version: 66.04
glider: 5
mission: 7
dive: 214
start: 10 3 109 16 2 41
data:
$ID,5
$MISSION,7
$DIVE,214
$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,-104350.94
$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,18
$R_STBD_OVSHOOT,32
$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
$GPS1,155555,6357.362,-1323.689,40,1.9,40,-12.6
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-55.2
$GPS2,160150,6357.307,-1323.670,12,1.8,12,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.126,-0.211
$KALMAN_X,-41274.1,259.9,-1249.4,-207591.5,10989.0
$KALMAN_Y,-20960.2,1271.4,-267.7,280540.9,763.2
$MHEAD_RNG_PITCHd_Wd,223.4,14149,-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,16,-1.22,-146.6,0.0,0.0,0,99,0.00,0.00,-81.00,0.000,2,0.000,0.000,420,2153,2838
$GC,103,-1.22,-146.6,3.0,-2.9,4,138,11.27,2.53,-18.73,0.000,4,0.165,0.076,2473,3533,3430
$GC,392,-1.13,-146.6,41.8,-13.1,17,398,0.12,2.53,0.00,0.000,6,0.104,0.048,2498,2116,3430
$GC,720,-1.13,-146.6,77.1,-10.8,33,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2102,3430
$GC,1029,-1.13,-146.6,114.9,-11.5,48,1033,0.00,2.50,0.00,0.000,4,0.000,0.062,2498,714,3430
$GC,1069,-1.13,-146.6,119.3,-11.6,50,1074,0.00,2.47,0.00,0.000,6,0.000,0.049,2498,2114,3430
$GC,1392,-1.13,-146.6,155.9,-11.7,66,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2114,3430
$GC,1704,-1.13,-146.6,192.3,-11.9,86,1709,0.00,2.55,0.00,0.000,4,0.000,0.061,2498,709,3431
$GC,1750,-1.13,-146.6,198.0,-12.4,89,1754,0.00,2.47,0.00,0.000,6,0.000,0.049,2498,2107,3431
$GC,2075,-1.13,-146.6,237.5,-11.9,110,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2107,3431
$GC,2387,-1.13,-146.6,271.3,-10.6,130,2391,0.00,2.55,0.00,0.000,4,0.000,0.065,2498,713,3431
$GC,2439,-1.13,-146.6,276.9,-11.1,133,2443,0.00,2.45,0.00,0.000,6,0.000,0.051,2498,2090,3431
$GC,2758,-1.13,-146.6,309.5,-9.8,153,2762,0.00,2.62,0.00,0.000,4,0.000,0.067,2498,3539,3431
$GC,2786,-1.13,-146.6,312.3,-9.6,155,2791,0.00,2.62,0.00,0.000,6,0.000,0.056,2498,2083,3431
$GC,3114,-1.13,-146.6,338.6,-7.3,176,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2073,3431
$GC,3423,-1.13,-146.6,368.3,-11.3,196,3427,0.00,2.67,0.00,0.000,4,0.000,0.068,2498,3538,3431
$GC,3536,-1.13,-146.6,382.3,-12.3,203,3540,0.00,2.60,0.00,0.000,6,0.000,0.056,2498,2100,3430
$GC,3860,-1.13,-146.6,414.8,-9.2,224,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2073,3431
$GC,4173,-1.13,-146.6,445.8,-11.1,244,4177,0.00,2.50,0.00,0.000,4,0.000,0.066,2499,701,3431
$GC,4202,-1.13,-146.6,449.4,-12.1,246,4207,0.00,2.50,0.00,0.000,6,0.000,0.051,2498,2114,3431
$GC,4526,-1.13,-146.6,479.6,-8.9,267,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2115,3431
$GC,4839,-1.13,-146.6,507.8,-8.2,287,4843,0.00,2.55,0.00,0.000,4,0.000,0.063,2498,701,3430
$GC,4850,-1.13,-146.6,509.1,-9.0,287,4856,0.00,2.47,0.00,0.000,6,0.000,0.053,2498,2093,3430
$GC,5169,-1.13,-146.6,547.5,-11.3,308,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2094,3430
$GC,5481,-1.13,-146.6,600.7,-19.0,328,5486,0.00,2.62,0.00,0.000,4,0.000,0.071,2498,3533,3430
$GC,5678,-1.13,-146.6,633.7,-18.3,340,5683,0.00,2.60,0.00,0.000,6,0.000,0.057,2498,2095,3429
$GC,6006,-1.13,-146.6,659.1,-5.6,361,6011,0.00,2.67,0.00,0.000,4,0.000,0.071,2498,3535,3429
$GC,6107,-1.13,-146.6,665.2,-7.0,367,6111,0.00,2.58,0.00,0.000,6,0.000,0.064,2498,2127,3429
$GC,6427,-1.13,-146.6,637.1,13.4,387,6431,0.00,2.65,0.00,0.000,4,0.000,0.076,2498,3541,3428
$GC,6651,-1.13,-146.6,621.0,9.0,400,6658,0.00,2.60,0.00,0.000,6,0.000,0.068,2498,2130,3427
