version: 66.03
glider: 5
mission: 3
dive: 233
start: 7 28 108 18 58 14
data:
$ID,5
$MISSION,3
$DIVE,233
$D_SURF,2
$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,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,600
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,0
$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,547.01898
$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,-80961.305
$T_RSLEEP,12
$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,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2620
$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
$PRESSURE_YINT,-24.477776
$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,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$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
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043890956
$SEABIRD_T_H,0.00065287336
$SEABIRD_T_I,2.754709e-05
$SEABIRD_T_J,3.0424237e-06
$SEABIRD_C_G,-10.354986
$SEABIRD_C_H,1.1996267
$SEABIRD_C_I,-0.0023424325
$SEABIRD_C_J,0.0002635108
$GPS1,185107,6221.630,-1100.876,29,1.1,29,-10.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-56.5
$GPS2,185720,6221.669,-1100.899,12,1.8,17,-10.6
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.220,-0.028
$KALMAN_X,-51308.0,16.3,787.7,44165.8,-5937.4
$KALMAN_Y,-6985.0,103.0,1135.9,28705.4,334.5
$MHEAD_RNG_PITCHd_Wd,108.0,86211,-16.7,-8.000
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.30,-117.3,0.0,0.0,0,135,0.00,0.00,-108.38,0.000,6,0.000,0.000,422,2128,3100
$GC,139,-1.30,-117.3,2.5,-1.8,5,154,10.30,2.47,0.00,0.000,4,0.137,0.053,2409,752,3098
$GC,216,-0.96,-117.3,16.5,-13.7,7,224,0.40,2.50,0.00,0.000,6,0.094,0.046,2490,2161,3098
$GC,535,-0.88,-117.3,47.3,-9.4,23,539,0.00,2.53,0.00,0.000,4,0.000,0.054,2490,752,3098
$GC,644,-0.78,-117.3,57.4,-9.6,28,649,0.17,2.42,0.00,0.000,6,0.089,0.045,2528,2123,3098
$GC,972,-0.78,-117.3,84.2,-8.3,44,976,0.00,2.55,0.00,0.000,4,0.000,0.057,2528,3553,3098
$GC,1036,-0.78,-117.3,89.8,-9.3,47,1040,0.00,2.50,0.00,0.000,6,0.000,0.044,2527,2132,3098
$GC,1364,-0.78,-117.3,116.7,-7.7,63,1368,0.00,2.58,0.00,0.000,4,0.000,0.056,2527,3551,3099
$GC,1386,-0.78,-117.3,118.5,-7.3,64,1390,0.00,2.55,0.00,0.000,6,0.000,0.045,2528,2113,3099
$GC,1708,-0.78,-117.3,141.7,-6.7,80,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2113,3099
$GC,2016,-0.78,-117.3,162.1,-6.7,95,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2112,3099
$GC,2325,-0.78,-117.3,183.7,-7.0,110,2330,0.00,2.62,0.00,0.000,4,0.000,0.059,2528,3563,3098
$GC,2337,-0.78,-117.3,184.7,-7.3,110,2343,0.00,2.58,0.00,0.000,6,0.000,0.048,2528,2113,3098
$GC,2654,-0.83,-117.3,208.4,-7.7,126,2659,0.00,2.62,0.00,0.000,4,0.000,0.059,2528,3561,3098
$GC,2699,-0.83,-117.3,212.1,-7.8,128,2703,0.00,2.58,0.00,0.000,6,0.000,0.051,2528,2120,3098
