version: 66.04
glider: 5
mission: 7
dive: 217
start: 10 4 109 4 28 9
data:
$ID,5
$MISSION,7
$DIVE,217
$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,-104398.56
$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,33
$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
$GPS1,040707,6351.689,-1327.744,37,1.2,37,-12.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-60.0
$GPS2,042720,6351.643,-1327.606,15,1.3,15,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.058,-0.238
$KALMAN_X,-40239.5,-1291.7,-1682.9,-210126.9,8764.6
$KALMAN_Y,-12933.1,-803.4,-1433.5,265295.0,9274.8
$MHEAD_RNG_PITCHd_Wd,206.2,6353,-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,-61.22,0.000,2,0.000,0.000,419,2153,2634
$GC,82,-1.22,-146.6,2.3,-2.2,3,133,11.20,2.65,-31.17,0.000,4,0.162,0.074,2469,706,3429
$GC,380,-1.16,-146.6,40.6,-14.3,16,385,0.10,2.53,0.00,0.000,6,0.108,0.048,2489,2131,3429
$GC,697,-1.10,-146.6,77.6,-11.5,31,701,0.00,2.58,0.00,0.000,4,0.000,0.062,2489,713,3429
$GC,747,-1.10,-146.6,84.6,-13.2,33,751,0.00,2.53,0.00,0.000,6,0.000,0.049,2489,2138,3429
$GC,1064,-1.04,-146.6,125.5,-12.0,48,1069,0.12,2.58,0.00,0.000,4,0.099,0.060,2517,716,3430
$GC,1104,-1.04,-146.6,130.0,-10.8,50,1108,0.00,2.47,0.00,0.000,6,0.000,0.048,2516,2117,3430
$GC,1427,-1.04,-146.6,159.7,-9.0,67,1432,0.00,2.58,0.00,0.000,4,0.000,0.064,2516,3544,3430
$GC,1449,-1.04,-146.6,161.8,-8.7,68,1456,0.00,2.58,0.00,0.000,6,0.000,0.049,2516,2099,3430
$GC,1768,-1.04,-146.6,191.2,-10.1,89,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2083,3430
$GC,2081,-1.04,-146.6,217.6,-8.4,109,2086,0.00,2.65,0.00,0.000,4,0.000,0.065,2516,3538,3430
$GC,2137,-1.04,-146.6,222.7,-8.9,112,2144,0.00,2.53,0.00,0.000,6,0.000,0.052,2516,2128,3430
$GC,2457,-1.04,-146.6,251.8,-9.9,133,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2115,3429
$GC,2769,-1.04,-146.6,286.3,-10.8,153,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2115,3430
$GC,3081,-1.04,-146.6,318.4,-9.9,173,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2115,3429
$GC,3394,-1.04,-146.6,349.1,-9.8,193,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2114,3429
$GC,3706,-1.04,-146.6,379.1,-9.6,213,3710,0.00,2.60,0.00,0.000,4,0.000,0.068,2516,3535,3429
$GC,3752,-1.04,-146.6,383.5,-10.2,216,3756,0.00,2.53,0.00,0.000,6,0.000,0.058,2516,2138,3429
$GC,4078,-1.04,-146.6,416.4,-10.6,237,4082,0.00,2.53,0.00,0.000,4,0.000,0.064,2516,722,3429
$GC,4123,-1.08,-146.6,421.4,-10.7,240,4128,0.00,2.53,0.00,0.000,6,0.000,0.051,2515,2139,3429
$GC,4450,-1.08,-146.6,455.4,-10.7,261,4455,0.00,2.58,0.00,0.000,4,0.000,0.064,2516,720,3429
$GC,4490,-1.12,-146.6,460.1,-11.5,263,4496,0.00,2.50,0.00,0.000,6,0.000,0.051,2516,2130,3429
