version: 66.04
glider: 105
mission: 6
dive: 33
start: 6 11 109 21 21 29
data:
$ID,105
$MISSION,6
$DIVE,33
$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,440
$T_MISSION,480
$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,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,-1628664.2
$T_RSLEEP,2
$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,2476
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$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
$GPS1,210736,6152.421,-929.519,37,1.1,42,-9.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-61.2
$GPS2,212037,6152.570,-929.640,10,1.1,15,-9.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,AW
$TGT_LATLONG,6140.000,-930.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.179,-0.159
$KALMAN_X,-179763.9,3354.0,2119.9,109636.0,-43680.7
$KALMAN_Y,88168.8,-1249.2,-515.8,-34847.7,15177.7
$MHEAD_RNG_PITCHd_Wd,141.1,23281,-13.9,-7.500
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.17,-146.6,0.0,0.0,0,89,0.00,0.00,-69.93,0.000,6,0.000,0.000,397,2463,3430
$GC,92,-1.17,-146.6,2.9,-5.3,3,113,11.45,2.47,0.00,0.000,4,0.135,0.032,2537,1054,3431
$GC,428,-1.17,-146.6,46.9,-9.9,18,432,0.00,2.47,0.00,0.000,6,0.000,0.032,2537,2482,3432
$GC,756,-1.17,-146.6,84.2,-12.8,34,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2482,3431
$GC,1064,-1.17,-146.6,124.3,-12.9,49,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2482,3431
$GC,1373,-1.17,-146.6,165.7,-12.1,64,1377,0.00,2.50,0.00,0.000,4,0.000,0.037,2537,1051,3432
$GC,1422,-1.17,-146.6,171.6,-11.3,66,1427,0.00,2.47,0.00,0.000,6,0.000,0.033,2537,2473,3432
$GC,1740,-1.17,-146.6,200.8,-8.2,81,1745,0.00,2.47,0.00,0.000,4,0.000,0.037,2537,1054,3432
$GC,1773,-1.17,-146.6,203.7,-7.8,82,1779,0.00,2.47,0.00,0.000,6,0.000,0.034,2537,2477,3432
$GC,2089,-1.17,-146.6,228.9,-8.5,98,2094,0.00,2.50,0.00,0.000,4,0.000,0.038,2537,1062,3433
$GC,2121,-1.17,-146.6,231.6,-8.5,99,2126,0.00,2.47,0.00,0.000,6,0.000,0.035,2537,2478,3432
$GC,2438,-1.17,-146.6,255.1,-7.3,114,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2478,3433
$GC,2747,-1.17,-146.6,271.7,-5.0,129,2751,0.00,2.50,0.00,0.000,4,0.000,0.040,2537,1054,3432
$GC,2816,-1.17,-146.6,275.0,-4.9,132,2821,0.00,2.50,0.00,0.000,6,0.000,0.037,2537,2483,3432
$GC,3138,-1.17,-146.6,291.3,-6.6,148,3142,0.00,2.50,0.00,0.000,4,0.000,0.039,2537,1054,3432
$GC,3201,-1.17,-146.6,296.6,-8.5,151,3205,0.00,2.50,0.00,0.000,6,0.000,0.038,2537,2483,3432
$GC,3530,-1.17,-146.6,325.4,-9.2,167,3535,0.00,2.50,0.00,0.000,4,0.000,0.041,2537,1057,3432
$GC,3558,-1.17,-146.6,328.1,-8.8,168,3563,0.00,2.50,0.00,0.000,6,0.000,0.038,2537,2468,3432
$GC,3879,-1.17,-146.6,353.0,-7.5,184,3883,0.00,2.47,0.00,0.000,4,0.000,0.041,2537,1057,3432
