version: 66.04
glider: 5
mission: 7
dive: 245
start: 10 6 109 7 27 29
data:
$ID,5
$MISSION,7
$DIVE,245
$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,-105006.7
$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,27
$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
$GPS1,072234,6405.799,-1311.740,8,2.4,28,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-54.0
$GPS2,072637,6405.818,-1311.898,10,1.9,15,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.165,0.181
$KALMAN_X,-59990.2,-7348.8,1187.9,-173423.0,-88756.7
$KALMAN_Y,-43958.4,3791.4,1745.6,314724.5,-118099.9
$MHEAD_RNG_PITCHd_Wd,55.0,30696,-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,15,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-61.53,0.000,2,0.000,0.000,420,2147,2802
$GC,83,-1.22,-146.6,2.9,-3.8,3,117,11.55,0.00,-20.45,0.000,6,0.168,0.000,2477,2137,3429
$GC,436,-1.15,-146.6,45.2,-12.7,20,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2137,3430
$GC,746,-1.10,-146.6,84.8,-12.3,35,747,0.15,0.00,0.00,0.000,6,0.110,0.000,2508,2137,3429
$GC,1054,-1.10,-146.6,118.2,-10.8,50,1058,0.00,2.55,0.00,0.000,4,0.000,0.067,2508,3538,3429
$GC,1148,-1.10,-146.6,128.3,-11.0,54,1152,0.00,2.55,0.00,0.000,6,0.000,0.054,2508,2120,3429
$STATE,1317,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1317,begin apogee
$GC,1325,-0.33,0.0,145.2,9.9,62,1454,0.77,0.00,121.32,0.893,6,0.076,0.000,2674,1832,2831
$STATE,1455,end apogee,CONTROL_FINISHED_OK
$STATE,1456,begin climb
$GC,1459,1.22,146.6,150.6,0.0,69,1584,1.48,0.00,120.18,0.855,6,0.040,0.000,3019,1831,2233
$GC,1901,1.20,172.9,132.2,7.0,93,1931,0.00,2.67,23.10,0.811,4,0.000,0.058,3019,3254,2124
$GC,2111,1.20,172.9,115.7,8.1,102,2116,0.00,2.47,0.00,0.000,6,0.000,0.051,3019,1877,2124
$GC,2429,1.19,188.1,91.7,7.5,117,2452,0.00,2.58,13.62,0.785,4,0.000,0.059,3019,3255,2064
$GC,2521,1.19,188.1,84.1,8.5,121,2525,0.00,2.45,0.00,0.000,6,0.000,0.051,3019,1893,2064
$GC,2849,1.19,189.1,58.2,8.0,137,2853,0.00,2.50,0.00,0.000,4,0.000,0.060,3019,3261,2064
$GC,2921,1.19,189.1,51.8,8.7,140,2925,0.00,2.42,0.00,0.000,6,0.000,0.051,3019,1908,2063
$GC,3239,1.19,189.1,24.9,9.8,155,3243,0.00,2.65,0.00,0.000,4,0.000,0.064,3019,433,2064
$GC,3272,1.13,189.1,21.4,9.9,156,3279,0.15,2.60,0.00,0.000,6,0.092,0.048,2991,1906,2064
$STATE,3545,end climb,SURFACE_DEPTH_REACHED
$STATE,3545,begin surface coast
$FINISH,0.5,1.027356
$STATE,3587,end surface coast,CONTROL_FINISHED_OK
$STATE,3587,begin surface
$SM_CCo,3611,58.78,0.788,0,0,1608,300.00
$SM_GC,0.93,0.00,0.00,58.78,0.000,0.000,0.788,420,2161,1608,-10.69,0.88,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1816
$TCM_TEMP,16.70
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,120.6,33.4
$24V_AH,24.0,40.937
$10V_AH,10.1,18.188
$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,25.275,26.275,278.225,58.775,0.000,37.752,27.399,81.329,4.250,0.000,0.000,15.594,354.364,2429.521,409.896,477.159,257.510,33.368,666.116,0.000,469.408,0.000,6.691,0.000
$DEVICE_MAMPS,167.973,66.729,892.788,787.709,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,116.257,126.133,279.239,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6530,172
$CAP_FILE_SIZE,32701,0
$CFSIZE,254472192,238964736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,061009,082931,6406.605,-1311.578,7,1.9,13,-12.6