$GC,4809,-1.12,-146.6,497.4,-12.3,284,4814,0.00,2.58,0.00,0.000,4,0.000,0.066,2516,716,3428
$GC,4855,-1.17,-146.6,503.0,-12.1,287,4861,0.12,2.47,0.00,0.000,6,0.060,0.052,2481,2107,3428
$GC,5183,-1.13,-146.6,544.6,-12.0,308,5187,0.00,2.53,0.00,0.000,4,0.000,0.065,2481,720,3427
$GC,5251,-1.13,-146.6,552.9,-11.5,312,5255,0.00,2.42,0.00,0.000,6,0.000,0.051,2481,2089,3428
$GC,5578,-1.08,-146.6,589.1,-9.8,333,5579,0.12,0.00,0.00,0.000,6,0.097,0.000,2508,2088,3427
$GC,5888,-1.08,-146.6,616.7,-9.9,353,5891,0.00,2.50,0.00,0.000,4,0.000,0.065,2507,711,3427
$GC,5961,-1.12,-146.6,624.0,-9.9,357,5965,0.00,2.42,0.00,0.000,6,0.000,0.051,2508,2073,3427
$GC,6282,-1.12,-146.6,658.8,-12.3,377,6286,0.00,2.65,0.00,0.000,4,0.000,0.071,2507,3531,3427
$GC,6348,-1.12,-146.6,667.5,-12.3,381,6353,0.00,2.65,0.00,0.000,6,0.000,0.058,2507,2059,3427
$GC,6668,-1.12,-146.6,702.6,-10.8,401,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2044,3427
$GC,6982,-1.12,-146.6,729.1,-6.8,421,6987,0.00,2.72,0.00,0.000,4,0.000,0.070,2508,3534,3427
$GC,7022,-1.12,-146.6,731.9,-7.0,423,7028,0.00,2.62,0.00,0.000,6,0.000,0.058,2508,2082,3426
$GC,7342,-1.12,-146.6,750.3,-5.6,444,7346,0.00,2.47,0.00,0.000,4,0.000,0.069,2508,706,3426
$GC,7381,-1.16,-146.6,752.9,-6.5,446,7387,0.00,2.42,0.00,0.000,6,0.000,0.053,2507,2063,3426
$GC,7701,-1.16,-146.6,772.0,-6.8,467,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2063,3426
$GC,8013,-1.16,-146.6,798.5,-9.5,487,8017,0.00,2.47,0.00,0.000,4,0.000,0.072,2508,720,3425
$GC,8047,-1.20,-146.6,801.8,-9.8,489,8052,0.12,2.40,0.00,0.000,6,0.063,0.056,2474,2051,3425
$GC,8375,-1.17,-146.6,834.6,-8.9,510,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2052,3424
$GC,8684,-1.14,-146.6,867.6,-10.6,530,8689,0.12,2.72,0.00,0.000,4,0.102,0.079,2498,3528,3424
$GC,8785,-1.14,-146.6,877.1,-10.1,536,8790,0.00,2.72,0.00,0.000,6,0.000,0.066,2498,2039,3423
$GC,9105,-1.14,-146.6,906.2,-9.9,556,9109,0.00,2.42,0.00,0.000,4,0.000,0.077,2498,714,3423
$GC,9144,-1.14,-146.6,910.5,-11.2,558,9150,0.00,2.35,0.00,0.000,6,0.000,0.059,2498,2015,3422
$GC,9465,-1.43,-146.6,912.0,0.0,579,9470,0.28,2.45,0.00,0.000,4,0.052,0.081,2422,713,3422
$STATE,9529,end dive,NO_VERTICAL_VELOCITY
$STATE,9529,begin apogee
$GC,9538,-0.33,0.0,911.9,0.0,583,9676,1.10,0.00,134.00,1.455,6,0.068,0.000,2670,1872,2831
$STATE,9677,end apogee,CONTROL_FINISHED_OK
$STATE,9677,begin climb
$GC,9680,1.22,146.6,911.7,0.0,592,9821,1.55,2.75,131.00,1.419,4,0.060,0.080,3008,442,2233
$GC,10082,1.04,146.6,881.2,10.3,616,10088,0.20,2.58,0.00,0.000,6,0.098,0.059,2972,1848,2233
$GC,10409,1.04,146.6,853.0,8.9,637,10413,0.00,2.60,0.00,0.000,4,0.000,0.075,2972,3258,2232
$GC,10492,1.04,146.6,844.2,9.8,642,10497,0.00,2.58,0.00,0.000,6,0.000,0.067,2972,1872,2232
