version: 66.03
glider: 5
mission: 3
dive: 237
start: 7 29 108 16 53 45
data:
$ID,5
$MISSION,3
$DIVE,237
$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,-81063.008
$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,24
$R_STBD_OVSHOOT,20
$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
$GPS1,164708,6224.829,-1043.658,36,1.1,36,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-53.8
$GPS2,165251,6224.838,-1043.581,13,1.6,13,-10.5
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.203,0.090
$KALMAN_X,-54691.9,57.3,237.1,63046.8,-2574.6
$KALMAN_Y,-7390.5,-1103.6,-290.4,37692.8,-158.5
$MHEAD_RNG_PITCHd_Wd,76.6,71147,-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,-117.3,0.0,0.0,0,136,0.00,0.00,-109.25,0.000,6,0.000,0.000,423,2182,3099
$GC,140,-1.30,-117.3,2.3,-1.6,5,155,10.25,2.45,0.00,0.000,4,0.135,0.055,2408,3561,3098
$GC,189,-0.94,-117.3,12.3,-15.5,6,195,0.40,2.53,0.00,0.000,6,0.091,0.046,2492,2146,3097
$GC,507,-0.85,-117.3,46.2,-10.1,21,509,0.10,0.00,0.00,0.000,6,0.100,0.000,2513,2128,3097
$GC,816,-0.85,-117.3,69.5,-7.4,36,820,0.00,2.50,0.00,0.000,4,0.000,0.058,2513,743,3097
$GC,879,-0.85,-117.3,74.5,-7.6,39,884,0.00,2.53,0.00,0.000,6,0.000,0.048,2513,2165,3098
$GC,1207,-0.85,-117.3,100.4,-8.5,55,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2165,3098
$GC,1516,-0.85,-117.3,124.4,-7.2,70,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2165,3099
$GC,1825,-0.85,-117.3,146.9,-7.2,85,1829,0.00,2.60,0.00,0.000,4,0.000,0.061,2514,741,3098
$GC,1919,-0.85,-117.3,154.2,-8.3,89,1924,0.00,2.53,0.00,0.000,6,0.000,0.051,2513,2151,3098
$GC,2236,-0.85,-117.3,177.0,-7.0,104,2240,0.00,2.58,0.00,0.000,4,0.000,0.061,2513,744,3098
$GC,2276,-0.85,-117.3,179.9,-7.3,106,2280,0.00,2.53,0.00,0.000,6,0.000,0.051,2513,2154,3098
$GC,2603,-0.85,-117.3,202.9,-7.1,122,2607,0.00,2.58,0.00,0.000,4,0.000,0.061,2514,744,3097
$GC,2643,-0.85,-117.3,205.9,-7.8,124,2647,0.00,2.50,0.00,0.000,6,0.000,0.051,2513,2141,3098
$GC,2970,-0.85,-117.3,230.0,-7.5,140,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2141,3097
$GC,3280,-0.85,-117.3,252.4,-7.3,155,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2141,3097
$GC,3588,-0.85,-117.3,274.9,-7.0,170,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2141,3097
$GC,3898,-0.85,-117.3,296.1,-6.6,185,3902,0.00,2.55,0.00,0.000,4,0.000,0.062,2513,745,3097
$GC,3961,-0.85,-117.3,300.4,-7.2,188,3965,0.00,2.47,0.00,0.000,6,0.000,0.052,2513,2135,3096
$GC,4288,-0.85,-117.3,323.6,-7.2,204,4292,0.00,2.55,0.00,0.000,4,0.000,0.063,2513,3556,3096
$GC,4342,-0.85,-117.3,328.1,-8.5,206,4348,0.00,2.55,0.00,0.000,6,0.000,0.051,2513,2127,3096
$GC,4661,-0.85,-117.3,350.8,-7.0,222,4665,0.00,2.47,0.00,0.000,4,0.000,0.063,2513,745,3096
$GC,4702,-0.85,-117.3,353.9,-7.6,224,4706,0.00,2.47,0.00,0.000,6,0.000,0.052,2513,2126,3096
$GC,5028,-0.85,-117.3,377.0,-7.0,240,5029,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2126,3095
$GC,5338,-0.85,-117.3,397.7,-6.6,255,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2126,3094
$GC,5647,-0.85,-117.3,417.1,-6.3,270,5651,0.00,2.53,0.00,0.000,4,0.000,0.064,2513,746,3095
$GC,5709,-0.85,-117.3,421.3,-6.9,273,5714,0.00,2.47,0.00,0.000,6,0.000,0.053,2513,2124,3094
