version: 66.04
glider: 5
mission: 7
dive: 216
start: 10 3 109 23 32 9
data:
$ID,5
$MISSION,7
$DIVE,216
$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,-104382.24
$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,21
$R_STBD_OVSHOOT,29
$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
$GPS1,232237,6354.732,-1323.423,29,1.0,29,-12.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-58.2
$GPS2,233120,6354.755,-1323.245,13,1.0,13,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.089,-0.229
$KALMAN_X,-37853.9,-1983.5,-143.4,-209558.7,10618.5
$KALMAN_Y,-11223.9,-1737.7,-376.4,269176.6,13148.1
$MHEAD_RNG_PITCHd_Wd,213.9,9430,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.33,0.000,2,0.000,0.000,423,2159,2424
$GC,83,-1.22,-146.6,2.2,-2.3,3,147,11.15,2.53,-44.60,0.000,4,0.162,0.077,2470,3539,3430
$GC,400,-1.15,-146.6,39.7,-11.9,17,405,0.12,2.53,0.00,0.000,6,0.105,0.048,2494,2122,3430
$GC,725,-1.12,-146.6,77.2,-12.0,33,729,0.00,2.50,0.00,0.000,4,0.000,0.061,2495,720,3430
$GC,748,-1.12,-146.6,80.2,-11.3,34,753,0.00,2.50,0.00,0.000,6,0.000,0.048,2495,2126,3430
$GC,1070,-1.12,-146.6,113.4,-10.6,50,1074,0.00,2.58,0.00,0.000,4,0.000,0.061,2495,709,3430
$GC,1133,-1.12,-146.6,120.2,-11.0,53,1138,0.00,2.55,0.00,0.000,6,0.000,0.049,2495,2146,3430
$GC,1450,-1.12,-146.6,154.0,-10.8,69,1455,0.00,2.60,0.00,0.000,4,0.000,0.062,2495,718,3430
$GC,1484,-1.12,-146.6,157.8,-11.0,71,1488,0.00,2.50,0.00,0.000,6,0.000,0.050,2495,2123,3430
$GC,1804,-1.12,-146.6,192.3,-10.7,91,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2124,3431
$GC,2117,-1.12,-146.6,225.5,-10.8,111,2121,0.00,2.58,0.00,0.000,4,0.000,0.064,2495,707,3430
$GC,2167,-1.12,-146.6,231.1,-10.9,114,2171,0.00,2.50,0.00,0.000,6,0.000,0.050,2495,2116,3430
$GC,2486,-1.12,-146.6,262.9,-9.5,134,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2116,3430
$GC,2798,-1.12,-146.6,293.7,-9.9,154,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2116,3430
$GC,3111,-1.12,-146.6,324.7,-9.7,174,3115,0.00,2.55,0.00,0.000,4,0.000,0.064,2495,711,3430
$GC,3133,-1.12,-146.6,327.0,-9.7,175,3139,0.00,2.50,0.00,0.000,6,0.000,0.051,2495,2117,3430
$GC,3453,-1.12,-146.6,358.4,-10.1,196,3457,0.00,2.55,0.00,0.000,4,0.000,0.064,2495,716,3430
$GC,3486,-1.12,-146.6,362.0,-10.1,198,3490,0.00,2.47,0.00,0.000,6,0.000,0.051,2495,2108,3430
$GC,3805,-1.12,-146.6,397.0,-11.2,218,3809,0.00,2.60,0.00,0.000,4,0.000,0.068,2495,3540,3430
$GC,3844,-1.12,-146.6,401.6,-11.9,220,3850,0.00,2.60,0.00,0.000,6,0.000,0.058,2495,2102,3430
$GC,4163,-1.12,-146.6,439.5,-12.0,241,4168,0.00,2.62,0.00,0.000,4,0.000,0.067,2495,3534,3430
$GC,4202,-1.12,-146.6,444.4,-12.5,243,4208,0.00,2.58,0.00,0.000,6,0.000,0.057,2495,2106,3430
$GC,4522,-1.12,-146.6,482.2,-12.4,264,4526,0.00,2.65,0.00,0.000,4,0.000,0.068,2495,3538,3430
$GC,4567,-1.12,-146.6,488.0,-12.9,267,4571,0.00,2.55,0.00,0.000,6,0.000,0.056,2495,2123,3429
$GC,4893,-1.12,-146.6,529.8,-11.8,288,4897,0.00,2.60,0.00,0.000,4,0.000,0.069,2495,3537,3429
$GC,4965,-1.12,-146.6,537.4,-9.6,292,4971,0.00,2.53,0.00,0.000,6,0.000,0.056,2495,2136,3429
$GC,5285,-1.12,-146.6,571.7,-11.1,313,5289,0.00,2.55,0.00,0.000,4,0.000,0.066,2495,713,3429
