version: 66.04
glider: 5
mission: 7
dive: 222
start: 10 5 109 2 44 35
data:
$ID,5
$MISSION,7
$DIVE,222
$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,-104483.27
$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,33
$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
$GPS1,023901,6359.825,-1326.194,14,1.5,14,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-59.7
$GPS2,024347,6359.825,-1326.120,20,1.4,20,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P6
$TGT_LATLONG,6402.820,-1325.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.111,0.219
$KALMAN_X,-38443.5,310.0,212.2,-214157.4,5811.4
$KALMAN_Y,-18154.7,147.9,-487.3,283744.4,-4856.6
$MHEAD_RNG_PITCHd_Wd,345.8,5570,-14.8,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.60,0.000,2,0.000,0.000,425,2142,2409
$GC,63,-1.22,-146.6,2.0,-3.7,2,127,11.15,2.55,-45.22,0.000,4,0.160,0.079,2473,3536,3429
$GC,381,-1.10,-146.6,36.9,-14.6,16,386,0.15,2.53,0.00,0.000,6,0.101,0.048,2504,2122,3429
$GC,704,-1.06,-146.6,71.6,-11.1,32,709,0.00,2.53,0.00,0.000,4,0.000,0.062,2504,710,3430
$GC,800,-1.06,-146.6,82.7,-11.0,36,805,0.00,2.50,0.00,0.000,6,0.000,0.050,2504,2114,3431
$GC,1118,-1.06,-146.6,116.9,-10.0,51,1122,0.00,2.53,0.00,0.000,4,0.000,0.061,2504,720,3431
$GC,1185,-1.09,-146.6,124.1,-10.4,54,1189,0.00,2.47,0.00,0.000,6,0.000,0.049,2504,2114,3431
$GC,1513,-1.09,-146.6,155.9,-9.7,71,1517,0.00,2.55,0.00,0.000,4,0.000,0.063,2504,715,3431
$GC,1551,-1.09,-146.6,159.8,-9.6,73,1557,0.00,2.47,0.00,0.000,6,0.000,0.049,2504,2102,3431
$GC,1871,-1.09,-146.6,189.3,-9.0,94,1875,0.00,2.53,0.00,0.000,4,0.000,0.064,2504,717,3432
$GC,1916,-1.09,-146.6,193.5,-9.3,97,1920,0.00,2.45,0.00,0.000,6,0.000,0.050,2504,2091,3431
$GC,2240,-1.09,-146.6,222.2,-9.5,118,2244,0.00,2.62,0.00,0.000,4,0.000,0.067,2504,3540,3431
$GC,2278,-1.09,-146.6,226.0,-9.8,120,2285,0.00,2.60,0.00,0.000,6,0.000,0.053,2504,2086,3432
$GC,2598,-1.09,-146.6,254.7,-10.5,141,2602,0.00,2.42,0.00,0.000,4,0.000,0.064,2504,719,3431
$GC,2654,-1.09,-146.6,261.2,-11.4,144,2658,0.00,2.42,0.00,0.000,6,0.000,0.050,2504,2086,3431
$GC,2973,-1.09,-146.6,296.9,-9.7,164,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2086,3432
$GC,3285,-1.09,-146.6,331.0,-14.5,184,3289,0.00,2.53,0.00,0.000,4,0.000,0.071,2504,719,3432
$GC,3399,-1.13,-146.6,341.7,-8.0,191,3403,0.00,2.42,0.00,0.000,6,0.000,0.051,2504,2081,3432
$GC,3724,-1.13,-146.6,366.6,-5.4,212,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2081,3432
$GC,4037,-1.68,-146.6,378.3,-0.0,232,4042,0.55,2.67,0.00,0.000,4,0.064,0.073,2377,3539,3432
$STATE,4208,end dive,NO_VERTICAL_VELOCITY
$STATE,4208,begin apogee
$GC,4218,-0.33,0.0,378.2,0.0,242,4350,1.27,0.00,127.62,1.070,6,0.048,0.000,2678,1849,2831
$STATE,4351,end apogee,CONTROL_FINISHED_OK
$STATE,4351,begin climb
$GC,4354,1.22,146.6,378.2,0.0,251,4488,1.48,2.67,125.38,1.030,4,0.048,0.075,3011,436,2233
$GC,4547,1.08,151.1,370.3,7.8,262,4560,0.17,2.58,5.40,0.752,6,0.093,0.054,2978,1863,2215
$GC,4874,1.08,151.1,334.1,10.2,283,4879,0.00,2.65,0.00,0.000,4,0.000,0.074,2978,443,2214
$GC,5005,1.07,163.6,319.8,7.5,291,5022,0.00,2.53,12.32,0.926,6,0.000,0.056,2978,1859,2163
$GC,5337,1.08,171.6,296.9,7.7,312,5352,0.00,2.70,8.07,0.872,4,0.000,0.072,2978,443,2131
$GC,5392,1.08,171.6,291.1,11.4,315,5399,0.00,2.53,0.00,0.000,6,0.000,0.057,2978,1853,2131
$GC,5714,1.16,224.6,268.5,6.1,336,5765,0.00,2.62,44.92,1.000,4,0.000,0.067,2978,3238,1915
$GC,5896,1.25,224.6,250.1,12.2,347,5901,0.17,2.53,0.00,0.000,6,0.054,0.060,3022,1859,1914
$GC,6225,1.12,224.6,219.8,21.5,368,6227,0.17,0.00,0.00,0.000,6,0.088,0.000,2988,1847,1914
$GC,6539,1.16,224.6,144.9,18.1,388,6543,0.00,2.55,0.00,0.000,4,0.000,0.064,2987,3243,1914
$GC,6629,1.22,224.6,131.0,14.3,392,6634,0.10,2.50,0.00,0.000,6,0.061,0.054,3014,1852,1914
$GC,6951,1.22,224.6,88.1,12.2,408,6955,0.00,2.55,0.00,0.000,4,0.000,0.062,3014,3246,1914
$GC,7006,1.22,224.6,82.2,10.3,410,7013,0.00,2.50,0.00,0.000,6,0.000,0.052,3014,1848,1914
$GC,7324,1.22,224.6,54.8,8.2,426,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1848,1914
$GC,7631,1.22,224.6,26.0,9.4,441,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1848,1914
$STATE,7896,end climb,SURFACE_DEPTH_REACHED
$STATE,7897,begin surface coast
$FINISH,0.5,1.027239
$STATE,7919,end surface coast,CONTROL_FINISHED_OK
$STATE,7919,begin surface
$SM_CCo,7943,40.47,0.803,0,0,1608,300.00
$SM_GC,1.80,0.00,0.00,40.47,0.000,0.000,0.803,418,2135,1608,-10.70,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1821
$TCM_TEMP,15.70
$XPDR_PINGS,38
$ALTIM_BOTTOM_PING,320.1,79.1
$24V_AH,23.9,38.696
$10V_AH,10.1,17.464
$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,26.500,77.325,323.725,40.475,0.000,37.757,25.551,108.446,12.000,0.000,0.000,20.864,852.328,5500.383,445.652,1113.221,363.951,33.353,1015.893,0.000,1082.434,0.000,19.493,0.000
$DEVICE_MAMPS,160.303,79.001,1069.965,803.049,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,310.632,333.487,344.771,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22227,455
$CAP_FILE_SIZE,70605,0
$CFSIZE,254472192,239464448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,051009,045900,6359.723,-1327.944,40,1.0,40,-12.7