version: 66.04
glider: 5
mission: 7
dive: 221
start: 10 5 109 0 30 11
data:
$ID,5
$MISSION,7
$DIVE,221
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$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,1
$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,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,-104461.78
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2831
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,-23.674383
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,9
$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,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,002324,6359.331,-1325.842,40,1.2,40,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-59.1
$GPS2,002920,6359.399,-1325.637,15,1.2,15,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P6
$TGT_LATLONG,6402.820,-1325.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.138,0.142
$KALMAN_X,-40046.4,-443.9,-384.5,-210789.4,3543.5
$KALMAN_Y,-14118.6,-565.1,-619.9,279749.7,2802.4
$MHEAD_RNG_PITCHd_Wd,328.6,6336,-19.1,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.42,-91.8,0.0,0.0,0,79,0.00,0.00,-60.72,0.000,2,0.000,0.000,419,2148,2693
$GC,82,-1.51,-146.6,2.6,-3.1,3,126,10.85,2.53,-26.17,0.000,4,0.161,0.077,2410,3532,3428
$GC,375,-1.41,-146.6,49.5,-19.7,16,380,0.12,2.53,0.00,0.000,6,0.114,0.048,2433,2115,3428
$GC,705,-1.41,-146.6,100.7,-14.6,32,709,0.00,2.50,0.00,0.000,4,0.000,0.060,2433,709,3429
$GC,777,-1.41,-146.6,112.2,-15.3,35,781,0.00,2.50,0.00,0.000,6,0.000,0.050,2433,2116,3429
$GC,1104,-1.41,-146.6,167.5,-16.4,52,1108,0.00,2.55,0.00,0.000,4,0.000,0.061,2433,710,3429
$GC,1156,-1.41,-146.6,175.7,-15.5,55,1160,0.00,2.50,0.00,0.000,6,0.000,0.051,2433,2114,3429
$GC,1475,-1.41,-146.6,220.4,-14.1,75,1480,0.00,2.53,0.00,0.000,4,0.000,0.060,2433,720,3431
$GC,1560,-1.41,-146.6,233.4,-13.7,80,1564,0.00,2.45,0.00,0.000,6,0.000,0.051,2433,2094,3430
$GC,1880,-1.41,-146.6,283.9,-16.3,100,1884,0.00,2.50,0.00,0.000,4,0.000,0.063,2433,718,3430
$GC,1950,-1.41,-146.6,295.2,-16.4,104,1954,0.00,2.45,0.00,0.000,6,0.000,0.051,2433,2090,3430
$GC,2269,-1.41,-146.6,340.9,-13.0,124,2273,0.00,2.50,0.00,0.000,4,0.000,0.064,2433,719,3430
$GC,2383,-1.41,-146.6,355.3,-12.8,131,2387,0.00,2.42,0.00,0.000,6,0.000,0.052,2433,2073,3430
$GC,2709,-1.41,-146.6,397.9,-12.3,152,2713,0.00,2.50,0.00,0.000,4,0.000,0.067,2433,712,3430
$GC,2788,-1.41,-146.6,407.8,-11.7,157,2792,0.00,2.42,0.00,0.000,6,0.000,0.054,2433,2065,3430
$GC,3112,-1.41,-146.6,446.3,-11.7,178,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2066,3430
$GC,3425,-1.85,-146.6,467.7,-0.0,198,3430,0.40,2.70,0.00,0.000,4,0.050,0.073,2334,3539,3430
$STATE,3629,end dive,NO_VERTICAL_VELOCITY
$STATE,3629,begin apogee
$GC,3640,-0.33,0.0,467.8,0.0,210,3771,1.50,0.00,127.45,1.154,6,0.063,0.000,2669,1844,2831
$STATE,3772,end apogee,CONTROL_FINISHED_OK
$STATE,3772,begin climb
$GC,3775,1.51,146.6,468.5,0.0,219,3911,1.88,2.72,126.97,1.114,4,0.073,0.077,3069,3261,2233
$GC,4171,1.87,263.6,468.0,1.2,242,4281,0.38,2.62,102.00,1.105,6,0.053,0.064,3157,1828,1755
$GC,4593,1.71,263.6,401.3,18.1,269,4598,0.20,2.65,0.00,0.000,4,0.106,0.070,3117,3258,1755
$GC,4673,1.66,263.6,388.2,15.6,274,4677,0.00,2.60,0.00,0.000,6,0.000,0.067,3117,1855,1755
$GC,4998,1.57,263.6,336.3,15.0,295,5003,0.15,2.62,0.00,0.000,4,0.110,0.077,3088,433,1754
$GC,5196,1.50,263.6,307.7,14.5,307,5200,0.00,2.50,0.00,0.000,6,0.000,0.057,3088,1812,1754
$GC,5526,1.50,263.6,262.4,13.4,328,5530,0.00,2.62,0.00,0.000,4,0.000,0.067,3088,3258,1753
$GC,5576,1.50,263.6,255.7,12.6,331,5580,0.00,2.65,0.00,0.000,6,0.000,0.060,3087,1811,1753
$GC,5896,1.50,263.6,216.7,12.3,351,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1812,1753
$GC,6207,1.50,263.6,174.7,13.2,371,6212,0.00,2.65,0.00,0.000,4,0.000,0.061,3088,3259,1753
$GC,6246,1.50,263.6,169.4,13.9,373,6253,0.00,2.60,0.00,0.000,6,0.000,0.054,3088,1817,1753
$GC,6580,1.50,263.6,123.7,13.9,392,6584,0.00,2.62,0.00,0.000,4,0.000,0.061,3088,3258,1753
$GC,6669,1.50,263.6,111.0,12.8,396,6674,0.00,2.55,0.00,0.000,6,0.000,0.051,3088,1837,1753
$GC,6993,1.50,263.6,71.8,11.7,412,6997,0.00,2.53,0.00,0.000,4,0.000,0.067,3088,433,1754
$GC,7038,1.46,263.6,65.8,12.7,414,7043,0.12,2.53,0.00,0.000,6,0.100,0.050,3064,1855,1754
$GC,7360,1.50,263.6,31.4,10.8,430,7365,0.00,2.60,0.00,0.000,4,0.000,0.064,3064,435,1754
$GC,7417,1.50,263.6,24.4,12.6,432,7423,0.00,2.50,0.00,0.000,6,0.000,0.051,3063,1854,1754
$STATE,7606,end climb,SURFACE_DEPTH_REACHED
$STATE,7606,begin surface coast
$FINISH,0.8,1.027211
$STATE,7628,end surface coast,CONTROL_FINISHED_OK
$STATE,7628,begin surface
$SM_CCo,7652,22.70,0.793,0,0,1608,300.00
$SM_GC,1.13,0.00,0.00,22.70,0.000,0.000,0.793,425,2146,1608,-10.67,0.25,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1826
$TCM_TEMP,16.90
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,420.5,70.6
$24V_AH,23.8,38.582
$10V_AH,10.1,17.415
$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,27.150,82.775,356.425,22.700,0.000,37.759,33.640,153.545,9.250,0.000,0.000,15.796,848.976,5154.097,448.868,1150.059,430.071,33.360,1044.064,0.000,1116.932,0.000,25.554,0.000
$DEVICE_MAMPS,161.070,77.467,1153.568,793.078,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,303.172,322.030,298.114,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22286,443
$CAP_FILE_SIZE,73034,0
$CFSIZE,254472192,239505408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051009,023901,6359.825,-1326.194,14,1.5,14,-12.7