version: 66.04
glider: 5
mission: 7
dive: 205
start: 10 2 109 21 10 27
data:
$ID,5
$MISSION,7
$DIVE,205
$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,-104155.44
$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,19
$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
$GPS1,210446,6404.745,-1311.931,28,1.5,30,-12.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-45.9
$GPS2,210937,6404.772,-1311.818,35,1.4,47,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.229,-0.087
$KALMAN_X,-38022.9,724.4,-1109.5,-201048.2,81990.2
$KALMAN_Y,-23397.4,-62.1,142.0,297695.7,6426.9
$MHEAD_RNG_PITCHd_Wd,261.8,28841,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.20,0.000,2,0.000,0.000,425,2155,2799
$GC,103,-1.22,-146.6,2.1,-0.9,4,146,11.00,2.58,-21.40,0.000,4,0.156,0.077,2471,3525,3430
$GC,399,-1.09,-146.6,42.5,-11.8,17,405,0.17,2.53,0.00,0.000,6,0.107,0.049,2507,2113,3430
$GC,723,-1.09,-146.6,78.9,-11.3,33,727,0.00,2.60,0.00,0.000,4,0.000,0.064,2508,3525,3430
$GC,746,-1.09,-146.6,82.0,-12.3,34,750,0.00,2.50,0.00,0.000,6,0.000,0.051,2507,2131,3430
$GC,1072,-1.09,-146.6,121.6,-11.5,50,1076,0.00,2.53,0.00,0.000,4,0.000,0.061,2508,717,3430
$GC,1094,-1.09,-146.6,124.6,-10.8,51,1098,0.00,2.53,0.00,0.000,6,0.000,0.049,2508,2138,3430
$STATE,1330,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1330,begin apogee
$GC,1338,-0.33,0.0,150.0,10.9,63,1467,0.75,0.00,122.60,0.881,6,0.075,0.000,2670,1835,2830
$STATE,1468,end apogee,CONTROL_FINISHED_OK
$STATE,1468,begin climb
$GC,1471,1.22,146.6,157.9,0.0,72,1600,1.52,2.55,121.03,0.851,4,0.058,0.064,3009,455,2233
$GC,1860,1.11,146.6,134.5,9.7,92,1867,0.00,2.47,0.00,0.000,6,0.000,0.046,3009,1857,2232
$GC,2177,1.15,169.0,109.0,7.2,108,2198,0.00,0.00,19.48,0.802,6,0.000,0.000,3008,1871,2142
$GC,2508,1.17,183.2,85.4,7.5,124,2530,0.00,2.65,13.05,0.772,4,0.000,0.064,3008,456,2084
$GC,2600,1.14,204.9,77.9,7.2,128,2625,0.00,2.45,19.30,0.796,6,0.000,0.048,3008,1852,1995
$GC,2955,1.26,276.4,54.8,5.4,145,3016,0.00,0.00,58.50,0.815,6,0.000,0.000,3009,1854,1704
$GC,3325,1.38,321.3,27.1,6.4,163,3369,0.17,2.60,37.30,0.785,4,0.050,0.064,3059,449,1521
$GC,3399,1.25,321.3,18.6,16.9,166,3404,0.20,2.45,0.00,0.000,6,0.083,0.048,3019,1819,1520
$STATE,3574,end climb,SURFACE_DEPTH_REACHED
$STATE,3574,begin surface coast
$FINISH,1.9,1.027141
$STATE,3595,end surface coast,CONTROL_FINISHED_OK
$STATE,3595,begin surface
$SM_CCo,3679,0.00,0.000,0,0,1520,321.59
$SM_GC,1.39,11.52,0.00,0.00,0.049,0.000,0.000,427,2137,1520,-10.58,0.20,321.59
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1802
$TCM_TEMP,17.10
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,121.6,37.4
$24V_AH,23.7,35.816
$10V_AH,10.1,16.366
$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,25.350,31.450,391.250,0.000,0.000,37.757,26.023,98.189,3.250,0.000,0.000,50.132,365.212,2307.945,454.341,576.964,274.930,33.350,762.514,0.000,533.312,0.000,6.704,0.000
$DEVICE_MAMPS,155.701,77.467,880.516,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,117.908,128.560,273.977,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9630,176
$CAP_FILE_SIZE,35986,0
$CFSIZE,254472192,240353280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021009,221321,6405.039,-1310.357,38,3.1,58,-12.6