version: 66.04
glider: 105
mission: 6
dive: 36
start: 6 12 109 8 24 0
data:
$ID,105
$MISSION,6
$DIVE,36
$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,-1628721
$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,23
$R_STBD_OVSHOOT,24
$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
$GPS1,081501,6157.779,-926.638,40,1.8,40,-9.6
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-59.9
$GPS2,082308,6157.950,-926.587,13,1.8,13,-9.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,AW
$TGT_LATLONG,6140.000,-930.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.083,-0.225
$KALMAN_X,-175822.2,3908.6,2196.4,107782.9,-27439.8
$KALMAN_Y,109023.7,-1566.7,-1053.0,-44871.1,33259.7
$MHEAD_RNG_PITCHd_Wd,169.4,33378,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.17,-146.6,0.0,0.0,0,82,0.00,0.00,-64.90,0.000,6,0.000,0.000,397,2456,3430
$GC,85,-1.17,-146.6,3.6,-6.9,3,106,11.45,2.47,0.00,0.000,4,0.137,0.035,2534,1055,3432
$GC,331,-1.17,-146.6,36.0,-9.4,14,336,0.00,2.50,0.00,0.000,6,0.000,0.034,2533,2476,3432
$GC,663,-1.17,-146.6,69.7,-11.1,30,668,0.00,2.47,0.00,0.000,4,0.000,0.035,2533,1064,3432
$GC,690,-1.17,-146.6,72.8,-10.7,31,694,0.00,2.45,0.00,0.000,6,0.000,0.033,2534,2475,3432
$GC,1011,-1.17,-146.6,109.8,-11.8,47,1015,0.00,2.47,0.00,0.000,4,0.000,0.035,2534,1050,3432
$GC,1062,-1.17,-146.6,115.9,-11.7,49,1067,0.00,2.47,0.00,0.000,6,0.000,0.032,2534,2478,3432
$GC,1378,-1.17,-146.6,152.5,-11.4,64,1382,0.00,2.47,0.00,0.000,4,0.000,0.036,2534,1053,3433
$GC,1466,-1.17,-146.6,162.4,-10.3,68,1471,0.00,2.47,0.00,0.000,6,0.000,0.034,2534,2474,3433
$GC,1788,-1.17,-146.6,197.3,-11.2,84,1792,0.00,2.47,0.00,0.000,4,0.000,0.037,2534,1053,3433
$GC,1877,-1.17,-146.6,207.8,-11.3,88,1881,0.00,2.47,0.00,0.000,6,0.000,0.035,2534,2478,3433
$GC,2200,-1.17,-146.6,244.8,-11.7,104,2204,0.00,2.47,0.00,0.000,4,0.000,0.038,2533,1058,3433
$GC,2255,-1.17,-146.6,251.8,-12.3,106,2261,0.00,2.47,0.00,0.000,6,0.000,0.037,2534,2475,3432
$GC,2572,-1.17,-146.6,287.8,-11.0,122,2576,0.00,2.47,0.00,0.000,4,0.000,0.039,2534,1055,3432
$GC,2627,-1.17,-146.6,294.3,-11.2,124,2633,0.00,2.50,0.00,0.000,6,0.000,0.038,2534,2483,3432
$GC,2943,-1.17,-146.6,327.4,-10.0,140,2947,0.00,2.47,0.00,0.000,4,0.000,0.039,2534,1059,3432
$GC,2992,-1.17,-146.6,332.5,-9.4,142,2997,0.00,2.47,0.00,0.000,6,0.000,0.038,2534,2475,3432
$GC,3309,-1.17,-146.6,361.1,-9.3,157,3313,0.00,2.47,0.00,0.000,4,0.000,0.041,2534,1059,3432
$GC,3364,-1.17,-146.6,366.4,-9.2,159,3370,0.00,2.50,0.00,0.000,6,0.000,0.038,2534,2483,3432
$GC,3680,-1.17,-146.6,395.2,-9.1,175,3684,0.00,2.50,0.00,0.000,4,0.000,0.041,2534,1055,3432
$GC,3752,-1.17,-146.6,402.0,-9.3,178,3756,0.00,2.50,0.00,0.000,6,0.000,0.038,2534,2483,3432
$GC,4067,-1.17,-146.6,428.4,-8.5,193,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2483,3432
$GC,4379,-1.17,-146.6,455.5,-9.9,208,4383,0.00,2.50,0.00,0.000,4,0.000,0.041,2534,1057,3431
$GC,4496,-1.17,-146.6,467.7,-10.5,213,4500,0.00,2.50,0.00,0.000,6,0.000,0.039,2534,2485,3432
$GC,4811,-1.17,-146.6,499.7,-10.1,228,4815,0.00,2.45,0.00,0.000,4,0.000,0.063,2534,3828,3431
$GC,5147,-1.17,-146.6,531.9,-7.5,243,5151,0.00,2.33,0.00,0.000,6,0.000,0.029,2534,2458,3431
$STATE,5423,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5424,begin apogee
$GC,5431,-0.36,0.0,551.8,7.1,257,5560,0.88,0.00,125.50,1.097,6,0.071,0.000,2719,1461,2832
