version: 66.04
glider: 5
mission: 7
dive: 212
start: 10 3 109 9 59 1
data:
$ID,5
$MISSION,7
$DIVE,212
$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,-104306.58
$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,22
$R_STBD_OVSHOOT,27
$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
$GPS1,094857,6400.802,-1318.445,29,2.1,48,-12.6
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-57.4
$GPS2,095813,6400.845,-1318.101,13,1.8,30,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.184,-0.162
$KALMAN_X,-29561.6,-6408.5,-1296.2,-207690.4,39951.5
$KALMAN_Y,-15412.2,-1735.8,-609.3,284893.5,17085.4
$MHEAD_RNG_PITCHd_Wd,241.2,20695,-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,-146.6,0.0,0.0,0,73,0.00,0.00,-55.88,0.000,2,0.000,0.000,422,2134,2689
$GC,77,-1.22,-146.6,2.3,-2.2,3,121,11.18,2.53,-24.77,0.000,4,0.163,0.075,2471,3534,3430
$GC,280,-1.13,-146.6,32.1,-16.6,12,285,0.12,2.53,0.00,0.000,6,0.108,0.049,2495,2116,3430
$GC,607,-1.13,-146.6,85.2,-15.2,28,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2089,3430
$GC,918,-1.13,-146.6,128.4,-13.0,43,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2089,3431
$GC,1226,-1.13,-146.6,166.3,-11.7,60,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2089,3431
$GC,1539,-1.13,-146.6,202.7,-11.7,80,1543,0.00,2.62,0.00,0.000,4,0.000,0.067,2496,3539,3432
$GC,1585,-1.13,-146.6,207.9,-12.0,83,1589,0.00,2.53,0.00,0.000,6,0.000,0.054,2496,2130,3431
$GC,1915,-1.13,-146.6,243.8,-10.2,104,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2117,3432
$GC,2227,-1.13,-146.6,272.9,-8.9,124,2231,0.00,2.60,0.00,0.000,4,0.000,0.067,2496,3538,3432
$GC,2283,-1.13,-146.6,278.6,-10.1,127,2289,0.00,2.50,0.00,0.000,6,0.000,0.053,2496,2142,3432
$GC,2602,-1.13,-146.6,311.9,-10.3,148,2606,0.00,2.58,0.00,0.000,4,0.000,0.069,2496,3534,3432
$GC,2676,-1.13,-146.6,320.2,-11.9,152,2682,0.00,2.47,0.00,0.000,6,0.000,0.058,2496,2162,3432
$GC,2995,-1.13,-146.6,358.1,-13.4,173,2999,0.00,2.60,0.00,0.000,4,0.000,0.067,2495,715,3431
$GC,3046,-1.13,-146.6,364.9,-13.4,176,3050,0.00,2.58,0.00,0.000,6,0.000,0.054,2496,2159,3432
$GC,3370,-1.13,-146.6,404.3,-12.6,196,3374,0.00,2.65,0.00,0.000,4,0.000,0.069,2496,716,3432
$GC,3425,-1.13,-146.6,412.9,-14.1,199,3431,0.00,2.55,0.00,0.000,6,0.000,0.054,2495,2140,3431
$GC,3744,-1.13,-146.6,449.3,-10.8,220,3749,0.00,2.62,0.00,0.000,4,0.000,0.071,2496,717,3431
$GC,3846,-1.16,-146.6,459.8,-11.6,226,3850,0.00,2.47,0.00,0.000,4,0.000,0.056,2496,2095,3431
$STATE,3851,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3851,begin apogee
$GC,3859,-0.33,0.0,460.2,10.9,226,3988,0.77,0.00,126.32,1.134,6,0.084,0.000,2664,1831,2831
$STATE,3989,end apogee,CONTROL_FINISHED_OK
$STATE,3989,begin climb
$GC,3993,1.22,146.6,463.8,0.0,235,4128,1.58,2.65,125.70,1.085,4,0.069,0.076,3004,460,2233
$GC,4159,1.13,164.6,455.8,7.3,245,4181,0.00,2.55,16.77,0.998,6,0.000,0.055,3004,1879,2160