$GC,3021,-0.88,-117.3,236.4,-7.5,144,3026,0.00,2.62,0.00,0.000,4,0.000,0.061,2527,3556,3097
$GC,3071,-0.88,-117.3,240.7,-8.4,146,3076,0.00,2.55,0.00,0.000,6,0.000,0.051,2528,2130,3097
$GC,3388,-0.92,-117.3,264.2,-7.4,161,3393,0.12,2.60,0.00,0.000,4,0.053,0.061,2490,3556,3097
$GC,3417,-0.85,-117.3,266.7,-8.6,162,3422,0.10,2.55,0.00,0.000,6,0.101,0.052,2510,2138,3096
$GC,3733,-0.85,-117.3,291.1,-7.5,177,3737,0.00,2.58,0.00,0.000,4,0.000,0.061,2511,3553,3096
$GC,3743,-0.85,-117.3,292.0,-7.7,177,3749,0.00,2.55,0.00,0.000,6,0.000,0.052,2511,2134,3096
$GC,4060,-0.85,-117.3,316.2,-7.4,193,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2134,3096
$GC,4369,-0.85,-117.3,338.6,-7.2,208,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2134,3096
$GC,4679,-0.85,-117.3,361.6,-7.5,223,4683,0.00,2.50,0.00,0.000,4,0.000,0.064,2511,746,3095
$GC,4723,-0.85,-117.3,365.4,-8.1,225,4727,0.00,2.47,0.00,0.000,6,0.000,0.051,2511,2125,3095
$GC,5044,-0.85,-117.3,390.3,-7.9,241,5049,0.00,2.53,0.00,0.000,4,0.000,0.065,2511,744,3095
$GC,5095,-0.85,-117.3,394.6,-8.4,243,5099,0.00,2.47,0.00,0.000,6,0.000,0.053,2511,2120,3095
$GC,5411,-0.85,-117.3,419.2,-7.6,258,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2119,3094
$GC,5720,-0.85,-117.3,441.7,-7.2,273,5725,0.00,2.50,0.00,0.000,4,0.000,0.064,2511,746,3094
$GC,5755,-0.85,-117.3,444.4,-7.6,274,5761,0.00,2.47,0.00,0.000,6,0.000,0.053,2511,2123,3094
$GC,6071,-0.85,-117.3,466.1,-6.6,290,6075,0.00,2.50,0.00,0.000,4,0.000,0.064,2510,746,3094
$GC,6128,-0.85,-117.3,469.9,-7.2,292,6134,0.00,2.42,0.00,0.000,6,0.000,0.052,2511,2101,3093
$GC,6445,-0.85,-117.3,489.5,-6.0,308,6446,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2100,3093
$GC,6753,-0.85,-117.3,508.0,-6.1,323,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2101,3093
$GC,7063,-0.85,-117.3,527.6,-6.3,338,7064,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2101,3093
$GC,7372,-0.85,-117.3,547.6,-6.7,353,7376,0.00,2.62,0.00,0.000,4,0.000,0.065,2512,3556,3093
$GC,7382,-0.85,-117.3,548.4,-6.8,353,7388,0.00,2.62,0.00,0.000,6,0.000,0.056,2511,2097,3093
$GC,7699,-0.85,-117.3,571.4,-7.7,369,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2078,3093
$GC,8007,-0.85,-117.3,597.5,-8.6,384,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2078,3093
$GC,8316,-0.85,-117.3,623.9,-8.7,399,8321,0.00,2.67,0.00,0.000,4,0.000,0.064,2511,3556,3092
$GC,8344,-0.85,-117.3,626.5,-9.9,400,8348,0.00,2.62,0.00,0.000,6,0.000,0.054,2510,2089,3092
$GC,8660,-0.85,-117.3,653.5,-8.5,415,8665,0.00,2.67,0.00,0.000,4,0.000,0.064,2511,3556,3092
$GC,8824,-0.85,-117.3,668.2,-9.0,422,8829,0.00,2.58,0.00,0.000,6,0.000,0.053,2511,2114,3091
$GC,9141,-0.85,-117.3,692.2,-7.5,437,9145,0.00,2.45,0.00,0.000,4,0.000,0.064,2511,746,3091
$GC,9180,-0.85,-117.3,695.4,-8.1,439,9185,0.00,2.40,0.00,0.000,6,0.000,0.053,2511,2088,3091
