version: 66.04
glider: 105
mission: 6
dive: 97
start: 6 26 109 13 49 28
data:
$ID,105
$MISSION,6
$DIVE,97
$D_SURF,3
$D_FLARE,4
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,300
$T_TURN_SAMPINT,5
$T_NO_W,320
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$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,11
$KALMAN_USE,2
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1629781.4
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3705
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,253
$ROLL_MAX,3840
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3851
$C_VBD,2832
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-18.439545
$PRESSURE_SLOPE,0.0001163108
$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,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.8522969
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043067979
$SEABIRD_T_H,0.0006302988
$SEABIRD_T_I,2.3035876e-05
$SEABIRD_T_J,2.3016955e-06
$SEABIRD_C_G,-10.448573
$SEABIRD_C_H,1.1833477
$SEABIRD_C_I,-0.0016540284
$SEABIRD_C_J,0.00022965467
$GPS1,134254,6354.474,-1343.707,38,1.5,38,-12.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-63.7
$GPS2,134910,6354.557,-1343.656,13,2.1,32,-12.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NW
$TGT_LATLONG,6356.000,-1345.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.025,-0.238
$KALMAN_X,-160384.0,991.3,628.8,104309.0,-21.7
$KALMAN_Y,127308.9,-3266.1,-2239.5,-49887.2,54062.8
$MHEAD_RNG_PITCHd_Wd,350.5,2888,-27.3,-6.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.99,-28.8,0.0,0.0,0,63,0.00,0.00,-45.90,0.000,6,0.000,0.000,394,2250,2951
$GC,67,-1.99,-33.0,2.1,-5.4,2,83,10.45,2.55,-0.35,0.000,4,0.132,0.064,2360,3651,2968
$GC,420,-1.99,-33.0,44.2,-9.7,17,425,0.00,2.42,0.00,0.000,6,0.000,0.028,2360,2232,2968
$GC,752,-1.99,-33.0,73.2,-10.5,33,756,0.00,2.55,0.00,0.000,4,0.000,0.051,2360,3650,2968
$GC,1093,-1.99,-33.0,111.3,-9.8,48,1098,0.00,2.40,0.00,0.000,6,0.000,0.028,2360,2254,2969
$GC,1414,-1.99,-33.0,142.4,-9.5,64,1418,0.00,2.53,0.00,0.000,4,0.000,0.050,2360,3657,2969
$GC,1758,-1.99,-33.0,180.5,-11.9,79,1763,0.00,2.42,0.00,0.000,6,0.000,0.028,2360,2248,2969
$GC,2078,-1.99,-33.0,214.9,-10.7,95,2083,0.00,2.53,0.00,0.000,4,0.000,0.052,2360,3650,2970
$GC,2420,-1.99,-33.0,252.7,-11.3,110,2425,0.00,2.38,0.00,0.000,6,0.000,0.028,2360,2246,2969
$STATE,2589,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2589,begin apogee
$GC,2597,-0.36,0.0,269.4,9.8,118,2632,1.75,0.00,29.20,0.917,6,0.087,0.000,2718,1465,2832
$STATE,2633,end apogee,CONTROL_FINISHED_OK
$STATE,2633,begin climb
$GC,2635,1.99,33.0,270.6,0.0,120,2672,2.33,2.20,28.73,0.894,4,0.049,0.055,3232,271,2697
$GC,3009,2.03,61.4,255.6,2.1,136,3041,0.00,2.05,24.85,0.889,6,0.000,0.034,3232,1455,2580
$GC,3370,2.03,64.6,236.2,5.6,154,3379,0.00,2.17,3.95,0.574,4,0.000,0.055,3232,271,2569
$GC,3716,2.03,64.6,214.6,7.2,169,3720,0.00,2.03,0.00,0.000,6,0.000,0.035,3232,1457,2568
$GC,4038,2.03,64.6,191.9,7.6,185,4042,0.00,2.15,0.00,0.000,4,0.000,0.054,3231,265,2568
$GC,4088,2.03,64.6,188.1,7.4,187,4092,0.00,2.03,0.00,0.000,6,0.000,0.034,3232,1455,2567
$GC,4417,2.03,64.6,167.9,6.2,203,4421,0.00,2.50,0.00,0.000,4,0.000,0.049,3232,2857,2567
$GC,4759,2.04,73.8,148.5,4.7,218,4776,0.00,2.45,9.23,0.773,6,0.000,0.038,3232,1456,2530
$GC,5103,2.04,73.8,127.9,6.0,235,5107,0.00,2.50,0.00,0.000,4,0.000,0.043,3232,2863,2529
$GC,5236,2.04,73.8,120.1,6.0,241,5240,0.00,2.45,0.00,0.000,6,0.000,0.037,3232,1446,2528
$GC,5559,2.04,73.8,99.9,6.5,257,5563,0.00,2.10,0.00,0.000,4,0.000,0.055,3232,265,2529
$GC,5900,2.04,73.8,75.6,7.6,272,5904,0.00,2.05,0.00,0.000,6,0.000,0.032,3232,1470,2528
$GC,6228,2.04,73.8,55.2,6.2,288,6232,0.00,2.15,0.00,0.000,4,0.000,0.052,3232,264,2528
$GC,6569,2.04,76.8,33.9,5.6,303,6578,0.00,2.03,4.10,0.542,6,0.000,0.031,3232,1457,2518
$GC,6895,2.06,90.6,19.9,4.1,319,6917,0.00,2.15,12.77,0.738,4,0.000,0.051,3232,265,2461
$GC,7125,2.06,90.6,3.9,8.1,329,7129,0.00,2.00,0.00,0.000,6,0.000,0.031,3232,1457,2461
$STATE,7142,end climb,SURFACE_DEPTH_REACHED
$STATE,7142,begin surface coast
$FINISH,0.1,1.027086
$STATE,7183,end surface coast,CONTROL_FINISHED_OK
$STATE,7183,begin surface
$SM_CCo,7208,140.00,0.751,0,0,1608,300.00
$SM_GC,0.81,0.00,0.00,140.00,0.000,0.000,0.751,390,2242,1608,-11.09,-0.23,300.00
$IRIDIUM_FIX,6327.46,-1333.73,200998,070715
$TT8_MAMPS,0.027612
$HUMID,1770
$INTERNAL_PRESSURE,8.08949
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,201.8,77.5
$24V_AH,23.5,32.292
$10V_AH,10.1,15.648
$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,26.950,57.550,112.825,140.000,0.000,28.785,32.526,163.956,1.250,0.000,0.000,33.178,769.489,4743.010,321.840,1350.556,533.750,0.000,947.311,0.000,1393.301,0.000,11.802,0.000
$DEVICE_MAMPS,131.924,64.428,917.332,750.893,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,279.186,241.234,370.477,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16007,332
$CAP_FILE_SIZE,68232,0
$CFSIZE,260165632,251834368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,260609,155306,6355.000,-1342.184,14,1.2,31,-12.8