version: 66.04
glider: 5
mission: 7
dive: 211
start: 10 3 109 7 7 45
data:
$ID,5
$MISSION,7
$DIVE,211
$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,-104275.59
$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,20
$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
$GPS1,070157,6400.375,-1319.013,28,2.3,47,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-47.2
$GPS2,070656,6400.410,-1318.972,15,1.2,15,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.191,-0.154
$KALMAN_X,-28176.6,-7917.2,-1889.3,-207749.5,46156.9
$KALMAN_Y,-15498.9,-4649.8,-543.7,287010.2,19006.0
$MHEAD_RNG_PITCHd_Wd,243.7,19820,-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,15,-1.22,-146.6,0.0,0.0,0,99,0.00,0.00,-81.30,0.000,2,0.000,0.000,427,2143,2732
$GC,102,-1.22,-146.6,2.4,-1.4,4,146,11.25,2.50,-25.40,0.000,4,0.167,0.073,2471,3537,3429
$GC,399,-1.14,-146.6,47.2,-12.1,17,404,0.12,2.53,0.00,0.000,6,0.102,0.051,2496,2123,3429
$GC,722,-1.14,-146.6,84.4,-11.1,33,726,0.00,2.60,0.00,0.000,4,0.000,0.064,2497,3538,3429
$GC,845,-1.14,-146.6,97.4,-11.0,38,852,0.00,2.53,0.00,0.000,6,0.000,0.050,2496,2122,3429
$GC,1162,-1.14,-146.6,131.9,-10.5,54,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2113,3429
$GC,1474,-1.14,-146.6,159.2,-6.9,71,1478,0.00,2.53,0.00,0.000,4,0.000,0.064,2496,710,3430
$GC,1508,-1.14,-146.6,161.5,-6.1,73,1512,0.00,2.53,0.00,0.000,6,0.000,0.050,2496,2133,3430
$GC,1827,-1.14,-146.6,178.0,-6.1,93,1832,0.00,2.58,0.00,0.000,4,0.000,0.065,2497,718,3430
$GC,1861,-1.14,-146.6,180.7,-8.2,95,1865,0.00,2.50,0.00,0.000,6,0.000,0.051,2497,2125,3430
$GC,2180,-1.14,-146.6,219.5,-14.6,115,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2127,3430
$GC,2493,-1.11,-146.6,253.5,-6.3,135,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2127,3430
$GC,2805,-1.11,-146.6,285.8,-14.5,155,2810,0.00,2.60,0.00,0.000,4,0.000,0.070,2497,710,3430
$GC,2822,-1.11,-146.6,287.8,-12.1,156,2826,0.00,2.53,0.00,0.000,6,0.000,0.054,2497,2123,3430
$GC,3144,-1.11,-146.6,320.1,-9.2,176,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2123,3430
$GC,3454,-1.11,-146.6,343.1,-9.0,196,3458,0.00,2.58,0.00,0.000,4,0.000,0.073,2497,3538,3430
$GC,3492,-1.07,-146.6,345.5,-6.8,198,3499,0.00,2.62,0.00,0.000,6,0.000,0.063,2497,2103,3430
$GC,3812,-1.07,-146.6,394.7,-19.0,219,3822,0.00,2.67,0.00,0.000,4,0.000,0.072,2497,3537,3429
$GC,3828,-1.11,-146.6,396.9,-18.2,219,3834,0.00,2.65,0.00,0.000,6,0.000,0.072,2497,2113,3429
$GC,4147,-1.08,-146.6,423.0,-10.3,240,4151,0.00,2.53,0.00,0.000,4,0.000,0.071,2497,715,3429
$GC,4177,-1.13,-146.6,427.2,-14.6,242,4181,0.00,2.55,0.00,0.000,6,0.000,0.058,2497,2132,3429
$STATE,4482,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4483,begin apogee
$GC,4490,-0.33,0.0,446.4,9.1,262,4622,0.82,0.00,127.55,1.134,6,0.082,0.000,2674,1840,2831
$STATE,4622,end apogee,CONTROL_FINISHED_OK
$STATE,4622,begin climb
$GC,4626,1.22,146.6,446.9,0.0,271,4761,1.52,2.72,126.38,1.091,4,0.066,0.067,3003,3267,2232
