version: 66.04
glider: 105
mission: 5
dive: 9
start: 1 21 109 5 30 40
data:
$ID,105
$MISSION,5
$DIVE,9
$D_SURF,3
$D_FLARE,4
$D_TGT,150
$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,62.5
$T_MISSION,70
$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,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,668
$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,-1626835
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3705
$C_PITCH,2602
$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,1946
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3851
$C_VBD,3239
$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,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-18.710485
$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,60
$ALTIM_PING_DELTA,10
$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
$GPS1,052252,4806.547,-12222.710,12,3.4,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.5
$GPS2,052952,4806.557,-12222.698,17,3.5,36,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.162,-0.184
$KALMAN_X,-726.7,-141.3,-19.4,1529.8,-209.0
$KALMAN_Y,840.8,212.4,-13.3,-4306.6,210.8
$MHEAD_RNG_PITCHd_Wd,120.3,1346,-14.8,-8.000
$D_GRID,150
$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,13,begin dive
$GC,15,-1.24,-146.6,0.0,0.0,0,109,0.00,0.00,-90.70,0.000,2,0.000,0.000,398,1931,3669
$GC,112,-1.24,-146.6,4.1,-4.0,15,133,10.48,2.53,-3.53,0.000,4,0.141,0.055,2328,3354,3836
$GC,364,-1.24,-146.6,28.5,-10.0,52,369,0.00,2.40,0.00,0.000,6,0.000,0.028,2328,1959,3837
$GC,567,-1.24,-146.6,46.3,-8.7,71,571,0.00,2.47,0.00,0.000,4,0.000,0.043,2328,3357,3837
$GC,628,-1.24,-146.6,51.8,-8.8,76,633,0.00,2.40,0.00,0.000,6,0.000,0.028,2328,1945,3837
$GC,958,-1.24,-146.6,77.5,-7.8,92,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1945,3837
$GC,1265,-1.24,-146.6,100.7,-7.5,107,1269,0.00,2.50,0.00,0.000,4,0.000,0.044,2328,3355,3837
$GC,1316,-1.24,-146.6,104.5,-7.1,111,1321,0.00,2.40,0.00,0.000,6,0.000,0.027,2328,1936,3837
$STATE,1396,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1396,begin apogee
$GC,1403,-0.36,0.0,110.4,7.2,118,1529,0.90,0.00,117.85,0.813,6,0.081,0.000,2518,2215,3239
$STATE,1530,end apogee,CONTROL_FINISHED_OK
$STATE,1530,begin climb
$GC,1532,1.24,146.6,112.8,0.0,131,1660,1.62,0.00,117.97,0.772,6,0.058,0.000,2870,2215,2641
$GC,1971,1.24,146.6,71.4,10.2,161,1976,0.00,2.50,0.00,0.000,4,0.000,0.041,2870,799,2639
$GC,2034,1.24,146.6,64.6,10.9,164,2038,0.00,2.40,0.00,0.000,6,0.000,0.029,2871,2197,2639
$GC,2358,1.24,146.6,32.3,9.6,188,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2197,2639
$GC,2548,1.24,146.6,15.0,8.0,211,2556,0.00,2.47,0.00,0.000,4,0.000,0.040,2871,804,2640
$GC,2579,1.24,146.6,12.2,8.7,216,2587,0.00,2.42,0.00,0.000,6,0.000,0.030,2871,2201,2640
$GC,2656,1.29,187.6,6.6,6.5,229,2701,0.00,2.53,34.00,0.725,4,0.000,0.039,2870,805,2473
$STATE,2736,end climb,SURFACE_DEPTH_REACHED
$STATE,2736,begin surface coast
$FINISH,2.9,1.019566
$STATE,2741,end surface coast,CONTROL_FINISHED_OK
$STATE,2741,begin surface
$SM_CCo,2765,388.90,0.700,0,0,514,668.20
$SM_GC,1.17,0.00,0.00,388.90,0.000,0.000,0.700,396,1950,514,-10.14,0.11,668.20
$IRIDIUM_FIX,4748.51,-12224.57,170498,050502
$TT8_MAMPS,0.027612
$HUMID,1706
$INTERNAL_PRESSURE,7.98207
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,39.9
$24V_AH,23.5,15.887
$10V_AH,10.1,6.518
$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,24.075,29.475,269.825,388.900,0.000,52.788,78.288,87.187,1.000,0.000,0.000,36.962,402.987,1517.061,711.741,516.020,439.318,33.342,1018.904,0.000,575.976,0.000,8.566,0.000
$DEVICE_MAMPS,141.128,55.224,813.020,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,168.307,226.129,430.950,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12842,243
$CAP_FILE_SIZE,35164,0
$CFSIZE,260165632,258961408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,210109,062408,4806.313,-12222.497,14,1.7,14,18.3