version: 66.04
glider: 5
mission: 5
dive: 238
start: 12 26 108 4 41 31
data:
$ID,5
$MISSION,5
$DIVE,238
$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,-91989.953
$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,22
$R_STBD_OVSHOOT,18
$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
$GPS1,043507,6045.891,-332.845,42,1.2,42,-6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-67.0
$GPS2,044111,6045.917,-332.817,11,2.8,30,-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,286.6,122663,-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,-146.6,0.0,0.0,0,97,0.00,0.00,-75.53,0.000,6,0.000,0.000,425,1971,3430
$GC,101,-0.97,-146.6,6.8,-8.1,4,117,10.70,2.53,0.00,0.000,4,0.140,0.062,2483,582,3431
$GC,256,-0.76,-146.6,34.7,-11.4,10,262,0.22,2.55,0.00,0.000,6,0.084,0.053,2530,2009,3432
$GC,584,-0.68,-146.6,64.6,-9.1,26,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2009,3433
$GC,894,-0.61,-146.6,92.5,-8.6,41,899,0.17,2.53,0.00,0.000,4,0.091,0.064,2572,3408,3432
$GC,921,-0.61,-146.6,94.8,-6.9,42,926,0.00,2.53,0.00,0.000,6,0.000,0.051,2572,1995,3432
$GC,1237,-0.61,-146.6,114.7,-6.1,57,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1995,3432
$GC,1549,-0.61,-146.6,135.2,-6.9,72,1553,0.00,2.58,0.00,0.000,4,0.000,0.064,2572,3406,3433
$GC,1589,-0.66,-146.6,138.3,-7.7,74,1593,0.00,2.50,0.00,0.000,6,0.000,0.050,2572,2002,3433
$GC,1915,-0.66,-146.6,161.0,-6.9,90,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2000,3433
$GC,2225,-0.66,-146.6,182.0,-6.4,105,2229,0.00,2.55,0.00,0.000,4,0.000,0.063,2572,3412,3433
$GC,2269,-0.72,-146.6,185.0,-6.8,107,2274,0.12,2.50,0.00,0.000,6,0.057,0.051,2537,2008,3433
$GC,2591,-0.65,-146.6,209.7,-7.8,123,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2008,3433
$GC,2900,-0.59,-146.6,233.7,-8.0,138,2902,0.17,0.00,0.00,0.000,6,0.084,0.000,2574,2007,3433
$GC,3209,-0.63,-146.6,254.3,-6.7,153,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2007,3433
$GC,3520,-0.68,-146.6,275.3,-6.7,168,3524,0.00,2.55,0.00,0.000,4,0.000,0.064,2574,3405,3433
$GC,3559,-0.75,-146.6,277.9,-6.9,170,3564,0.17,2.50,0.00,0.000,6,0.053,0.052,2526,2004,3433
$GC,3887,-0.68,-146.6,305.6,-8.5,186,3892,0.12,2.55,0.00,0.000,4,0.091,0.067,2553,588,3433
$GC,3954,-0.68,-146.6,311.2,-7.7,189,3959,0.00,2.55,0.00,0.000,6,0.000,0.054,2553,2018,3433
$GC,4276,-0.68,-146.6,334.2,-7.0,205,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2018,3433
$GC,4585,-0.68,-146.6,355.3,-7.0,220,4589,0.00,2.53,0.00,0.000,4,0.000,0.071,2553,3408,3433
$GC,4641,-0.68,-146.6,359.5,-7.0,222,4645,0.00,2.53,0.00,0.000,6,0.000,0.058,2553,2011,3433
$GC,4957,-0.68,-146.6,380.2,-6.5,237,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2010,3433
$GC,5269,-0.68,-146.6,401.2,-6.9,252,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2010,3433
$GC,5575,-0.68,-146.6,422.5,-7.0,267,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2010,3433
$GC,5884,-0.68,-146.6,444.8,-7.3,282,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2010,3432
$GC,6194,-0.68,-146.6,466.0,-6.7,297,6199,0.00,2.60,0.00,0.000,4,0.000,0.076,2553,3411,3431
$GC,6216,-0.68,-146.6,467.6,-6.9,298,6221,0.00,2.58,0.00,0.000,6,0.000,0.066,2553,2004,3431
$GC,6538,-0.68,-146.6,487.9,-6.3,314,6539,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2004,3431
$GC,6847,-0.68,-146.6,508.7,-6.7,329,6852,0.00,2.62,0.00,0.000,4,0.000,0.080,2553,3404,3430
