version: 66.04
glider: 5
mission: 7
dive: 218
start: 10 4 109 10 27 39
data:
$ID,5
$MISSION,7
$DIVE,218
$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,-104411.9
$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,23
$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
$GPS1,100924,6350.538,-1326.081,43,1.0,61,-12.6
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-64.1
$GPS2,102650,6350.662,-1325.815,12,1.3,12,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P6
$TGT_LATLONG,6402.820,-1325.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.040,0.303
$KALMAN_X,-41204.7,-188.9,450.5,-210842.0,1096.7
$KALMAN_Y,-11854.7,-376.5,476.6,260034.3,2898.1
$MHEAD_RNG_PITCHd_Wd,5.1,22518,-11.0,-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,-0.97,-146.6,0.0,0.0,0,59,0.00,0.00,-40.78,0.000,2,0.000,0.000,420,2145,2416
$GC,63,-0.97,-146.6,2.0,-1.5,2,127,11.45,2.55,-45.15,0.000,4,0.159,0.076,2528,3543,3428
$GC,167,-0.84,-146.6,8.0,-9.5,6,174,0.15,2.55,0.00,0.000,6,0.087,0.050,2560,2122,3428
$GC,485,-0.80,-146.6,37.4,-7.7,22,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2110,3428
$GC,793,-0.76,-146.6,66.4,-10.5,37,797,0.00,2.50,0.00,0.000,4,0.000,0.062,2561,717,3428
$GC,848,-0.76,-146.6,72.4,-10.0,39,855,0.00,2.50,0.00,0.000,6,0.000,0.048,2561,2135,3428
$GC,1166,-0.73,-146.6,103.7,-8.8,55,1171,0.12,2.58,0.00,0.000,4,0.088,0.060,2587,714,3428
$GC,1230,-0.79,-146.6,107.7,-6.0,58,1234,0.00,2.47,0.00,0.000,6,0.000,0.048,2586,2114,3428
$GC,1558,-0.82,-146.6,130.8,-7.0,74,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2115,3428
$GC,1868,-0.87,-146.6,150.7,-7.0,89,1873,0.15,2.53,0.00,0.000,4,0.051,0.060,2546,716,3428
$GC,1991,-0.87,-146.6,162.7,-9.7,96,1998,0.00,2.45,0.00,0.000,6,0.000,0.047,2545,2107,3428
$GC,2311,-0.81,-146.6,191.5,-9.3,117,2313,0.12,0.00,0.00,0.000,6,0.088,0.000,2572,2107,3428
$GC,2623,-0.81,-146.6,218.9,-8.9,137,2627,0.00,2.53,0.00,0.000,4,0.000,0.062,2572,716,3428
$GC,2686,-0.81,-146.6,224.4,-9.3,141,2690,0.00,2.42,0.00,0.000,6,0.000,0.050,2572,2086,3428
$GC,3010,-0.81,-146.6,252.3,-8.8,162,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2086,3428
$GC,3323,-0.81,-146.6,277.0,-7.5,182,3327,0.00,2.47,0.00,0.000,4,0.000,0.061,2572,718,3428
$GC,3379,-0.81,-146.6,281.2,-7.4,185,3385,0.00,2.40,0.00,0.000,6,0.000,0.049,2572,2077,3428
$GC,3699,-0.81,-146.6,301.6,-6.0,206,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2078,3427
$GC,4011,-0.81,-146.6,321.7,-7.1,226,4016,0.00,2.47,0.00,0.000,4,0.000,0.063,2572,714,3428
$GC,4062,-0.81,-146.6,325.5,-7.1,229,4066,0.00,2.40,0.00,0.000,6,0.000,0.050,2572,2067,3428
$GC,4382,-0.81,-146.6,345.5,-5.8,249,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2067,3427
$GC,4694,-0.81,-146.6,364.9,-6.4,269,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2067,3427
$GC,5006,-0.81,-146.6,384.8,-6.3,289,5010,0.00,2.45,0.00,0.000,4,0.000,0.062,2572,716,3427
$GC,5063,-0.84,-146.6,388.3,-6.5,292,5068,0.00,2.40,0.00,0.000,6,0.000,0.050,2572,2069,3427
$GC,5383,-0.84,-146.6,406.9,-6.0,312,5384,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2069,3426
$GC,5695,-0.84,-146.6,424.3,-5.8,332,5699,0.00,2.45,0.00,0.000,4,0.000,0.063,2572,717,3426
$GC,5723,-0.84,-146.6,426.1,-6.8,333,5729,0.00,2.38,0.00,0.000,6,0.000,0.051,2572,2058,3426
$GC,6043,-0.84,-146.6,444.6,-5.8,354,6047,0.00,2.45,0.00,0.000,4,0.000,0.063,2572,707,3427
$GC,6076,-0.84,-146.6,446.7,-5.9,356,6080,0.00,2.40,0.00,0.000,6,0.000,0.051,2572,2063,3426