$GC,3941,-1.17,-146.6,357.7,-7.0,187,3946,0.00,2.47,0.00,0.000,6,0.000,0.038,2537,2475,3432
$GC,4268,-1.17,-146.6,383.4,-8.9,203,4273,0.00,2.53,0.00,0.000,4,0.000,0.041,2537,1056,3432
$GC,4295,-1.17,-146.6,386.0,-10.0,204,4299,0.00,2.50,0.00,0.000,6,0.000,0.038,2537,2485,3432
$GC,4615,-1.17,-146.6,418.4,-10.7,220,4619,0.00,2.45,0.00,0.000,4,0.000,0.064,2537,3828,3432
$GC,4722,-1.17,-146.6,432.9,-13.6,225,4727,0.00,2.35,0.00,0.000,6,0.000,0.028,2537,2455,3432
$GC,5055,-1.17,-146.6,464.8,-7.3,241,5060,0.00,2.42,0.00,0.000,4,0.000,0.040,2537,1078,3432
$GC,5208,-1.17,-146.6,478.1,-6.8,247,5214,0.00,2.45,0.00,0.000,6,0.000,0.038,2537,2478,3432
$GC,5525,-1.17,-146.6,503.4,-7.8,263,5530,0.00,2.45,0.00,0.000,4,0.000,0.061,2537,3829,3431
$GC,5576,-1.17,-146.6,507.6,-7.1,265,5580,0.00,2.30,0.00,0.000,6,0.000,0.028,2537,2462,3431
$GC,5891,-1.17,-146.6,530.7,-8.9,280,5895,0.00,2.50,0.00,0.000,4,0.000,0.059,2537,3835,3431
$GC,6103,-1.17,-146.6,549.9,-8.2,289,6112,0.00,2.30,0.00,0.000,6,0.000,0.029,2537,2480,3431
$GC,6421,-1.17,-146.6,579.5,-8.1,305,6425,0.00,2.45,0.00,0.000,4,0.000,0.058,2537,3829,3430
$GC,6577,-1.17,-146.6,591.2,-9.8,312,6581,0.00,2.30,0.00,0.000,6,0.000,0.030,2537,2477,3430
$GC,6905,-1.17,-146.6,619.9,-11.0,328,6909,0.00,2.50,0.00,0.000,4,0.000,0.063,2537,3834,3429
$GC,6960,-1.17,-146.6,625.1,-9.0,330,6966,0.00,2.33,0.00,0.000,6,0.000,0.031,2537,2471,3429
$STATE,7046,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7046,begin apogee
$GC,7054,-0.36,0.0,636.9,13.9,335,7189,0.88,0.00,127.35,1.177,6,0.069,0.000,2723,1466,2831
$STATE,7190,end apogee,CONTROL_FINISHED_OK
$STATE,7190,begin climb
$GC,7193,1.17,146.6,647.2,0.0,342,7331,1.50,2.60,128.23,1.141,4,0.048,0.050,3057,2864,2233
$GC,7349,1.17,146.6,641.5,8.6,349,7354,0.00,2.53,0.00,0.000,6,0.000,0.039,3057,1452,2229
$GC,7665,1.19,157.1,628.9,7.1,364,7681,0.00,2.25,9.18,0.990,4,0.000,0.065,3057,273,2191
$GC,8018,1.29,240.4,602.8,4.7,379,8099,0.08,2.08,74.97,1.153,6,0.039,0.035,3093,1462,1851
$GC,8420,1.29,240.4,562.4,8.5,399,8424,0.00,2.50,0.00,0.000,4,0.000,0.048,3093,2851,1842
$GC,8452,1.29,240.4,558.2,12.6,400,8459,0.00,2.47,0.00,0.000,6,0.000,0.041,3093,1451,1841
$GC,8768,1.29,240.4,521.2,12.2,416,8773,0.00,2.53,0.00,0.000,4,0.000,0.044,3093,2854,1839
$GC,8819,1.29,240.4,515.2,10.1,418,8823,0.00,2.47,0.00,0.000,6,0.000,0.040,3093,1453,1838
$GC,9139,1.32,267.1,487.8,6.6,434,9169,0.00,2.28,22.77,1.082,4,0.000,0.060,3094,264,1742
$GC,9311,1.32,267.1,474.6,9.1,441,9318,0.00,2.05,0.00,0.000,6,0.000,0.029,3093,1471,1740
$GC,9627,1.32,267.1,447.2,9.0,457,9631,0.00,2.42,0.00,0.000,4,0.000,0.044,3094,2845,1737
