version: 66.04
glider: 5
mission: 7
dive: 228
start: 10 5 109 11 31 9
data:
$ID,5
$MISSION,7
$DIVE,228
$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,-104590.58
$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,24
$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
$GPS1,112143,6405.259,-1324.477,12,1.7,13,-12.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-61.8
$GPS2,113020,6405.402,-1324.153,13,1.7,13,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.051,0.240
$KALMAN_X,-41506.4,-1674.1,-380.9,-206784.7,-1632.0
$KALMAN_Y,-28759.8,1144.7,1087.3,302061.2,-49405.0
$MHEAD_RNG_PITCHd_Wd,24.6,29093,-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,-146.6,0.0,0.0,0,69,0.00,0.00,-51.67,0.000,2,0.000,0.000,427,2105,2614
$GC,73,-1.22,-146.6,2.5,-2.3,3,124,11.27,2.67,-32.12,0.000,4,0.165,0.077,2471,3535,3430
$GC,327,-1.14,-146.6,35.0,-14.6,14,332,0.12,2.53,0.00,0.000,6,0.114,0.051,2494,2124,3430
$GC,643,-1.10,-146.6,70.2,-9.8,29,648,0.00,2.53,0.00,0.000,4,0.000,0.061,2495,709,3430
$GC,694,-1.10,-146.6,75.8,-10.4,31,698,0.00,2.53,0.00,0.000,6,0.000,0.050,2494,2128,3430
$GC,1011,-1.06,-146.6,110.2,-11.4,46,1015,0.00,2.58,0.00,0.000,4,0.000,0.064,2495,714,3430
$GC,1111,-1.06,-146.6,121.4,-11.0,50,1117,0.00,2.50,0.00,0.000,6,0.000,0.051,2495,2116,3429
$STATE,1362,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1362,begin apogee
$GC,1370,-0.33,0.0,150.8,12.4,63,1500,0.82,0.00,121.40,0.893,6,0.077,0.000,2673,1841,2830
$STATE,1500,end apogee,CONTROL_FINISHED_OK
$STATE,1501,begin climb
$GC,1504,1.22,146.6,157.2,0.0,72,1632,1.52,2.65,119.70,0.858,4,0.060,0.059,3008,3251,2233
$GC,1679,1.23,153.2,150.3,7.8,83,1695,0.00,2.50,7.28,0.699,6,0.000,0.052,3008,1869,2206
$GC,2007,1.21,161.9,123.9,7.7,99,2018,0.00,0.00,8.82,0.735,6,0.000,0.000,3008,1868,2171
$GC,2316,1.16,161.9,102.0,8.4,114,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1869,2170
$GC,2623,1.19,179.7,79.2,7.4,129,2646,0.00,2.58,16.05,0.789,4,0.000,0.058,3008,3260,2097
$GC,2670,1.22,194.8,75.7,7.5,131,2692,0.00,2.58,13.77,0.777,6,0.000,0.051,3008,1833,2035
$GC,3004,1.28,232.9,53.1,6.6,147,3041,0.00,0.00,32.22,0.808,6,0.000,0.000,3008,1833,1880
$GC,3352,1.30,245.5,26.0,7.5,164,3370,0.00,0.00,11.65,0.744,6,0.000,0.000,3008,1833,1829
$STATE,3636,end climb,SURFACE_DEPTH_REACHED
$STATE,3636,begin surface coast
$FINISH,0.5,1.014239
$STATE,3658,end surface coast,CONTROL_FINISHED_OK
$STATE,3658,begin surface
$SM_CCo,3682,28.12,0.768,0,0,1608,300.00
$SM_GC,1.38,0.00,0.00,28.12,0.000,0.000,0.768,424,2138,1608,-10.68,0.34,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1802
$TCM_TEMP,16.70
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,120.2,39.1
$24V_AH,24.0,39.291
$10V_AH,10.1,17.661
$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,25.025,26.675,330.900,28.125,0.000,75.515,55.075,226.214,3.500,0.000,0.000,13.135,359.201,2498.141,420.122,489.934,472.194,33.346,699.213,0.000,481.973,0.000,7.642,0.000
$DEVICE_MAMPS,164.905,76.700,892.788,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,120.334,136.012,279.200,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9665,179
$CAP_FILE_SIZE,38256,0
$CFSIZE,254472192,239357952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051009,123407,6406.181,-1321.923,27,1.7,28,-12.7