$GC,6037,-0.85,-117.3,444.5,-7.4,289,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2124,3093
$GC,6346,-0.85,-117.3,467.6,-7.5,304,6347,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2124,3093
$GC,6656,-0.85,-117.3,489.7,-7.1,319,6660,0.00,2.53,0.00,0.000,4,0.000,0.064,2513,745,3093
$GC,6734,-0.85,-117.3,495.6,-7.7,322,6740,0.00,2.47,0.00,0.000,6,0.000,0.053,2513,2123,3093
$GC,7049,-0.85,-117.3,520.4,-8.5,338,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2123,3093
$GC,7360,-0.85,-117.3,544.5,-6.9,353,7361,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2123,3092
$GC,7668,-0.85,-117.3,562.2,-5.3,368,7672,0.00,2.50,0.00,0.000,4,0.000,0.064,2513,745,3092
$GC,7881,-0.85,-117.3,574.7,-6.3,377,7887,0.00,2.45,0.00,0.000,6,0.000,0.054,2513,2108,3092
$GC,8197,-0.85,-117.3,591.9,-5.6,393,8201,0.00,2.62,0.00,0.000,4,0.000,0.066,2513,3557,3092
$GC,8247,-0.85,-117.3,594.8,-6.1,395,8251,0.00,2.58,0.00,0.000,6,0.000,0.054,2513,2122,3092
$GC,8564,-0.89,-117.3,616.2,-8.1,410,8568,0.00,2.47,0.00,0.000,4,0.000,0.066,2513,746,3092
$GC,8807,-0.89,-117.3,635.9,-7.5,421,8811,0.00,2.47,0.00,0.000,6,0.000,0.057,2513,2117,3092
$GC,9134,-0.94,-117.3,656.0,-6.0,437,9138,0.00,2.55,0.00,0.000,4,0.000,0.068,2513,739,3091
$GC,9241,-0.94,-117.3,662.4,-5.2,442,9245,0.00,2.47,0.00,0.000,6,0.000,0.059,2513,2111,3091
$GC,9569,-0.94,-117.3,679.0,-4.9,458,9573,0.00,2.65,0.00,0.000,4,0.000,0.073,2513,3555,3091
$STATE,9683,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9683,begin apogee
$GC,9694,-0.33,0.0,686.0,6.4,463,9796,0.50,0.00,100.00,1.293,6,0.088,0.000,2620,2077,2620
$STATE,9797,end apogee,CONTROL_FINISHED_OK
$STATE,9797,begin climb
$GC,9800,1.30,117.3,688.5,0.0,468,9909,1.67,2.72,99.68,1.265,4,0.071,0.071,2979,3507,2140
$GC,9916,1.25,122.3,681.1,7.8,473,9927,0.00,2.62,5.80,0.927,6,0.000,0.062,2979,2105,2121
$GC,10249,1.25,122.3,650.5,9.5,490,10254,0.00,2.65,0.00,0.000,4,0.000,0.074,2979,3505,2120
$GC,10344,1.25,122.3,641.5,9.9,494,10349,0.00,2.55,0.00,0.000,6,0.000,0.063,2979,2127,2120
$GC,10661,1.25,122.3,613.9,8.7,509,10662,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2124,2119
$GC,10969,1.25,122.3,586.1,9.0,524,10974,0.00,2.60,0.00,0.000,4,0.000,0.074,2979,3505,2117
$GC,11026,1.25,122.3,581.0,9.2,526,11032,0.00,2.53,0.00,0.000,6,0.000,0.061,2979,2134,2117
$GC,11343,1.25,122.3,555.6,8.4,542,11347,0.00,2.55,0.00,0.000,4,0.000,0.070,2979,3505,2116
$GC,11360,1.25,122.3,553.9,8.7,543,11364,0.00,2.50,0.00,0.000,6,0.000,0.059,2979,2142,2116
$GC,11686,1.25,122.3,524.1,8.7,559,11687,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2130,2115
$GC,11996,1.29,144.3,501.6,7.0,574,12020,0.00,2.60,18.45,1.137,4,0.000,0.065,2979,3501,2031
$GC,12044,1.29,144.3,497.8,8.2,576,12049,0.00,2.47,0.00,0.000,6,0.000,0.055,2979,2149,2030
$GC,12366,1.29,144.3,471.5,8.6,592,12370,0.00,2.50,0.00,0.000,4,0.000,0.065,2979,3507,2030
$GC,12416,1.29,144.3,466.7,9.2,594,12420,0.00,2.42,0.00,0.000,6,0.000,0.053,2979,2165,2030
$GC,12732,1.29,144.3,440.4,8.4,609,12736,0.00,2.47,0.00,0.000,4,0.000,0.063,2979,3509,2030
$GC,12759,1.29,144.3,438.0,9.4,610,12763,0.00,2.42,0.00,0.000,6,0.000,0.053,2979,2168,2030
