$GC,11863,1.01,220.9,505.1,6.4,571,11869,0.00,2.55,0.00,0.000,6,0.000,0.075,2906,2154,1931
$GC,12179,1.06,220.9,487.2,6.2,587,12184,0.10,2.65,0.00,0.000,4,0.074,0.091,2932,790,1931
$GC,12207,1.06,220.9,485.2,7.2,588,12211,0.00,2.53,0.00,0.000,6,0.000,0.074,2932,2139,1930
$GC,12522,1.06,220.9,462.4,7.2,603,12524,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2140,1930
$GC,12832,1.06,220.9,441.9,6.0,618,12836,0.00,2.58,0.00,0.000,4,0.000,0.086,2932,791,1929
$GC,12865,1.01,220.9,439.6,6.8,619,12871,0.00,2.50,0.00,0.000,6,0.000,0.071,2932,2139,1929
$GC,13181,1.01,220.9,419.1,6.7,635,13182,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2139,1929
$GC,13490,1.01,220.9,397.4,6.6,650,13495,0.00,2.55,0.00,0.000,4,0.000,0.083,2932,787,1929
$GC,13541,0.97,220.9,393.9,7.1,652,13546,0.00,2.50,0.00,0.000,6,0.000,0.067,2932,2142,1929
$GC,13857,0.97,220.9,372.5,7.1,667,13858,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2142,1929
$GC,14166,0.97,220.9,351.5,6.4,682,14170,0.00,2.55,0.00,0.000,4,0.000,0.080,2932,790,1929
$GC,14222,0.97,220.9,347.8,6.4,684,14228,0.00,2.45,0.00,0.000,6,0.000,0.065,2932,2126,1929
$GC,14538,0.97,220.9,328.0,6.3,700,14539,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2126,1929
$GC,14847,0.97,220.9,307.2,7.0,715,14848,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2126,1930
$GC,15156,0.97,220.9,286.8,6.4,730,15157,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2126,1930
$GC,15465,0.97,220.9,265.6,7.3,745,15469,0.00,2.47,0.00,0.000,4,0.000,0.073,2932,791,1931
$GC,15515,0.97,220.9,261.7,7.2,747,15519,0.00,2.42,0.00,0.000,6,0.000,0.059,2932,2133,1931
$GC,15837,0.97,220.9,238.7,7.1,763,15838,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2133,1932
$GC,16145,0.97,220.9,217.5,6.7,778,16146,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2133,1933
$GC,16454,0.97,220.9,195.7,7.2,793,16455,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2133,1933
$GC,16764,0.97,220.9,174.1,7.1,808,16765,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2133,1934
$GC,17073,0.97,220.9,154.3,6.9,823,17077,0.00,2.67,0.00,0.000,4,0.000,0.067,2932,3615,1935
$GC,17112,0.97,220.9,151.5,7.4,825,17117,0.00,2.67,0.00,0.000,6,0.000,0.054,2932,2115,1935
$GC,17440,0.97,220.9,129.3,7.4,841,17441,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2115,1936
$GC,17749,0.97,220.9,107.3,6.7,856,17750,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2114,1936
$GC,18058,0.97,220.9,87.3,6.3,871,18062,0.00,2.72,0.00,0.000,4,0.000,0.064,2932,3608,1937
$GC,18091,0.97,220.9,84.9,7.0,872,18097,0.00,2.65,0.00,0.000,6,0.000,0.052,2932,2120,1937
$GC,18409,0.97,220.9,64.6,6.0,888,18410,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2121,1937
$GC,18716,1.00,238.6,46.4,5.5,903,18736,0.00,0.00,16.95,0.834,6,0.000,0.000,2932,2121,1859
$GC,19047,1.00,238.6,26.3,6.2,919,19048,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2120,1858
$GC,19354,1.00,238.6,6.2,6.4,934,19359,0.00,2.72,0.00,0.000,4,0.000,0.064,2932,3607,1859
$STATE,19384,end climb,SURFACE_DEPTH_REACHED
$STATE,19384,begin surface coast
$FINISH,1.5,1.027448
$STATE,19415,end surface coast,CONTROL_FINISHED_OK
$STATE,19415,begin surface
$SM_CCo,19440,10.80,0.660,1,0,1811,250.21
$SM_GC,1.23,0.00,0.00,10.80,0.000,0.000,0.660,425,1975,1811,-10.47,-0.76,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1805
$TCM_TEMP,16.60
$XPDR_PINGS,244
$ALTIM_TOP_PING,18.6,999.0
$ALTIM_BOTTOM_PING,550.3,91.6
$24V_AH,23.7,41.526
$10V_AH,10.1,20.325
$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,24.275,110.075,336.825,10.800,0.000,37.761,27.619,138.693,66.000,0.000,0.000,31.701,1644.765,15345.396,493.827,1807.683,508.996,0.000,1367.143,0.000,1761.655,0.000,34.331,0.000
$DEVICE_MAMPS,135.759,93.574,1363.726,660.387,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,695.683,633.392,604.600,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47503,937
$CAP_FILE_SIZE,123560,0
$CFSIZE,254472192,237850624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,1,0
$GPS,261208,043507,6045.891,-332.845,42,1.2,42,-6.1