version: 66.04
glider: 5
mission: 7
dive: 224
start: 10 5 109 6 48 21
data:
$ID,5
$MISSION,7
$DIVE,224
$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,-104508.54
$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,21
$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
$GPS1,063624,6359.768,-1330.207,23,1.8,42,-12.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-59.5
$GPS2,064732,6359.855,-1330.435,13,1.7,13,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.022,0.244
$KALMAN_X,-38727.7,162.7,-806.9,-216494.6,6501.5
$KALMAN_Y,-29455.6,-23.3,973.5,293759.8,-37059.0
$MHEAD_RNG_PITCHd_Wd,17.9,20202,-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,13,begin dive
$GC,16,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.08,0.000,2,0.000,0.000,422,2141,2409
$GC,63,-1.22,-146.6,2.1,-3.4,2,137,11.25,2.58,-57.12,0.000,4,0.163,0.079,2471,3546,3428
$GC,373,-1.15,-146.6,33.2,-14.1,16,378,0.10,2.55,0.00,0.000,6,0.116,0.050,2490,2125,3428
$GC,695,-1.10,-146.6,74.8,-12.8,32,699,0.00,2.53,0.00,0.000,4,0.000,0.062,2490,715,3428
$GC,740,-1.10,-146.6,81.1,-13.0,34,745,0.00,2.53,0.00,0.000,6,0.000,0.051,2490,2128,3428
$GC,1065,-1.05,-146.6,121.0,-12.4,50,1070,0.12,2.58,0.00,0.000,4,0.102,0.064,2516,719,3428
$GC,1099,-1.05,-146.6,125.5,-11.5,51,1105,0.00,2.50,0.00,0.000,6,0.000,0.051,2517,2123,3428
$GC,1416,-1.05,-146.6,157.8,-10.5,68,1420,0.00,2.58,0.00,0.000,4,0.000,0.067,2517,3537,3428
$GC,1499,-1.05,-146.6,167.2,-12.0,73,1504,0.00,2.55,0.00,0.000,6,0.000,0.054,2517,2119,3428
$STATE,1518,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1518,begin apogee
$GC,1526,-0.33,0.0,169.4,10.6,74,1651,0.73,0.00,121.10,0.904,6,0.075,0.000,2674,1837,2830
$STATE,1652,end apogee,CONTROL_FINISHED_OK
$STATE,1652,begin climb
$GC,1656,1.22,146.6,173.7,0.0,82,1781,1.48,0.00,120.55,0.865,6,0.043,0.000,3012,1837,2232
$GC,2093,1.24,188.9,152.2,6.5,110,2137,0.00,2.65,35.97,0.840,4,0.000,0.059,3012,3264,2059
$GC,2216,1.25,198.3,142.7,7.7,116,2230,0.00,2.50,9.52,0.749,6,0.000,0.051,3012,1869,2021
$GC,2560,1.27,209.5,115.6,7.6,133,2576,0.00,2.55,10.75,0.768,4,0.000,0.058,3011,3257,1975
$GC,2627,1.27,209.5,109.7,9.1,135,2631,0.00,2.50,0.00,0.000,6,0.000,0.051,3012,1867,1975
$GC,2950,1.27,212.1,82.8,7.9,151,2959,0.00,2.55,3.70,0.533,4,0.000,0.058,3011,3252,1965
$GC,2988,1.27,212.1,79.2,9.2,152,2995,0.00,2.45,0.00,0.000,6,0.000,0.052,3012,1883,1965
$GC,3305,1.27,212.1,52.0,8.1,168,3309,0.00,2.60,0.00,0.000,4,0.000,0.066,3012,442,1965
$GC,3345,1.23,212.1,48.4,9.5,170,3349,0.00,2.58,0.00,0.000,6,0.000,0.049,3012,1890,1965
$GC,3672,1.23,212.1,21.2,8.8,186,3677,0.00,2.67,0.00,0.000,4,0.000,0.066,3012,436,1965
$GC,3723,1.18,212.1,16.4,9.5,188,3727,0.00,2.55,0.00,0.000,6,0.000,0.048,3012,1873,1965
$STATE,3912,end climb,SURFACE_DEPTH_REACHED
$STATE,3912,begin surface coast
$FINISH,0.6,1.027543
$STATE,3955,end surface coast,CONTROL_FINISHED_OK
$STATE,3955,begin surface
$SM_CCo,3979,45.53,0.785,0,0,1607,300.00
$SM_GC,1.19,0.00,0.00,45.53,0.000,0.000,0.785,423,2148,1607,-10.68,0.51,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1819
$TCM_TEMP,15.80
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,121.0,57.5
$24V_AH,24.0,38.904
$10V_AH,10.1,17.538
$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,24.975,46.875,301.600,45.525,0.000,114.820,88.432,229.725,4.250,0.000,0.000,13.113,411.892,2716.940,422.325,578.236,574.148,33.354,746.381,0.000,567.285,0.000,8.622,0.000
$DEVICE_MAMPS,162.604,79.001,904.293,784.641,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,134.274,147.258,277.685,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9669,199
$CAP_FILE_SIZE,45787,0
$CFSIZE,254472192,239439872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,051009,075636,6400.772,-1330.884,12,1.0,30,-12.7