$GC,6402,-0.84,-146.6,467.1,-6.6,377,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2064,3425
$GC,6714,-0.84,-146.6,487.7,-6.5,397,6718,0.00,2.45,0.00,0.000,4,0.000,0.064,2572,714,3426
$GC,6777,-0.88,-146.6,491.9,-6.7,401,6782,0.00,2.38,0.00,0.000,6,0.000,0.051,2572,2050,3425
$GC,7104,-0.88,-146.6,509.8,-4.9,422,7108,0.00,2.42,0.00,0.000,4,0.000,0.063,2572,712,3425
$GC,7150,-0.91,-146.6,512.3,-6.4,425,7155,0.12,2.35,0.00,0.000,6,0.058,0.050,2534,2036,3426
$GC,7478,-0.85,-146.6,533.7,-7.2,446,7482,0.12,2.40,0.00,0.000,4,0.091,0.062,2560,712,3425
$GC,7534,-0.85,-146.6,537.7,-6.6,449,7538,0.00,2.33,0.00,0.000,6,0.000,0.051,2561,2023,3425
$GC,7854,-0.85,-146.6,560.6,-6.9,469,7858,0.00,2.38,0.00,0.000,4,0.000,0.064,2561,716,3425
$GC,7904,-0.85,-146.6,564.4,-7.6,472,7908,0.00,2.30,0.00,0.000,6,0.000,0.051,2561,2016,3425
$GC,8229,-0.85,-146.6,592.4,-9.7,493,8234,0.00,2.38,0.00,0.000,4,0.000,0.064,2561,711,3425
$GC,8343,-0.85,-146.6,605.1,-12.5,500,8347,0.00,2.28,0.00,0.000,6,0.000,0.051,2560,1997,3425
$GC,8668,-0.85,-146.6,638.5,-9.9,521,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1996,3425
$GC,8980,-0.85,-146.6,667.7,-9.0,541,8984,0.00,2.78,0.00,0.000,4,0.000,0.071,2561,3535,3424
$GC,9009,-0.85,-146.6,670.4,-9.9,543,9014,0.00,2.78,0.00,0.000,6,0.000,0.061,2561,1991,3424
$GC,9334,-0.85,-146.6,693.7,-6.7,564,9335,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1991,3424
$GC,9646,-0.85,-146.6,717.3,-7.8,584,9650,0.00,2.85,0.00,0.000,4,0.000,0.072,2561,3531,3423
$GC,9697,-0.85,-146.6,721.6,-8.4,587,9701,0.00,2.78,0.00,0.000,6,0.000,0.061,2561,1996,3423
$GC,10017,-0.85,-146.6,746.4,-7.8,607,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1996,3422
$GC,10329,-0.85,-146.6,769.3,-8.0,627,10333,0.00,2.85,0.00,0.000,4,0.000,0.074,2561,3531,3422
$GC,10380,-0.85,-146.6,774.0,-8.5,630,10385,0.00,2.78,0.00,0.000,6,0.000,0.063,2560,2004,3421
$GC,10700,-0.85,-146.6,791.8,-4.7,650,10704,0.00,2.33,0.00,0.000,4,0.000,0.074,2561,720,3421
$GC,10798,-0.88,-146.6,798.1,-5.9,656,10803,0.00,2.28,0.00,0.000,6,0.000,0.057,2561,1984,3421
$GC,11122,-0.88,-146.6,824.2,-10.6,677,11124,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1992,3421
$STATE,11291,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11291,begin apogee
$GC,11299,-0.33,0.0,841.1,9.7,688,11430,0.50,0.00,127.57,1.423,6,0.068,0.000,2672,1825,2832
$STATE,11431,end apogee,CONTROL_FINISHED_OK
$STATE,11431,begin climb
$GC,11434,0.97,146.6,842.8,0.0,697,11575,1.25,2.67,128.90,1.377,4,0.050,0.083,2955,461,2233
$GC,11589,1.40,463.5,838.5,1.1,706,11875,0.43,2.58,275.10,1.338,6,0.050,0.060,3053,1876,941
$GC,12187,1.23,463.5,756.8,15.1,745,12193,0.17,2.67,0.00,0.000,4,0.096,0.081,3015,459,943
$GC,12272,1.15,463.5,746.0,11.9,750,12276,0.00,2.47,0.00,0.000,6,0.000,0.062,3015,1807,943
$GC,12598,1.06,463.5,706.5,11.8,771,12603,0.17,2.67,0.00,0.000,4,0.090,0.070,2977,3262,943
$GC,12627,1.06,463.5,703.3,10.2,773,12632,0.00,2.67,0.00,0.000,6,0.000,0.071,2977,1829,943
$GC,12951,1.06,463.5,671.9,10.4,794,12952,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1829,942
$GC,13264,1.06,463.5,641.6,9.1,814,13265,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1828,942
$GC,13576,1.06,463.5,613.6,9.8,834,13580,0.00,2.58,0.00,0.000,4,0.000,0.077,2976,432,942
$GC,13605,1.06,463.5,610.6,11.2,836,13609,0.00,2.53,0.00,0.000,6,0.000,0.056,2977,1829,942
$GC,13929,1.06,463.5,573.8,9.8,857,13934,0.00,2.60,0.00,0.000,4,0.000,0.074,2977,437,942