$GC,5347,-1.12,-146.6,577.7,-8.7,317,5352,0.00,2.53,0.00,0.000,6,0.000,0.053,2495,2129,3429
$GC,5675,-1.12,-146.6,598.2,-5.5,338,5679,0.00,2.58,0.00,0.000,4,0.000,0.071,2495,3540,3429
$GC,5771,-1.09,-146.6,606.6,-10.1,344,5776,0.00,2.55,0.00,0.000,6,0.000,0.061,2495,2131,3428
$GC,6096,-1.06,-146.6,636.6,-8.9,365,6101,0.00,2.62,0.00,0.000,4,0.000,0.071,2495,3541,3428
$GC,6180,-1.06,-146.6,643.5,-8.0,370,6184,0.00,2.55,0.00,0.000,6,0.000,0.058,2495,2135,3428
$GC,6499,-1.06,-146.6,667.1,-9.2,390,6503,0.00,2.58,0.00,0.000,4,0.000,0.070,2495,709,3428
$GC,6538,-1.09,-146.6,670.8,-8.9,392,6544,0.00,2.55,0.00,0.000,6,0.000,0.054,2495,2138,3428
$GC,6858,-1.09,-146.6,704.0,-10.9,413,6862,0.00,2.58,0.00,0.000,4,0.000,0.073,2495,3544,3427
$GC,6890,-1.09,-146.6,707.8,-11.5,415,6895,0.00,2.60,0.00,0.000,6,0.000,0.063,2495,2120,3427
$GC,7209,-1.09,-146.6,740.9,-9.8,435,7214,0.00,2.65,0.00,0.000,4,0.000,0.074,2495,3536,3427
$GC,7274,-1.09,-146.6,747.1,-9.4,439,7278,0.00,2.58,0.00,0.000,6,0.000,0.063,2495,2128,3427
$GC,7601,-1.13,-146.6,774.4,-6.1,460,7605,0.00,2.58,0.00,0.000,4,0.000,0.079,2495,723,3427
$GC,7657,-1.13,-146.6,779.5,-11.9,463,7663,0.00,2.47,0.00,0.000,6,0.000,0.060,2495,2088,3426
$STATE,7895,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7895,begin apogee
$GC,7903,-0.33,0.0,800.5,9.8,479,8038,0.82,0.00,131.32,1.374,6,0.083,0.000,2671,1831,2831
$STATE,8038,end apogee,CONTROL_FINISHED_OK
$STATE,8038,begin climb
$GC,8042,1.22,146.6,804.9,0.0,488,8183,1.55,2.72,132.95,1.332,4,0.065,0.081,3007,445,2233
$GC,8350,1.17,212.3,789.1,5.6,506,8419,0.00,2.58,59.30,1.299,6,0.000,0.061,3006,1867,1965
$GC,8732,1.28,304.8,766.6,4.6,531,8820,0.00,2.78,81.85,1.316,4,0.000,0.086,3006,445,1588
$GC,8950,1.25,304.8,743.1,12.5,543,8956,0.00,2.53,0.00,0.000,6,0.000,0.063,3006,1814,1588
$GC,9269,1.25,304.8,710.2,9.4,564,9273,0.00,2.67,0.00,0.000,4,0.000,0.073,3006,3264,1588
$GC,9336,1.29,304.8,703.8,9.8,568,9341,0.00,2.62,0.00,0.000,6,0.000,0.069,3006,1858,1588
$GC,9656,1.29,304.8,667.3,12.6,588,9660,0.00,2.60,0.00,0.000,4,0.000,0.070,3006,3257,1587
$GC,9702,1.33,304.8,661.7,12.3,591,9707,0.12,2.55,0.00,0.000,6,0.064,0.067,3038,1878,1587
$GC,10031,1.27,304.8,619.5,15.8,612,10035,0.00,2.58,0.00,0.000,4,0.000,0.070,3038,3258,1587
$GC,10070,1.21,304.8,612.8,15.3,614,10076,0.15,2.53,0.00,0.000,6,0.095,0.067,3010,1893,1587
$GC,10389,1.21,304.8,564.5,16.2,635,10390,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1881,1587
$GC,10701,1.21,304.8,527.1,10.1,655,10705,0.00,2.53,0.00,0.000,4,0.000,0.066,3009,3261,1587
$GC,10765,1.24,304.8,521.0,9.9,659,10769,0.00,2.47,0.00,0.000,6,0.000,0.061,3010,1905,1587
$GC,11090,1.24,304.8,488.9,9.4,680,11094,0.00,2.67,0.00,0.000,4,0.000,0.073,3010,436,1587
$GC,11128,1.24,304.8,484.8,10.6,682,11134,0.00,2.65,0.00,0.000,6,0.000,0.053,3010,1915,1587
$GC,11447,1.24,304.8,453.7,10.2,703,11452,0.00,2.75,0.00,0.000,4,0.000,0.072,3009,435,1588
$GC,11480,1.24,304.8,450.0,11.2,705,11485,0.00,2.60,0.00,0.000,6,0.000,0.052,3010,1889,1588
$GC,11800,1.24,304.8,419.3,9.1,725,11804,0.00,2.67,0.00,0.000,4,0.000,0.070,3010,433,1588
