version: 66.04
glider: 5
mission: 7
dive: 206
start: 10 2 109 22 22 2
data:
$ID,5
$MISSION,7
$DIVE,206
$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,-104172.56
$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,34
$R_STBD_OVSHOOT,32
$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
$GPS1,221321,6405.039,-1310.357,38,3.1,58,-12.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-46.7
$GPS2,222113,6405.042,-1310.233,16,1.3,16,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.226,-0.096
$KALMAN_X,-36990.0,3342.3,-2190.4,-202218.6,75441.4
$KALMAN_Y,-22892.8,2114.8,-101.3,295767.2,7625.3
$MHEAD_RNG_PITCHd_Wd,259.7,29683,-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,-61.38,0.000,2,0.000,0.000,427,2120,2711
$GC,82,-1.22,-146.6,2.6,-2.8,3,129,11.12,2.60,-28.77,0.000,4,0.161,0.076,2472,728,3429
$GC,142,-1.07,-146.6,5.5,-7.3,5,149,0.17,2.47,0.00,0.000,6,0.097,0.048,2509,2126,3429
$GC,458,-1.03,-146.6,41.3,-14.4,21,463,0.00,2.58,0.00,0.000,4,0.000,0.064,2509,718,3430
$GC,716,-1.03,-146.6,71.3,-12.1,32,723,0.00,2.53,0.00,0.000,6,0.000,0.049,2509,2144,3430
$GC,1033,-1.03,-146.6,103.9,-9.3,48,1037,0.00,2.58,0.00,0.000,4,0.000,0.060,2509,722,3430
$GC,1145,-1.07,-146.6,114.9,-9.5,53,1149,0.00,2.45,0.00,0.000,6,0.000,0.049,2509,2100,3429
$GC,1467,-1.07,-146.6,145.3,-9.5,69,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2101,3430
$STATE,1634,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1634,begin apogee
$GC,1642,-0.33,0.0,162.2,10.0,79,1772,0.75,0.00,121.72,0.896,6,0.070,0.000,2674,1828,2831
$STATE,1772,end apogee,CONTROL_FINISHED_OK
$STATE,1773,begin climb
$GC,1776,1.22,146.6,167.7,0.0,88,1902,1.52,0.00,120.85,0.861,6,0.064,0.000,3007,1827,2232
$GC,2223,1.19,146.6,141.1,8.4,115,2228,0.00,2.60,0.00,0.000,4,0.000,0.058,3007,3261,2232
$GC,2336,1.22,168.0,132.8,7.2,120,2361,0.00,2.45,18.85,0.808,6,0.000,0.051,3007,1896,2145
$GC,2684,1.29,208.9,109.3,6.5,137,2727,0.00,2.67,34.85,0.831,4,0.000,0.064,3007,440,1979
$GC,2756,1.26,220.4,104.0,7.6,140,2774,0.00,2.58,10.70,0.759,6,0.000,0.048,3007,1894,1931
$GC,3085,1.41,311.1,85.7,4.7,156,3162,0.17,0.00,73.55,0.828,6,0.048,0.000,3058,1895,1562
$GC,3463,1.32,311.1,50.0,10.0,174,3468,0.15,2.67,0.00,0.000,4,0.090,0.067,3029,435,1562
$GC,3530,1.32,311.1,41.3,12.0,177,3534,0.00,2.53,0.00,0.000,6,0.000,0.048,3029,1858,1562
$STATE,3850,end climb,SURFACE_DEPTH_REACHED
$STATE,3850,begin surface coast
$FINISH,1.4,1.027143
$STATE,3870,end surface coast,CONTROL_FINISHED_OK
$STATE,3872,begin surface
$SM_CCo,3956,0.00,0.000,0,0,1560,311.78
$SM_GC,1.21,11.55,0.00,0.00,0.048,0.000,0.000,426,2124,1560,-10.60,-0.57,311.78
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1800
$TCM_TEMP,17.00
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,121.8,49.2
$24V_AH,24.0,35.923
$10V_AH,10.1,16.400
$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,25.450,31.575,380.525,0.000,0.000,75.519,138.105,99.673,3.000,0.000,0.000,16.501,388.877,2627.003,420.632,572.087,428.525,33.348,747.446,0.000,559.278,0.000,6.475,0.000
$DEVICE_MAMPS,161.070,75.933,895.856,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,130.432,141.657,280.989,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9690,194
$CAP_FILE_SIZE,37708,0
$CFSIZE,254472192,240328704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021009,232849,6404.584,-1308.917,14,1.5,15,-12.5