version: 66.04
glider: 5
mission: 7
dive: 208
start: 10 3 109 0 50 45
data:
$ID,5
$MISSION,7
$DIVE,208
$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,-104202.09
$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,31
$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
$GPS1,003607,6403.683,-1308.877,29,1.9,31,-12.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-50.6
$GPS2,004956,6403.574,-1309.013,16,1.9,16,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.237,-0.064
$KALMAN_X,-32871.5,3415.7,-1734.4,-205795.4,78718.1
$KALMAN_Y,-23946.7,4193.6,-19.2,291942.8,-1634.2
$MHEAD_RNG_PITCHd_Wd,267.5,27445,-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,-61.50,0.000,2,0.000,0.000,428,2140,2452
$GC,83,-1.22,-146.6,2.5,-3.3,3,146,10.98,2.62,-42.78,0.000,4,0.155,0.070,2473,706,3428
$GC,400,-1.16,-146.6,37.8,-16.5,17,404,0.00,2.53,0.00,0.000,6,0.000,0.048,2473,2129,3429
$GC,723,-1.10,-146.6,66.9,-9.7,33,728,0.15,2.58,0.00,0.000,4,0.100,0.061,2505,713,3429
$GC,858,-1.10,-146.6,88.1,-19.0,39,862,0.00,2.47,0.00,0.000,6,0.000,0.049,2505,2106,3429
$GC,1185,-1.10,-146.6,159.0,-18.2,56,1189,0.00,2.55,0.00,0.000,4,0.000,0.063,2505,703,3429
$GC,1217,-1.10,-146.6,163.8,-13.9,58,1222,0.00,2.50,0.00,0.000,6,0.000,0.050,2505,2107,3429
$GC,1537,-1.10,-146.6,175.4,0.5,78,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2106,3429
$GC,1849,-1.06,-146.6,187.3,-10.9,98,1853,0.00,2.55,0.00,0.000,4,0.000,0.064,2505,708,3428
$GC,1866,-1.06,-146.6,189.5,-12.9,99,1870,0.00,2.50,0.00,0.000,6,0.000,0.051,2505,2115,3429
$GC,2188,-0.97,-146.6,225.2,-3.9,119,2189,0.15,0.00,0.00,0.000,6,0.087,0.000,2537,2130,3429
$GC,2497,-0.97,-146.6,272.1,-18.1,139,2502,0.00,2.55,0.00,0.000,4,0.000,0.061,2537,701,3428
$GC,2531,-1.05,-146.6,277.5,-14.3,141,2536,0.00,2.53,0.00,0.000,6,0.000,0.051,2537,2122,3429
$STATE,2770,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2770,begin apogee
$GC,2777,-0.33,0.0,301.5,8.7,156,2907,0.62,0.00,125.53,0.985,6,0.072,0.000,2673,1834,2831
$STATE,2908,end apogee,CONTROL_FINISHED_OK
$STATE,2908,begin climb
$GC,2912,1.22,146.6,307.5,0.0,165,3043,1.55,0.00,125.65,0.950,6,0.057,0.000,3012,1834,2233
$GC,3359,1.43,309.0,290.8,2.1,194,3508,0.20,2.70,137.70,0.936,4,0.051,0.060,3064,3261,1571
$GC,3529,1.36,309.0,275.6,13.3,205,3534,0.12,2.60,0.00,0.000,6,0.099,0.060,3041,1853,1571
$GC,3857,1.31,309.0,230.8,13.9,226,3861,0.00,2.60,0.00,0.000,4,0.000,0.061,3041,3266,1571
$GC,3879,1.27,309.0,228.0,10.6,227,3885,0.00,2.55,0.00,0.000,6,0.000,0.056,3041,1863,1571
$GC,4199,1.20,309.0,169.4,18.3,248,4204,0.17,2.55,0.00,0.000,4,0.091,0.062,3003,3259,1571
$GC,4255,1.24,309.0,160.0,11.5,251,4261,0.00,2.53,0.00,0.000,6,0.000,0.056,3003,1866,1571
$GC,4583,2.05,775.9,152.2,-9.0,269,4834,0.80,2.60,240.82,0.854,4,0.042,0.058,3194,3262,389
$GC,4860,1.73,775.9,91.5,36.3,283,4866,0.38,2.58,0.03,0.255,6,0.089,0.071,3122,1892,391
$GC,5191,1.58,775.9,8.8,21.7,299,5200,0.17,2.65,2.78,0.363,4,0.099,0.060,3083,433,390
$STATE,5210,end climb,SURFACE_DEPTH_REACHED
$STATE,5210,begin surface coast
$FINISH,0.5,1.027165
$STATE,5215,end surface coast,CONTROL_FINISHED_OK
$STATE,5215,begin surface
$SM_CCo,5303,0.00,0.000,0,0,390,598.78
$SM_GC,0.91,11.68,0.00,0.00,0.041,0.000,0.000,423,2132,390,-10.60,-0.03,598.78
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1812
$TCM_TEMP,18.80
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,221.9,88.6
$24V_AH,24.0,36.229
$10V_AH,10.1,16.472
$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,26.975,52.400,632.500,0.000,0.000,152.364,171.518,213.243,4.250,0.000,0.000,16.674,538.312,3510.060,655.091,743.273,694.163,33.347,1103.124,0.000,720.273,0.000,15.309,0.000
$DEVICE_MAMPS,154.934,71.331,984.828,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,201.269,218.256,229.119,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15990,300
$CAP_FILE_SIZE,55000,0
$CFSIZE,254472192,240254976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,031009,022025,6402.229,-1311.249,39,1.8,41,-12.6