$GC,9508,-0.85,-117.3,721.0,-7.5,455,9509,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2088,3091
$GC,9818,-0.90,-117.3,737.3,-4.7,470,9822,0.00,2.47,0.00,0.000,4,0.000,0.065,2511,741,3091
$GC,9975,-0.90,-117.3,743.8,-4.3,477,9979,0.00,2.47,0.00,0.000,6,0.000,0.056,2511,2109,3091
$GC,10296,-0.90,-117.3,762.6,-6.5,493,10301,0.00,2.50,0.00,0.000,4,0.000,0.068,2511,747,3091
$GC,10487,-0.90,-117.3,776.5,-7.3,501,10493,0.00,2.40,0.00,0.000,6,0.000,0.058,2511,2063,3091
$GC,10804,-0.94,-117.3,791.3,-3.7,517,10809,0.00,2.72,0.00,0.000,4,0.000,0.071,2511,3560,3091
$GC,10939,-0.94,-117.3,798.0,-5.3,523,10943,0.00,2.65,0.00,0.000,6,0.000,0.058,2511,2097,3090
$STATE,11195,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11196,begin apogee
$GC,11203,-0.33,0.0,811.1,5.3,536,11306,0.55,0.00,100.68,1.384,6,0.084,0.000,2625,2078,2620
$STATE,11307,end apogee,CONTROL_FINISHED_OK
$STATE,11307,begin climb
$GC,11310,1.30,117.3,813.4,0.0,541,11416,1.62,0.00,101.18,1.355,6,0.070,0.000,2976,2077,2141
$GC,11727,1.26,117.3,781.9,8.3,561,11731,0.00,2.67,0.00,0.000,4,0.000,0.076,2976,3504,2139
$GC,11817,1.21,117.3,772.6,9.2,565,11822,0.00,2.55,0.00,0.000,6,0.000,0.063,2977,2127,2139
$GC,12139,1.21,117.3,741.2,9.3,581,12143,0.00,2.67,0.00,0.000,4,0.000,0.077,2977,684,2138
$GC,12183,1.21,117.3,737.0,9.2,583,12188,0.00,2.65,0.00,0.000,6,0.000,0.066,2976,2116,2138
$GC,12504,1.34,194.2,719.8,4.5,599,12572,0.00,0.00,65.22,1.342,6,0.000,0.000,2976,2116,1828
$GC,12876,1.34,194.2,693.6,8.6,617,12878,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2116,1826
$GC,13185,1.34,194.2,663.7,9.6,632,13189,0.00,2.55,0.00,0.000,4,0.000,0.069,2976,3514,1825
$GC,13251,1.34,194.2,656.8,10.9,635,13256,0.00,2.58,0.00,0.000,6,0.000,0.058,2976,2107,1825
$GC,13573,1.34,194.2,625.6,9.6,651,13578,0.00,2.60,0.00,0.000,4,0.000,0.067,2976,3509,1825
$GC,13629,1.34,194.2,619.8,9.7,653,13635,0.00,2.53,0.00,0.000,6,0.000,0.058,2976,2122,1825
$GC,13945,1.34,194.2,589.6,9.5,669,13946,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2121,1825
$GC,14255,1.34,194.2,558.2,9.8,684,14259,0.00,2.55,0.00,0.000,4,0.000,0.064,2976,3509,1825
$GC,14296,1.34,194.2,554.0,10.6,686,14300,0.00,2.47,0.00,0.000,6,0.000,0.053,2977,2133,1825
$GC,14622,1.34,194.2,521.7,10.0,702,14624,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2133,1826
$GC,14932,1.34,194.2,490.2,10.3,717,14936,0.00,2.53,0.00,0.000,4,0.000,0.061,2976,3511,1827
$GC,14965,1.38,194.2,486.4,11.2,718,14972,0.10,2.47,0.00,0.000,6,0.056,0.052,3007,2137,1827
$GC,15281,1.33,194.2,446.2,12.8,734,15282,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2138,1827
$GC,15591,1.27,194.2,407.4,12.4,749,15593,0.15,0.00,0.00,0.000,6,0.091,0.000,2978,2138,1827
$GC,15900,1.31,194.2,375.6,10.1,764,15904,0.00,2.50,0.00,0.000,4,0.000,0.060,2978,3515,1828
