version: 66.04
glider: 5
mission: 7
dive: 202
start: 10 2 109 17 33 39
data:
$ID,5
$MISSION,7
$DIVE,202
$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,-104057.98
$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,23
$R_STBD_OVSHOOT,28
$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
$GPS1,172724,6402.069,-1313.830,55,1.8,55,-12.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-62.6
$GPS2,173250,6402.129,-1313.871,17,1.8,17,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P6
$TGT_LATLONG,6402.820,-1325.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.171,0.176
$KALMAN_X,-51169.2,56.2,143.5,-190310.9,4599.3
$KALMAN_Y,-31248.0,328.5,821.9,299567.5,-13949.7
$MHEAD_RNG_PITCHd_Wd,328.4,9511,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,81,0.00,0.00,-60.72,0.000,2,0.000,0.000,417,2138,2661
$GC,84,-1.22,-146.6,2.2,-2.6,3,131,11.43,2.53,-29.40,0.000,4,0.160,0.074,2468,3534,3430
$GC,384,-1.13,-146.6,39.0,-10.7,16,389,0.15,2.53,0.00,0.000,6,0.101,0.048,2498,2113,3430
$GC,700,-1.13,-146.6,70.2,-11.7,31,704,0.00,2.47,0.00,0.000,4,0.000,0.061,2498,722,3430
$GC,763,-1.13,-146.6,77.6,-14.0,34,767,0.00,2.50,0.00,0.000,6,0.000,0.050,2498,2132,3430
$GC,1090,-1.13,-146.6,117.1,-11.3,50,1094,0.00,2.55,0.00,0.000,4,0.000,0.061,2498,724,3430
$GC,1124,-1.13,-146.6,121.7,-13.9,51,1130,0.00,2.50,0.00,0.000,6,0.000,0.051,2498,2136,3430
$GC,1446,-1.13,-146.6,156.2,-9.5,68,1450,0.00,2.55,0.00,0.000,4,0.000,0.064,2498,3545,3431
$GC,1475,-1.09,-146.6,159.0,-9.8,70,1479,0.00,2.55,0.00,0.000,6,0.000,0.053,2498,2122,3430
$STATE,1780,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1780,begin apogee
$GC,1788,-0.33,0.0,187.3,8.5,90,1918,0.80,0.00,121.55,0.926,6,0.077,0.000,2671,1841,2831
$STATE,1919,end apogee,CONTROL_FINISHED_OK
$STATE,1919,begin climb
$GC,1922,1.22,146.6,191.5,0.0,99,2048,1.52,0.00,120.93,0.888,6,0.061,0.000,3005,1841,2233
$GC,2359,1.23,187.9,165.3,6.5,127,2397,0.00,0.00,34.90,0.856,6,0.000,0.000,3005,1841,2065
$GC,2701,1.41,296.7,149.8,4.0,149,2799,0.20,2.62,89.50,0.864,4,0.049,0.065,3056,449,1621
$GC,2838,1.29,296.7,138.4,10.7,155,2843,0.17,2.50,0.00,0.000,6,0.090,0.049,3023,1841,1621
$GC,3160,1.29,296.7,107.5,9.3,171,3164,0.00,2.55,0.00,0.000,4,0.000,0.059,3022,3265,1621
$GC,3239,1.33,296.7,99.8,8.8,174,3246,0.00,2.58,0.00,0.000,6,0.000,0.051,3022,1832,1621
$GC,3555,1.33,296.7,61.3,13.9,190,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1832,1622
$GC,3864,1.33,296.7,21.9,12.7,205,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1832,1622
$STATE,4067,end climb,SURFACE_DEPTH_REACHED
$STATE,4067,begin surface coast
$FINISH,0.4,1.014841
$STATE,4089,end surface coast,CONTROL_FINISHED_OK
$STATE,4089,begin surface
$SM_CCo,4113,2.05,0.168,0,0,1607,300.00
$SM_GC,2.08,0.00,0.00,2.05,0.000,0.000,0.168,420,2158,1607,-10.70,0.79,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1808
$TCM_TEMP,17.00
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,120.2,76.0
$24V_AH,24.0,35.495
$10V_AH,10.1,16.269
$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,25.650,31.475,366.875,2.050,0.000,39.018,29.439,137.474,3.000,0.000,0.000,17.897,415.579,2705.686,421.423,564.869,338.029,33.365,739.820,0.000,552.605,0.000,6.548,0.000
$DEVICE_MAMPS,160.303,74.399,925.769,167.973,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,145.531,156.930,256.881,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9706,216
$CAP_FILE_SIZE,38892,0
$CFSIZE,254472192,240431104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021009,184407,6403.212,-1314.000,72,1.3,73,-12.6