version: 66.04
glider: 5
mission: 7
dive: 234
start: 10 5 109 19 32 26
data:
$ID,5
$MISSION,7
$DIVE,234
$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,-104727.3
$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,25
$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
$GPS1,192639,6405.942,-1320.063,24,1.6,27,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-57.9
$GPS2,193136,6405.987,-1320.158,42,0.9,47,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.116,0.216
$KALMAN_X,-45352.8,-2702.3,553.2,-199338.7,-18421.6
$KALMAN_Y,-35603.8,-2471.3,1292.2,313392.5,-62740.8
$MHEAD_RNG_PITCHd_Wd,41.0,30081,-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,16,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-61.17,0.000,2,0.000,0.000,421,2154,2766
$GC,82,-1.22,-146.6,2.6,-2.5,3,124,11.40,0.00,-23.50,0.000,6,0.166,0.000,2471,2148,3430
$GC,436,-1.12,-146.6,51.0,-15.2,20,438,0.12,0.00,0.00,0.000,6,0.107,0.000,2497,2148,3430
$GC,744,-1.12,-146.6,89.3,-11.8,35,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2148,3430
$GC,1053,-1.09,-146.6,123.1,-10.4,50,1057,0.00,2.53,0.00,0.000,4,0.000,0.067,2497,3534,3430
$GC,1075,-1.05,-146.6,125.9,-12.0,51,1079,0.00,2.55,0.00,0.000,6,0.000,0.054,2497,2118,3430
$GC,1402,-1.05,-146.6,168.1,-14.9,69,1407,0.00,2.62,0.00,0.000,4,0.000,0.067,2497,3538,3430
$STATE,1450,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1450,begin apogee
$GC,1460,-0.33,0.0,175.5,14.0,72,1587,0.77,0.00,122.65,0.913,6,0.076,0.000,2669,1855,2831
$STATE,1587,end apogee,CONTROL_FINISHED_OK
$STATE,1587,begin climb
$GC,1591,1.22,146.6,182.0,0.0,80,1720,1.52,2.62,120.85,0.874,4,0.058,0.065,3005,435,2233
$GC,1757,1.23,205.6,176.7,5.9,90,1813,0.00,2.55,49.78,0.848,6,0.000,0.048,3005,1881,1992
$GC,2128,1.23,205.6,141.7,9.2,113,2132,0.00,2.47,0.00,0.000,4,0.000,0.061,3005,3242,1991
$GC,2228,1.23,205.6,131.7,10.4,117,2234,0.00,2.50,0.00,0.000,6,0.000,0.053,3005,1853,1991
$GC,2545,1.23,205.6,98.6,11.4,133,2549,0.00,2.55,0.00,0.000,4,0.000,0.059,3005,3247,1991
$GC,2623,1.23,205.6,89.7,10.2,136,2629,0.00,2.47,0.00,0.000,6,0.000,0.052,3005,1865,1991
$GC,2939,1.23,205.6,63.5,8.1,152,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1865,1991
$GC,3249,1.28,237.4,39.8,6.8,167,3281,0.00,2.55,26.90,0.800,4,0.000,0.058,3005,3237,1863
$GC,3358,1.33,237.4,30.3,8.5,172,3363,0.15,2.45,0.00,0.000,6,0.051,0.051,3046,1871,1862
$STATE,3640,end climb,SURFACE_DEPTH_REACHED
$STATE,3640,begin surface coast
$FINISH,0.5,1.015641
$STATE,3663,end surface coast,CONTROL_FINISHED_OK
$STATE,3663,begin surface
$SM_CCo,3687,32.78,0.779,0,0,1608,300.00
$SM_GC,1.44,0.00,0.00,32.78,0.000,0.000,0.779,416,2137,1608,-10.71,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1816
$TCM_TEMP,16.70
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,146.1,38.7
$24V_AH,24.0,39.894
$10V_AH,10.1,17.865
$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,25.425,31.400,320.175,32.775,0.000,37.772,34.868,91.133,5.500,0.000,0.000,49.810,366.061,2452.701,406.374,522.286,281.518,33.337,685.993,0.000,480.640,0.000,8.291,0.000
$DEVICE_MAMPS,165.672,66.729,912.730,778.505,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,125.901,136.588,256.954,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9698,187
$CAP_FILE_SIZE,34745,0
$CFSIZE,254472192,239194112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051009,203519,6407.155,-1319.076,13,1.8,14,-12.7