$GC,10812,1.04,146.6,815.9,8.8,662,10816,0.00,2.60,0.00,0.000,4,0.000,0.071,2972,3262,2231
$GC,10918,1.05,150.1,806.8,7.9,668,10927,0.00,2.55,4.32,0.923,6,0.000,0.066,2972,1885,2219
$GC,11257,1.09,174.6,784.8,7.1,690,11282,0.00,0.00,22.65,1.343,6,0.000,0.000,2972,1885,2119
$GC,11596,1.16,217.6,761.0,6.4,712,11643,0.12,2.65,38.08,1.360,4,0.064,0.067,3003,3262,1944
$GC,11666,1.16,217.6,755.2,8.3,716,11671,0.00,2.55,0.00,0.000,6,0.000,0.064,3003,1892,1944
$GC,11986,1.16,217.6,729.2,8.4,736,11990,0.00,2.53,0.00,0.000,4,0.000,0.067,3003,3258,1944
$GC,12007,1.16,217.6,727.1,9.1,737,12013,0.00,2.50,0.00,0.000,6,0.000,0.063,3003,1899,1944
$GC,12327,1.16,217.6,698.7,8.4,758,12331,0.00,2.53,0.00,0.000,4,0.000,0.066,3003,3263,1943
$GC,12338,1.16,217.6,697.7,8.3,759,12343,0.00,2.47,0.00,0.000,6,0.000,0.061,3003,1908,1943
$GC,12663,1.16,217.6,670.1,8.7,780,12667,0.00,2.70,0.00,0.000,4,0.000,0.074,3003,435,1943
$GC,12696,1.09,217.6,667.0,9.5,782,12700,0.00,2.70,0.00,0.000,6,0.000,0.055,3003,1934,1943
$GC,13015,1.09,217.6,636.5,10.1,802,13019,0.00,2.80,0.00,0.000,4,0.000,0.074,3003,437,1944
$GC,13065,1.02,217.6,630.8,11.3,805,13070,0.17,2.65,0.00,0.000,6,0.097,0.054,2969,1914,1943
$GC,13387,1.08,217.6,602.0,8.4,825,13391,0.00,2.75,0.00,0.000,4,0.000,0.075,2969,440,1943
$GC,13401,1.15,220.5,600.9,7.9,826,13411,0.12,2.65,4.45,0.859,6,0.059,0.054,3001,1916,1931
$GC,13728,1.15,220.5,571.7,8.4,846,13733,0.00,2.75,0.00,0.000,4,0.000,0.072,3001,433,1931
$GC,13757,1.11,220.5,569.0,8.6,848,13762,0.00,2.62,0.00,0.000,6,0.000,0.052,3001,1899,1931
$GC,14082,1.13,234.7,544.2,7.5,869,14101,0.00,2.80,13.70,1.121,4,0.000,0.070,3001,439,1874
$GC,14143,1.09,234.7,539.0,8.9,872,14149,0.00,2.58,0.00,0.000,6,0.000,0.051,3001,1869,1874
$GC,14462,1.11,245.6,514.1,7.6,893,14476,0.00,0.00,11.05,1.071,6,0.000,0.000,3001,1884,1829
$GC,14789,1.11,245.6,486.3,8.7,914,14791,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1884,1829
$GC,15101,1.11,245.6,459.3,8.8,934,15105,0.00,2.50,0.00,0.000,4,0.000,0.063,3001,3264,1829
$GC,15124,1.11,245.6,457.1,9.8,935,15130,0.00,2.58,0.00,0.000,6,0.000,0.058,3001,1845,1829
$GC,15443,1.11,245.6,429.2,8.7,956,15448,0.00,2.58,0.00,0.000,4,0.000,0.061,3001,3263,1829
$GC,15477,1.14,245.6,426.2,8.7,958,15482,0.00,2.53,0.00,0.000,6,0.000,0.055,3001,1863,1830
$GC,15797,1.14,245.6,398.4,8.6,978,15801,0.00,2.55,0.00,0.000,4,0.000,0.060,3001,3263,1830
$GC,15825,1.17,245.6,395.9,8.9,980,15830,0.00,2.47,0.00,0.000,6,0.000,0.054,3001,1884,1830
$GC,16151,1.19,253.1,370.0,7.7,1001,16167,0.00,2.55,8.12,0.920,4,0.000,0.060,3001,3258,1799
$GC,16186,1.22,256.0,367.2,7.9,1003,16195,0.00,2.45,4.15,0.708,6,0.000,0.053,3001,1901,1787
$GC,16519,1.23,262.9,341.1,7.8,1024,16535,0.00,2.53,7.60,0.887,4,0.000,0.059,3001,3260,1759
