version: 66.04
glider: 105
mission: 6
dive: 98
start: 6 26 109 15 57 46
data:
$ID,105
$MISSION,6
$DIVE,98
$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,-1629794
$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,28
$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
$GPS1,155306,6355.000,-1342.184,14,1.2,31,-12.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-63.9
$GPS2,155726,6354.995,-1342.159,11,1.6,11,-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,321.7,2968,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.99,-28.8,0.0,0.0,0,62,0.00,0.00,-45.58,0.000,6,0.000,0.000,390,2242,2951
$GC,65,-1.99,-28.8,2.3,-6.3,2,81,10.50,2.58,0.00,0.000,4,0.133,0.052,2358,3657,2953
$GC,418,-1.99,-28.8,47.1,-11.4,17,423,0.00,2.45,0.00,0.000,6,0.000,0.027,2358,2230,2953
$GC,751,-1.99,-28.8,83.3,-10.7,33,755,0.00,2.58,0.00,0.000,4,0.000,0.050,2358,3657,2952
$GC,1092,-1.99,-28.8,120.5,-11.8,48,1097,0.00,2.42,0.00,0.000,6,0.000,0.028,2359,2246,2953
$GC,1412,-1.99,-28.8,153.7,-10.5,64,1417,0.00,2.55,0.00,0.000,4,0.000,0.051,2359,3657,2953
$GC,1648,-1.99,-28.8,179.7,-10.8,74,1654,0.00,2.38,0.00,0.000,6,0.000,0.028,2358,2253,2953
$GC,1964,-1.99,-28.8,211.5,-9.8,90,1969,0.00,2.42,0.00,0.000,4,0.000,0.039,2358,856,2953
$GC,1997,-1.99,-28.8,215.0,-10.3,91,2004,0.00,2.42,0.00,0.000,6,0.000,0.033,2358,2256,2953
$GC,2313,-1.99,-28.8,247.7,-10.0,107,2317,0.00,2.50,0.00,0.000,4,0.000,0.053,2358,3647,2953
$GC,2446,-1.99,-28.8,262.1,-10.0,113,2451,0.00,2.38,0.00,0.000,6,0.000,0.027,2359,2244,2953
$GC,2770,-2.04,-72.3,284.2,0.0,129,2775,0.00,2.58,0.00,0.000,4,0.000,0.058,2359,3652,2954
$STATE,3065,end dive,NO_VERTICAL_VELOCITY
$STATE,3065,begin apogee
$GC,3075,-0.36,0.0,284.2,0.0,142,3107,1.60,0.00,26.15,0.922,6,0.055,0.000,2721,1474,2832
$STATE,3108,end apogee,CONTROL_FINISHED_OK
$STATE,3108,begin climb
$GC,3110,2.04,72.3,284.2,0.0,144,3182,2.40,2.55,61.20,0.926,4,0.055,0.042,3242,2861,2537
$GC,3518,2.10,118.3,283.8,-0.4,162,3563,0.00,2.47,39.62,0.922,6,0.000,0.037,3241,1453,2348
$GC,3881,2.10,118.3,268.1,10.3,180,3886,0.00,2.50,0.00,0.000,4,0.000,0.043,3241,2859,2344
$GC,4021,2.10,118.3,251.0,13.0,186,4025,0.00,2.47,0.00,0.000,6,0.000,0.038,3241,1452,2344
$GC,4336,2.10,118.3,213.3,11.5,201,4341,0.00,2.50,0.00,0.000,4,0.000,0.041,3241,2862,2343
$GC,4437,2.10,118.3,202.1,11.2,205,4445,0.00,2.50,0.00,0.000,6,0.000,0.037,3242,1457,2343
$GC,4753,2.10,118.3,167.3,10.1,221,4757,0.00,2.15,0.00,0.000,4,0.000,0.057,3241,261,2342
$GC,4961,2.10,118.3,143.9,11.0,230,4964,0.00,2.03,0.00,0.000,6,0.000,0.032,3241,1459,2342
$GC,5295,2.10,118.3,107.7,11.1,246,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1459,2341
$GC,5602,2.10,118.3,73.3,11.0,261,5606,0.00,2.15,0.00,0.000,4,0.000,0.052,3242,261,2341
$GC,5641,2.10,118.3,68.7,11.0,262,5648,0.00,2.03,0.00,0.000,6,0.000,0.032,3241,1454,2340
$GC,5958,2.10,118.3,37.5,10.4,278,5963,0.00,2.45,0.00,0.000,4,0.000,0.042,3242,2850,2341
$GC,6081,2.10,118.3,25.0,9.3,283,6087,0.00,2.40,0.00,0.000,6,0.000,0.036,3241,1449,2340
$STATE,6333,end climb,SURFACE_DEPTH_REACHED
$STATE,6334,begin surface coast
$FINISH,0.1,1.002916
$STATE,6354,end surface coast,CONTROL_FINISHED_OK
$STATE,6354,begin surface
$SM_CCo,6379,116.75,0.760,0,0,1609,300.00
$SM_GC,0.80,0.00,0.00,116.75,0.000,0.000,0.760,395,2245,1609,-11.06,-0.17,300.00
$IRIDIUM_FIX,6327.46,-1338.48,200998,131348
$TT8_MAMPS,0.027612
$HUMID,1792
$INTERNAL_PRESSURE,8.08949
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,201.6,101.1
$24V_AH,23.5,32.360
$10V_AH,10.1,15.690
$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,26.900,60.700,126.975,116.750,0.000,30.448,27.785,104.223,1.000,0.000,0.000,11.989,661.055,4356.652,316.198,1022.560,411.687,0.000,826.339,0.000,1074.895,0.000,8.922,0.000
$DEVICE_MAMPS,132.691,58.292,925.769,760.097,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,258.444,204.567,288.854,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15976,297
$CAP_FILE_SIZE,56793,0
$CFSIZE,260165632,251809792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,260609,174713,6354.781,-1343.124,25,1.2,32,-12.8