version: 66.04
glider: 5
mission: 7
dive: 249
start: 10 6 109 11 36 21
data:
$ID,5
$MISSION,7
$DIVE,249
$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,-105106.88
$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,52
$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
$GPS1,113059,6409.199,-1305.363,13,2.7,33,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-56.5
$GPS2,113531,6409.250,-1305.236,22,2.0,33,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.244,0.025
$KALMAN_X,-69944.0,8014.4,2644.9,-174438.8,-147606.4
$KALMAN_Y,-30830.5,3054.3,878.0,309563.8,-49701.3
$MHEAD_RNG_PITCHd_Wd,96.7,38373,-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,-61.22,0.000,2,0.000,0.000,423,2126,2807
$GC,82,-1.22,-146.6,2.9,-4.4,3,119,11.45,2.58,-19.10,0.000,4,0.165,0.072,2471,715,3430
$GC,206,-1.16,-146.6,21.7,-16.0,7,213,0.08,2.47,0.00,0.000,6,0.115,0.050,2487,2105,3430
$GC,523,-1.12,-146.6,61.6,-12.8,23,528,0.00,2.62,0.00,0.000,4,0.000,0.069,2487,3542,3430
$GC,574,-1.12,-146.6,68.9,-13.1,25,578,0.00,2.55,0.00,0.000,6,0.000,0.053,2487,2127,3430
$GC,890,-1.12,-146.6,111.0,-12.3,40,894,0.00,2.62,0.00,0.000,4,0.000,0.067,2487,3541,3430
$GC,953,-1.12,-146.6,119.1,-12.4,43,957,0.00,2.50,0.00,0.000,6,0.000,0.053,2487,2148,3430
$STATE,1153,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1153,begin apogee
$GC,1161,-0.33,0.0,145.9,13.0,53,1291,0.85,0.00,121.30,0.887,6,0.077,0.000,2671,1836,2830
$STATE,1291,end apogee,CONTROL_FINISHED_OK
$STATE,1291,begin climb
$GC,1295,1.22,146.6,153.8,0.0,61,1423,1.52,2.67,119.45,0.858,4,0.059,0.058,3007,3260,2233
$GC,1456,1.31,222.7,149.2,5.2,71,1525,0.00,2.53,62.40,0.833,6,0.000,0.051,3008,1857,1923
$GC,1839,1.35,247.8,125.5,7.1,89,1869,0.15,2.62,22.10,0.806,4,0.052,0.058,3047,3263,1819
$GC,1905,1.29,247.8,118.8,9.5,92,1910,0.00,2.58,0.00,0.000,6,0.000,0.054,3047,1851,1819
$GC,2233,1.23,247.8,84.3,10.4,108,2238,0.17,2.60,0.00,0.000,4,0.090,0.060,3010,3265,1819
$GC,2278,1.29,247.8,79.9,8.1,110,2283,0.00,2.55,0.00,0.000,6,0.000,0.053,3011,1853,1818
$GC,2600,1.29,247.8,54.1,8.4,126,2604,0.00,2.58,0.00,0.000,4,0.000,0.060,3011,3260,1818
$GC,2641,1.34,247.8,50.8,8.2,128,2646,0.12,2.47,0.00,0.000,6,0.056,0.053,3045,1879,1818
$GC,2969,1.29,247.8,19.3,9.5,144,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1879,1818
$STATE,3110,end climb,SURFACE_DEPTH_REACHED
$STATE,3110,begin surface coast
$FINISH,0.4,1.002886
$STATE,3131,end surface coast,CONTROL_FINISHED_OK
$STATE,3132,begin surface
$SM_CCo,3156,26.88,0.773,0,0,1608,300.00
$SM_GC,1.13,0.00,0.00,26.88,0.000,0.000,0.773,419,2145,1608,-10.70,0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1816
$TCM_TEMP,16.60
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,120.6,34.1
$24V_AH,24.0,41.306
$10V_AH,10.1,18.300
$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,25.750,36.925,325.250,26.875,0.000,37.759,35.823,81.109,3.750,0.000,0.000,33.905,323.054,2012.015,398.651,463.422,271.087,33.368,668.932,0.000,434.526,0.000,6.690,0.000
$DEVICE_MAMPS,164.905,72.098,887.419,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,102.248,113.057,241.282,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6543,152
$CAP_FILE_SIZE,34268,0
$CFSIZE,254472192,238878720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,061009,123036,6409.362,-1302.496,32,2.0,33,-12.5