$GC,16547,1.23,262.9,338.4,9.8,1025,16553,0.00,2.45,0.00,0.000,6,0.000,0.053,3001,1902,1759
$GC,16866,1.23,262.9,311.8,8.2,1046,16870,0.00,2.47,0.00,0.000,4,0.000,0.060,3001,3261,1759
$GC,16889,1.27,262.9,309.8,8.9,1047,16895,0.00,2.40,0.00,0.000,6,0.000,0.052,3001,1921,1759
$GC,17208,1.27,262.9,283.0,8.8,1068,17213,0.00,2.67,0.00,0.000,4,0.000,0.066,3001,434,1759
$GC,17237,1.27,262.9,280.1,10.1,1070,17242,0.00,2.67,0.00,0.000,6,0.000,0.050,3001,1941,1759
$GC,17562,1.27,262.9,251.3,8.7,1091,17563,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1941,1759
$GC,17874,1.27,262.9,224.6,8.7,1111,17879,0.00,2.75,0.00,0.000,4,0.000,0.066,3001,439,1760
$GC,17924,1.27,262.9,219.9,8.2,1114,17929,0.00,2.65,0.00,0.000,6,0.000,0.049,3001,1933,1760
$GC,18244,1.27,262.9,193.4,8.5,1134,18245,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1949,1760
$GC,18556,1.31,262.9,166.0,8.8,1154,18561,0.12,2.75,0.00,0.000,4,0.054,0.067,3036,434,1760
$GC,18619,1.22,262.9,158.9,11.3,1158,18624,0.12,2.62,0.00,0.000,6,0.093,0.048,3012,1917,1760
$GC,18937,1.22,262.9,127.6,9.7,1175,18941,0.00,2.70,0.00,0.000,4,0.000,0.067,3012,443,1760
$GC,18987,1.22,262.9,121.9,10.4,1177,18991,0.00,2.58,0.00,0.000,6,0.000,0.048,3012,1899,1760
$GC,19303,1.22,262.9,91.2,9.2,1192,19305,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1914,1760
$GC,19612,1.22,262.9,61.7,9.6,1207,19617,0.00,2.65,0.00,0.000,4,0.000,0.062,3012,438,1760
$GC,19640,1.22,262.9,59.0,10.0,1208,19644,0.00,2.53,0.00,0.000,6,0.000,0.047,3012,1874,1761
$GC,19959,1.26,262.9,31.9,8.5,1223,19963,0.00,2.45,0.00,0.000,4,0.000,0.058,3012,3262,1761
$GC,19977,1.30,268.5,30.4,7.8,1224,19990,0.00,2.47,6.45,0.685,6,0.000,0.048,3012,1857,1736
$STATE,20304,end climb,SURFACE_DEPTH_REACHED
$STATE,20305,begin surface coast
$FINISH,1.4,1.027118
$STATE,20329,end surface coast,CONTROL_FINISHED_OK
$STATE,20329,begin surface
$SM_CCo,20353,19.88,0.772,0,0,1608,300.00
$SM_GC,1.08,0.00,0.00,19.88,0.000,0.000,0.772,420,2150,1608,-10.70,0.57,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1817
$TCM_TEMP,17.40
$XPDR_PINGS,70
$24V_AH,23.7,37.798
$10V_AH,10.1,17.098
$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,26.950,210.975,385.575,19.875,0.000,188.808,150.305,467.654,26.250,0.000,0.000,15.690,2185.471,15040.032,582.926,2524.562,1248.106,33.369,1844.548,0.000,2457.040,0.000,67.862,0.000
$DEVICE_MAMPS,161.837,80.535,1454.999,772.369,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,851.452,908.336,615.351,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63106,1241
$CAP_FILE_SIZE,181333,0
$CFSIZE,254472192,239632384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,041009,100924,6350.538,-1326.081,43,1.0,61,-12.6