$GC,6875,-0.68,-146.6,510.6,-7.1,330,6879,0.00,2.55,0.00,0.000,6,0.000,0.069,2553,2020,3429
$GC,7191,-0.68,-146.6,529.7,-5.9,345,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2020,3429
$GC,7500,-0.68,-146.6,549.2,-6.4,360,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2020,3428
$GC,7809,-0.68,-146.6,569.0,-6.5,375,7813,0.00,2.65,0.00,0.000,4,0.000,0.087,2553,3409,3427
$GC,7842,-0.68,-146.6,571.3,-7.5,376,7848,0.00,2.58,0.00,0.000,6,0.000,0.079,2553,2033,3427
$GC,8158,-0.68,-146.6,593.1,-7.2,392,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2033,3426
$GC,8467,-0.68,-146.6,613.5,-6.3,407,8468,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2033,3424
$GC,8777,-0.72,-146.6,633.2,-6.0,422,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2033,3423
$GC,9086,-0.72,-146.6,652.8,-6.4,437,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2033,3421
$GC,9394,-0.72,-146.6,672.7,-6.6,452,9396,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2033,3420
$STATE,9701,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9701,begin apogee
$GC,9708,-0.33,0.0,692.6,6.6,467,9838,0.35,0.00,126.93,1.436,6,0.096,0.000,2624,2204,2833
$STATE,9839,end apogee,CONTROL_FINISHED_OK
$STATE,9839,begin climb
$GC,9843,0.97,146.6,697.2,0.0,473,9980,1.35,2.80,127.53,1.382,4,0.080,0.090,2908,3602,2234
$GC,9995,0.97,147.7,692.2,6.0,481,10000,0.00,2.70,0.00,0.000,6,0.000,0.077,2907,2194,2234
$GC,10323,0.93,147.7,673.6,6.4,497,10327,0.00,2.67,0.00,0.000,4,0.000,0.093,2908,793,2233
$GC,10378,0.88,147.7,669.5,7.3,499,10384,0.00,2.65,0.00,0.000,6,0.000,0.076,2908,2197,2233
$GC,10694,0.91,167.2,653.1,5.5,515,10719,0.00,2.83,18.85,1.319,4,0.000,0.091,2908,793,2150
$GC,10772,0.93,179.7,648.7,5.7,518,10791,0.00,2.62,12.40,1.266,6,0.000,0.077,2908,2179,2099
$GC,11114,0.93,179.7,628.8,6.2,535,11118,0.00,2.70,0.00,0.000,4,0.000,0.094,2907,793,2098
$GC,11147,0.93,179.7,626.6,6.7,536,11153,0.00,2.60,0.00,0.000,6,0.000,0.076,2908,2172,2099
$GC,11463,0.96,197.3,608.6,5.5,552,11485,0.00,2.80,17.02,1.325,4,0.000,0.093,2908,794,2027
$GC,11510,0.98,209.2,605.9,5.7,554,11531,0.00,2.62,11.73,1.261,6,0.000,0.077,2907,2173,1979
$GC,11841,0.99,211.8,586.4,5.9,570,11847,0.00,0.00,4.25,0.945,6,0.000,0.000,2908,2173,1968
$GC,12149,0.99,211.8,567.7,6.1,585,12154,0.00,2.67,0.00,0.000,4,0.000,0.095,2908,792,1967
$GC,12194,0.99,211.8,564.6,7.0,587,12198,0.00,2.60,0.00,0.000,6,0.000,0.078,2907,2166,1967
$GC,12515,0.99,211.8,545.3,6.1,603,12516,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2166,1967
$GC,12824,1.04,245.4,529.0,5.1,618,12859,0.00,2.75,29.75,1.337,4,0.000,0.093,2908,791,1831
$GC,12890,1.07,264.9,525.4,5.5,621,12915,0.12,2.60,18.60,1.288,6,0.068,0.077,2940,2159,1751
$GC,13245,1.07,264.9,502.2,7.0,638,13250,0.00,2.67,0.00,0.000,4,0.000,0.093,2940,784,1752
$GC,13278,1.07,264.9,499.6,7.5,639,13284,0.00,2.58,0.00,0.000,6,0.000,0.076,2940,2148,1752
$GC,13594,1.07,264.9,476.7,7.4,655,13595,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2148,1752
$GC,13905,1.07,264.9,452.9,7.9,670,13909,0.00,2.60,0.00,0.000,4,0.000,0.088,2940,791,1752
$GC,13949,1.03,264.9,449.1,8.7,672,13954,0.00,2.53,0.00,0.000,6,0.000,0.072,2940,2143,1753
$GC,14270,1.03,264.9,424.1,7.8,688,14275,0.00,2.75,0.00,0.000,4,0.000,0.084,2940,3612,1753
$GC,14297,1.03,264.9,421.7,9.1,689,14302,0.00,2.75,0.00,0.000,6,0.000,0.071,2940,2138,1753
