version: 66.04
glider: 105
mission: 6
dive: 34
start: 6 12 109 1 20 41
data:
$ID,105
$MISSION,6
$DIVE,34
$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,-1628676.9
$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,25
$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
$GPS1,011447,6154.266,-929.433,41,1.7,51,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-59.8
$GPS2,011949,6154.316,-929.390,11,1.4,11,-9.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,AW
$TGT_LATLONG,6140.000,-930.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.146,-0.190
$KALMAN_X,-179803.8,3571.4,2591.4,109183.4,-36362.5
$KALMAN_Y,94698.7,-1110.6,-802.3,-38011.4,20158.9
$MHEAD_RNG_PITCHd_Wd,152.0,26519,-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,-146.6,0.0,0.0,0,90,0.00,0.00,-71.07,0.000,6,0.000,0.000,398,2455,3430
$GC,93,-1.17,-146.6,2.7,-4.4,3,114,11.45,2.50,0.00,0.000,4,0.136,0.034,2535,1051,3431
$GC,354,-1.17,-146.6,39.7,-9.7,14,361,0.00,2.47,0.00,0.000,6,0.000,0.032,2535,2484,3431
$GC,670,-1.17,-146.6,68.8,-8.9,30,674,0.00,2.47,0.00,0.000,4,0.000,0.034,2535,1055,3432
$GC,710,-1.17,-146.6,72.2,-8.6,32,715,0.00,2.47,0.00,0.000,6,0.000,0.031,2535,2471,3432
$GC,1043,-1.17,-146.6,105.3,-11.6,48,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2471,3432
$GC,1353,-1.17,-146.6,143.1,-13.4,63,1357,0.00,2.45,0.00,0.000,4,0.000,0.035,2535,1057,3432
$GC,1424,-1.17,-146.6,151.8,-11.0,66,1428,0.00,2.47,0.00,0.000,6,0.000,0.032,2535,2485,3432
$GC,1740,-1.17,-146.6,187.1,-11.3,81,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2486,3432
$GC,2051,-1.17,-146.6,220.5,-10.3,96,2055,0.00,2.50,0.00,0.000,4,0.000,0.038,2535,1054,3432
$GC,2139,-1.17,-146.6,230.2,-9.9,100,2144,0.00,2.47,0.00,0.000,6,0.000,0.035,2535,2474,3432
$GC,2462,-1.17,-146.6,261.1,-9.1,116,2466,0.00,2.47,0.00,0.000,4,0.000,0.038,2535,1056,3432
$GC,2506,-1.17,-146.6,265.4,-8.7,118,2510,0.00,2.47,0.00,0.000,6,0.000,0.035,2535,2476,3432
$GC,2827,-1.17,-146.6,293.8,-9.5,134,2831,0.00,2.47,0.00,0.000,4,0.000,0.038,2535,1056,3432
$GC,2876,-1.17,-146.6,298.8,-9.9,136,2881,0.00,2.47,0.00,0.000,6,0.000,0.037,2535,2475,3432
$GC,3193,-1.17,-146.6,327.3,-8.6,151,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2475,3432
$GC,3502,-1.17,-146.6,354.4,-8.1,166,3506,0.00,2.47,0.00,0.000,4,0.000,0.039,2535,1061,3432
$GC,3545,-1.17,-146.6,358.2,-8.0,168,3549,0.00,2.47,0.00,0.000,6,0.000,0.037,2535,2475,3431
$GC,3866,-1.17,-146.6,388.7,-10.7,184,3871,0.00,2.47,0.00,0.000,4,0.000,0.040,2535,1059,3431
$GC,3911,-1.17,-146.6,393.9,-12.0,186,3915,0.00,2.47,0.00,0.000,6,0.000,0.037,2535,2477,3432
$GC,4232,-1.17,-146.6,423.8,-6.9,202,4236,0.00,2.47,0.00,0.000,4,0.000,0.040,2535,1059,3431
$GC,4321,-1.17,-146.6,432.2,-9.5,206,4326,0.00,2.47,0.00,0.000,6,0.000,0.038,2535,2477,3432
$GC,4642,-1.17,-146.6,460.9,-8.7,222,4647,0.00,2.47,0.00,0.000,4,0.000,0.041,2535,1063,3431
$GC,4687,-1.17,-146.6,465.2,-9.6,224,4691,0.00,2.47,0.00,0.000,6,0.000,0.038,2535,2477,3431
$GC,5010,-1.17,-146.6,496.2,-9.5,240,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2477,3431
$GC,5317,-1.17,-146.6,523.9,-8.2,255,5321,0.00,2.47,0.00,0.000,4,0.000,0.064,2535,3834,3431
$GC,5659,-1.17,-146.6,551.4,-8.2,270,5664,0.00,2.33,0.00,0.000,6,0.000,0.029,2535,2459,3430
$GC,5975,-1.17,-146.6,573.4,-6.4,285,5979,0.00,2.50,0.00,0.000,4,0.000,0.061,2535,3828,3430
$GC,6092,-1.17,-146.6,584.6,-10.3,290,6096,0.00,2.30,0.00,0.000,6,0.000,0.031,2535,2478,3430
$STATE,6281,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6281,begin apogee
