version: 66.04
glider: 5
mission: 7
dive: 246
start: 10 6 109 8 34 40
data:
$ID,5
$MISSION,7
$DIVE,246
$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,-105023.3
$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,25
$R_STBD_OVSHOOT,30
$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
$GPS1,082931,6406.605,-1311.578,7,1.9,13,-12.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-60.9
$GPS2,083349,6406.670,-1311.660,10,2.0,16,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.194,0.150
$KALMAN_X,-64576.5,-3233.8,1652.6,-173208.2,-99458.2
$KALMAN_Y,-42606.0,4429.7,2110.2,313945.0,-102045.6
$MHEAD_RNG_PITCHd_Wd,64.8,32276,-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,16,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-61.00,0.000,2,0.000,0.000,420,2155,2799
$GC,83,-1.22,-146.6,2.9,-4.2,3,123,11.60,2.62,-21.35,0.000,4,0.166,0.071,2474,717,3430
$GC,235,-1.22,-146.6,21.8,-15.0,10,240,0.00,2.53,0.00,0.000,6,0.000,0.050,2474,2132,3430
$GC,558,-1.15,-146.6,63.2,-12.5,26,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2133,3430
$GC,867,-1.09,-146.6,101.6,-12.2,41,872,0.15,2.58,0.00,0.000,4,0.107,0.066,2505,3545,3430
$GC,940,-1.09,-146.6,110.5,-11.3,44,944,0.00,2.55,0.00,0.000,6,0.000,0.054,2505,2131,3430
$STATE,1150,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1150,begin apogee
$GC,1158,-0.33,0.0,133.8,10.5,54,1283,0.77,0.00,120.95,0.879,6,0.077,0.000,2670,1840,2830
$STATE,1284,end apogee,CONTROL_FINISHED_OK
$STATE,1284,begin climb
$GC,1287,1.22,146.6,139.3,0.0,60,1415,1.52,2.62,119.55,0.846,4,0.061,0.064,3006,441,2233
$GC,1458,1.19,182.2,133.7,6.7,67,1494,0.00,2.55,30.23,0.809,6,0.000,0.048,3006,1879,2088
$GC,1820,1.25,215.2,109.7,6.8,85,1855,0.00,2.55,28.52,0.810,4,0.000,0.059,3006,3238,1953
$GC,1946,1.25,217.6,99.6,7.9,90,1956,0.00,2.50,3.53,0.499,6,0.000,0.053,3006,1853,1944
$GC,2285,1.25,217.6,73.7,8.4,107,2289,0.00,2.55,0.00,0.000,4,0.000,0.059,3006,3247,1944
$GC,2381,1.28,217.6,66.7,9.0,111,2385,0.00,2.45,0.00,0.000,6,0.000,0.053,3006,1885,1944
$GC,2697,1.35,261.0,41.8,6.4,126,2737,0.15,0.00,36.53,0.798,6,0.053,0.000,3047,1885,1766
$GC,3049,1.27,261.0,3.3,13.2,143,3051,0.12,0.00,0.00,0.000,6,0.094,0.000,3023,1873,1766
$STATE,3064,end climb,SURFACE_DEPTH_REACHED
$STATE,3064,begin surface coast
$FINISH,0.6,1.027316
$STATE,3086,end surface coast,CONTROL_FINISHED_OK
$STATE,3086,begin surface
$SM_CCo,3109,20.12,0.757,0,0,1608,300.00
$SM_GC,1.04,0.00,0.00,20.12,0.000,0.000,0.757,421,2137,1608,-10.69,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1806
$TCM_TEMP,16.70
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,120.6,22.7
$24V_AH,24.0,41.031
$10V_AH,10.1,18.215
$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,25.675,26.425,339.300,20.125,0.000,37.755,37.252,87.446,2.750,0.000,0.000,15.974,312.427,1972.049,404.740,444.444,268.606,33.346,663.365,0.000,434.124,0.000,6.662,0.000
$DEVICE_MAMPS,165.672,71.331,878.982,757.029,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,97.527,107.355,249.914,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6518,145
$CAP_FILE_SIZE,32014,0
$CFSIZE,254472192,238944256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,061009,092821,6407.643,-1310.405,30,2.2,50,-12.6