version: 66.04
glider: 5
mission: 7
dive: 242
start: 10 6 109 4 20 33
data:
$ID,5
$MISSION,7
$DIVE,242
$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,-104924.12
$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,45
$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
$GPS1,041013,6407.473,-1307.960,13,1.7,14,-12.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-60.0
$GPS2,041944,6407.239,-1308.317,15,1.6,15,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.245,0.020
$KALMAN_X,-52167.4,-4530.7,816.2,-180532.8,-50141.2
$KALMAN_Y,-29032.2,-8521.7,459.0,316040.7,-35508.9
$MHEAD_RNG_PITCHd_Wd,98.0,34035,-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,-61.33,0.000,2,0.000,0.000,425,2141,2809
$GC,83,-1.22,-146.6,2.7,-3.3,3,126,11.50,2.67,-20.85,0.000,4,0.168,0.074,2472,711,3430
$GC,224,-1.18,-146.6,21.0,-13.5,9,229,0.00,2.50,0.00,0.000,6,0.000,0.050,2472,2110,3430
$GC,548,-1.11,-146.6,61.0,-12.1,25,553,0.15,2.60,0.00,0.000,4,0.105,0.066,2503,3537,3430
$GC,598,-1.11,-146.6,67.4,-11.6,27,603,0.00,2.53,0.00,0.000,6,0.000,0.052,2503,2134,3430
$GC,917,-1.11,-146.6,102.9,-11.0,42,921,0.00,2.53,0.00,0.000,4,0.000,0.062,2503,720,3430
$GC,983,-1.11,-146.6,110.7,-11.3,45,988,0.00,2.53,0.00,0.000,6,0.000,0.051,2503,2135,3430
$GC,1306,-1.08,-146.6,143.2,-9.8,61,1311,0.00,2.58,0.00,0.000,4,0.000,0.059,2503,714,3430
$STATE,1331,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1332,begin apogee
$GC,1341,-0.33,0.0,146.6,10.2,62,1466,0.75,0.00,121.15,0.896,6,0.082,0.000,2665,1873,2830
$STATE,1467,end apogee,CONTROL_FINISHED_OK
$STATE,1467,begin climb
$GC,1470,1.22,146.6,151.6,0.0,69,1599,1.52,2.60,119.72,0.860,4,0.054,0.058,3006,3255,2233
$GC,1632,1.30,198.8,144.5,6.1,78,1682,0.10,2.55,43.72,0.828,6,0.061,0.053,3035,1852,2020
$GC,1995,1.24,198.8,110.6,9.3,96,1999,0.00,2.55,0.00,0.000,4,0.000,0.065,3034,437,2019
$GC,2135,1.14,198.8,95.1,10.8,102,2140,0.22,2.47,0.00,0.000,6,0.086,0.048,2990,1834,2020
$GC,2452,1.20,219.9,72.5,7.2,117,2477,0.00,2.65,18.25,0.788,4,0.000,0.062,2990,440,1934
$GC,2498,1.22,230.9,69.0,7.6,119,2513,0.00,2.47,10.57,0.742,6,0.000,0.048,2989,1841,1889
$GC,2826,1.32,262.0,45.0,6.9,134,2859,0.17,2.58,26.85,0.795,4,0.052,0.058,3038,3238,1761
$GC,2899,1.32,262.0,37.6,11.3,137,2904,0.00,2.55,0.00,0.000,6,0.000,0.052,3038,1832,1761
$GC,3216,1.28,262.0,5.0,11.7,152,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1831,1761
$STATE,3233,end climb,SURFACE_DEPTH_REACHED
$STATE,3233,begin surface coast
$FINISH,0.4,1.027294
$STATE,3255,end surface coast,CONTROL_FINISHED_OK
$STATE,3255,begin surface
$SM_CCo,3279,19.62,0.753,0,0,1608,300.00
$SM_GC,0.97,0.00,0.00,19.62,0.000,0.000,0.753,427,2133,1608,-10.66,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1810
$TCM_TEMP,16.80
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,120.6,35.7
$24V_AH,24.0,40.666
$10V_AH,10.1,18.100
$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,25.850,40.975,340.275,19.625,0.000,113.290,156.803,83.305,5.500,0.000,0.000,15.737,340.518,2188.107,411.937,472.303,470.143,33.340,692.914,0.000,461.779,0.000,6.697,0.000
$DEVICE_MAMPS,167.973,74.399,895.856,753.194,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,103.496,114.844,255.067,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6524,154
$CAP_FILE_SIZE,37472,0
$CFSIZE,254472192,239022080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,061009,051626,6406.173,-1309.368,13,1.4,14,-12.6