$GC,9698,1.32,267.1,439.4,10.5,460,9704,0.00,2.47,0.00,0.000,6,0.000,0.037,3093,1452,1737
$GC,10020,1.32,267.1,405.4,10.0,476,10021,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1452,1736
$GC,10329,1.32,267.1,369.9,12.0,491,10330,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1452,1736
$GC,10638,1.32,267.1,336.9,9.1,506,10639,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1452,1737
$GC,10950,1.32,267.1,310.4,7.6,521,10951,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1452,1737
$GC,11258,1.32,267.1,283.8,9.0,536,11259,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1452,1737
$GC,11566,1.32,267.1,250.8,11.6,551,11567,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1452,1737
$GC,11875,1.32,267.1,214.0,10.5,566,11879,0.00,2.12,0.00,0.000,4,0.000,0.054,3094,261,1738
$GC,11914,1.32,267.1,209.7,10.4,567,11920,0.00,2.00,0.00,0.000,6,0.000,0.027,3094,1469,1738
$GC,12230,1.46,380.7,192.6,3.6,583,12335,0.10,2.22,99.53,0.869,4,0.051,0.054,3145,262,1279
$GC,12395,1.46,380.7,178.7,12.0,590,12402,0.15,2.00,0.00,0.000,6,0.084,0.028,3116,1447,1274
$GC,12712,1.46,380.7,135.6,13.9,606,12716,0.00,2.12,0.00,0.000,4,0.000,0.052,3115,265,1270
$GC,12768,1.46,380.7,127.4,13.8,608,12771,0.00,1.98,0.00,0.000,6,0.000,0.028,3115,1455,1269
$GC,13089,1.46,380.7,93.8,9.5,624,13093,0.00,2.15,0.00,0.000,4,0.000,0.053,3115,262,1269
$GC,13157,1.46,380.7,85.4,12.7,627,13161,0.00,1.98,0.00,0.000,6,0.000,0.028,3115,1455,1269
$GC,13490,1.46,380.7,44.6,13.1,643,13494,0.00,2.15,0.00,0.000,4,0.000,0.052,3115,258,1268
$GC,13568,1.46,380.7,33.2,15.1,646,13572,0.00,2.00,0.00,0.000,6,0.000,0.028,3115,1457,1267
$STATE,13806,end climb,SURFACE_DEPTH_REACHED
$STATE,13806,begin surface coast
$FINISH,0.1,1.027325
$STATE,13826,end surface coast,CONTROL_FINISHED_OK
$STATE,13827,begin surface
$SM_CCo,13910,0.00,0.000,0,0,1267,383.89
$SM_GC,1.01,11.88,0.00,0.00,0.028,0.000,0.000,398,2454,1267,-10.98,-0.62,383.89
$IRIDIUM_FIX,6135.28,-644.73,050998,212114
$TT8_MAMPS,0.027612
$HUMID,1819
$INTERNAL_PRESSURE,8.06996
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.3,92.7
$24V_AH,23.3,23.019
$10V_AH,10.1,9.802
$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,26.025,126.550,462.025,0.000,0.000,91.754,169.434,288.321,4.500,0.000,0.000,15.132,1262.560,10269.433,523.535,1654.096,985.290,33.351,1429.907,0.000,1750.793,0.000,31.541,0.000
$DEVICE_MAMPS,134.992,65.195,1177.345,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,592.221,449.938,390.646,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34881,659
$CAP_FILE_SIZE,111564,0
$CFSIZE,260165632,255987712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,120609,011447,6154.266,-929.433,41,1.7,51,-9.6