version: 66.04
glider: 5
mission: 7
dive: 239
start: 10 6 109 1 5 44
data:
$ID,5
$MISSION,7
$DIVE,239
$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,-104848.34
$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,30
$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
$GPS1,005955,6410.758,-1308.801,28,2.0,29,-12.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-56.5
$GPS2,010454,6410.708,-1308.729,41,1.2,41,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.182,0.165
$KALMAN_X,-51624.2,3548.5,1025.9,-189731.7,-59114.6
$KALMAN_Y,-33978.9,3010.2,1279.3,315046.3,-82467.1
$MHEAD_RNG_PITCHd_Wd,60.4,40111,-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,-41.47,0.000,2,0.000,0.000,422,2145,2414
$GC,63,-1.22,-146.6,2.0,-3.7,2,122,11.52,0.00,-45.40,0.000,6,0.168,0.000,2475,2146,3430
$GC,430,-1.16,-146.6,47.0,-13.8,20,435,0.00,2.62,0.00,0.000,4,0.000,0.061,2475,707,3430
$GC,481,-1.16,-146.6,54.4,-13.4,22,485,0.00,2.55,0.00,0.000,6,0.000,0.051,2475,2134,3430
$GC,799,-1.10,-146.6,94.8,-12.5,37,804,0.15,2.58,0.00,0.000,4,0.104,0.067,2507,3544,3430
$GC,839,-1.10,-146.6,99.8,-11.6,39,843,0.00,2.55,0.00,0.000,6,0.000,0.053,2507,2126,3430
$STATE,1142,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1142,begin apogee
$GC,1150,-0.33,0.0,133.3,10.6,54,1275,0.75,0.00,121.10,0.890,6,0.074,0.000,2670,1834,2830
$STATE,1277,end apogee,CONTROL_FINISHED_OK
$STATE,1277,begin climb
$GC,1280,1.22,146.6,137.7,0.0,60,1408,1.55,2.67,119.07,0.850,4,0.061,0.058,3009,3258,2233
$GC,1437,1.20,164.9,131.8,7.3,67,1461,0.00,2.55,16.55,0.785,6,0.000,0.051,3009,1852,2158
$GC,1784,1.24,190.3,107.2,7.1,84,1811,0.00,2.60,21.83,0.803,4,0.000,0.064,3009,437,2054
$GC,1886,1.19,190.3,97.7,9.7,88,1892,0.00,2.55,0.00,0.000,6,0.000,0.049,3009,1868,2054
$GC,2202,1.19,190.3,72.9,8.6,104,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1884,2054
$GC,2511,1.27,240.8,48.5,6.2,119,2558,0.00,2.55,41.90,0.811,4,0.000,0.060,3009,3261,1848
$GC,2588,1.30,240.8,42.6,8.4,122,2594,0.00,2.53,0.00,0.000,6,0.000,0.051,3009,1860,1848
$GC,2904,1.30,240.8,11.6,10.4,138,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1860,1847
$STATE,3004,end climb,SURFACE_DEPTH_REACHED
$STATE,3004,begin surface coast
$FINISH,0.4,1.014950
$STATE,3026,end surface coast,CONTROL_FINISHED_OK
$STATE,3026,begin surface
$SM_CCo,3050,30.98,0.777,0,0,1607,300.00
$SM_GC,1.42,0.00,0.00,30.98,0.000,0.000,0.777,423,2136,1607,-10.68,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1818
$TCM_TEMP,16.70
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,120.1,22.4
$24V_AH,24.0,40.374
$10V_AH,10.1,18.010
$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,25.300,26.725,320.450,30.975,0.000,37.757,27.591,112.491,3.250,0.000,0.000,41.829,301.356,1981.746,400.373,430.632,280.494,33.347,645.134,0.000,395.699,0.000,6.661,0.000
$DEVICE_MAMPS,167.973,66.729,889.720,776.971,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,96.844,106.343,248.363,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6525,144
$CAP_FILE_SIZE,30349,0
$CFSIZE,254472192,239095808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,061009,015756,6410.177,-1307.418,11,1.2,11,-12.6