version: 66.04
glider: 5
mission: 7
dive: 219
start: 10 4 109 16 5 26
data:
$ID,5
$MISSION,7
$DIVE,219
$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,-104429.27
$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,35
$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
$GPS1,155500,6353.930,-1327.827,45,1.8,45,-12.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-54.4
$GPS2,160437,6353.941,-1327.773,11,1.3,16,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P6
$TGT_LATLONG,6402.820,-1325.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.087,0.230
$KALMAN_X,-40800.0,35.2,-1129.8,-211630.8,3611.6
$KALMAN_Y,-11386.8,-832.7,-1400.6,267974.1,6378.5
$MHEAD_RNG_PITCHd_Wd,352.0,16547,-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,16,-1.22,-146.6,0.0,0.0,0,139,0.00,0.00,-121.00,0.000,2,0.000,0.000,419,2145,2886
$GC,143,-1.22,-146.6,3.3,-2.4,6,178,11.23,2.58,-16.38,0.000,4,0.163,0.077,2468,3531,3430
$GC,288,-1.12,-146.6,24.0,-13.4,12,293,0.15,2.53,0.00,0.000,6,0.099,0.047,2499,2114,3429
$GC,606,-1.08,-146.6,59.8,-11.6,27,610,0.00,2.50,0.00,0.000,4,0.000,0.060,2500,709,3430
$GC,655,-1.08,-146.6,65.9,-10.9,29,660,0.00,2.53,0.00,0.000,6,0.000,0.048,2499,2130,3429
$GC,974,-1.04,-146.6,98.0,-10.5,44,979,0.00,2.58,0.00,0.000,4,0.000,0.061,2499,707,3429
$GC,1015,-1.04,-146.6,103.0,-11.7,46,1019,0.00,2.53,0.00,0.000,6,0.000,0.049,2500,2130,3429
$GC,1342,-1.00,-146.6,140.7,-10.2,62,1347,0.12,2.58,0.00,0.000,4,0.097,0.061,2525,710,3429
$GC,1399,-1.05,-146.6,146.0,-8.8,64,1405,0.00,2.50,0.00,0.000,6,0.000,0.048,2526,2121,3429
$GC,1717,-1.05,-146.6,172.9,-8.8,84,1722,0.00,2.55,0.00,0.000,4,0.000,0.060,2525,709,3429
$GC,1774,-1.11,-146.6,178.2,-9.1,87,1780,0.00,2.50,0.00,0.000,6,0.000,0.049,2526,2120,3429
$GC,2093,-1.11,-146.6,204.5,-7.5,108,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2121,3429
$GC,2405,-1.11,-146.6,228.1,-8.0,128,2410,0.00,2.55,0.00,0.000,4,0.000,0.061,2525,713,3429
$GC,2486,-1.16,-146.6,235.1,-9.1,133,2491,0.17,2.47,0.00,0.000,6,0.052,0.049,2479,2112,3429
$GC,2814,-1.10,-146.6,270.9,-11.3,154,2819,0.12,2.53,0.00,0.000,4,0.096,0.062,2504,720,3429
$GC,2853,-1.10,-146.6,275.6,-10.2,156,2859,0.00,2.45,0.00,0.000,6,0.000,0.051,2504,2099,3429
$GC,3172,-1.10,-146.6,307.0,-10.0,177,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2099,3429
$GC,3486,-1.10,-146.6,339.0,-10.1,197,3490,0.00,2.50,0.00,0.000,4,0.000,0.063,2504,719,3429
$GC,3559,-1.10,-146.6,346.7,-10.0,201,3565,0.00,2.45,0.00,0.000,6,0.000,0.051,2504,2100,3429
$GC,3878,-1.10,-146.6,374.2,-7.9,222,3882,0.00,2.53,0.00,0.000,4,0.000,0.065,2504,713,3428
$GC,3979,-1.10,-146.6,384.1,-10.2,228,3983,0.00,2.42,0.00,0.000,6,0.000,0.051,2504,2076,3428
$GC,4298,-1.10,-146.6,415.1,-10.5,248,4302,0.00,2.50,0.00,0.000,4,0.000,0.067,2504,714,3428
$GC,4416,-1.10,-146.6,428.3,-11.8,255,4420,0.00,2.38,0.00,0.000,6,0.000,0.051,2504,2055,3428