$GC,15945,1.36,194.2,370.9,9.8,766,15949,0.00,2.45,0.00,0.000,6,0.000,0.051,2978,2147,1827
$GC,16266,1.40,194.2,339.4,9.4,782,16268,0.12,0.00,0.00,0.000,6,0.051,0.000,3015,2147,1828
$GC,16575,1.33,194.2,304.6,11.1,797,16580,0.15,2.50,0.00,0.000,4,0.091,0.061,2985,3512,1828
$GC,16615,1.33,194.2,300.6,10.1,799,16620,0.00,2.42,0.00,0.000,6,0.000,0.050,2985,2152,1828
$GC,16942,1.33,194.2,271.0,9.0,815,16943,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2151,1829
$GC,17251,1.33,194.2,242.7,9.0,830,17256,0.00,2.47,0.00,0.000,4,0.000,0.059,2985,3512,1829
$GC,17296,1.33,194.2,238.2,9.7,832,17301,0.00,2.42,0.00,0.000,6,0.000,0.050,2985,2157,1829
$GC,17618,1.33,194.2,209.4,8.7,848,17622,0.00,2.62,0.00,0.000,4,0.000,0.062,2985,689,1829
$GC,17645,1.33,194.2,206.8,9.2,849,17649,0.00,2.65,0.00,0.000,6,0.000,0.052,2985,2176,1829
$GC,17961,1.33,194.2,179.1,8.7,864,17962,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2176,1829
$GC,18270,1.33,194.2,150.8,9.1,879,18271,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2176,1830
$GC,18579,1.33,194.2,124.8,8.2,894,18581,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2176,1830
$GC,18890,1.37,194.2,99.8,8.6,909,18894,0.00,2.70,0.00,0.000,4,0.000,0.061,2985,691,1830
$GC,18930,1.41,194.2,96.2,8.6,911,18935,0.10,2.62,0.00,0.000,6,0.055,0.051,3017,2165,1830
$GC,19258,1.36,194.2,62.5,10.4,927,19262,0.00,2.40,0.00,0.000,4,0.000,0.058,3017,3515,1830
$GC,19325,1.31,194.2,54.8,10.1,930,19330,0.17,2.38,0.00,0.000,6,0.087,0.048,2981,2184,1831
$GC,19647,1.39,194.2,28.7,8.6,946,19648,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2184,1830
$GC,19957,1.48,196.3,3.9,7.9,961,19962,0.17,0.00,2.55,0.329,6,0.044,0.000,3032,2184,1819
$STATE,19973,end climb,SURFACE_DEPTH_REACHED
$STATE,19973,begin surface coast
$FINISH,0.2,1.013082
$STATE,19995,end surface coast,CONTROL_FINISHED_OK
$STATE,19995,begin surface
$SM_CCo,20018,209.43,0.769,0,0,390,547.02
$SM_GC,0.78,0.00,0.00,209.43,0.000,0.000,0.769,419,2159,390,-10.49,0.28,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1679
$TCM_TEMP,17.80
$XPDR_PINGS,577
$ALTIM_TOP_PING,18.6,999.0
$ALTIM_BOTTOM_PING,725.1,95.1
$24V_AH,23.7,45.211
$10V_AH,10.1,21.981
$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
$DEVICE_SECS,25.525,162.675,269.625,209.425,0.000,37.765,31.624,162.748,150.750,0.000,0.000,17.576,1784.088,15508.126,682.335,2038.887,583.667,33.359,1688.250,0.000,1993.256,0.000,44.421
$DEVICE_MAMPS,136.526,77.467,1383.668,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,660.473,717.063,564.088,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50567,963
$CAP_FILE_SIZE,148030,0
$CFSIZE,254472192,236384256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,290708,003638,6222.194,-1057.812,36,1.2,36,-10.6