$GC,13968,1.06,463.5,569.7,10.3,859,13974,0.00,2.47,0.00,0.000,6,0.000,0.054,2976,1815,942
$GC,14287,1.06,463.5,537.3,9.5,880,14292,0.00,2.55,0.00,0.000,4,0.000,0.069,2977,434,942
$GC,14334,1.06,466.3,534.0,7.9,883,14344,0.00,2.45,4.72,0.854,6,0.000,0.054,2977,1823,929
$GC,14660,1.06,466.3,505.5,10.0,903,14661,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1825,929
$GC,14970,1.06,466.3,473.4,9.9,923,14974,0.00,2.55,0.00,0.000,4,0.000,0.071,2976,430,929
$GC,14998,1.06,466.3,470.7,9.7,924,15004,0.00,2.40,0.00,0.000,6,0.000,0.051,2977,1779,929
$GC,15317,1.10,466.3,440.0,9.2,945,15322,0.00,2.60,0.00,0.000,4,0.000,0.062,2977,3239,930
$GC,15347,1.18,466.3,437.3,9.7,947,15352,0.10,2.65,0.00,0.000,6,0.060,0.060,3005,1783,930
$GC,15674,1.12,466.3,402.1,10.8,968,15675,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1783,931
$GC,15984,1.07,466.3,370.1,10.2,988,15989,0.15,2.67,0.00,0.000,4,0.084,0.060,2975,3248,930
$GC,16024,1.22,501.3,366.7,7.2,990,16062,0.17,2.62,30.58,1.049,6,0.049,0.056,3021,1794,787
$GC,16374,1.13,501.3,326.4,11.1,1013,16376,0.15,0.00,0.00,0.000,6,0.087,0.000,2992,1795,787
$GC,16687,1.21,550.9,303.0,6.9,1033,16736,0.00,2.75,42.38,1.012,4,0.000,0.058,2992,3247,585
$GC,16765,1.37,588.8,297.2,7.2,1037,16803,0.22,2.65,32.62,0.986,6,0.046,0.054,3049,1796,430
$GC,17115,1.23,588.8,248.7,14.9,1060,17117,0.20,0.00,0.00,0.000,6,0.083,0.000,3009,1796,432
$GC,17427,1.23,588.8,215.8,10.0,1080,17431,0.00,2.65,0.00,0.000,4,0.000,0.058,3009,3250,433
$GC,17461,1.29,588.8,212.5,9.2,1082,17465,0.00,2.58,0.00,0.000,6,0.000,0.053,3009,1823,433
$GC,17779,1.29,588.8,181.1,10.6,1102,17784,0.00,2.50,0.00,0.000,4,0.000,0.070,3009,442,433
$GC,17818,1.29,588.8,176.7,10.7,1104,17825,0.00,2.45,0.00,0.000,6,0.000,0.049,3009,1825,433
$GC,18139,1.29,588.8,142.4,11.8,1124,18144,0.00,2.55,0.00,0.000,4,0.000,0.069,3009,442,433
$GC,18173,1.29,588.8,137.6,13.1,1125,18179,0.00,2.45,0.00,0.000,6,0.000,0.049,3009,1822,433
$GC,18489,1.29,588.8,102.2,8.8,1141,18493,0.00,2.55,0.00,0.000,4,0.000,0.068,3009,437,434
$GC,18529,1.29,588.8,98.7,8.9,1143,18533,0.00,2.40,0.00,0.000,6,0.000,0.048,3009,1796,434
$GC,18863,1.29,588.8,64.5,10.8,1159,18864,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1813,434
$GC,19172,1.29,588.8,30.5,10.9,1174,19176,0.00,2.50,0.00,0.000,4,0.000,0.067,3009,435,434
$GC,19217,1.29,588.8,25.9,9.4,1176,19221,0.00,2.38,0.00,0.000,6,0.000,0.048,3009,1781,434
$STATE,19453,end climb,SURFACE_DEPTH_REACHED
$STATE,19453,begin surface coast
$FINISH,0.7,1.027238
$STATE,19475,end surface coast,CONTROL_FINISHED_OK
$STATE,19475,begin surface
$SM_CCo,19559,0.00,0.000,0,0,434,587.98
$SM_GC,1.29,11.18,0.00,0.00,0.036,0.000,0.000,419,2145,434,-10.59,0.42,587.98
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1820
$TCM_TEMP,17.40
$XPDR_PINGS,67
$ALTIM_BOTTOM_PING,795.1,54.6
$24V_AH,23.7,38.073
$10V_AH,10.1,17.206
$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,26.950,172.125,641.875,0.000,0.000,151.048,114.323,438.351,24.250,0.000,0.000,12.707,2040.630,14353.002,698.656,2394.486,1103.819,33.365,1933.603,0.000,2336.100,0.000,55.798,0.000
$DEVICE_MAMPS,158.769,82.836,1422.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,814.043,865.328,625.902,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59936,1189
$CAP_FILE_SIZE,167404,0
$CFSIZE,254472192,239570944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,041009,155500,6353.930,-1327.827,45,1.8,45,-12.7