$GC,11821,1.24,304.8,416.9,10.4,726,11827,0.00,2.58,0.00,0.000,6,0.000,0.051,3010,1877,1588
$GC,12141,1.26,314.0,390.2,7.7,747,12156,0.00,2.75,9.88,0.967,4,0.000,0.067,3010,439,1550
$GC,12174,1.26,314.3,387.5,8.0,749,12178,0.00,2.58,0.00,0.000,6,0.000,0.051,3010,1872,1550
$GC,12499,1.26,314.3,361.6,8.1,770,12500,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1888,1550
$GC,12810,1.26,314.3,333.5,9.0,790,12815,0.00,2.65,0.00,0.000,4,0.000,0.068,3009,433,1551
$GC,12839,1.26,314.3,330.6,10.1,792,12844,0.00,2.53,0.00,0.000,6,0.000,0.050,3010,1856,1550
$GC,13164,1.26,314.3,300.4,9.2,813,13168,0.00,2.50,0.00,0.000,4,0.000,0.059,3010,3260,1551
$GC,13186,1.31,314.3,298.2,9.8,814,13192,0.00,2.55,0.00,0.000,6,0.000,0.053,3010,1843,1551
$GC,13505,1.31,314.6,270.6,8.0,835,13509,0.00,2.58,0.00,0.000,4,0.000,0.059,3010,3260,1551
$GC,13527,1.35,314.6,268.7,8.4,836,13534,0.12,2.53,0.00,0.000,6,0.057,0.052,3044,1852,1551
$GC,13849,1.30,314.6,238.6,9.4,857,13850,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1852,1551
$GC,14160,1.26,314.6,210.4,9.7,877,14165,0.12,2.55,0.00,0.000,4,0.091,0.058,3019,3257,1552
$GC,14176,1.26,314.6,208.8,9.0,878,14180,0.00,2.47,0.00,0.000,6,0.000,0.051,3019,1871,1552
$GC,14495,1.26,314.6,174.3,11.4,898,14496,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1871,1552
$GC,14812,1.26,314.6,141.4,10.0,917,14817,0.00,2.50,0.00,0.000,4,0.000,0.057,3019,3254,1552
$GC,14863,1.31,314.6,136.7,8.9,919,14867,0.00,2.45,0.00,0.000,6,0.000,0.051,3019,1879,1553
$GC,15179,1.31,314.6,108.9,9.3,934,15184,0.00,2.58,0.00,0.000,4,0.000,0.065,3019,440,1553
$GC,15202,1.31,314.6,106.5,9.6,935,15206,0.00,2.58,0.00,0.000,6,0.000,0.048,3019,1898,1553
$GC,15524,1.31,314.6,76.4,9.1,951,15529,0.00,2.67,0.00,0.000,4,0.000,0.064,3019,433,1553
$GC,15546,1.31,314.6,74.0,9.8,952,15551,0.00,2.58,0.00,0.000,6,0.000,0.047,3019,1893,1553
$GC,15869,1.31,314.6,41.0,9.6,968,15873,0.00,2.65,0.00,0.000,4,0.000,0.062,3019,436,1554
$GC,15879,1.31,314.6,39.5,9.7,968,15886,0.00,2.55,0.00,0.000,6,0.000,0.048,3019,1886,1554
$GC,16197,1.40,346.1,17.2,6.9,984,16227,0.12,0.00,27.60,0.784,6,0.056,0.000,3054,1903,1419
$STATE,16316,end climb,SURFACE_DEPTH_REACHED
$STATE,16316,begin surface coast
$FINISH,0.7,1.024987
$STATE,16339,end surface coast,CONTROL_FINISHED_OK
$STATE,16339,begin surface
$SM_CCo,16424,0.00,0.000,0,0,1418,346.61
$SM_GC,1.32,11.40,0.00,0.00,0.035,0.000,0.000,420,2151,1418,-10.59,0.59,346.61
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1813
$TCM_TEMP,17.50
$XPDR_PINGS,61
$ALTIM_BOTTOM_PING,795.6,14.0
$24V_AH,23.7,37.601
$10V_AH,10.1,16.987
$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,25.700,186.275,442.900,0.000,0.000,75.520,103.203,152.337,22.750,0.000,0.000,13.835,1757.015,11823.171,594.785,2083.593,684.481,33.361,1662.813,0.000,2033.067,0.000,52.081,0.000
$DEVICE_MAMPS,161.837,85.904,1373.697,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,678.477,723.548,539.891,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50570,991
$CAP_FILE_SIZE,141130,0
$CFSIZE,254472192,239755264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,041009,040707,6351.689,-1327.744,37,1.2,37,-12.6