version: 66.04
glider: 5
mission: 7
dive: 251
start: 10 6 109 13 43 42
data:
$ID,5
$MISSION,7
$DIVE,251
$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,-105181.73
$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,20
$R_STBD_OVSHOOT,27
$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
$GPS1,133820,6408.863,-1259.964,9,1.5,10,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-58.9
$GPS2,134252,6408.782,-1259.876,20,3.4,39,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.245,0.009
$KALMAN_X,-58867.0,1882.2,1565.9,-173575.0,-76783.7
$KALMAN_Y,-29092.4,3560.8,640.7,306696.9,-37485.3
$MHEAD_RNG_PITCHd_Wd,100.3,39287,-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,-61.35,0.000,2,0.000,0.000,421,2159,2777
$GC,82,-1.22,-146.6,2.6,-3.7,3,125,11.52,2.67,-20.95,0.000,4,0.173,0.078,2473,717,3430
$GC,177,-1.16,-146.6,16.8,-12.6,7,181,0.00,2.55,0.00,0.000,6,0.000,0.053,2473,2136,3430
$GC,500,-1.09,-146.6,56.4,-13.3,23,505,0.15,2.60,0.00,0.000,4,0.107,0.064,2504,716,3431
$GC,573,-1.12,-146.6,65.1,-10.1,26,578,0.00,2.53,0.00,0.000,6,0.000,0.052,2504,2128,3430
$GC,890,-1.12,-146.6,99.7,-11.8,41,894,0.00,2.58,0.00,0.000,4,0.000,0.070,2504,3535,3431
$GC,963,-1.15,-146.6,109.5,-13.5,44,967,0.00,2.55,0.00,0.000,6,0.000,0.054,2504,2124,3431
$GC,1279,-1.15,-146.6,150.3,-13.6,59,1284,0.00,2.55,0.00,0.000,4,0.000,0.066,2504,709,3431
$GC,1473,-1.15,-146.6,174.4,-12.8,70,1479,0.00,2.53,0.00,0.000,6,0.000,0.054,2505,2120,3431
$STATE,1586,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1586,begin apogee
$GC,1593,-0.33,0.0,186.7,11.2,78,1724,0.77,0.00,122.55,0.930,6,0.079,0.000,2669,1842,2831
$STATE,1724,end apogee,CONTROL_FINISHED_OK
$STATE,1724,begin climb
$GC,1728,1.22,146.6,191.6,0.0,87,1856,1.55,2.62,120.07,0.894,4,0.064,0.072,3007,443,2233
$GC,1882,1.33,261.2,188.3,3.8,96,1983,0.12,2.58,94.20,0.874,6,0.059,0.054,3039,1877,1766
$GC,2295,1.28,261.2,150.3,9.1,123,2299,0.00,2.65,0.00,0.000,4,0.000,0.073,3039,445,1766
$GC,2350,1.19,261.2,144.4,10.6,126,2357,0.20,2.50,0.00,0.000,6,0.092,0.056,3002,1825,1766
$GC,2669,1.23,261.2,116.7,8.7,142,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1841,1765
$GC,2976,1.27,261.2,87.8,8.6,157,2980,0.00,2.58,0.00,0.000,4,0.000,0.073,3002,444,1764
$GC,3026,1.27,261.2,83.2,8.6,159,3030,0.00,2.50,0.00,0.000,6,0.000,0.057,3002,1840,1764
$GC,3343,1.37,299.9,60.4,6.6,174,3386,0.17,2.65,32.00,0.857,4,0.055,0.064,3048,3256,1608
$GC,3403,1.33,299.9,54.7,10.2,176,3410,0.00,2.60,0.00,0.000,6,0.000,0.057,3049,1837,1608
$GC,3722,1.29,299.9,20.5,11.1,192,3727,0.12,2.62,0.00,0.000,4,0.095,0.061,3025,3265,1608
$GC,3755,1.45,380.7,18.2,5.1,193,3829,0.17,2.60,65.88,0.828,6,0.055,0.057,3069,1821,1278
$STATE,3886,end climb,SURFACE_DEPTH_REACHED
$STATE,3886,begin surface coast
$FINISH,0.5,1.027450
$STATE,3910,end surface coast,CONTROL_FINISHED_OK
$STATE,3910,begin surface
$SM_CCo,3994,0.00,0.000,0,0,1278,380.95
$SM_GC,1.12,11.68,0.00,0.00,0.042,0.000,0.000,426,2148,1278,-10.58,0.54,380.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1849
$TCM_TEMP,16.10
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,121.4,73.4
$24V_AH,24.0,41.521
$10V_AH,10.1,18.362
$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,26.475,47.525,434.700,0.000,0.000,37.756,29.713,83.865,5.250,0.000,0.000,40.225,400.867,2528.172,462.843,606.017,277.984,33.373,820.777,0.000,566.432,0.000,6.791,0.000
$DEVICE_MAMPS,173.342,78.234,929.604,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,134.958,149.008,256.688,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9639,201
$CAP_FILE_SIZE,41955,0
$CFSIZE,254472192,238825472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,061009,145136,6407.609,-1258.325,38,2.0,44,-12.5