version: 66.04
glider: 5
mission: 5
dive: 221
start: 12 23 108 20 25 12
data:
$ID,5
$MISSION,5
$DIVE,221
$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,-91645.633
$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,42
$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
$GPS1,201908,6023.526,-412.484,28,1.7,28,-6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-57.4
$GPS2,202451,6023.588,-412.154,14,1.6,14,-6.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6015.952,-427.551
$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,231.3,20000,-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,16,-0.97,-146.6,0.0,0.0,0,118,0.00,0.00,-99.72,0.000,6,0.000,0.000,421,1966,3431
$GC,122,-0.97,-146.6,5.7,-4.8,5,138,10.62,2.62,0.00,0.000,4,0.131,0.061,2482,3416,3431
$GC,156,0.09,-146.6,19.2,-33.2,5,163,1.10,2.50,0.00,0.000,6,0.073,0.049,2721,2015,3432
$GC,474,-0.50,-146.6,30.6,-4.9,21,480,0.57,2.55,0.00,0.000,4,0.056,0.058,2588,3412,3432
$GC,526,-0.68,-146.6,33.3,-4.2,23,531,0.17,2.47,0.00,0.000,6,0.050,0.046,2540,2013,3432
$GC,844,-0.61,-146.6,54.9,-7.5,38,849,0.12,2.53,0.00,0.000,4,0.089,0.062,2567,598,3432
$GC,899,-0.61,-146.6,60.6,-8.9,40,906,0.00,2.53,0.00,0.000,6,0.000,0.050,2567,2022,3433
$GC,1216,-0.61,-146.6,76.9,-3.3,56,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2022,3433
$GC,1525,-0.61,-146.6,96.1,-7.2,71,1529,0.00,2.60,0.00,0.000,4,0.000,0.064,2567,592,3433
$GC,1580,-0.61,-146.6,100.5,-8.3,73,1586,0.00,2.50,0.00,0.000,6,0.000,0.051,2567,2005,3433
$GC,1897,-0.61,-146.6,126.6,-8.1,89,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2005,3433
$GC,2207,-0.61,-146.6,146.8,-6.6,104,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2015,3433
$GC,2514,-0.61,-146.6,168.8,-6.6,119,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2008,3433
$GC,2824,-0.61,-146.6,188.0,-6.3,134,2828,0.00,2.58,0.00,0.000,4,0.000,0.066,2567,591,3433
$GC,2863,-0.61,-146.6,190.4,-6.4,136,2868,0.00,2.50,0.00,0.000,6,0.000,0.051,2567,2005,3432
$GC,3190,-0.61,-146.6,211.7,-6.8,152,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2005,3432
$GC,3500,-0.61,-146.6,227.6,-6.0,167,3504,0.00,2.50,0.00,0.000,4,0.000,0.063,2567,3402,3432
$GC,3527,-0.61,-146.6,229.3,-6.2,168,3532,0.00,2.50,0.00,0.000,6,0.000,0.051,2567,1998,3432
$GC,3843,-0.61,-146.6,248.9,-7.6,183,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1997,3432
$GC,4153,-0.61,-146.6,268.9,-6.0,198,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1998,3432
$GC,4461,-0.61,-146.6,290.8,-7.2,213,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1998,3432
$GC,4771,-0.61,-146.6,311.5,-6.4,228,4775,0.00,2.55,0.00,0.000,4,0.000,0.061,2567,3405,3432
$GC,4821,-0.66,-146.6,315.3,-8.0,230,4826,0.00,2.50,0.00,0.000,6,0.000,0.051,2567,2001,3432
$GC,5138,-0.66,-146.6,335.3,-5.7,245,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2000,3432
$GC,5447,-0.66,-146.6,352.9,-5.6,260,5451,0.00,2.55,0.00,0.000,4,0.000,0.062,2567,3405,3432
$GC,5519,-0.66,-146.6,357.5,-6.2,263,5523,0.00,2.47,0.00,0.000,6,0.000,0.051,2567,2012,3432
$GC,5835,-0.66,-146.6,376.8,-6.4,278,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2011,3432
$GC,6145,-0.66,-146.6,396.1,-6.4,293,6148,0.00,2.53,0.00,0.000,4,0.000,0.063,2567,3406,3432
$GC,6201,-0.71,-146.6,399.8,-6.6,295,6206,0.00,2.47,0.00,0.000,6,0.000,0.052,2567,2018,3432
$GC,6523,-0.71,-146.6,422.1,-7.3,311,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2018,3432
$GC,6832,-0.71,-146.6,444.0,-7.0,326,6834,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2018,3432
$GC,7141,-0.71,-146.6,462.2,-5.8,341,7146,0.00,2.55,0.00,0.000,4,0.000,0.064,2567,3405,3432
$GC,7182,-0.79,-146.6,464.8,-6.0,343,7187,0.17,2.50,0.00,0.000,6,0.054,0.056,2517,2010,3432
$GC,7510,-1.10,-146.6,471.0,-0.0,359,7515,0.22,2.58,0.00,0.000,4,0.058,0.064,2456,3406,3432
$STATE,7645,end dive,NO_VERTICAL_VELOCITY
$STATE,7646,begin apogee
$GC,7654,-0.33,0.0,471.0,0.0,365,7780,0.73,0.00,122.47,1.138,6,0.056,0.000,2626,2178,2832
$STATE,7781,end apogee,CONTROL_FINISHED_OK
