version: 66.04
glider: 5
mission: 7
dive: 243
start: 10 6 109 5 21 45
data:
$ID,5
$MISSION,7
$DIVE,243
$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,-104958.57
$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,22
$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
$GPS1,051626,6406.173,-1309.368,13,1.4,14,-12.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-58.2
$GPS2,052055,6406.088,-1309.590,33,1.4,33,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.216,0.116
$KALMAN_X,-55073.4,-6845.2,892.8,-176511.6,-72251.6
$KALMAN_Y,-33538.7,-5084.1,465.5,314972.4,-63748.3
$MHEAD_RNG_PITCHd_Wd,74.3,31689,-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,-61.17,0.000,2,0.000,0.000,427,2131,2804
$GC,82,-1.22,-146.6,2.7,-3.5,3,126,11.55,2.58,-21.73,0.000,4,0.171,0.071,2474,715,3430
$GC,137,-1.07,-146.6,9.3,-15.4,5,142,0.17,2.55,0.00,0.000,6,0.097,0.050,2511,2139,3430
$GC,454,-1.07,-146.6,51.4,-10.8,20,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2139,3430
$GC,763,-1.07,-146.6,83.5,-10.3,35,767,0.00,2.60,0.00,0.000,4,0.000,0.062,2511,714,3430
$GC,835,-1.07,-146.6,90.9,-10.4,38,839,0.00,2.53,0.00,0.000,6,0.000,0.051,2512,2127,3430
$GC,1152,-1.07,-146.6,122.8,-10.7,53,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2125,3430
$STATE,1313,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1313,begin apogee
$GC,1321,-0.33,0.0,139.0,10.4,61,1445,0.75,0.00,120.82,0.889,6,0.080,0.000,2670,1830,2831
$STATE,1446,end apogee,CONTROL_FINISHED_OK
$STATE,1446,begin climb
$GC,1449,1.22,146.6,144.7,0.0,67,1577,1.52,2.62,119.28,0.854,4,0.059,0.062,3005,440,2233
$GC,1832,1.14,146.6,124.5,8.8,84,1837,0.00,2.53,0.00,0.000,6,0.000,0.049,3005,1855,2233
$GC,2156,1.22,194.4,102.6,6.3,100,2202,0.00,2.67,39.75,0.830,4,0.000,0.063,3005,449,2038
$GC,2384,1.19,194.4,83.2,8.6,110,2388,0.00,2.47,0.00,0.000,6,0.000,0.049,3005,1838,2038
$GC,2706,1.21,206.3,58.2,7.6,126,2727,0.00,2.58,11.38,0.758,4,0.000,0.063,3005,451,1989
$GC,2751,1.21,206.3,54.5,8.7,128,2755,0.00,2.47,0.00,0.000,6,0.000,0.049,3005,1830,1989
$GC,3079,1.21,206.4,28.3,8.0,144,3083,0.00,2.55,0.00,0.000,4,0.000,0.059,3005,3258,1989
$GC,3112,1.21,206.4,24.6,9.4,145,3118,0.00,2.55,0.00,0.000,6,0.000,0.052,3005,1835,1989
$STATE,3343,end climb,SURFACE_DEPTH_REACHED
$STATE,3343,begin surface coast
$FINISH,1.0,1.027300
$STATE,3366,end surface coast,CONTROL_FINISHED_OK
$STATE,3366,begin surface
$SM_CCo,3390,49.00,0.786,0,0,1607,300.00
$SM_GC,1.05,0.00,0.00,49.00,0.000,0.000,0.786,420,2134,1607,-10.70,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1807
$TCM_TEMP,16.80
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,120.4,27.0
$24V_AH,24.0,40.756
$10V_AH,10.1,18.130
$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,25.325,31.750,291.225,49.000,0.000,37.753,26.664,90.109,4.000,0.000,0.000,33.816,343.301,2195.246,398.766,517.924,266.451,33.344,679.821,0.000,490.485,0.000,6.672,0.000
$DEVICE_MAMPS,171.041,70.564,888.953,786.175,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,106.739,118.774,272.378,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6518,158
$CAP_FILE_SIZE,33529,0
$CFSIZE,254472192,239001600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,061009,062025,6405.567,-1310.865,40,1.8,41,-12.6