version: 66.04
glider: 5
mission: 5
dive: 222
start: 12 24 108 0 36 54
data:
$ID,5
$MISSION,5
$DIVE,222
$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,180
$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,-91659.516
$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,33
$R_STBD_OVSHOOT,23
$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
$GPS1,003056,6022.731,-406.526,40,1.2,40,-6.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-60.4
$GPS2,003633,6022.753,-406.340,13,1.1,13,-6.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6011.954,-406.340
$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,186.3,20000,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.15,0.000,2,0.000,0.000,423,1976,2878
$GC,82,-0.97,-146.6,3.1,-4.1,3,118,10.62,2.60,-18.08,0.000,4,0.133,0.068,2481,3406,3430
$GC,244,-0.77,-146.6,25.8,-14.4,10,250,0.25,2.50,0.00,0.000,6,0.088,0.048,2534,2000,3431
$GC,568,-0.69,-146.6,57.1,-7.9,26,572,0.00,2.55,0.00,0.000,4,0.000,0.059,2534,3408,3430
$GC,592,-0.62,-146.6,59.2,-8.4,27,597,0.15,2.47,0.00,0.000,6,0.086,0.045,2566,2005,3430
$GC,913,-0.62,-146.6,80.0,-6.8,43,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2005,3430
$GC,1224,-0.62,-146.6,101.0,-6.5,58,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2005,3430
$GC,1533,-0.62,-146.6,119.3,-5.5,73,1537,0.00,2.55,0.00,0.000,4,0.000,0.059,2567,3416,3431
$GC,1566,-0.66,-146.6,121.3,-5.6,74,1573,0.00,2.47,0.00,0.000,6,0.000,0.048,2566,2017,3430
$GC,1883,-0.66,-146.6,139.6,-5.9,90,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2016,3430
$GC,2192,-0.66,-146.6,158.4,-6.6,105,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2016,3431
$GC,2500,-0.66,-146.6,178.1,-6.3,120,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2016,3431
$GC,2810,-0.66,-146.6,199.8,-7.2,135,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2016,3431
$GC,3120,-0.66,-146.6,221.6,-7.0,150,3124,0.00,2.53,0.00,0.000,4,0.000,0.060,2566,3412,3431
$GC,3186,-0.66,-146.6,226.7,-8.0,153,3190,0.00,2.47,0.00,0.000,6,0.000,0.049,2566,2018,3431
$GC,3507,-0.66,-146.6,248.2,-6.4,169,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2018,3431
$GC,3817,-0.66,-146.6,267.1,-6.1,184,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2018,3430
$GC,4125,-0.66,-146.6,286.5,-6.6,199,4129,0.00,2.53,0.00,0.000,4,0.000,0.061,2566,3411,3430
$GC,4158,-0.66,-146.6,288.9,-6.7,200,4164,0.00,2.47,0.00,0.000,6,0.000,0.051,2566,2018,3431
$GC,4475,-0.66,-146.6,309.0,-6.1,216,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2018,3431
$GC,4783,-0.66,-146.6,329.1,-6.4,231,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2018,3431
$GC,5093,-0.66,-146.6,349.6,-6.8,246,5100,0.00,2.53,0.00,0.000,4,0.000,0.062,2566,3410,3431
$GC,5124,-0.71,-146.6,352.1,-7.6,247,5128,0.00,2.45,0.00,0.000,6,0.000,0.051,2566,2034,3431
$GC,5444,-0.71,-146.6,374.0,-6.9,263,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2033,3431
$GC,5754,-0.71,-146.6,394.6,-6.5,278,5758,0.00,2.50,0.00,0.000,4,0.000,0.062,2566,3409,3431
$GC,5787,-0.75,-146.6,396.9,-6.7,279,5794,0.15,2.42,0.00,0.000,6,0.054,0.052,2525,2048,3431
$GC,6104,-1.05,-146.6,406.8,-0.1,295,6109,0.22,2.50,0.00,0.000,4,0.056,0.062,2463,3411,3431
$STATE,6280,end dive,NO_VERTICAL_VELOCITY
$STATE,6280,begin apogee
$GC,6289,-0.33,0.0,406.7,0.0,303,6414,0.70,0.00,121.47,1.073,6,0.057,0.000,2627,2176,2832
$STATE,6415,end apogee,CONTROL_FINISHED_OK
$STATE,6415,begin climb
$GC,6418,0.97,146.6,406.6,0.0,309,6546,1.27,2.58,120.35,1.041,4,0.058,0.063,2910,791,2234