$GC,4497,1.24,231.1,431.8,5.6,266,4560,0.00,2.78,57.85,1.060,4,0.000,0.076,3004,457,1888
$GC,4583,1.19,231.1,423.9,10.9,271,4588,0.00,2.50,0.00,0.000,6,0.000,0.056,3004,1825,1887
$GC,4903,1.19,231.1,394.1,8.7,291,4908,0.00,2.58,0.00,0.000,4,0.000,0.076,3004,456,1887
$GC,4925,1.19,231.1,392.0,8.7,292,4932,0.00,2.50,0.00,0.000,6,0.000,0.057,3004,1835,1887
$GC,5244,1.19,231.1,361.1,10.0,313,5249,0.00,2.58,0.00,0.000,4,0.000,0.076,3004,460,1887
$GC,5342,1.14,231.1,350.6,11.3,319,5346,0.00,2.45,0.00,0.000,6,0.000,0.056,3004,1816,1886
$GC,5666,1.14,231.1,319.8,10.1,340,5671,0.00,2.60,0.00,0.000,4,0.000,0.066,3004,3261,1886
$GC,5852,1.20,231.4,303.5,8.0,351,5856,0.00,2.62,0.00,0.000,6,0.000,0.064,3004,1835,1885
$GC,6176,1.20,231.4,274.2,8.2,372,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1835,1885
$GC,6489,1.20,231.4,241.5,10.9,392,6493,0.00,2.62,0.00,0.000,4,0.000,0.064,3004,3263,1884
$GC,6572,1.20,231.4,232.8,9.9,397,6577,0.00,2.58,0.00,0.000,6,0.000,0.056,3004,1840,1884
$GC,6891,1.20,234.3,205.7,7.9,417,6900,0.00,2.60,4.00,0.650,4,0.000,0.061,3004,3263,1875
$GC,6931,1.24,234.3,202.3,8.2,419,6935,0.00,2.53,0.00,0.000,6,0.000,0.054,3004,1861,1875
$GC,7250,1.24,234.3,175.6,8.5,439,7254,0.00,2.55,0.00,0.000,4,0.000,0.060,3004,3261,1875
$GC,7283,1.27,234.3,172.7,8.4,441,7287,0.00,2.50,0.00,0.000,6,0.000,0.053,3004,1868,1875
$GC,7618,1.27,234.3,144.5,8.5,461,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1868,1876
$GC,7927,1.32,266.6,121.5,6.8,476,7957,0.12,0.00,27.80,0.874,6,0.054,0.000,3039,1867,1744
$GC,8258,1.29,266.6,93.4,8.7,492,8263,0.00,2.53,0.00,0.000,4,0.000,0.058,3039,3257,1744
$GC,8299,1.29,266.6,89.3,9.5,494,8303,0.00,2.50,0.00,0.000,6,0.000,0.051,3039,1861,1744
$GC,8626,1.26,266.6,59.0,10.9,510,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1860,1744
$GC,8935,1.26,266.6,21.0,11.3,525,8937,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1860,1745
$STATE,9117,end climb,SURFACE_DEPTH_REACHED
$STATE,9117,begin surface coast
$FINISH,0.4,1.027162
$STATE,9141,end surface coast,CONTROL_FINISHED_OK
$STATE,9141,begin surface
$SM_CCo,9165,17.92,0.758,0,0,1608,300.00
$SM_GC,1.30,0.00,0.00,17.92,0.000,0.000,0.758,421,2133,1608,-10.69,0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1831
$TCM_TEMP,17.30
$XPDR_PINGS,37
$ALTIM_BOTTOM_PING,396.5,73.4
$24V_AH,23.9,36.809
$10V_AH,10.1,16.685
$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,25.175,82.975,358.450,17.925,0.000,75.519,51.640,232.733,12.500,0.000,0.000,30.357,970.151,6557.990,453.343,1184.906,575.036,33.346,1058.628,0.000,1144.432,0.000,24.573,0.000
$DEVICE_MAMPS,162.604,75.933,1134.393,757.796,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,365.868,392.009,361.596,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28539,535
$CAP_FILE_SIZE,81383,0
$CFSIZE,254472192,240058368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,031009,123337,6359.961,-1317.473,52,1.1,52,-12.6