$GC,6971,-1.13,-146.6,649.0,-14.8,421,6975,0.00,2.60,0.00,0.000,4,0.000,0.081,2498,719,3427
$GC,7229,-1.19,-146.6,694.5,-12.6,436,7241,0.00,2.55,0.00,0.000,6,0.000,0.064,2498,2120,3426
$GC,7551,-1.19,-146.6,736.1,-6.8,457,7555,0.00,2.62,0.00,0.000,4,0.000,0.077,2498,706,3425
$GC,7674,-1.19,-146.6,746.4,-10.5,464,7680,0.00,2.58,0.00,0.000,6,0.000,0.064,2498,2122,3424
$STATE,7694,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7694,begin apogee
$GC,7702,-0.33,0.0,748.3,9.7,466,7838,0.82,0.00,133.07,1.362,6,0.085,0.000,2674,1820,2831
$STATE,7839,end apogee,CONTROL_FINISHED_OK
$STATE,7839,begin climb
$GC,7842,1.22,146.6,750.7,0.0,475,7984,1.58,2.67,132.23,1.318,4,0.083,0.084,3003,446,2233
$GC,8246,1.74,543.8,723.1,-6.4,499,8608,0.55,2.60,351.00,1.268,6,0.058,0.063,3127,1879,614
$GC,8934,1.59,543.8,581.2,22.1,543,8939,0.17,2.55,0.00,0.000,4,0.106,0.074,3091,3242,617
$GC,9047,1.59,543.8,560.4,16.8,550,9052,0.00,2.67,0.00,0.000,6,0.000,0.071,3091,1817,617
$GC,9373,1.48,543.8,505.9,16.7,571,9378,0.12,2.55,0.00,0.000,4,0.107,0.077,3067,437,616
$GC,9390,1.37,543.8,502.2,18.5,572,9395,0.12,2.50,0.00,0.000,6,0.106,0.059,3043,1808,616
$GC,9709,1.37,543.8,453.5,15.5,592,9713,0.00,2.65,0.00,0.000,4,0.000,0.068,3043,3261,616
$GC,9742,1.45,543.8,449.5,10.7,594,9747,0.00,2.65,0.00,0.000,6,0.000,0.066,3043,1835,616
$GC,10062,1.45,543.8,405.2,15.4,614,10066,0.00,2.58,0.00,0.000,4,0.000,0.078,3043,438,617
$GC,10091,1.45,543.8,400.6,17.1,616,10095,0.00,2.55,0.00,0.000,6,0.000,0.057,3043,1847,617
$GC,10415,1.45,543.8,346.4,16.4,637,10416,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1862,617
$GC,10727,1.45,543.8,295.3,15.9,657,10731,0.00,2.62,0.00,0.000,4,0.000,0.072,3042,437,617
$GC,10765,1.45,543.8,289.0,15.7,659,10772,0.00,2.53,0.00,0.000,6,0.000,0.053,3043,1845,617
$GC,11085,1.45,543.8,241.5,14.9,680,11089,0.00,2.62,0.00,0.000,4,0.000,0.073,3043,434,617
$GC,11113,1.45,543.8,236.6,17.2,682,11118,0.00,2.50,0.00,0.000,6,0.000,0.053,3042,1830,617
$GC,11437,1.45,543.8,185.4,15.6,703,11438,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1845,618
$GC,11755,1.45,543.8,136.4,15.5,722,11759,0.00,2.58,0.00,0.000,4,0.000,0.069,3043,435,618
$GC,11788,1.45,543.8,131.0,15.2,723,11794,0.00,2.47,0.00,0.000,6,0.000,0.050,3043,1826,618
$GC,12106,1.45,543.8,85.8,15.2,739,12107,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1841,619
$GC,12414,1.45,543.8,41.1,14.7,754,12418,0.00,2.58,0.00,0.000,4,0.000,0.070,3043,433,619
$GC,12464,1.50,543.8,32.9,16.1,756,12469,0.12,2.42,0.00,0.000,6,0.055,0.048,3077,1808,619
$STATE,12674,end climb,SURFACE_DEPTH_REACHED
$STATE,12674,begin surface coast
$FINISH,0.5,1.005802
$STATE,12697,end surface coast,CONTROL_FINISHED_OK
$STATE,12698,begin surface
$SM_CCo,12782,0.00,0.000,0,0,619,542.36
$SM_GC,1.18,11.50,0.00,0.00,0.036,0.000,0.000,420,2134,619,-10.60,0.23,542.36
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1834
$TCM_TEMP,17.20
$XPDR_PINGS,38
$ALTIM_BOTTOM_PING,695.3,61.8
$24V_AH,23.7,37.231
$10V_AH,10.1,16.825
$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,26.400,114.050,616.300,0.000,0.000,37.755,27.029,175.838,15.750,0.000,0.000,12.339,1352.265,8853.506,648.991,1767.766,513.847,33.359,1582.971,0.000,1720.711,0.000,42.999,0.000
$DEVICE_MAMPS,164.905,83.603,1362.192,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,524.693,558.960,419.811,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41114,767
$CAP_FILE_SIZE,107797,0
$CFSIZE,254472192,239919104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,031009,193726,6355.673,-1325.924,66,2.0,66,-12.6