version: 66.04
glider: 105
mission: 5
dive: 7
start: 1 21 109 3 21 17
data:
$ID,105
$MISSION,5
$DIVE,7
$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,-1626762.1
$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,46
$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,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
$GPS1,031626,4807.048,-12223.113,11,1.2,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-70.5
$GPS2,032026,4807.021,-12223.087,13,1.7,13,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.151,-0.194
$KALMAN_X,-155.2,-135.5,-46.6,496.1,17.9
$KALMAN_Y,182.3,195.8,85.4,-2867.9,-95.9
$MHEAD_RNG_PITCHd_Wd,123.8,2321,-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,12,begin dive
$GC,15,-1.24,-146.6,0.0,0.0,0,114,0.00,0.00,-96.35,0.000,2,0.000,0.000,397,1929,3800
$GC,117,-1.24,-146.6,4.9,-6.8,16,137,10.43,2.45,-0.73,0.000,4,0.139,0.054,2329,561,3840
$GC,472,-1.24,-146.6,40.9,-9.5,59,479,0.00,2.40,0.00,0.000,6,0.000,0.028,2329,1950,3840
$GC,669,-1.24,-146.6,57.6,-8.5,74,673,0.00,2.45,0.00,0.000,4,0.000,0.041,2329,557,3840
$GC,875,-1.24,-146.6,75.7,-8.4,83,880,0.00,2.40,0.00,0.000,6,0.000,0.028,2329,1945,3840
$GC,1199,-1.24,-146.6,99.6,-7.2,99,1203,0.00,2.47,0.00,0.000,4,0.000,0.046,2329,3351,3840
$GC,1251,-1.24,-146.6,103.5,-7.6,103,1255,0.00,2.38,0.00,0.000,6,0.000,0.027,2329,1944,3840
$STATE,1329,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1330,begin apogee
$GC,1336,-0.36,0.0,109.7,7.3,110,1463,0.90,0.00,118.60,0.805,6,0.081,0.000,2519,2207,3238
$STATE,1464,end apogee,CONTROL_FINISHED_OK
$STATE,1464,begin climb
$GC,1467,1.24,146.6,112.0,0.0,123,1590,1.60,0.00,117.82,0.767,6,0.057,0.000,2867,2207,2641
$GC,1901,1.24,146.6,72.1,10.0,152,1905,0.00,2.47,0.00,0.000,4,0.000,0.041,2867,803,2640
$GC,1940,1.24,146.6,67.8,10.2,154,1945,0.00,2.42,0.00,0.000,6,0.000,0.031,2867,2197,2639
$GC,2266,1.24,146.6,36.4,9.9,176,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2197,2639
$GC,2460,1.24,146.6,19.6,8.7,194,2466,0.00,2.42,0.00,0.000,4,0.000,0.041,2867,803,2639
$GC,2492,1.24,146.6,16.8,8.6,199,2498,0.00,2.40,0.00,0.000,6,0.000,0.030,2867,2207,2639
$GC,2567,1.26,162.2,10.7,7.4,212,2586,0.00,0.00,14.15,0.693,6,0.000,0.000,2867,2207,2576
$GC,2657,1.33,224.1,5.3,5.8,227,2713,0.10,0.00,50.05,0.722,6,0.051,0.000,2905,2207,2324
$GC,2784,1.61,450.8,3.4,-0.2,248,2822,0.17,0.00,35.75,0.703,2,0.042,0.000,2966,2207,2147
$STATE,2823,end climb,SURFACE_DEPTH_REACHED
$STATE,2823,begin surface coast
$FINISH,2.5,1.018177
$STATE,3102,end surface coast,CONTROL_FINISHED_OK
$STATE,3102,begin surface
$SM_CCo,3124,323.88,0.700,0,0,515,668.20
$SM_GC,0.88,0.00,0.00,323.88,0.000,0.000,0.700,397,1929,515,-10.14,-0.48,668.20
$IRIDIUM_FIX,4748.51,-12226.29,170498,020219
$TT8_MAMPS,0.026845
$HUMID,1711
$INTERNAL_PRESSURE,7.99183
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.4,38.1
$24V_AH,23.6,15.598
$10V_AH,10.1,6.433
$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,24.700,25.125,336.375,323.875,0.000,31.171,27.223,90.834,1.000,0.000,0.000,13.827,489.063,1514.193,687.461,642.305,370.758,33.319,1069.477,0.000,729.266,0.000,8.566,0.000
$DEVICE_MAMPS,138.827,54.457,805.350,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,208.005,290.195,539.200,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15943,304
$CAP_FILE_SIZE,38921,0
$CFSIZE,260165632,259014656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,210109,041938,4806.834,-12222.794,14,1.9,14,18.3