$GC,4741,-1.10,-146.6,464.6,-11.6,276,4745,0.00,2.45,0.00,0.000,4,0.000,0.067,2504,721,3428
$GC,4774,-1.10,-146.6,468.8,-12.3,278,4778,0.00,2.38,0.00,0.000,6,0.000,0.052,2504,2047,3428
$GC,5093,-1.10,-146.6,499.0,-11.0,298,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2048,3428
$GC,5405,-1.10,-146.6,522.3,-9.5,318,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2048,3427
$GC,5718,-1.10,-146.6,552.9,-11.6,338,5722,0.00,2.45,0.00,0.000,4,0.000,0.068,2504,712,3427
$GC,5767,-1.10,-146.6,559.3,-13.1,341,5772,0.00,2.38,0.00,0.000,6,0.000,0.053,2504,2040,3427
$GC,6087,-1.10,-146.6,592.9,-8.3,361,6091,0.00,2.42,0.00,0.000,4,0.000,0.069,2504,711,3427
$GC,6116,-1.10,-146.6,595.2,-7.5,362,6122,0.00,2.38,0.00,0.000,6,0.000,0.054,2504,2035,3427
$GC,6435,-1.10,-146.6,625.7,-11.5,383,6439,0.00,2.42,0.00,0.000,4,0.000,0.070,2504,720,3426
$GC,6525,-1.10,-146.6,636.5,-12.2,388,6531,0.00,2.35,0.00,0.000,6,0.000,0.057,2504,2023,3426
$GC,6845,-1.10,-146.6,664.2,-5.9,409,6849,0.00,2.42,0.00,0.000,4,0.000,0.072,2504,711,3425
$GC,7041,-1.15,-146.6,676.0,-11.0,420,7048,0.00,2.33,0.00,0.000,6,0.000,0.058,2505,2003,3425
$GC,7363,-1.15,-146.6,721.5,-15.5,441,7367,0.00,2.42,0.00,0.000,4,0.000,0.083,2504,718,3425
$GC,7436,-1.19,-146.6,731.4,-12.4,445,7442,0.00,2.33,0.00,0.000,6,0.000,0.061,2504,2003,3424
$GC,7756,-1.19,-146.6,763.3,-11.1,466,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2008,3423
$GC,8067,-1.19,-146.6,797.8,-10.4,486,8072,0.00,2.88,0.00,0.000,4,0.000,0.088,2504,3535,3422
$GC,8117,-1.19,-146.6,803.7,-12.1,489,8122,0.00,2.85,0.00,0.000,6,0.000,0.072,2504,1997,3422
$STATE,8136,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8136,begin apogee
$GC,8145,-0.33,0.0,806.8,13.5,490,8277,0.80,0.00,129.02,1.424,6,0.089,0.000,2672,1846,2831
$STATE,8278,end apogee,CONTROL_FINISHED_OK
$STATE,8278,begin climb
$GC,8281,1.22,146.6,811.3,0.0,499,8421,1.60,2.75,130.55,1.376,4,0.069,0.075,3011,3254,2233
$GC,8573,1.19,196.5,796.6,6.2,517,8627,0.00,2.65,45.05,1.333,6,0.000,0.074,3011,1853,2029
$GC,8939,1.13,196.5,760.4,11.3,541,8944,0.00,2.65,0.00,0.000,4,0.000,0.078,3011,3249,2028
$GC,8979,1.08,196.5,755.1,11.9,543,8986,0.17,2.65,0.00,0.000,6,0.101,0.075,2979,1850,2028
$GC,9298,1.03,196.5,723.9,9.3,564,9302,0.00,2.67,0.00,0.000,4,0.000,0.089,2978,429,2026
$GC,9344,1.09,232.7,719.8,6.7,567,9384,0.00,2.62,32.53,1.335,6,0.000,0.065,2979,1868,1882
$GC,9708,1.38,412.3,694.4,1.5,590,9877,0.28,2.85,157.45,1.341,4,0.059,0.089,3046,436,1150
$GC,9945,1.29,412.3,669.2,12.5,604,9951,0.00,2.60,0.00,0.000,6,0.000,0.065,3045,1835,1152
$GC,10264,1.23,412.3,620.5,18.8,625,10269,0.17,2.67,0.00,0.000,4,0.100,0.083,3009,436,1153
$GC,10294,1.23,412.3,615.3,17.1,627,10298,0.00,2.60,0.00,0.000,6,0.000,0.063,3009,1847,1153
$GC,10618,1.23,412.3,572.6,12.1,648,10619,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1864,1152
$GC,10931,1.26,412.3,537.4,12.0,668,10936,0.00,2.67,0.00,0.000,4,0.000,0.079,3008,429,1152
