version: 66.04
glider: 5
mission: 7
dive: 232
start: 10 5 109 16 55 8
data:
$ID,5
$MISSION,7
$DIVE,232
$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,-104659.66
$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,22
$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
$GPS1,164906,6405.479,-1320.277,14,1.3,26,-12.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-57.6
$GPS2,165419,6405.419,-1320.394,16,1.5,16,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.118,0.215
$KALMAN_X,-45734.6,1727.5,118.0,-203156.4,-20341.2
$KALMAN_Y,-34829.5,-2376.4,1550.5,311210.5,-64870.9
$MHEAD_RNG_PITCHd_Wd,41.5,29026,-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,-61.38,0.000,2,0.000,0.000,417,2140,2777
$GC,82,-1.22,-146.6,2.5,-3.0,3,126,11.43,2.58,-22.02,0.000,4,0.167,0.079,2469,3524,3430
$GC,247,-1.14,-146.6,24.1,-14.2,10,252,0.12,2.50,0.00,0.000,6,0.110,0.052,2493,2126,3430
$GC,569,-1.10,-146.6,61.5,-11.1,26,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2113,3430
$GC,878,-1.06,-146.6,98.9,-12.5,41,882,0.00,2.53,0.00,0.000,4,0.000,0.062,2493,714,3430
$GC,965,-1.06,-146.6,109.6,-12.4,45,969,0.00,2.50,0.00,0.000,6,0.000,0.051,2493,2116,3429
$GC,1294,-1.02,-146.6,149.2,-11.9,61,1299,0.12,2.58,0.00,0.000,4,0.103,0.065,2520,710,3430
$GC,1329,-1.02,-146.6,153.6,-11.1,63,1333,0.00,2.53,0.00,0.000,6,0.000,0.052,2520,2125,3429
$GC,1648,-1.02,-146.6,186.2,-10.2,83,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2125,3430
$STATE,1676,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1676,begin apogee
$GC,1684,-0.33,0.0,189.6,10.7,85,1814,0.70,0.00,122.53,0.926,6,0.073,0.000,2672,1839,2831
$STATE,1814,end apogee,CONTROL_FINISHED_OK
$STATE,1815,begin climb
$GC,1818,1.22,146.6,196.0,0.0,94,1945,1.52,0.00,121.00,0.891,6,0.059,0.000,3007,1838,2233
$GC,2255,1.31,223.2,174.8,5.2,122,2325,0.00,2.62,63.58,0.873,4,0.000,0.061,3007,3257,1921
$GC,2365,1.32,235.4,167.5,7.6,128,2385,0.12,2.55,12.02,0.792,6,0.054,0.055,3042,1858,1871
$GC,2716,1.26,235.4,132.6,10.2,148,2721,0.12,2.58,0.00,0.000,4,0.095,0.061,3019,3260,1871
$GC,2784,1.26,235.4,125.8,9.3,151,2788,0.00,2.53,0.00,0.000,6,0.000,0.054,3019,1863,1870
$GC,3105,1.26,235.4,96.4,9.0,167,3110,0.00,2.58,0.00,0.000,4,0.000,0.067,3019,436,1870
$GC,3173,1.21,235.4,89.5,10.6,170,3177,0.00,2.55,0.00,0.000,6,0.000,0.049,3018,1870,1870
$GC,3496,1.21,235.4,60.8,8.8,186,3501,0.00,2.62,0.00,0.000,4,0.000,0.065,3019,440,1870
$GC,3547,1.17,235.4,55.7,10.0,188,3551,0.00,2.53,0.00,0.000,6,0.000,0.050,3019,1859,1870
$GC,3865,1.17,236.4,31.1,8.0,203,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1874,1870
$STATE,4170,end climb,SURFACE_DEPTH_REACHED
$STATE,4170,begin surface coast
$FINISH,0.6,1.027318
$STATE,4191,end surface coast,CONTROL_FINISHED_OK
$STATE,4191,begin surface
$SM_CCo,4215,33.78,0.788,0,0,1608,300.00
$SM_GC,1.42,0.00,0.00,33.78,0.000,0.000,0.788,424,2145,1608,-10.68,0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1817
$TCM_TEMP,16.70
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,146.7,51.4
$24V_AH,24.0,39.691
$10V_AH,10.1,17.800
$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,25.425,36.725,319.125,33.775,0.000,37.755,30.638,139.461,5.000,0.000,0.000,16.711,427.767,2831.226,421.675,552.965,339.537,33.338,724.136,0.000,539.091,0.000,11.234,0.000
$DEVICE_MAMPS,167.206,79.001,925.769,788.476,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,148.103,163.881,268.807,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9603,219
$CAP_FILE_SIZE,40451,0
$CFSIZE,254472192,239247360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,051009,180706,6405.375,-1320.506,12,1.3,29,-12.7