version: 66.04
glider: 105
mission: 6
dive: 341
start: 8 29 109 1 24 26
data:
$ID,105
$MISSION,6
$DIVE,341
$D_SURF,3
$D_FLARE,4
$D_TGT,300
$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,100
$T_MISSION,120
$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,270
$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,-1634185
$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,25
$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,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
$GPS1,011825,6132.947,-831.615,39,1.5,39,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-62.2
$GPS2,012407,6132.971,-831.616,11,1.2,16,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,HEADING
$TGT_LATLONG,6132.971,-854.284
$TGT_RADIUS,1852.000
$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,279.0,20000,-18.1,-10.000
$D_GRID,300
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.47,-146.6,0.0,0.0,0,80,0.00,0.00,-59.08,0.000,6,0.000,0.000,385,2246,3432
$GC,83,-1.47,-146.6,4.6,-8.9,3,99,11.10,2.55,0.00,0.000,4,0.130,0.052,2472,3651,3433
$GC,218,-1.47,-146.6,32.0,-13.9,8,222,0.00,2.42,0.00,0.000,6,0.000,0.028,2472,2229,3434
$GC,539,-1.47,-146.6,74.1,-12.8,24,543,0.00,2.58,0.00,0.000,4,0.000,0.048,2472,3658,3435
$GC,840,-1.47,-146.6,114.9,-14.0,37,847,0.00,2.40,0.00,0.000,6,0.000,0.031,2472,2247,3435
$GC,1156,-1.47,-146.6,154.6,-12.4,53,1160,0.00,2.55,0.00,0.000,4,0.000,0.051,2472,3653,3436
$GC,1318,-1.47,-146.6,174.7,-12.1,60,1324,0.00,2.42,0.00,0.000,6,0.000,0.031,2472,2251,3435
$GC,1640,-1.47,-146.6,211.9,-11.9,76,1645,0.00,2.55,0.00,0.000,4,0.000,0.052,2472,3643,3436
$GC,1864,-1.47,-146.6,241.2,-13.5,86,1868,0.00,2.38,0.00,0.000,6,0.000,0.031,2472,2251,3436
$GC,2190,-1.47,-146.6,282.2,-12.8,102,2194,0.00,2.53,0.00,0.000,4,0.000,0.052,2472,3651,3435
$GC,2279,-1.47,-146.6,294.1,-12.8,106,2284,0.00,2.40,0.00,0.000,6,0.000,0.031,2472,2250,3436
$STATE,2331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2331,begin apogee
$GC,2339,-0.36,0.0,300.6,12.7,109,2466,1.17,0.00,122.88,0.960,6,0.074,0.000,2719,1463,2832
$STATE,2467,end apogee,CONTROL_FINISHED_OK
$STATE,2467,begin climb
$GC,2469,1.47,146.6,306.8,0.0,115,2600,1.83,2.25,122.15,0.927,4,0.052,0.058,3118,271,2233
$GC,2696,1.52,183.9,297.2,8.3,125,2733,0.00,2.03,32.05,0.888,6,0.000,0.031,3118,1465,2082
$GC,3056,1.52,183.9,264.8,10.2,143,3059,0.00,2.17,0.00,0.000,4,0.000,0.056,3117,267,2076
$GC,3106,1.52,183.9,258.9,11.7,145,3110,0.00,2.03,0.00,0.000,6,0.000,0.032,3118,1453,2076
$GC,3433,1.52,183.9,224.2,10.8,161,3437,0.00,2.47,0.00,0.000,4,0.000,0.045,3118,2852,2075
$GC,3465,1.52,183.9,220.4,10.7,162,3472,0.00,2.45,0.00,0.000,6,0.000,0.037,3118,1455,2074
$GC,3782,1.52,185.0,186.7,10.0,178,3787,0.00,2.17,0.00,0.000,4,0.000,0.056,3118,263,2074
$GC,3827,1.52,185.0,181.9,10.6,180,3832,0.00,2.03,0.00,0.000,6,0.000,0.030,3118,1453,2074
$GC,4159,1.57,223.0,153.2,8.3,196,4199,0.10,0.00,33.38,0.857,6,0.049,0.000,3159,1453,1922
$GC,4510,1.57,223.0,112.9,11.9,213,4514,0.00,2.45,0.00,0.000,4,0.000,0.043,3159,2844,1918
$GC,4587,1.57,223.0,103.1,11.8,216,4593,0.00,2.42,0.00,0.000,6,0.000,0.035,3158,1454,1917
$GC,4904,1.57,223.0,66.6,10.6,232,4908,0.00,2.12,0.00,0.000,4,0.000,0.054,3159,264,1917
$GC,4998,1.57,223.0,55.0,11.6,236,5002,0.00,2.03,0.00,0.000,6,0.000,0.031,3159,1457,1917
$GC,5326,1.57,223.0,18.1,11.3,252,5329,0.00,2.15,0.00,0.000,4,0.000,0.052,3159,259,1916
$STATE,5451,end climb,SURFACE_DEPTH_REACHED
$STATE,5451,begin surface coast
$FINISH,0.9,1.026810
$STATE,5463,end surface coast,CONTROL_FINISHED_OK
$STATE,5466,begin surface
$SM_CCo,5492,47.67,0.764,0,0,1608,300.00
$SM_GC,0.84,0.00,0.00,47.67,0.000,0.000,0.764,389,2237,1608,-11.09,-0.40,300.00
$IRIDIUM_FIX,6108.28,-832.07,221198,191939
$TT8_MAMPS,0.026845
$HUMID,1925
$INTERNAL_PRESSURE,8.16762
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,23.2,68.653
$10V_AH,10.1,41.274
$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,26.200,58.425,310.450,47.675,0.000,27.251,26.583,154.243,1.750,0.000,0.000,16.110,551.914,3656.852,407.885,800.278,460.452,0.000,850.400,0.000,844.178,0.000,12.323,0.000
$DEVICE_MAMPS,129.623,57.525,960.284,763.932,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,215.321,182.138,244.926,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12791,258
$CAP_FILE_SIZE,51581,0
$CFSIZE,260165632,233783296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,290809,025758,6133.449,-833.252,13,2.4,33,-9.0