version: 66.04
glider: 5
mission: 7
dive: 250
start: 10 6 109 12 35 56
data:
$ID,5
$MISSION,7
$DIVE,250
$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,-105140.88
$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,23
$R_STBD_OVSHOOT,34
$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
$GPS1,123036,6409.362,-1302.496,32,2.0,33,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-59.4
$GPS2,123506,6409.361,-1302.362,16,1.6,33,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.245,0.020
$KALMAN_X,-64534.8,5693.9,2416.7,-174765.0,-120890.9
$KALMAN_Y,-29708.3,3826.7,758.3,308000.2,-44853.7
$MHEAD_RNG_PITCHd_Wd,97.8,39420,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.55,0.000,2,0.000,0.000,419,2158,2415
$GC,63,-1.22,-146.6,2.0,-2.4,2,119,11.23,0.00,-41.80,0.000,6,0.163,0.000,2470,2149,3430
$GC,417,-1.15,-146.6,45.0,-13.5,19,422,0.10,2.62,0.00,0.000,4,0.117,0.062,2490,714,3430
$GC,450,-1.15,-146.6,49.9,-13.5,20,457,0.00,2.53,0.00,0.000,6,0.000,0.051,2490,2132,3430
$GC,769,-1.12,-146.6,88.3,-11.0,36,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2132,3430
$GC,1076,-1.12,-146.6,117.8,-8.5,51,1080,0.00,2.58,0.00,0.000,4,0.000,0.064,2490,721,3430
$GC,1241,-1.12,-146.6,135.9,-11.6,58,1245,0.00,2.50,0.00,0.000,6,0.000,0.051,2490,2128,3430
$STATE,1483,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1483,begin apogee
$GC,1490,-0.33,0.0,162.2,10.8,72,1621,0.85,0.00,121.50,0.905,6,0.078,0.000,2674,1845,2830
$STATE,1621,end apogee,CONTROL_FINISHED_OK
$STATE,1622,begin climb
$GC,1625,1.22,146.6,167.9,0.0,81,1753,1.52,2.65,119.55,0.871,4,0.062,0.069,3008,443,2233
$GC,1786,1.22,213.5,163.6,5.6,91,1849,0.00,2.55,55.80,0.847,6,0.000,0.051,3008,1869,1960
$GC,2179,1.24,220.6,134.5,7.7,113,2188,0.00,0.00,7.38,0.723,6,0.000,0.000,3008,1869,1931
$GC,2486,1.34,287.9,115.6,5.6,128,2551,0.12,2.70,55.40,0.857,4,0.059,0.070,3041,454,1657
$GC,2576,1.26,287.9,108.1,10.8,132,2581,0.12,2.50,0.00,0.000,6,0.094,0.053,3019,1830,1657
$GC,2903,1.26,287.9,75.0,10.1,148,2908,0.00,2.58,0.00,0.000,4,0.000,0.062,3018,3258,1657
$GC,2944,1.31,287.9,71.4,9.3,150,2949,0.00,2.55,0.00,0.000,6,0.000,0.057,3018,1850,1656
$GC,3272,1.31,287.9,41.5,9.2,166,3277,0.00,2.58,0.00,0.000,4,0.000,0.062,3018,3256,1656
$GC,3313,1.37,287.9,37.9,8.6,168,3318,0.12,2.53,0.00,0.000,6,0.058,0.054,3051,1859,1656
$STATE,3638,end climb,SURFACE_DEPTH_REACHED
$STATE,3638,begin surface coast
$FINISH,0.4,1.024255
$STATE,3664,end surface coast,CONTROL_FINISHED_OK
$STATE,3664,begin surface
$SM_CCo,3687,6.20,0.659,0,0,1606,300.00
$SM_GC,1.88,0.00,0.00,6.20,0.000,0.000,0.659,422,2146,1606,-10.69,0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1835
$TCM_TEMP,16.40
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,146.2,25.1
$24V_AH,24.0,41.404
$10V_AH,10.1,18.330
$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,25.575,31.875,359.625,6.200,0.000,37.758,26.028,91.431,3.750,0.000,0.000,33.385,368.956,2413.492,410.824,510.501,273.561,33.371,699.175,0.000,481.310,0.000,8.254,0.000
$DEVICE_MAMPS,162.604,69.797,905.060,658.853,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,124.766,137.667,265.358,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9688,185
$CAP_FILE_SIZE,35186,0
$CFSIZE,254472192,238854144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,061009,133820,6408.863,-1259.964,9,1.5,10,-12.5