$GC,6744,1.00,170.0,391.3,5.4,324,6769,0.00,2.53,20.35,0.973,6,0.000,0.050,2910,2205,2139
$GC,7092,1.00,170.0,371.4,6.4,341,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2205,2138
$GC,7401,1.04,191.8,354.6,5.4,356,7425,0.00,2.62,19.38,0.978,4,0.000,0.063,2910,797,2049
$GC,7466,1.04,191.8,350.9,6.1,359,7470,0.00,2.50,0.00,0.000,6,0.000,0.051,2910,2190,2048
$GC,7794,1.12,217.9,333.5,5.3,375,7824,0.15,2.65,22.42,0.982,4,0.050,0.063,2956,797,1943
$GC,7847,1.03,217.9,329.7,7.4,377,7852,0.15,2.50,0.00,0.000,6,0.084,0.051,2926,2185,1943
$GC,8163,1.03,217.9,309.7,6.9,392,8164,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2184,1942
$GC,8472,1.03,217.9,290.2,6.0,407,8476,0.00,2.53,0.00,0.000,4,0.000,0.064,2925,794,1943
$GC,8528,1.03,217.9,286.8,6.7,409,8532,0.00,2.47,0.00,0.000,6,0.000,0.051,2925,2183,1943
$GC,8844,1.05,230.1,268.4,5.7,424,8857,0.00,0.00,11.55,0.904,6,0.000,0.000,2925,2182,1893
$GC,9153,1.05,230.1,249.7,6.4,439,9157,0.00,2.55,0.00,0.000,4,0.000,0.066,2925,790,1892
$GC,9180,1.05,230.1,247.9,6.7,440,9184,0.00,2.47,0.00,0.000,6,0.000,0.051,2925,2175,1893
$GC,9496,1.09,230.1,228.8,6.2,455,9498,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2176,1893
$GC,9805,1.14,230.1,208.1,6.9,470,9810,0.10,2.55,0.00,0.000,4,0.056,0.063,2958,788,1893
$GC,9849,1.06,230.1,204.3,8.4,472,9854,0.12,2.45,0.00,0.000,6,0.087,0.051,2931,2165,1892
$GC,10171,1.07,231.0,184.6,6.0,488,10175,0.00,2.50,0.00,0.000,4,0.000,0.064,2931,791,1892
$GC,10211,1.07,231.0,181.8,7.0,490,10215,0.00,2.42,0.00,0.000,6,0.000,0.051,2931,2159,1892
$GC,10538,1.11,258.3,161.1,5.3,506,10564,0.00,0.00,23.67,0.890,6,0.000,0.000,2931,2159,1779
$GC,10867,1.16,258.3,140.8,7.0,522,10871,0.00,2.50,0.00,0.000,4,0.000,0.063,2931,788,1779
$GC,10911,1.16,258.3,137.6,7.0,524,10915,0.00,2.42,0.00,0.000,6,0.000,0.050,2931,2149,1779
$GC,11233,1.20,258.3,117.3,6.3,540,11235,0.12,0.00,0.00,0.000,6,0.053,0.000,2971,2149,1779
$GC,11543,1.15,258.3,92.4,8.5,555,11548,0.00,2.47,0.00,0.000,4,0.000,0.064,2971,793,1779
$GC,11594,1.09,258.3,87.7,8.7,557,11599,0.15,2.38,0.00,0.000,6,0.078,0.050,2938,2129,1779
$GC,11912,1.09,258.3,65.9,7.5,572,11913,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2131,1778
$GC,12219,1.09,258.3,42.0,7.9,587,12223,0.00,2.42,0.00,0.000,4,0.000,0.064,2937,796,1779
$GC,12252,1.15,291.8,40.3,5.1,588,12284,0.00,2.35,27.42,0.818,6,0.000,0.050,2937,2123,1642
$GC,12610,1.21,291.8,16.9,7.6,606,12615,0.12,2.65,0.00,0.000,4,0.052,0.061,2976,3601,1642
$GC,12628,1.26,291.8,15.6,6.7,607,12632,0.00,2.60,0.00,0.000,6,0.000,0.050,2976,2140,1643
$STATE,12766,end climb,SURFACE_DEPTH_REACHED
$STATE,12766,begin surface coast
$FINISH,0.6,1.014064
$STATE,12809,end surface coast,CONTROL_FINISHED_OK
$STATE,12809,begin surface
$SM_CCo,12893,0.00,0.000,0,0,1641,292.15
$SM_GC,1.47,11.12,0.00,0.00,0.039,0.000,0.000,421,1970,1641,-10.39,-0.85,292.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1778
$TCM_TEMP,17.40
$XPDR_PINGS,442
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,24.0,39.615
$10V_AH,10.1,19.473
$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,25.425,95.100,366.625,0.000,0.000,37.761,30.467,150.074,113.750,0.000,0.000,13.256,1146.494,9810.952,452.498,1359.366,463.611,0.000,1148.632,0.000,1336.607,0.000,21.732,0.000
$DEVICE_MAMPS,133.458,68.263,1073.033,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.775,415.455,487.518,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31717,616
$CAP_FILE_SIZE,96098,0
$CFSIZE,254472192,238514176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,0,0
$GPS,241208,041307,6020.991,-401.662,44,1.2,44,-6.2