$GC,14613,1.03,264.9,396.3,8.0,704,14614,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2138,1753
$GC,14923,1.03,264.9,371.0,8.3,719,14927,0.00,2.78,0.00,0.000,4,0.000,0.080,2940,3607,1753
$GC,14967,1.03,264.9,367.0,9.0,721,14971,0.00,2.70,0.00,0.000,6,0.000,0.067,2940,2143,1753
$GC,15287,1.03,264.9,345.2,6.4,737,15292,0.00,2.50,0.00,0.000,4,0.000,0.079,2940,791,1753
$GC,15338,1.03,264.9,341.7,6.9,739,15342,0.00,2.47,0.00,0.000,6,0.000,0.064,2940,2146,1753
$GC,15654,1.03,264.9,321.6,6.1,754,15655,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2146,1754
$GC,15963,1.03,264.9,301.4,6.4,769,15967,0.00,2.67,0.00,0.000,4,0.000,0.076,2940,3606,1754
$GC,15990,1.03,264.9,299.5,7.2,770,15995,0.00,2.67,0.00,0.000,6,0.000,0.061,2941,2137,1755
$GC,16306,1.03,264.9,277.6,6.8,785,16310,0.00,2.47,0.00,0.000,4,0.000,0.074,2941,781,1755
$GC,16346,1.03,264.9,275.1,6.6,786,16352,0.00,2.47,0.00,0.000,6,0.000,0.061,2940,2146,1755
$GC,16662,1.03,264.9,255.0,6.6,802,16663,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2146,1756
$GC,16970,1.03,264.9,233.7,6.9,817,16975,0.00,2.53,0.00,0.000,4,0.000,0.071,2941,780,1757
$GC,17010,1.03,264.9,230.7,7.1,819,17015,0.00,2.45,0.00,0.000,6,0.000,0.057,2940,2141,1757
$GC,17338,1.03,264.9,207.3,7.0,835,17339,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2141,1758
$GC,17646,1.03,264.9,185.2,7.3,850,17648,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2141,1758
$GC,17956,1.03,264.9,162.8,7.3,865,17960,0.00,2.50,0.00,0.000,4,0.000,0.070,2940,784,1759
$GC,18006,1.03,264.9,158.9,7.7,867,18010,0.00,2.42,0.00,0.000,6,0.000,0.054,2940,2139,1759
$GC,18328,1.03,264.9,136.1,7.0,883,18333,0.00,0.00,3.75,0.622,6,0.000,0.000,2940,2139,1752
$GC,18638,1.03,264.9,114.5,7.2,898,18639,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2139,1752
$GC,18946,1.03,264.9,92.0,7.5,913,18951,0.00,2.50,0.00,0.000,4,0.000,0.070,2941,783,1753
$GC,18987,1.03,264.9,88.7,7.4,915,18991,0.00,2.42,0.00,0.000,6,0.000,0.054,2940,2136,1753
$GC,19314,1.03,264.9,64.6,7.5,931,19315,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2136,1753
$GC,19623,1.03,264.9,42.0,7.1,946,19624,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2136,1753
$GC,19932,1.03,264.9,21.7,6.5,961,19936,0.00,2.47,0.00,0.000,4,0.000,0.068,2940,790,1754
$GC,19953,1.03,264.9,20.1,6.7,962,19958,0.00,2.40,0.00,0.000,6,0.000,0.054,2941,2129,1754
$STATE,20195,end climb,SURFACE_DEPTH_REACHED
$STATE,20195,begin surface coast
$FINISH,0.4,1.027433
$STATE,20238,end surface coast,CONTROL_FINISHED_OK
$STATE,20238,begin surface
$SM_CCo,20321,0.00,0.000,0,0,1754,264.43
$SM_GC,1.57,10.98,0.00,0.00,0.041,0.000,0.000,424,1978,1754,-10.38,-0.62,264.43
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1796
$TCM_TEMP,16.70
$XPDR_PINGS,218
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,625.7,76.0
$24V_AH,23.7,41.689
$10V_AH,10.1,20.414
$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,24.500,145.625,370.800,0.000,0.000,37.760,28.047,151.718,60.250,0.000,0.000,31.503,1744.551,15912.003,500.369,1974.315,552.472,0.000,1487.340,0.000,1917.482,0.000,39.086,0.000
$DEVICE_MAMPS,139.594,95.108,1435.824,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,723.311,660.740,589.307,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50528,976
$CAP_FILE_SIZE,137353,0
$CFSIZE,254472192,237772800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,47,0,0
$GPS,261208,102132,6047.667,-336.085,43,1.2,43,-6.2