version: 66.04
glider: 5
mission: 7
dive: 233
start: 10 5 109 18 13 38
data:
$ID,5
$MISSION,7
$DIVE,233
$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,-104676.86
$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,29
$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
$GPS1,180706,6405.375,-1320.506,12,1.3,29,-12.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-60.7
$GPS2,181249,6405.357,-1320.638,11,1.8,16,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.140,0.201
$KALMAN_X,-46138.8,-238.6,564.6,-201449.0,-23016.1
$KALMAN_Y,-34476.6,-3491.5,1078.8,312331.3,-61305.0
$MHEAD_RNG_PITCHd_Wd,47.6,28906,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,81,0.00,0.00,-61.03,0.000,2,0.000,0.000,424,2145,2793
$GC,84,-1.22,-146.6,2.9,-4.0,3,127,11.48,2.60,-21.00,0.000,4,0.170,0.078,2472,3530,3430
$GC,245,-1.14,-146.6,22.5,-13.0,10,250,0.12,2.53,0.00,0.000,6,0.106,0.051,2496,2123,3430
$GC,572,-1.14,-146.6,62.2,-11.7,26,576,0.00,2.53,0.00,0.000,4,0.000,0.062,2496,712,3430
$GC,612,-1.14,-146.6,66.7,-11.3,28,616,0.00,2.53,0.00,0.000,6,0.000,0.052,2496,2130,3430
$GC,940,-1.14,-146.6,102.9,-11.2,44,944,0.00,2.58,0.00,0.000,4,0.000,0.064,2496,719,3430
$GC,1002,-1.14,-146.6,109.8,-10.7,47,1007,0.00,2.50,0.00,0.000,6,0.000,0.052,2496,2120,3430
$GC,1330,-1.14,-146.6,147.0,-12.1,63,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2120,3430
$GC,1651,-1.14,-146.6,186.6,-12.2,83,1656,0.00,2.58,0.00,0.000,4,0.000,0.067,2497,3535,3430
$GC,1680,-1.14,-146.6,189.9,-11.7,85,1684,0.00,2.53,0.00,0.000,6,0.000,0.054,2496,2122,3430
$STATE,1689,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1689,begin apogee
$GC,1697,-0.33,0.0,191.1,10.9,86,1827,0.80,0.00,122.53,0.923,6,0.075,0.000,2669,1844,2831
$STATE,1827,end apogee,CONTROL_FINISHED_OK
$STATE,1827,begin climb
$GC,1831,1.22,146.6,196.9,0.0,95,1959,1.52,2.60,120.62,0.889,4,0.056,0.065,3008,437,2233
$GC,1992,1.25,225.3,194.0,5.1,105,2063,0.00,2.55,65.47,0.863,6,0.000,0.048,3008,1873,1912
$GC,2383,1.25,225.3,159.3,8.6,130,2387,0.00,2.47,0.00,0.000,4,0.000,0.061,3008,3244,1911
$GC,2468,1.25,225.3,151.6,8.8,135,2472,0.00,2.50,0.00,0.000,6,0.000,0.054,3008,1864,1911
$GC,2801,1.25,225.3,124.6,8.0,151,2805,0.00,2.53,0.00,0.000,4,0.000,0.061,3008,3242,1911
$GC,2879,1.25,225.3,117.6,8.3,154,2885,0.00,2.45,0.00,0.000,6,0.000,0.053,3008,1876,1910
$GC,3198,1.26,234.3,93.4,7.7,170,3212,0.00,2.62,9.12,0.755,4,0.000,0.065,3008,438,1875
$GC,3247,1.26,234.3,89.2,8.8,172,3251,0.00,2.53,0.00,0.000,6,0.000,0.049,3008,1858,1875
$GC,3568,1.33,277.4,66.9,6.4,188,3612,0.12,2.55,35.80,0.827,4,0.055,0.059,3043,3258,1700
$GC,3636,1.33,277.4,61.6,8.5,191,3641,0.00,2.53,0.00,0.000,6,0.000,0.052,3044,1867,1700
$GC,3964,1.29,277.4,28.9,12.2,207,3969,0.00,2.55,0.00,0.000,4,0.000,0.060,3043,3262,1700
$GC,4015,1.34,305.3,24.3,7.0,209,4048,0.00,2.47,24.08,0.792,6,0.000,0.051,3043,1885,1586
$STATE,4210,end climb,SURFACE_DEPTH_REACHED
$STATE,4210,begin surface coast
$FINISH,0.9,1.027331
$STATE,4233,end surface coast,CONTROL_FINISHED_OK
$STATE,4233,begin surface
$SM_CCo,4318,0.00,0.000,0,0,1585,305.64
$SM_GC,1.36,11.52,0.00,0.00,0.041,0.000,0.000,421,2149,1585,-10.60,0.48,305.64
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1831
$TCM_TEMP,16.70
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,120.5,80.3
$24V_AH,23.7,39.798
$10V_AH,10.1,17.834
$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,25.575,51.650,377.625,0.000,0.000,37.759,34.094,166.514,4.250,0.000,0.000,16.577,436.596,2826.849,419.695,608.833,377.162,33.341,776.260,0.000,591.386,0.000,6.816,0.000
$DEVICE_MAMPS,169.507,78.234,922.701,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,148.389,161.797,282.707,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9709,220
$CAP_FILE_SIZE,43883,0
$CFSIZE,254472192,239214592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051009,192639,6405.942,-1320.063,24,1.6,27,-12.7