version: 66.04
glider: 5
mission: 7
dive: 235
start: 10 5 109 20 40 17
data:
$ID,5
$MISSION,7
$DIVE,235
$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,-104742.5
$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,23
$R_STBD_OVSHOOT,32
$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
$GPS1,203519,6407.155,-1319.076,13,1.8,14,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-59.0
$GPS2,203926,6407.235,-1319.104,14,1.7,14,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.068,0.236
$KALMAN_X,-45092.5,-3623.9,317.2,-197511.2,-17694.1
$KALMAN_Y,-38824.2,1277.5,1529.2,314940.2,-87705.2
$MHEAD_RNG_PITCHd_Wd,28.8,32425,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.33,0.000,2,0.000,0.000,416,2127,2418
$GC,63,-1.22,-146.6,2.1,-3.6,2,130,11.15,2.60,-49.47,0.000,4,0.154,0.079,2471,3528,3430
$GC,316,-1.14,-146.6,28.4,-13.7,13,321,0.12,2.53,0.00,0.000,6,0.114,0.052,2495,2125,3430
$GC,634,-1.14,-146.6,67.8,-12.4,28,638,0.00,2.60,0.00,0.000,4,0.000,0.067,2496,3530,3430
$GC,674,-1.14,-146.6,72.4,-10.4,30,679,0.00,2.50,0.00,0.000,6,0.000,0.051,2495,2139,3430
$GC,1002,-1.14,-146.6,106.5,-11.2,46,1006,0.00,2.58,0.00,0.000,4,0.000,0.065,2496,3533,3430
$GC,1064,-1.14,-146.6,113.1,-10.4,49,1069,0.00,2.50,0.00,0.000,6,0.000,0.053,2496,2144,3430
$GC,1392,-1.11,-146.6,146.4,-10.0,65,1396,0.00,2.55,0.00,0.000,4,0.000,0.067,2496,3535,3430
$GC,1455,-1.11,-146.6,152.8,-8.9,69,1459,0.00,2.47,0.00,0.000,6,0.000,0.051,2496,2150,3430
$STATE,1704,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1705,begin apogee
$GC,1712,-0.33,0.0,178.7,10.4,85,1842,0.82,0.00,122.53,0.913,6,0.076,0.000,2675,1837,2831
$STATE,1843,end apogee,CONTROL_FINISHED_OK
$STATE,1843,begin climb
$GC,1847,1.22,146.6,181.3,0.0,94,1976,1.50,2.65,120.18,0.874,4,0.055,0.059,3009,3245,2233
$GC,2016,1.26,200.8,176.0,6.0,104,2069,0.00,2.53,45.28,0.852,6,0.000,0.054,3009,1857,2012
$GC,2400,1.26,200.8,142.4,10.1,128,2404,0.00,2.58,0.00,0.000,4,0.000,0.069,3009,439,2012
$GC,2463,1.20,200.8,136.4,9.6,131,2467,0.00,2.53,0.00,0.000,6,0.000,0.051,3009,1852,2011
$GC,2790,1.20,200.8,106.6,9.8,147,2794,0.00,2.53,0.00,0.000,4,0.000,0.061,3009,3258,2011
$GC,2875,1.27,239.3,99.7,6.6,151,2918,0.00,2.50,32.65,0.845,6,0.000,0.053,3009,1862,1855
$GC,3229,1.31,265.0,72.6,7.1,168,3258,0.00,2.60,22.35,0.821,4,0.000,0.059,3009,3254,1749
$GC,3289,1.36,265.0,67.5,8.3,170,3296,0.15,2.50,0.00,0.000,6,0.051,0.053,3049,1871,1749
$GC,3606,1.30,265.0,33.7,10.1,186,3610,0.00,2.53,0.00,0.000,4,0.000,0.059,3049,3254,1749
$GC,3634,1.26,265.0,30.5,11.6,187,3639,0.15,2.45,0.00,0.000,6,0.089,0.051,3020,1887,1749
$STATE,3926,end climb,SURFACE_DEPTH_REACHED
$STATE,3926,begin surface coast
$FINISH,0.9,1.027304
$STATE,3948,end surface coast,CONTROL_FINISHED_OK
$STATE,3948,begin surface
$SM_CCo,3973,18.27,0.775,0,0,1607,300.00
$SM_GC,0.89,0.00,0.00,18.27,0.000,0.000,0.775,426,2163,1607,-10.67,0.93,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1822
$TCM_TEMP,16.60
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,122.0,65.9
$24V_AH,24.0,39.991
$10V_AH,10.1,17.896
$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,25.225,46.675,342.975,18.275,0.000,37.758,27.904,88.187,4.500,0.000,0.000,14.579,408.869,2571.989,413.389,581.415,277.127,33.371,754.187,0.000,569.206,0.000,6.777,0.000
$DEVICE_MAMPS,154.167,79.001,912.730,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,136.236,150.655,267.203,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9732,202
$CAP_FILE_SIZE,40232,0
$CFSIZE,254472192,239173632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,051009,214806,6408.786,-1317.354,33,1.8,38,-12.7