version: 66.04
glider: 5
mission: 7
dive: 240
start: 10 6 109 2 4 46
data:
$ID,5
$MISSION,7
$DIVE,240
$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,-104865.24
$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,23
$R_STBD_OVSHOOT,33
$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
$GPS1,015756,6410.177,-1307.418,11,1.2,11,-12.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-57.7
$GPS2,020356,6410.063,-1307.457,13,1.0,13,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.212,0.123
$KALMAN_X,-51309.0,2225.3,1202.9,-187778.8,-57301.2
$KALMAN_Y,-31136.3,-1411.5,1123.0,315594.0,-63862.5
$MHEAD_RNG_PITCHd_Wd,72.5,39241,-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,13,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,-41.03,0.000,2,0.000,0.000,423,2140,2409
$GC,63,-1.22,-146.6,2.1,-3.1,2,128,11.38,2.62,-47.92,0.000,4,0.170,0.072,2468,720,3429
$GC,200,-1.17,-146.6,10.9,-10.6,8,205,0.10,2.53,0.00,0.000,6,0.107,0.051,2488,2130,3430
$GC,528,-1.13,-146.6,47.8,-10.8,24,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2130,3430
$GC,837,-1.09,-146.6,84.1,-12.4,39,839,0.10,0.00,0.00,0.000,6,0.107,0.000,2509,2130,3429
$GC,1147,-1.09,-146.6,116.4,-10.2,54,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2130,3430
$STATE,1370,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1370,begin apogee
$GC,1378,-0.33,0.0,141.1,10.3,65,1503,0.77,0.00,121.10,0.890,6,0.081,0.000,2674,1830,2831
$STATE,1505,end apogee,CONTROL_FINISHED_OK
$STATE,1505,begin climb
$GC,1508,1.22,146.6,146.7,0.0,71,1635,1.52,2.70,119.07,0.857,4,0.067,0.058,3004,3258,2233
$GC,1888,1.22,148.2,124.9,7.9,88,1892,0.00,2.53,0.00,0.000,6,0.000,0.051,3003,1857,2232
$GC,2212,1.32,210.0,103.7,5.8,104,2270,0.12,2.62,52.67,0.837,4,0.055,0.058,3038,3264,1973
$GC,2318,1.27,210.0,95.2,8.9,108,2322,0.00,2.58,0.00,0.000,6,0.000,0.052,3038,1842,1973
$GC,2647,1.21,210.0,65.1,8.9,124,2652,0.15,2.60,0.00,0.000,4,0.090,0.058,3009,3261,1973
$GC,2688,1.22,214.1,61.7,7.9,126,2697,0.00,2.53,4.75,0.602,6,0.000,0.051,3009,1855,1958
$GC,3014,1.22,214.1,34.4,9.2,142,3018,0.00,2.58,0.00,0.000,4,0.000,0.059,3009,3263,1958
$GC,3055,1.25,214.1,30.0,11.2,144,3059,0.00,2.55,0.00,0.000,6,0.000,0.053,3009,1847,1957
$STATE,3338,end climb,SURFACE_DEPTH_REACHED
$STATE,3338,begin surface coast
$FINISH,0.4,1.027306
$STATE,3360,end surface coast,CONTROL_FINISHED_OK
$STATE,3360,begin surface
$SM_CCo,3384,45.17,0.786,0,0,1607,300.00
$SM_GC,1.22,0.00,0.00,45.17,0.000,0.000,0.786,427,2150,1607,-10.66,0.57,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1800
$TCM_TEMP,15.70
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,120.8,28.5
$24V_AH,24.0,40.467
$10V_AH,10.1,18.039
$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,25.525,26.900,297.600,45.175,0.000,75.516,52.824,78.924,4.500,0.000,0.000,16.271,340.849,2276.860,394.371,476.130,316.806,33.339,660.586,0.000,470.122,0.000,6.419,0.000
$DEVICE_MAMPS,169.507,72.098,889.720,786.175,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,107.625,117.562,274.129,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6535,159
$CAP_FILE_SIZE,33369,0
$CFSIZE,254472192,239067136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,061009,030251,6409.012,-1307.155,15,1.6,16,-12.6