$STATE,7781,begin climb
$GC,7785,0.97,146.6,470.9,0.0,371,7914,1.27,2.60,121.62,1.103,4,0.057,0.064,2910,792,2232
$GC,8046,1.05,199.3,459.1,4.6,383,8097,0.00,2.53,44.55,1.066,6,0.000,0.052,2910,2204,2018
$GC,8417,1.15,228.0,440.1,5.2,401,8448,0.17,2.62,24.92,1.042,4,0.050,0.067,2965,3601,1902
$GC,8478,1.06,228.0,435.1,8.8,404,8483,0.17,2.53,0.00,0.000,6,0.082,0.058,2930,2216,1902
$GC,8805,1.06,228.0,411.5,7.2,420,8809,0.00,2.60,0.00,0.000,4,0.000,0.067,2930,783,1902
$GC,8883,1.06,228.0,405.1,7.7,423,8889,0.00,2.53,0.00,0.000,6,0.000,0.052,2930,2190,1902
$GC,9199,1.06,228.0,382.7,7.3,439,9203,0.00,2.58,0.00,0.000,4,0.000,0.066,2930,3608,1902
$GC,9226,1.06,228.0,380.5,8.0,440,9230,0.00,2.58,0.00,0.000,6,0.000,0.057,2930,2183,1902
$GC,9542,1.06,228.0,357.5,7.6,455,9546,0.00,2.53,0.00,0.000,4,0.000,0.066,2930,784,1902
$GC,9599,1.06,228.0,352.8,8.1,457,9605,0.00,2.50,0.00,0.000,6,0.000,0.051,2930,2186,1901
$GC,9915,1.06,228.0,330.2,7.7,473,9916,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2186,1901
$GC,10224,1.06,228.0,307.5,6.7,488,10228,0.00,2.55,0.00,0.000,4,0.000,0.064,2930,790,1901
$GC,10251,1.06,228.0,305.5,7.3,489,10256,0.00,2.47,0.00,0.000,6,0.000,0.052,2930,2178,1901
$GC,10567,1.06,228.0,285.9,6.4,504,10568,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2178,1901
$GC,10876,1.06,228.0,264.2,7.1,519,10880,0.00,2.53,0.00,0.000,4,0.000,0.064,2930,792,1901
$GC,10917,1.06,228.0,261.2,8.0,521,10921,0.00,2.47,0.00,0.000,6,0.000,0.052,2930,2184,1901
$GC,11244,1.09,243.6,240.1,5.6,537,11265,0.00,2.60,14.05,0.915,4,0.000,0.063,2930,786,1839
$GC,11289,1.11,256.1,237.5,5.7,539,11310,0.00,2.47,11.95,0.894,6,0.000,0.051,2930,2164,1786
$GC,11623,1.18,275.2,218.6,5.5,555,11646,0.12,2.62,16.80,0.919,4,0.053,0.063,2969,784,1709
$GC,11674,1.11,275.2,214.7,7.2,557,11679,0.12,2.45,0.00,0.000,6,0.086,0.051,2943,2148,1709
$GC,11996,1.11,275.2,194.2,6.4,573,12000,0.00,2.47,0.00,0.000,4,0.000,0.064,2943,792,1710
$GC,12034,1.11,275.2,191.4,6.9,574,12040,0.00,2.40,0.00,0.000,6,0.000,0.051,2942,2141,1710
$GC,12350,1.11,275.2,170.5,6.9,590,12351,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2141,1710
$GC,12660,1.11,275.2,149.4,6.8,605,12664,0.00,2.47,0.00,0.000,4,0.000,0.065,2943,784,1710
$GC,12709,1.11,275.2,145.8,6.9,607,12714,0.00,2.40,0.00,0.000,6,0.000,0.051,2943,2133,1710
$GC,13026,1.14,290.8,126.0,5.6,622,13046,0.00,0.00,13.88,0.843,6,0.000,0.000,2943,2133,1645
$GC,13358,1.14,290.8,99.8,8.0,638,13362,0.00,2.45,0.00,0.000,4,0.000,0.064,2943,791,1646
$GC,13425,1.14,290.8,93.6,8.8,641,13429,0.00,2.38,0.00,0.000,6,0.000,0.050,2943,2129,1646
$GC,13747,1.18,290.8,68.1,7.9,657,13748,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2130,1645
$GC,14058,1.22,290.8,41.6,9.4,672,14060,0.10,0.00,0.00,0.000,6,0.058,0.000,2975,2130,1646
$GC,14365,1.16,290.8,12.5,8.1,687,14370,0.12,2.65,0.00,0.000,4,0.088,0.061,2948,3612,1646
$GC,14384,1.16,290.8,11.2,6.7,688,14388,0.00,2.62,0.00,0.000,6,0.000,0.052,2948,2136,1646
$STATE,14522,end climb,SURFACE_DEPTH_REACHED
$STATE,14522,begin surface coast
$FINISH,0.9,1.027223
$STATE,14585,end surface coast,CONTROL_FINISHED_OK
$STATE,14585,begin surface
$SM_CCo,14668,0.00,0.000,0,0,1647,290.93
$SM_GC,1.44,10.98,0.00,0.00,0.038,0.000,0.000,423,1964,1647,-10.38,-0.59,290.93
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1774
$TCM_TEMP,16.40
$XPDR_PINGS,548
$ALTIM_TOP_PING,19.0,999.0
$24V_AH,23.9,39.485
$10V_AH,10.1,19.409
$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,26.800,121.075,370.250,0.000,0.000,37.765,25.254,150.444,140.750,0.000,0.000,14.903,1297.111,11194.608,496.265,1529.130,493.940,0.000,1286.576,0.000,1500.803,0.000,26.990,0.000
$DEVICE_MAMPS,131.157,67.496,1138.228,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,512.356,470.433,513.267,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34762,698
$CAP_FILE_SIZE,109619,0
$CFSIZE,254472192,238551040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,0,0
$GPS,241208,003056,6022.731,-406.526,40,1.2,40,-6.3