version: 66.04
glider: 5
mission: 7
dive: 215
start: 10 3 109 19 43 51
data:
$ID,5
$MISSION,7
$DIVE,215
$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,-104367.78
$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,24
$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
$GPS1,193726,6355.673,-1325.924,66,2.0,66,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-52.5
$GPS2,194302,6355.719,-1325.776,16,1.3,16,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.021,-0.245
$KALMAN_X,-41808.8,-869.3,331.9,-209403.3,5421.6
$KALMAN_Y,-16892.9,-1115.5,498.3,275127.5,5045.2
$MHEAD_RNG_PITCHd_Wd,197.4,11691,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,121,0.00,0.00,-101.32,0.000,2,0.000,0.000,419,2145,2647
$GC,125,-1.22,-146.6,2.6,-1.8,5,172,11.45,2.60,-29.67,0.000,4,0.173,0.068,2470,701,3429
$GC,425,-1.17,-146.6,37.3,-11.7,18,429,0.10,2.55,0.00,0.000,6,0.109,0.048,2489,2138,3429
$GC,742,-1.12,-146.6,73.8,-10.5,33,746,0.00,2.60,0.00,0.000,4,0.000,0.061,2489,707,3429
$GC,774,-1.12,-146.6,77.7,-11.1,34,781,0.00,2.53,0.00,0.000,6,0.000,0.050,2489,2131,3429
$GC,1092,-1.12,-146.6,110.5,-11.0,50,1097,0.00,2.58,0.00,0.000,4,0.000,0.061,2489,716,3429
$GC,1148,-1.12,-146.6,117.2,-11.7,52,1155,0.00,2.50,0.00,0.000,6,0.000,0.050,2489,2126,3429
$GC,1465,-1.09,-146.6,151.4,-11.2,68,1470,0.00,2.58,0.00,0.000,4,0.000,0.064,2489,712,3429
$GC,1494,-1.09,-146.6,155.0,-12.1,70,1499,0.00,2.47,0.00,0.000,6,0.000,0.050,2489,2107,3429
$GC,1820,-1.09,-146.6,193.5,-11.7,91,1824,0.00,2.58,0.00,0.000,4,0.000,0.066,2489,3531,3429
$GC,1876,-1.06,-146.6,200.2,-11.5,94,1883,0.12,2.58,0.00,0.000,6,0.100,0.053,2516,2100,3430
$GC,2195,-1.06,-146.6,232.4,-10.0,115,2199,0.00,2.47,0.00,0.000,4,0.000,0.063,2516,716,3430
$GC,2224,-1.09,-146.6,235.3,-10.6,117,2229,0.00,2.47,0.00,0.000,6,0.000,0.050,2516,2111,3429
$GC,2549,-1.09,-146.6,266.0,-9.3,138,2553,0.00,2.55,0.00,0.000,4,0.000,0.062,2516,704,3430
$GC,2579,-1.13,-146.6,268.8,-9.4,140,2584,0.00,2.47,0.00,0.000,6,0.000,0.050,2516,2099,3430
$GC,2907,-1.13,-146.6,297.7,-8.8,161,2911,0.00,2.53,0.00,0.000,4,0.000,0.063,2516,705,3430
$GC,2935,-1.16,-146.6,300.5,-8.4,162,2941,0.12,2.47,0.00,0.000,6,0.058,0.051,2481,2097,3430
$GC,3257,-1.12,-146.6,333.4,-10.7,183,3262,0.00,2.60,0.00,0.000,4,0.000,0.068,2481,3531,3430
$GC,3304,-1.07,-146.6,338.9,-11.0,186,3309,0.15,2.60,0.00,0.000,6,0.094,0.057,2512,2098,3429
$GC,3631,-1.07,-146.6,373.1,-11.2,207,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2084,3430
$GC,3941,-1.07,-146.6,407.6,-11.0,227,3945,0.00,2.67,0.00,0.000,4,0.000,0.067,2512,3540,3430
$GC,4020,-1.07,-146.6,417.3,-11.2,232,4024,0.00,2.58,0.00,0.000,6,0.000,0.058,2512,2123,3429
