version: 66.04
glider: 5
mission: 5
dive: 220
start: 12 23 108 15 38 50
data:
$ID,5
$MISSION,5
$DIVE,220
$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,225
$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,-91630.102
$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,21
$R_STBD_OVSHOOT,21
$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
$GPS1,153131,6024.235,-423.110,38,2.0,38,-6.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-49.1
$GPS2,153832,6024.182,-422.825,14,2.0,31,-6.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6016.545,-438.226
$TGT_RADIUS,1852.000
$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,231.4,20000,-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,-146.6,0.0,0.0,0,159,0.00,0.00,-141.55,0.000,2,0.000,0.000,421,1968,3391
$GC,163,-0.97,-146.6,5.2,-4.3,7,185,10.70,2.50,-0.90,0.000,4,0.137,0.071,2480,589,3431
$GC,438,-0.75,-146.6,50.6,-13.1,19,443,0.28,2.53,0.00,0.000,6,0.082,0.050,2539,2010,3431
$GC,761,-0.67,-146.6,90.5,-15.0,35,765,0.00,2.60,0.00,0.000,4,0.000,0.063,2539,582,3431
$GC,906,-0.61,-146.6,110.0,-14.9,41,913,0.12,2.50,0.00,0.000,6,0.089,0.052,2566,1984,3431
$GC,1223,-0.61,-146.6,146.1,-12.7,57,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1993,3431
$GC,1532,-0.61,-146.6,172.8,-4.9,72,1536,0.00,2.55,0.00,0.000,4,0.000,0.063,2566,3406,3431
$GC,1559,-0.61,-146.6,174.5,-6.2,73,1563,0.00,2.58,0.00,0.000,6,0.000,0.049,2566,1957,3431
$GC,1875,-0.61,-146.6,191.1,-4.7,88,1880,0.00,2.65,0.00,0.000,4,0.000,0.061,2566,3415,3431
$GC,1930,-0.61,-146.6,194.6,-6.2,90,1937,0.00,2.55,0.00,0.000,6,0.000,0.049,2566,1980,3431
$GC,2247,-0.61,-146.6,212.3,-6.3,106,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1979,3431
$GC,2557,-0.61,-146.6,232.3,-6.4,121,2561,0.00,2.60,0.00,0.000,4,0.000,0.061,2566,3411,3431
$GC,2601,-0.65,-146.6,235.5,-7.5,123,2606,0.00,2.55,0.00,0.000,6,0.000,0.050,2566,1978,3431
$GC,2922,-0.65,-146.6,264.8,-9.1,139,2926,0.00,2.58,0.00,0.000,4,0.000,0.061,2566,3406,3431
$GC,2955,-0.70,-146.6,268.4,-10.3,140,2962,0.00,2.53,0.00,0.000,6,0.000,0.050,2566,1981,3431
$GC,3271,-0.70,-146.6,296.1,-7.8,156,3276,0.00,2.47,0.00,0.000,4,0.000,0.064,2566,598,3431
$GC,3299,-0.70,-146.6,298.6,-9.0,157,3304,0.00,2.47,0.00,0.000,6,0.000,0.051,2566,1994,3430
$GC,3615,-0.70,-146.6,322.2,-6.8,172,3619,0.00,2.53,0.00,0.000,4,0.000,0.063,2566,3404,3431
$GC,3643,-0.70,-146.6,324.5,-8.0,173,3647,0.00,2.53,0.00,0.000,6,0.000,0.051,2566,1990,3431
$GC,3964,-0.70,-146.6,345.6,-8.0,189,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1989,3431
$GC,4274,-0.70,-146.6,366.6,-5.7,204,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1988,3431
$GC,4583,-0.70,-146.6,382.9,-4.6,219,4587,0.00,2.58,0.00,0.000,4,0.000,0.063,2566,3404,3431
$GC,4638,-0.74,-146.6,386.1,-6.1,221,4645,0.12,2.50,0.00,0.000,6,0.057,0.051,2529,1998,3431
$GC,4955,-0.67,-146.6,412.9,-8.8,237,4960,0.12,2.50,0.00,0.000,4,0.090,0.066,2555,595,3431
$GC,4982,-0.67,-146.6,415.1,-7.9,238,4987,0.00,2.50,0.00,0.000,6,0.000,0.051,2556,2008,3431