$GC,6289,-0.36,0.0,603.0,10.2,299,6424,0.88,0.00,126.65,1.143,6,0.071,0.000,2720,1461,2832
$STATE,6425,end apogee,CONTROL_FINISHED_OK
$STATE,6425,begin climb
$GC,6428,1.17,146.6,608.3,0.0,306,6564,1.55,2.60,127.95,1.111,4,0.064,0.051,3051,2861,2233
$GC,6903,1.26,216.9,585.9,5.1,327,6972,0.10,2.53,61.40,1.109,6,0.048,0.043,3097,1449,1947
$GC,7282,1.26,216.9,542.8,11.1,346,7287,0.10,2.55,0.00,0.000,4,0.091,0.046,3076,2863,1938
$GC,7488,1.26,216.9,524.9,8.0,355,7493,0.00,2.50,0.00,0.000,6,0.000,0.044,3076,1453,1935
$GC,7804,1.26,216.9,498.6,9.3,370,7808,0.00,2.50,0.00,0.000,4,0.000,0.043,3075,2863,1934
$GC,7870,1.26,216.9,492.0,9.9,373,7874,0.00,2.47,0.00,0.000,6,0.000,0.039,3076,1453,1934
$GC,8191,1.26,216.9,461.5,9.1,389,8193,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1454,1933
$GC,8503,1.26,216.9,431.4,9.5,404,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1453,1932
$GC,8810,1.26,216.9,398.0,9.8,419,8814,0.00,2.50,0.00,0.000,4,0.000,0.039,3076,2873,1932
$GC,8850,1.26,216.9,394.0,10.7,421,8854,0.00,2.47,0.00,0.000,6,0.000,0.035,3076,1451,1931
$GC,9176,1.26,216.9,357.2,12.0,437,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1450,1932
$GC,9485,1.26,216.9,320.7,10.9,452,9488,0.00,2.12,0.00,0.000,4,0.000,0.056,3076,266,1932
$GC,9514,1.26,216.9,317.2,12.6,453,9517,0.00,2.05,0.00,0.000,6,0.000,0.028,3076,1493,1932
$GC,9840,1.26,216.9,276.2,12.7,469,9841,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1496,1932
$GC,10149,1.26,216.9,236.1,13.3,484,10150,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1496,1932
$GC,10461,1.26,216.9,198.5,11.2,499,10462,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1496,1933
$GC,10768,1.26,216.9,165.6,10.8,514,10769,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1496,1933
$GC,11078,1.26,216.9,130.5,12.3,529,11081,0.00,2.20,0.00,0.000,4,0.000,0.052,3076,266,1933
$GC,11111,1.26,216.9,126.3,13.2,530,11115,0.00,1.98,0.00,0.000,6,0.000,0.028,3076,1456,1933
$GC,11434,1.26,216.9,93.6,8.7,546,11435,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1457,1933
$GC,11741,1.26,216.9,66.6,9.0,561,11746,0.00,2.40,0.00,0.000,4,0.000,0.039,3076,2836,1934
$GC,11797,1.26,216.9,61.6,8.5,563,11804,0.00,2.38,0.00,0.000,6,0.000,0.033,3076,1452,1933
$GC,12113,1.26,216.9,36.5,8.3,579,12117,0.00,2.38,0.00,0.000,4,0.000,0.035,3076,2838,1935
$GC,12152,1.26,216.9,32.9,9.0,581,12157,0.00,2.40,0.00,0.000,6,0.000,0.033,3076,1462,1934
$GC,12485,1.26,216.9,4.3,9.2,597,12486,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1462,1935
$STATE,12503,end climb,SURFACE_DEPTH_REACHED
$STATE,12503,begin surface coast
$FINISH,0.5,1.027234
$STATE,12525,end surface coast,CONTROL_FINISHED_OK
$STATE,12525,begin surface
$SM_CCo,12548,51.05,0.743,0,0,1608,300.00
$SM_GC,0.68,0.00,0.00,51.05,0.000,0.000,0.743,397,2466,1608,-11.05,-0.25,300.00
$IRIDIUM_FIX,6126.23,-941.99,050998,212121
$TT8_MAMPS,0.027612
$HUMID,1791
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,525.2,87.3
$24V_AH,23.3,23.141
$10V_AH,10.1,9.868
$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,25.700,100.700,316.000,51.050,0.000,27.313,28.210,136.798,4.250,0.000,0.000,12.003,1145.769,9245.122,449.712,1466.468,599.114,33.360,1214.213,0.000,1577.905,0.000,29.891,0.000
$DEVICE_MAMPS,135.759,63.661,1142.830,743.223,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,525.350,410.147,408.745,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31812,599
$CAP_FILE_SIZE,93274,0
$CFSIZE,260165632,255959040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,120609,045206,6155.815,-928.260,41,0.9,46,-9.6