$GC,4344,-1.07,-146.6,453.4,-10.8,253,4349,0.00,2.62,0.00,0.000,4,0.000,0.069,2512,3537,3430
$GC,4373,-1.07,-146.6,456.2,-10.0,255,4377,0.00,2.55,0.00,0.000,6,0.000,0.058,2512,2125,3430
$GC,4698,-1.07,-146.6,485.3,-8.9,276,4702,0.00,2.53,0.00,0.000,4,0.000,0.066,2512,718,3430
$GC,4733,-1.11,-146.6,488.3,-8.8,278,4737,0.00,2.53,0.00,0.000,6,0.000,0.051,2512,2139,3430
$GC,5059,-1.11,-146.6,514.7,-7.7,299,5064,0.00,2.60,0.00,0.000,4,0.000,0.066,2512,712,3429
$GC,5139,-1.16,-146.6,521.1,-8.1,304,5144,0.00,2.50,0.00,0.000,6,0.000,0.051,2512,2117,3430
$GC,5465,-1.19,-146.6,547.0,-9.8,325,5470,0.12,2.58,0.00,0.000,4,0.061,0.067,2476,712,3429
$GC,5498,-1.19,-146.6,550.5,-10.7,327,5502,0.00,2.50,0.00,0.000,6,0.000,0.052,2475,2115,3429
$GC,5817,-1.19,-146.6,591.9,-16.5,347,5822,0.00,2.60,0.00,0.000,4,0.000,0.071,2476,3538,3428
$GC,5907,-1.14,-146.6,607.0,-17.7,352,5914,0.10,2.62,0.00,0.000,6,0.100,0.060,2495,2096,3428
$GC,6231,-1.14,-146.6,647.2,-12.5,373,6235,0.00,2.67,0.00,0.000,4,0.000,0.071,2495,3534,3428
$GC,6370,-1.14,-146.6,661.8,-9.9,381,6376,0.00,2.55,0.00,0.000,6,0.000,0.061,2496,2134,3427
$GC,6690,-1.14,-146.6,701.9,-13.7,402,6694,0.00,2.62,0.00,0.000,4,0.000,0.077,2495,3530,3427
$GC,6786,-1.11,-146.6,711.0,-7.0,408,6791,0.00,2.50,0.00,0.000,6,0.000,0.061,2495,2158,3427
$STATE,6984,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6984,begin apogee
$GC,6991,-0.33,0.0,727.6,8.0,421,7127,0.80,0.00,131.65,1.315,6,0.071,0.000,2672,1827,2831
$STATE,7127,end apogee,CONTROL_FINISHED_OK
$STATE,7127,begin climb
$GC,7130,1.22,146.6,731.7,0.0,430,7273,1.55,2.75,133.40,1.270,4,0.063,0.073,3008,3259,2232
$GC,7372,1.52,396.6,722.7,-1.1,444,7602,0.30,2.62,220.15,1.250,6,0.052,0.067,3077,1840,1214
$GC,7925,1.41,396.6,636.7,16.7,480,7930,0.15,2.62,0.00,0.000,4,0.105,0.083,3050,449,1215
$GC,7959,1.33,396.6,631.1,13.8,482,7964,0.00,2.60,0.00,0.000,6,0.000,0.063,3050,1861,1215
$GC,8279,1.29,396.6,591.2,12.7,502,8281,0.12,0.00,0.00,0.000,6,0.104,0.000,3027,1877,1215
$GC,8592,1.29,396.6,551.8,11.6,522,8596,0.00,2.58,0.00,0.000,4,0.000,0.070,3026,3267,1214
$GC,8631,1.35,396.6,547.4,9.9,524,8637,0.00,2.60,0.00,0.000,6,0.000,0.064,3026,1862,1214
$GC,8950,1.35,396.6,510.5,11.8,545,8954,0.00,2.62,0.00,0.000,4,0.000,0.075,3026,431,1214
$GC,8989,1.35,396.6,505.5,12.5,547,8995,0.00,2.55,0.00,0.000,6,0.000,0.055,3026,1844,1214
$GC,9308,1.35,396.6,467.6,11.5,568,9312,0.00,2.55,0.00,0.000,4,0.000,0.066,3026,3257,1214
$GC,9375,1.41,396.6,459.5,11.2,572,9380,0.12,2.58,0.00,0.000,6,0.062,0.061,3058,1852,1214
$GC,9697,1.35,396.6,413.5,14.5,592,9701,0.00,2.60,0.00,0.000,4,0.000,0.063,3058,3265,1214