$GC,13075,1.29,144.3,410.2,8.9,625,13079,0.00,2.47,0.00,0.000,4,0.000,0.062,2979,3512,2031
$GC,13097,1.29,144.3,408.0,9.4,626,13101,0.00,2.40,0.00,0.000,6,0.000,0.052,2979,2174,2031
$GC,13418,1.29,144.3,379.6,8.8,642,13422,0.00,2.45,0.00,0.000,4,0.000,0.062,2979,3514,2031
$GC,13450,1.29,144.3,376.5,8.9,643,13456,0.00,2.40,0.00,0.000,6,0.000,0.051,2979,2182,2031
$GC,13769,1.29,144.3,348.8,8.8,659,13773,0.00,2.45,0.00,0.000,4,0.000,0.061,2979,3514,2032
$GC,13796,1.29,144.3,345.8,10.0,660,13800,0.00,2.38,0.00,0.000,6,0.000,0.051,2979,2188,2032
$GC,14112,1.29,146.6,319.1,7.9,675,14118,0.00,0.00,4.28,0.709,6,0.000,0.000,2979,2185,2022
$GC,14422,1.30,152.2,295.0,7.7,690,14435,0.00,2.47,6.47,0.834,4,0.000,0.059,2979,3508,1999
$GC,14459,1.30,152.2,291.7,8.1,691,14465,0.00,2.38,0.00,0.000,6,0.000,0.051,2979,2195,1999
$GC,14775,1.32,166.7,268.0,7.3,707,14794,0.00,0.00,13.27,0.924,6,0.000,0.000,2979,2192,1940
$GC,15105,1.37,166.7,241.6,8.2,723,15109,0.00,2.40,0.00,0.000,4,0.000,0.061,2979,3514,1940
$GC,15150,1.37,166.7,237.3,9.4,725,15154,0.00,2.35,0.00,0.000,6,0.000,0.052,2979,2199,1940
$GC,15484,1.42,166.7,208.2,8.3,741,15486,0.12,0.00,0.00,0.000,6,0.051,0.000,3018,2194,1940
$GC,15793,1.36,166.7,175.4,10.8,756,15798,0.10,2.40,0.00,0.000,4,0.094,0.058,2999,3509,1940
$GC,15814,1.36,166.7,173.1,10.5,757,15819,0.00,2.35,0.00,0.000,6,0.000,0.050,2999,2200,1940
$GC,16137,1.36,166.7,144.0,8.7,773,16138,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2199,1940
$GC,16445,1.36,166.7,118.5,8.1,788,16449,0.00,2.38,0.00,0.000,4,0.000,0.059,2999,3509,1940
$GC,16486,1.36,166.7,115.1,8.1,790,16490,0.00,2.33,0.00,0.000,6,0.000,0.049,2998,2205,1940
$GC,16814,1.36,166.7,84.9,10.1,806,16815,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2203,1941
$GC,17122,1.36,166.7,53.7,9.9,821,17126,0.00,2.38,0.00,0.000,4,0.000,0.058,2999,3509,1941
$GC,17155,1.36,166.7,50.4,10.1,822,17161,0.00,2.33,0.00,0.000,6,0.000,0.050,2999,2204,1941
$GC,17473,1.36,166.7,22.3,8.3,838,17477,0.00,2.70,0.00,0.000,4,0.000,0.062,2999,691,1941
$GC,17523,1.36,166.7,17.5,9.2,840,17527,0.00,2.65,0.00,0.000,6,0.000,0.049,2999,2187,1941
$STATE,17713,end climb,SURFACE_DEPTH_REACHED
$STATE,17714,begin surface coast
$FINISH,0.3,1.026767
$STATE,17734,end surface coast,CONTROL_FINISHED_OK
$STATE,17734,begin surface
$SM_CCo,17757,225.77,0.770,0,0,390,547.02
$SM_GC,0.67,0.00,0.00,225.77,0.000,0.000,0.770,415,2117,390,-10.51,-0.85,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1680
$TCM_TEMP,17.70
$XPDR_PINGS,530
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,675.9,19.8
$24V_AH,23.8,45.927
$10V_AH,10.1,22.335
$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,24.225,155.200,247.950,225.775,0.000,37.760,25.785,148.929,138.750,0.000,0.000,13.697,1592.915,13655.017,682.025,1860.296,536.548,33.385,1598.506,0.000,1819.175,0.000,43.861
$DEVICE_MAMPS,134.992,73.632,1293.162,770.068,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,582.823,631.231,523.075,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44199,850
$CAP_FILE_SIZE,132812,0
$CFSIZE,254472192,236130304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,290708,215438,6224.397,-1035.394,29,1.3,29,-10.4