version: 66.04
glider: 5
mission: 7
dive: 241
start: 10 6 109 3 11 26
data:
$ID,5
$MISSION,7
$DIVE,241
$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,-104907.77
$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,24
$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
$GPS1,030251,6409.012,-1307.155,15,1.6,16,-12.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-58.8
$GPS2,031036,6408.821,-1307.347,36,0.9,41,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.238,0.061
$KALMAN_X,-50585.1,-933.3,675.9,-184719.7,-47685.6
$KALMAN_Y,-28973.8,-6623.2,1291.1,316178.1,-44489.1
$MHEAD_RNG_PITCHd_Wd,88.1,37067,-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,-41.58,0.000,2,0.000,0.000,427,2152,2419
$GC,63,-1.22,-146.6,2.1,-3.4,2,128,11.35,2.55,-46.42,0.000,4,0.167,0.079,2471,3540,3429
$GC,168,-1.13,-146.6,10.1,-15.1,6,175,0.12,2.55,0.00,0.000,6,0.103,0.054,2497,2123,3429
$GC,484,-1.13,-146.6,44.7,-10.5,22,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2106,3428
$GC,794,-1.13,-146.6,79.3,-10.9,37,798,0.00,2.62,0.00,0.000,4,0.000,0.067,2496,3540,3429
$GC,871,-1.13,-146.6,88.9,-12.6,40,878,0.00,2.53,0.00,0.000,6,0.000,0.052,2496,2124,3429
$GC,1188,-1.13,-146.6,123.1,-11.0,56,1192,0.00,2.50,0.00,0.000,4,0.000,0.061,2496,721,3429
$GC,1278,-1.13,-146.6,132.2,-9.7,60,1282,0.00,2.53,0.00,0.000,6,0.000,0.051,2497,2139,3429
$STATE,1349,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1349,begin apogee
$GC,1356,-0.33,0.0,140.6,11.4,64,1481,0.82,0.00,121.05,0.890,6,0.081,0.000,2673,1833,2831
$STATE,1482,end apogee,CONTROL_FINISHED_OK
$STATE,1482,begin climb
$GC,1485,1.22,146.6,146.6,0.0,70,1610,1.52,0.00,119.45,0.858,6,0.059,0.000,3009,1834,2233
$GC,1920,1.27,205.4,122.0,5.9,91,1976,0.00,2.60,49.05,0.834,4,0.000,0.062,3009,448,1992
$GC,2135,1.23,205.4,104.0,9.2,100,2141,0.00,2.45,0.00,0.000,6,0.000,0.048,3009,1828,1992
$GC,2452,1.27,229.8,80.5,7.1,116,2475,0.00,0.00,20.92,0.803,6,0.000,0.000,3009,1844,1894
$GC,2782,1.27,230.2,53.5,8.0,132,2787,0.00,2.55,0.00,0.000,4,0.000,0.060,3009,3250,1894
$GC,2807,1.30,230.2,51.6,8.0,133,2811,0.00,2.60,0.00,0.000,6,0.000,0.051,3009,1806,1893
$GC,3128,1.30,230.2,27.5,8.0,149,3133,0.00,2.65,0.00,0.000,4,0.000,0.059,3009,3260,1894
$GC,3169,1.34,230.2,23.8,9.3,151,3174,0.12,2.58,0.00,0.000,6,0.056,0.052,3043,1823,1893
$STATE,3392,end climb,SURFACE_DEPTH_REACHED
$STATE,3392,begin surface coast
$FINISH,0.5,1.027296
$STATE,3412,end surface coast,CONTROL_FINISHED_OK
$STATE,3413,begin surface
$SM_CCo,3437,36.67,0.785,0,0,1607,300.00
$SM_GC,1.59,0.00,0.00,36.67,0.000,0.000,0.785,425,2140,1607,-10.67,0.28,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1814
$TCM_TEMP,16.80
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,120.7,27.9
$24V_AH,24.0,40.564
$10V_AH,10.1,18.070
$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,25.375,31.800,310.475,36.675,0.000,75.516,54.561,142.753,3.750,0.000,0.000,41.898,344.644,2302.724,409.997,500.763,394.109,33.370,679.663,0.000,464.855,0.000,7.612,0.000
$DEVICE_MAMPS,167.206,79.001,889.720,784.641,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,109.928,120.373,280.976,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6522,163
$CAP_FILE_SIZE,35836,0
$CFSIZE,254472192,239046656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061009,041013,6407.473,-1307.960,13,1.7,14,-12.6