version: 66.04
glider: 5
mission: 7
dive: 204
start: 10 2 109 20 7 39
data:
$ID,5
$MISSION,7
$DIVE,204
$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,-104104.68
$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,24
$R_STBD_OVSHOOT,45
$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
$GPS1,200106,6404.243,-1313.463,38,1.1,39,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-64.2
$GPS2,200650,6404.320,-1313.375,13,1.1,13,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.238,-0.061
$KALMAN_X,-41270.9,-197.1,-772.2,-198601.1,51622.3
$KALMAN_Y,-27007.5,-434.4,652.8,300312.6,-12056.0
$MHEAD_RNG_PITCHd_Wd,268.3,27715,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,61,0.00,0.00,-41.33,0.000,2,0.000,0.000,421,2153,2437
$GC,65,-1.22,-146.6,2.8,-7.9,2,117,10.98,2.50,-35.50,0.000,4,0.152,0.073,2471,3522,3431
$GC,188,-1.14,-146.6,18.0,-14.1,7,195,0.12,2.50,0.00,0.000,6,0.104,0.051,2496,2126,3431
$GC,505,-1.14,-146.6,50.1,-5.8,23,509,0.00,2.53,0.00,0.000,4,0.000,0.061,2496,716,3431
$GC,549,-1.14,-146.6,53.6,-7.8,25,554,0.00,2.45,0.00,0.000,6,0.000,0.049,2496,2091,3431
$GC,872,-1.14,-146.6,87.6,-10.5,41,876,0.00,2.50,0.00,0.000,4,0.000,0.062,2496,720,3431
$GC,899,-1.14,-146.6,91.0,-11.7,42,903,0.00,2.47,0.00,0.000,6,0.000,0.050,2496,2112,3431
$GC,1216,-1.14,-146.6,128.4,-11.2,57,1220,0.00,2.58,0.00,0.000,4,0.000,0.064,2496,3537,3431
$GC,1244,-1.10,-146.6,132.2,-14.2,58,1248,0.00,2.58,0.00,0.000,6,0.000,0.054,2496,2109,3431
$STATE,1372,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1372,begin apogee
$GC,1380,-0.33,0.0,146.9,11.5,64,1509,0.82,0.00,122.43,0.888,6,0.077,0.000,2674,1826,2831
$STATE,1510,end apogee,CONTROL_FINISHED_OK
$STATE,1510,begin climb
$GC,1513,1.22,146.6,153.9,0.0,72,1643,1.50,2.65,121.38,0.854,4,0.058,0.056,3006,3262,2232
$GC,1899,1.44,307.9,140.3,2.1,93,2042,0.22,2.50,132.48,0.839,6,0.047,0.051,3065,1874,1574
$GC,2353,1.36,307.9,90.8,11.2,115,2357,0.12,2.53,0.00,0.000,4,0.096,0.057,3041,3259,1574
$GC,2487,1.36,307.9,77.8,9.0,121,2492,0.00,2.55,0.00,0.000,6,0.000,0.051,3041,1842,1574
$GC,2809,1.36,307.9,44.6,10.6,137,2814,0.00,2.58,0.00,0.000,4,0.000,0.056,3041,3258,1575
$GC,2854,1.36,307.9,39.7,10.3,139,2858,0.00,2.50,0.00,0.000,6,0.000,0.051,3041,1867,1575
$GC,3176,1.36,309.3,11.1,8.0,155,3180,0.00,2.60,0.00,0.000,4,0.000,0.068,3041,430,1575
$GC,3198,1.77,565.0,11.4,-1.3,156,3271,0.40,2.58,66.20,0.780,2,0.048,0.046,3136,1894,1245
$STATE,3271,end climb,SURFACE_DEPTH_REACHED
$STATE,3272,begin surface coast
$FINISH,1.0,1.027168
$STATE,3277,end surface coast,CONTROL_FINISHED_OK
$STATE,3277,begin surface
$SM_CCo,3361,0.00,0.000,0,0,1244,389.29
$SM_GC,1.23,11.98,0.00,0.00,0.039,0.000,0.000,425,2160,1244,-10.60,0.85,389.29
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1797
$TCM_TEMP,17.10
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,121.6,33.6
$24V_AH,24.0,35.715
$10V_AH,10.1,16.334
$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,26.150,41.425,442.475,0.000,0.000,37.758,30.220,173.699,1.500,0.000,0.000,13.478,340.058,2023.373,450.881,531.697,366.743,33.351,783.040,0.000,520.498,0.000,6.695,0.000
$DEVICE_MAMPS,151.866,72.865,888.186,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,106.998,119.772,251.648,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6508,160
$CAP_FILE_SIZE,38277,0
$CFSIZE,254472192,240377856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021009,210446,6404.745,-1311.931,28,1.5,30,-12.6