$GC,4933,1.22,146.6,416.6,13.8,289,4938,0.00,2.62,0.00,0.000,6,0.000,0.063,3004,1847,2232
$GC,5258,1.13,146.6,383.2,10.2,310,5263,0.00,2.58,0.00,0.000,4,0.000,0.074,3003,439,2231
$GC,5339,1.13,214.5,378.0,5.5,315,5402,0.00,2.58,58.30,1.060,6,0.000,0.056,3003,1883,1956
$GC,5714,1.13,214.5,346.1,13.9,339,5719,0.00,2.70,0.00,0.000,4,0.000,0.078,3004,433,1955
$GC,5832,1.07,214.5,333.5,9.0,346,5837,0.12,2.53,0.00,0.000,6,0.096,0.058,2980,1828,1955
$GC,6154,1.09,222.4,313.7,7.7,366,6170,0.00,2.67,7.72,0.903,4,0.000,0.067,2980,3258,1924
$GC,6223,1.14,222.4,307.2,10.7,370,6227,0.00,2.58,0.00,0.000,6,0.000,0.065,2980,1858,1923
$GC,6548,1.18,222.4,277.4,9.3,391,6552,0.00,2.60,0.00,0.000,4,0.000,0.067,2980,3258,1923
$GC,6649,1.33,266.1,269.7,6.4,397,6694,0.25,2.50,37.83,1.024,6,0.054,0.063,3039,1894,1746
$GC,7021,1.28,266.1,228.2,11.5,421,7025,0.00,2.67,0.00,0.000,4,0.000,0.075,3039,436,1746
$GC,7203,1.19,266.1,206.0,12.3,432,7209,0.17,2.60,0.00,0.000,6,0.094,0.053,3004,1886,1746
$GC,7531,1.23,272.3,178.9,7.8,453,7542,0.00,0.00,6.97,0.821,6,0.000,0.000,3004,1900,1720
$GC,7856,1.27,278.5,152.8,7.8,474,7872,0.00,2.78,6.70,0.796,4,0.000,0.072,3004,440,1695
$GC,7902,1.27,278.5,148.9,8.9,477,7906,0.00,2.60,0.00,0.000,6,0.000,0.053,3004,1883,1695
$GC,8230,1.32,288.6,123.7,7.6,493,8242,0.12,0.00,10.12,0.831,6,0.058,0.000,3037,1899,1654
$GC,8540,1.32,288.6,94.1,9.8,508,8545,0.00,2.67,0.00,0.000,4,0.000,0.069,3037,437,1654
$GC,8581,1.27,288.6,89.6,11.4,510,8585,0.00,2.55,0.00,0.000,6,0.000,0.051,3037,1870,1654
$GC,8908,1.27,288.6,60.5,8.3,526,8909,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1886,1655
$GC,9218,1.23,288.6,28.6,12.5,541,9220,0.12,0.00,0.00,0.000,6,0.091,0.000,3011,1889,1655
$GC,9527,1.27,288.6,4.2,8.6,556,9531,0.00,2.47,0.00,0.000,4,0.000,0.060,3011,3262,1655
$GC,9538,1.38,329.3,3.1,6.5,556,9547,0.17,2.50,3.10,0.454,2,0.051,0.050,3058,1858,1644
$STATE,9548,end climb,SURFACE_DEPTH_REACHED
$STATE,9548,begin surface coast
$FINISH,1.3,1.027151
$STATE,9552,end surface coast,CONTROL_FINISHED_OK
$STATE,9552,begin surface
$SM_CCo,9576,5.45,0.638,0,0,1608,300.00
$SM_GC,2.44,0.00,0.00,5.45,0.000,0.000,0.638,423,2136,1608,-10.68,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1857
$TCM_TEMP,19.00
$XPDR_PINGS,34
$ALTIM_BOTTOM_PING,395.7,60.4
$24V_AH,23.9,36.676
$10V_AH,10.1,16.628
$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,26.225,88.950,384.675,5.450,0.000,37.760,26.624,120.122,12.000,0.000,0.000,15.545,1018.917,6693.863,492.297,1274.937,405.276,33.342,1151.435,0.000,1242.964,0.000,26.538,0.000
$DEVICE_MAMPS,167.206,78.234,1134.393,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,380.876,406.092,390.902,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28574,557
$CAP_FILE_SIZE,83819,0
$CFSIZE,254472192,240099328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,031009,094857,6400.802,-1318.445,29,2.1,48,-12.6