$GC,9719,1.31,396.6,409.8,15.2,593,9726,0.15,2.55,0.00,0.000,6,0.091,0.058,3028,1866,1214
$GC,10038,1.31,396.6,368.2,13.6,614,10042,0.00,2.60,0.00,0.000,4,0.000,0.071,3028,432,1214
$GC,10054,1.31,396.6,365.8,13.6,615,10059,0.00,2.60,0.00,0.000,6,0.000,0.051,3028,1885,1215
$GC,10374,1.31,396.6,322.9,13.7,635,10378,0.00,2.67,0.00,0.000,4,0.000,0.071,3028,439,1215
$GC,10395,1.31,396.6,319.4,14.8,636,10402,0.00,2.55,0.00,0.000,6,0.000,0.051,3028,1869,1215
$GC,10714,1.31,396.6,277.7,13.5,657,10719,0.00,2.65,0.00,0.000,4,0.000,0.069,3028,434,1215
$GC,10736,1.31,396.6,274.4,14.5,658,10743,0.00,2.53,0.00,0.000,6,0.000,0.051,3028,1851,1216
$GC,11056,1.31,396.6,232.3,13.0,679,11060,0.00,2.62,0.00,0.000,4,0.000,0.069,3028,432,1216
$GC,11077,1.31,396.6,229.1,14.1,680,11084,0.00,2.50,0.00,0.000,6,0.000,0.049,3028,1841,1216
$GC,11397,1.31,396.6,188.7,12.5,701,11398,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1856,1217
$GC,11709,1.31,396.6,149.5,12.6,721,11713,0.00,2.60,0.00,0.000,4,0.000,0.069,3028,432,1217
$GC,11736,1.31,396.6,145.5,13.4,722,11741,0.00,2.50,0.00,0.000,6,0.000,0.050,3028,1839,1217
$GC,12054,1.31,396.6,106.0,12.0,737,12059,0.00,2.53,0.00,0.000,4,0.000,0.058,3028,3261,1217
$GC,12088,1.39,396.6,101.7,10.6,738,12095,0.00,2.58,0.00,0.000,6,0.000,0.052,3028,1824,1217
$GC,12405,1.39,396.6,67.5,10.6,754,12409,0.00,2.50,0.00,0.000,4,0.000,0.067,3028,432,1217
$GC,12427,1.39,396.6,64.6,12.3,755,12432,0.00,2.53,0.00,0.000,6,0.000,0.048,3028,1858,1217
$GC,12750,1.43,396.6,25.5,12.5,771,12752,0.12,0.00,0.00,0.000,6,0.055,0.000,3064,1875,1218
$STATE,12952,end climb,SURFACE_DEPTH_REACHED
$STATE,12952,begin surface coast
$FINISH,0.5,1.014322
$STATE,12976,end surface coast,CONTROL_FINISHED_OK
$STATE,12976,begin surface
$SM_CCo,13060,0.00,0.000,0,0,1216,396.16
$SM_GC,1.40,11.48,0.00,0.00,0.039,0.000,0.000,424,2148,1216,-10.59,0.45,396.16
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1835
$TCM_TEMP,17.40
$XPDR_PINGS,41
$ALTIM_BOTTOM_PING,671.0,65.4
$24V_AH,23.8,37.419
$10V_AH,10.1,16.899
$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,26.975,155.125,485.200,0.000,0.000,37.757,32.767,138.687,16.250,0.000,0.000,16.219,1390.758,9177.246,615.151,1697.733,511.940,33.372,1518.482,0.000,1652.759,0.000,41.389,0.000
$DEVICE_MAMPS,173.342,82.836,1314.638,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,534.073,570.076,447.166,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41094,782
$CAP_FILE_SIZE,116309,0
$CFSIZE,254472192,239853568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,031009,232237,6354.732,-1323.423,29,1.0,29,-12.6