version: 66.04
glider: 5
mission: 7
dive: 248
start: 10 6 109 10 36 29
data:
$ID,5
$MISSION,7
$DIVE,248
$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,-105072.34
$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,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
$GPS1,103114,6408.580,-1308.178,7,1.9,8,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-57.0
$GPS2,103538,6408.644,-1308.111,16,1.8,16,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.240,0.049
$KALMAN_X,-71050.6,6480.9,2299.3,-173981.4,-142624.9
$KALMAN_Y,-33534.2,2609.4,1275.0,311187.9,-61686.8
$MHEAD_RNG_PITCHd_Wd,91.1,36569,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.28,0.000,2,0.000,0.000,424,2105,2420
$GC,63,-1.22,-146.6,2.2,-3.8,2,115,11.30,0.00,-38.08,0.000,6,0.161,0.000,2469,2107,3429
$GC,417,-1.15,-146.6,48.3,-11.6,19,422,0.12,2.55,0.00,0.000,4,0.114,0.064,2492,715,3430
$GC,503,-1.15,-146.6,58.1,-10.5,23,507,0.00,2.53,0.00,0.000,6,0.000,0.050,2492,2130,3430
$GC,830,-1.12,-146.6,94.1,-11.5,39,835,0.00,2.58,0.00,0.000,4,0.000,0.068,2492,3542,3430
$GC,949,-1.08,-146.6,108.1,-12.1,44,953,0.00,2.53,0.00,0.000,6,0.000,0.051,2492,2135,3429
$STATE,1221,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1221,begin apogee
$GC,1229,-0.33,0.0,138.6,10.8,57,1353,0.85,0.00,120.78,0.886,6,0.083,0.000,2674,1823,2831
$STATE,1355,end apogee,CONTROL_FINISHED_OK
$STATE,1355,begin climb
$GC,1358,1.22,146.6,143.5,0.0,63,1490,1.55,2.60,119.38,0.848,4,0.070,0.063,3006,449,2233
$GC,1524,1.18,171.0,136.6,7.1,71,1551,0.00,2.53,21.58,0.799,6,0.000,0.047,3006,1880,2133
$GC,1863,1.29,240.7,115.7,5.5,87,1926,0.00,0.00,57.55,0.823,6,0.000,0.000,3006,1880,1848
$GC,2238,1.29,240.7,86.5,8.8,105,2242,0.00,2.47,0.00,0.000,4,0.000,0.061,3006,3243,1848
$GC,2294,1.33,240.7,81.5,8.4,107,2301,0.12,2.50,0.00,0.000,6,0.056,0.052,3041,1853,1848
$GC,2611,1.30,240.7,48.1,10.6,123,2615,0.00,2.53,0.00,0.000,4,0.000,0.058,3041,3238,1848
$GC,2684,1.26,240.7,40.5,11.6,126,2689,0.12,2.50,0.00,0.000,6,0.087,0.051,3017,1847,1848
$GC,3002,1.27,245.3,15.0,7.8,141,3012,0.00,2.55,5.25,0.617,4,0.000,0.060,3017,3232,1830
$GC,3035,1.27,245.3,10.9,11.5,142,3041,0.00,2.47,0.00,0.000,6,0.000,0.053,3017,1856,1830
$STATE,3121,end climb,SURFACE_DEPTH_REACHED
$STATE,3121,begin surface coast
$FINISH,0.5,1.027312
$STATE,3143,end surface coast,CONTROL_FINISHED_OK
$STATE,3143,begin surface
$SM_CCo,3167,28.20,0.765,0,0,1608,300.00
$SM_GC,1.28,0.00,0.00,28.20,0.000,0.000,0.765,423,2121,1608,-10.68,-0.28,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1801
$TCM_TEMP,16.70
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,121.8,26.0
$24V_AH,24.0,41.213
$10V_AH,10.1,18.272
$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,25.400,31.275,324.525,28.200,0.000,37.757,34.253,92.691,3.500,0.000,0.000,16.107,324.211,2031.897,399.855,443.715,274.641,33.370,665.320,0.000,434.344,0.000,6.672,0.000
$DEVICE_MAMPS,161.070,68.263,885.885,764.699,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,99.588,110.934,255.018,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6542,148
$CAP_FILE_SIZE,32912,0
$CFSIZE,254472192,238899200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,061009,113059,6409.199,-1305.363,13,2.7,33,-12.5