version: 66.04
glider: 5
mission: 7
dive: 231
start: 10 5 109 15 33 2
data:
$ID,5
$MISSION,7
$DIVE,231
$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,-104642.32
$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,27
$R_STBD_OVSHOOT,44
$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
$GPS1,152743,6405.902,-1319.862,24,1.9,32,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-56.2
$GPS2,153212,6405.841,-1319.904,15,1.7,17,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.083,0.231
$KALMAN_X,-45062.9,2311.0,297.7,-204157.5,-17221.5
$KALMAN_Y,-36695.9,945.7,1753.4,310331.7,-74988.3
$MHEAD_RNG_PITCHd_Wd,32.4,29818,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.62,0.000,2,0.000,0.000,422,2145,2432
$GC,63,-1.22,-146.6,2.3,-4.1,2,120,11.32,2.53,-39.60,0.000,4,0.163,0.079,2473,3518,3430
$GC,300,-1.14,-146.6,29.2,-12.4,12,307,0.12,2.50,0.00,0.000,6,0.111,0.053,2497,2128,3430
$GC,618,-1.11,-146.6,67.0,-12.2,28,622,0.00,2.53,0.00,0.000,4,0.000,0.063,2498,719,3430
$GC,651,-1.11,-146.6,71.4,-12.1,29,657,0.00,2.47,0.00,0.000,6,0.000,0.052,2497,2107,3430
$GC,968,-1.07,-146.6,110.1,-12.7,45,972,0.00,2.55,0.00,0.000,4,0.000,0.064,2497,713,3430
$GC,1052,-1.07,-146.6,121.3,-13.2,48,1058,0.00,2.50,0.00,0.000,6,0.000,0.051,2497,2120,3430
$GC,1381,-1.07,-146.6,162.3,-11.1,66,1385,0.00,2.55,0.00,0.000,4,0.000,0.064,2498,721,3430
$GC,1416,-1.07,-146.6,166.7,-12.5,68,1420,0.00,2.47,0.00,0.000,6,0.000,0.051,2497,2109,3430
$STATE,1716,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1716,begin apogee
$GC,1724,-0.33,0.0,197.4,9.3,87,1855,0.80,0.00,122.43,0.929,6,0.077,0.000,2670,1836,2831
$STATE,1855,end apogee,CONTROL_FINISHED_OK
$STATE,1855,begin climb
$GC,1859,1.22,146.6,202.6,0.0,96,1985,1.52,0.00,121.00,0.894,6,0.060,0.000,3006,1836,2233
$GC,2295,1.25,165.4,179.0,7.3,124,2319,0.00,2.70,17.10,0.840,4,0.000,0.063,3006,3255,2155
$GC,2452,1.25,165.4,167.4,8.2,133,2456,0.00,2.55,0.00,0.000,6,0.000,0.057,3006,1854,2155
$GC,2772,1.35,228.7,146.4,5.7,152,2831,0.15,2.65,52.53,0.881,4,0.054,0.062,3046,3261,1897
$GC,2885,1.30,228.7,136.2,9.3,156,2889,0.00,2.55,0.00,0.000,6,0.000,0.055,3045,1862,1897
$GC,3208,1.23,228.7,103.5,10.3,172,3213,0.17,2.58,0.00,0.000,4,0.093,0.067,3009,439,1896
$GC,3298,1.20,228.7,94.7,9.1,176,3303,0.00,2.53,0.00,0.000,6,0.000,0.050,3009,1854,1896
$GC,3620,1.20,228.7,66.5,8.7,192,3625,0.00,2.62,0.00,0.000,4,0.000,0.067,3009,432,1896
$GC,3661,1.20,228.7,62.7,9.9,194,3665,0.00,2.53,0.00,0.000,6,0.000,0.050,3009,1851,1896
$GC,3988,1.20,228.7,35.4,8.2,210,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1866,1896
$GC,4297,1.22,237.7,11.9,7.7,225,4311,0.00,2.55,8.90,0.727,4,0.000,0.060,3009,3259,1861
$GC,4347,1.26,237.7,6.3,11.4,227,4351,0.00,2.55,0.00,0.000,6,0.000,0.053,3009,1837,1861
$STATE,4397,end climb,SURFACE_DEPTH_REACHED
$STATE,4397,begin surface coast
$FINISH,0.3,1.006268
$STATE,4441,end surface coast,CONTROL_FINISHED_OK
$STATE,4441,begin surface
$SM_CCo,4465,32.40,0.790,0,0,1607,300.00
$SM_GC,1.43,0.00,0.00,32.40,0.000,0.000,0.790,417,2142,1607,-10.70,0.45,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1824
$TCM_TEMP,16.70
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,171.1,35.9
$24V_AH,24.0,39.591
$10V_AH,10.1,17.768
$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,25.325,46.950,321.950,32.400,0.000,37.757,31.765,95.491,5.750,0.000,0.000,19.902,468.299,2960.490,415.722,631.173,303.623,33.339,762.371,0.000,613.842,0.000,9.868,0.000
$DEVICE_MAMPS,163.371,79.001,928.837,790.010,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,157.194,171.305,277.433,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9655,232
$CAP_FILE_SIZE,43244,0
$CFSIZE,254472192,239271936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,051009,164906,6405.479,-1320.277,14,1.3,26,-12.7