version: 66.04
glider: 5
mission: 7
dive: 247
start: 10 6 109 9 33 26
data:
$ID,5
$MISSION,7
$DIVE,247
$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,-105055.61
$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,35
$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
$GPS1,092821,6407.643,-1310.405,30,2.2,50,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-57.3
$GPS2,093236,6407.710,-1310.401,15,1.4,31,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.222,0.104
$KALMAN_X,-70636.1,3328.5,1868.6,-172824.7,-153077.1
$KALMAN_Y,-39056.3,3770.6,2043.1,313047.3,-100310.3
$MHEAD_RNG_PITCHd_Wd,77.6,34396,-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,-61.17,0.000,2,0.000,0.000,421,2137,2791
$GC,82,-1.22,-146.6,2.3,-2.3,3,126,11.48,2.60,-24.33,0.000,4,0.166,0.075,2470,714,3428
$GC,230,-1.17,-146.6,19.7,-14.3,9,234,0.00,2.53,0.00,0.000,6,0.000,0.051,2470,2123,3428
$GC,547,-1.10,-146.6,63.9,-13.8,24,549,0.17,0.00,0.00,0.000,6,0.104,0.000,2507,2124,3428
$GC,857,-1.10,-146.6,97.4,-11.2,39,861,0.00,2.60,0.00,0.000,4,0.000,0.069,2507,3545,3428
$GC,929,-1.10,-146.6,106.1,-11.6,42,933,0.00,2.55,0.00,0.000,6,0.000,0.054,2507,2131,3427
$STATE,1243,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1243,begin apogee
$GC,1251,-0.33,0.0,140.4,11.1,57,1376,0.77,0.00,120.60,0.890,6,0.075,0.000,2674,1840,2831
$STATE,1377,end apogee,CONTROL_FINISHED_OK
$STATE,1377,begin climb
$GC,1380,1.22,146.6,144.9,0.0,63,1508,1.52,2.62,119.15,0.854,4,0.058,0.064,3010,441,2233
$GC,1649,1.15,162.3,130.3,7.4,75,1669,0.00,2.53,14.48,0.779,6,0.000,0.047,3010,1876,2168
$GC,1998,1.21,196.1,108.0,6.8,92,2033,0.00,2.55,28.60,0.815,4,0.000,0.058,3010,3235,2031
$GC,2132,1.21,200.5,98.4,7.8,98,2142,0.00,2.47,5.25,0.632,6,0.000,0.052,3010,1861,2013
$GC,2459,1.21,200.5,72.4,8.1,114,2464,0.00,2.53,0.00,0.000,4,0.000,0.059,3010,3242,2013
$GC,2538,1.21,200.5,66.2,8.1,117,2544,0.00,2.45,0.00,0.000,6,0.000,0.051,3010,1871,2013
$GC,2856,1.23,213.2,42.8,7.5,133,2877,0.00,2.58,11.82,0.756,4,0.000,0.058,3010,3246,1961
$GC,2911,1.23,213.2,38.0,8.4,135,2916,0.00,2.47,0.00,0.000,6,0.000,0.053,3010,1879,1961
$GC,3229,1.23,213.2,12.3,8.8,150,3233,0.00,2.47,0.00,0.000,4,0.000,0.060,3010,3237,1961
$GC,3263,1.23,213.2,8.5,10.0,151,3269,0.00,2.40,0.00,0.000,6,0.000,0.051,3009,1892,1961
$STATE,3328,end climb,SURFACE_DEPTH_REACHED
$STATE,3328,begin surface coast
$FINISH,0.5,1.014536
$STATE,3351,end surface coast,CONTROL_FINISHED_OK
$STATE,3351,begin surface
$SM_CCo,3375,45.15,0.780,0,0,1608,300.00
$SM_GC,1.21,0.00,0.00,45.15,0.000,0.000,0.780,424,2122,1608,-10.68,-0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1809
$TCM_TEMP,15.70
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,122.0,26.9
$24V_AH,24.0,41.121
$10V_AH,10.1,18.245
$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,25.275,36.200,299.900,45.150,0.000,37.755,26.366,79.945,4.500,0.000,0.000,31.685,344.582,2169.053,404.535,515.161,256.283,33.349,690.634,0.000,488.418,0.000,6.675,0.000
$DEVICE_MAMPS,166.439,75.166,890.487,780.039,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,105.238,115.201,268.776,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6564,156
$CAP_FILE_SIZE,34738,0
$CFSIZE,254472192,238919680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,061009,103114,6408.580,-1308.178,7,1.9,8,-12.6