$GC,10970,1.26,412.3,532.4,12.8,670,10976,0.00,2.58,0.00,0.000,6,0.000,0.059,3008,1847,1152
$GC,11289,1.30,412.3,495.2,11.7,691,11291,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1863,1153
$GC,11602,1.33,412.3,461.8,9.8,711,11607,0.12,2.65,0.00,0.000,4,0.061,0.076,3040,436,1153
$GC,11648,1.28,412.3,456.3,12.6,714,11652,0.00,2.53,0.00,0.000,6,0.000,0.057,3040,1829,1153
$GC,11973,1.23,412.3,407.1,16.0,735,11975,0.15,0.00,0.00,0.000,6,0.094,0.000,3010,1846,1153
$GC,12285,1.27,412.3,371.1,9.5,755,12289,0.00,2.60,0.00,0.000,4,0.000,0.071,3011,430,1154
$GC,12341,1.32,412.3,365.5,10.2,758,12347,0.00,2.47,0.00,0.000,6,0.000,0.053,3011,1814,1154
$GC,12661,1.36,412.3,330.1,12.1,779,12666,0.12,2.60,0.00,0.000,4,0.060,0.061,3044,3263,1154
$GC,12690,1.36,412.3,326.1,13.4,781,12694,0.00,2.65,0.00,0.000,6,0.000,0.058,3044,1796,1154
$GC,13015,1.31,412.3,280.3,14.2,802,13019,0.00,2.67,0.00,0.000,4,0.000,0.061,3044,3261,1154
$GC,13071,1.34,412.3,272.2,13.2,805,13077,0.00,2.60,0.00,0.000,6,0.000,0.055,3044,1820,1155
$GC,13391,1.29,412.3,222.9,16.3,826,13395,0.00,2.62,0.00,0.000,4,0.000,0.060,3044,3261,1155
$GC,13437,1.33,412.3,215.7,14.8,829,13441,0.00,2.58,0.00,0.000,6,0.000,0.054,3044,1830,1155
$GC,13762,1.29,412.3,166.8,14.2,850,13766,0.00,2.60,0.00,0.000,4,0.000,0.060,3044,3258,1156
$GC,13808,1.32,412.3,161.1,11.3,853,13812,0.00,2.53,0.00,0.000,6,0.000,0.052,3044,1850,1156
$GC,14141,1.28,412.3,118.2,13.3,871,14145,0.00,2.55,0.00,0.000,4,0.000,0.058,3044,3260,1157
$GC,14196,1.32,412.3,110.6,12.9,873,14203,0.00,2.47,0.00,0.000,6,0.000,0.051,3044,1872,1157
$GC,14514,1.29,412.3,68.2,13.4,889,14515,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1872,1157
$GC,14824,1.29,412.3,25.7,12.4,904,14828,0.00,2.53,0.00,0.000,4,0.000,0.059,3044,3264,1158
$GC,14888,1.34,412.3,17.5,13.1,907,14892,0.00,2.45,0.00,0.000,6,0.000,0.051,3044,1895,1158
$STATE,15006,end climb,SURFACE_DEPTH_REACHED
$STATE,15006,begin surface coast
$FINISH,0.7,1.004161
$STATE,15028,end surface coast,CONTROL_FINISHED_OK
$STATE,15028,begin surface
$SM_CCo,15112,0.00,0.000,0,0,1157,410.63
$SM_GC,1.45,11.30,0.00,0.00,0.034,0.000,0.000,418,2143,1157,-10.60,0.37,410.63
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1840
$TCM_TEMP,17.10
$XPDR_PINGS,33
$ALTIM_BOTTOM_PING,771.3,43.6
$24V_AH,23.7,38.286
$10V_AH,10.1,17.290
$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,26.525,158.375,494.600,0.000,0.000,75.526,55.632,228.355,15.250,0.000,0.000,16.745,1616.540,10748.947,644.432,1969.791,696.557,33.361,1665.110,0.000,1915.497,0.000,48.616,0.000
$DEVICE_MAMPS,163.371,88.972,1423.552,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,626.265,668.643,481.856,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47499,914
$CAP_FILE_SIZE,133472,0
$CFSIZE,254472192,239546368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,041009,201836,6356.604,-1329.952,41,0.9,41,-12.7