$GC,5299,-0.67,-146.6,435.2,-5.5,253,5303,0.00,2.53,0.00,0.000,4,0.000,0.065,2556,3412,3431
$GC,5327,-0.67,-146.6,437.0,-6.1,254,5332,0.00,2.53,0.00,0.000,6,0.000,0.053,2556,1998,3431
$GC,5643,-0.67,-146.6,454.9,-5.8,269,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1999,3430
$GC,5953,-0.67,-146.6,474.9,-5.5,284,5961,0.00,2.58,0.00,0.000,4,0.000,0.064,2556,3408,3431
$GC,5979,-0.67,-146.6,476.2,-4.9,285,5984,0.00,2.50,0.00,0.000,6,0.000,0.055,2556,2013,3430
$GC,6307,-0.67,-146.6,495.8,-7.8,301,6311,0.00,2.55,0.00,0.000,4,0.000,0.067,2556,588,3431
$GC,6334,-0.67,-146.6,497.7,-6.2,302,6339,0.00,2.53,0.00,0.000,6,0.000,0.051,2556,2013,3431
$GC,6650,-0.67,-146.6,517.2,-6.4,317,6654,0.00,2.50,0.00,0.000,4,0.000,0.065,2556,3405,3431
$GC,6705,-0.67,-146.6,520.4,-6.3,319,6711,0.00,2.55,0.00,0.000,6,0.000,0.057,2556,1989,3431
$GC,7021,-0.67,-146.6,540.3,-6.3,335,7026,0.00,2.60,0.00,0.000,4,0.000,0.064,2556,3405,3430
$GC,7072,-0.67,-146.6,543.7,-6.2,337,7076,0.00,2.53,0.00,0.000,6,0.000,0.055,2556,1989,3431
$GC,7388,-0.67,-146.6,562.9,-5.7,352,7392,0.00,2.60,0.00,0.000,4,0.000,0.064,2556,3411,3431
$GC,7461,-0.71,-146.6,567.7,-6.5,355,7465,0.00,2.55,0.00,0.000,6,0.000,0.057,2556,1995,3430
$STATE,7753,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7753,begin apogee
$GC,7760,-0.33,0.0,584.9,7.2,369,7887,0.32,0.00,123.93,1.224,6,0.075,0.000,2626,2210,2832
$STATE,7888,end apogee,CONTROL_FINISHED_OK
$STATE,7888,begin climb
$GC,7892,0.97,146.6,589.3,0.0,375,8020,1.30,0.00,124.12,1.192,6,0.064,0.000,2909,2210,2234
$GC,8328,0.97,146.6,565.9,6.2,396,8332,0.00,2.58,0.00,0.000,4,0.000,0.073,2909,3605,2233
$GC,8389,0.97,146.6,561.6,6.4,399,8394,0.00,2.53,0.00,0.000,6,0.000,0.061,2909,2222,2232
$GC,8716,0.97,146.6,541.2,7.1,415,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2221,2232
$GC,9025,0.97,146.6,521.7,6.5,430,9029,0.00,2.58,0.00,0.000,4,0.000,0.073,2909,3601,2231
$GC,9087,0.97,146.6,517.4,6.0,433,9092,0.00,2.53,0.00,0.000,6,0.000,0.061,2909,2206,2231
$GC,9414,0.97,146.6,496.2,7.1,449,9419,0.00,2.58,0.00,0.000,4,0.000,0.070,2909,790,2230
$GC,9470,0.97,146.6,491.5,8.3,451,9476,0.00,2.55,0.00,0.000,6,0.000,0.058,2909,2205,2230
$GC,9786,0.97,146.6,470.0,7.0,467,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2205,2229
$GC,10095,0.97,146.6,451.9,6.4,482,10099,0.00,2.60,0.00,0.000,4,0.000,0.067,2909,789,2230
$GC,10139,0.97,146.6,448.7,7.4,484,10143,0.00,2.55,0.00,0.000,6,0.000,0.055,2909,2207,2229
$GC,10460,1.00,167.4,430.7,5.4,500,10484,0.00,2.65,17.77,1.091,4,0.000,0.067,2909,3602,2149
$GC,10512,1.00,167.4,426.7,7.4,502,10516,0.00,2.55,0.00,0.000,6,0.000,0.055,2909,2199,2149
$GC,10832,1.00,167.4,405.1,6.6,518,10836,0.00,2.53,0.00,0.000,4,0.000,0.067,2909,792,2149
$GC,10861,1.00,167.4,402.9,7.6,519,10865,0.00,2.53,0.00,0.000,6,0.000,0.053,2909,2200,2148
$GC,11182,1.00,167.4,381.6,6.5,535,11186,0.00,2.58,0.00,0.000,4,0.000,0.065,2909,793,2148
$GC,11231,1.00,167.4,378.0,7.1,537,11236,0.00,2.50,0.00,0.000,6,0.000,0.053,2909,2190,2148
$GC,11548,1.01,173.8,358.7,5.8,552,11562,0.00,2.65,6.97,0.903,4,0.000,0.064,2909,786,2123
$GC,11585,1.01,173.8,356.3,6.0,553,11591,0.00,2.53,0.00,0.000,6,0.000,0.052,2909,2190,2123
$GC,11901,1.05,173.8,337.1,6.1,569,11902,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2189,2123
$GC,12211,1.11,208.3,320.3,5.1,584,12243,0.12,0.00,29.83,1.034,6,0.055,0.000,2947,2190,1982
$GC,12539,1.04,208.3,296.5,7.3,600,12544,0.10,2.58,0.00,0.000,4,0.086,0.064,2928,784,1982
$GC,12566,1.04,208.3,294.4,7.4,601,12570,0.00,2.50,0.00,0.000,6,0.000,0.051,2928,2188,1982
$GC,12888,1.04,208.3,274.5,6.2,617,12892,0.00,2.55,0.00,0.000,4,0.000,0.064,2928,792,1981
$GC,12921,1.04,208.3,272.0,6.8,618,12927,0.00,2.50,0.00,0.000,6,0.000,0.053,2928,2190,1982
$GC,13236,1.04,208.3,244.3,9.9,634,13241,0.00,2.55,0.00,0.000,4,0.000,0.064,2928,793,1982
$GC,13277,1.04,208.3,240.2,10.7,636,13282,0.00,2.47,0.00,0.000,6,0.000,0.051,2928,2180,1982
$GC,13604,1.04,208.3,216.2,6.8,652,13606,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2183,1982
$GC,13914,1.04,208.3,194.7,8.0,667,13918,0.00,2.55,0.00,0.000,4,0.000,0.064,2928,781,1982
$GC,13953,1.04,208.3,191.0,9.9,669,13958,0.00,2.45,0.00,0.000,6,0.000,0.051,2928,2161,1983
$GC,14280,1.04,208.3,165.4,7.6,685,14282,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2162,1983
$GC,14590,1.11,253.3,150.3,4.8,700,14634,0.00,2.58,37.30,0.917,4,0.000,0.062,2928,787,1799
$GC,14674,1.17,262.5,146.3,5.7,703,14690,0.12,2.45,8.98,0.808,6,0.052,0.051,2967,2150,1760
$GC,15015,1.10,262.5,120.7,7.5,720,15017,0.12,0.00,0.00,0.000,6,0.085,0.000,2941,2151,1761
$GC,15321,1.10,262.5,101.1,6.0,735,15325,0.00,2.50,0.00,0.000,4,0.000,0.064,2941,785,1761
$GC,15361,1.10,263.7,98.5,6.0,737,15365,0.00,2.42,0.00,0.000,6,0.000,0.051,2941,2147,1761
$GC,15694,1.10,263.7,80.2,7.4,753,15698,0.00,2.47,0.00,0.000,4,0.000,0.064,2941,793,1761
$GC,15734,1.10,263.7,76.9,8.7,755,15738,0.00,2.40,0.00,0.000,6,0.000,0.051,2941,2150,1761
$GC,16067,1.15,293.9,51.7,5.2,771,16095,0.00,0.00,26.17,0.841,6,0.000,0.000,2941,2151,1634
$GC,16401,1.34,376.5,29.2,3.7,787,16469,0.17,0.00,65.05,0.835,6,0.049,0.000,2994,2152,1297
$STATE,16646,end climb,SURFACE_DEPTH_REACHED
$STATE,16646,begin surface coast
$FINISH,0.7,1.027334
$STATE,16670,end surface coast,CONTROL_FINISHED_OK
$STATE,16670,begin surface
$SM_CCo,16753,0.00,0.000,0,0,1297,376.54
$SM_GC,1.40,11.25,0.00,0.00,0.038,0.000,0.000,421,1978,1297,-10.39,-0.57,376.54
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1765
$TCM_TEMP,17.30
$XPDR_PINGS,538
$ALTIM_TOP_PING,17.8,16.7
$ALTIM_BOTTOM_PING,550.7,44.0
$24V_AH,23.8,39.344
$10V_AH,10.1,19.339
$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,24.875,157.925,440.125,0.000,0.000,37.764,56.770,174.060,139.500,0.000,0.000,33.232,1481.938,12703.177,641.739,1757.609,582.775,0.000,1544.330,0.000,1702.667,0.000,34.197,0.000
$DEVICE_MAMPS,136.526,72.865,1224.132,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,587.752,538.704,492.642,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41156,800
$CAP_FILE_SIZE,127264,0
$CFSIZE,254472192,238592000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,49,0,0
$GPS,231208,201908,6023.526,-412.484,28,1.7,28,-6.3