$STATE,5561,end apogee,CONTROL_FINISHED_OK
$STATE,5561,begin climb
$GC,5564,1.17,146.6,555.2,0.0,263,5700,1.50,2.22,126.35,1.064,4,0.044,0.058,3057,265,2233
$GC,6037,1.17,146.6,522.7,11.8,284,6044,0.00,2.08,0.00,0.000,6,0.000,0.033,3057,1466,2223
$GC,6352,1.17,146.6,484.1,9.4,300,6356,0.00,2.47,0.00,0.000,4,0.000,0.047,3057,2849,2221
$GC,6595,1.27,220.1,476.1,5.0,311,6665,0.00,2.45,63.08,1.068,6,0.000,0.039,3057,1453,1934
$GC,6987,1.27,220.1,442.4,10.1,330,6991,0.00,2.15,0.00,0.000,4,0.000,0.058,3057,265,1925
$GC,7037,1.27,220.1,437.3,9.9,332,7042,0.00,2.03,0.00,0.000,6,0.000,0.031,3057,1456,1925
$GC,7363,1.27,220.1,403.2,11.1,348,7367,0.00,2.45,0.00,0.000,4,0.000,0.042,3057,2842,1924
$GC,7435,1.27,220.1,396.1,10.2,351,7439,0.00,2.42,0.00,0.000,6,0.000,0.035,3057,1452,1923
$GC,7751,1.27,220.1,365.7,10.2,366,7755,0.00,2.42,0.00,0.000,4,0.000,0.038,3057,2845,1922
$GC,7806,1.27,220.1,360.5,9.3,368,7813,0.00,2.45,0.00,0.000,6,0.000,0.035,3057,1437,1922
$GC,8122,1.27,220.1,330.8,9.7,384,8125,0.00,2.10,0.00,0.000,4,0.000,0.055,3057,267,1922
$GC,8195,1.27,220.1,323.4,9.9,387,8199,0.00,1.98,0.00,0.000,6,0.000,0.028,3057,1458,1922
$GC,8521,1.27,220.1,294.9,8.9,403,8525,0.00,2.42,0.00,0.000,4,0.000,0.041,3057,2843,1922
$GC,8576,1.27,220.1,290.2,8.7,405,8583,0.00,2.40,0.00,0.000,6,0.000,0.035,3057,1452,1921
$GC,8892,1.27,220.1,262.3,8.8,421,8896,0.00,2.40,0.00,0.000,4,0.000,0.037,3057,2838,1922
$GC,8913,1.27,220.1,260.4,9.1,422,8917,0.00,2.40,0.00,0.000,6,0.000,0.035,3057,1455,1922
$GC,9234,1.27,220.1,233.5,7.6,438,9235,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1454,1922
$GC,9545,1.27,220.1,209.7,7.7,453,9549,0.00,2.40,0.00,0.000,4,0.000,0.038,3057,2838,1922
$GC,9595,1.27,223.5,205.6,7.4,455,9599,0.00,2.40,0.00,0.000,6,0.000,0.035,3056,1454,1922
$GC,9911,1.27,223.5,181.9,7.6,470,9915,0.00,2.42,0.00,0.000,4,0.000,0.037,3057,2845,1922
$GC,9954,1.27,223.5,178.6,8.1,472,9959,0.00,2.45,0.00,0.000,6,0.000,0.034,3057,1452,1922
$GC,10281,1.28,230.3,154.2,7.3,488,10291,0.00,0.00,8.27,0.755,6,0.000,0.000,3057,1452,1892
$GC,10590,1.28,230.3,129.9,7.8,503,10591,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1452,1892
$GC,10901,1.28,230.3,106.1,7.7,518,10905,0.00,2.42,0.00,0.000,4,0.000,0.038,3057,2838,1891
$GC,10956,1.28,230.3,101.7,8.1,520,10963,0.00,2.42,0.00,0.000,6,0.000,0.034,3057,1458,1891
$GC,11272,1.30,244.3,78.8,7.0,536,11294,0.10,2.20,13.48,0.763,4,0.051,0.053,3091,267,1835
$GC,11311,1.30,244.3,75.4,8.4,537,11317,0.00,2.00,0.00,0.000,6,0.000,0.028,3091,1454,1834
$GC,11627,1.30,244.3,50.0,7.8,553,11630,0.00,2.12,0.00,0.000,4,0.000,0.052,3091,266,1834
$GC,11695,1.30,244.3,44.0,8.5,556,11698,0.00,1.98,0.00,0.000,6,0.000,0.028,3091,1462,1834
$GC,12027,1.30,244.3,14.8,9.0,572,12028,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1464,1833
$STATE,12148,end climb,SURFACE_DEPTH_REACHED
$STATE,12148,begin surface coast
$FINISH,0.6,1.027233
$STATE,12172,end surface coast,CONTROL_FINISHED_OK
$STATE,12172,begin surface
$SM_CCo,12195,34.90,0.742,0,0,1609,300.00
$SM_GC,1.10,0.00,0.00,34.90,0.000,0.000,0.742,398,2460,1609,-11.05,-0.45,300.00
$IRIDIUM_FIX,6135.28,-925.48,060998,080826
$TT8_MAMPS,0.027612
$HUMID,1829
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,13.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,476.1,84.7
$24V_AH,23.3,23.401
$10V_AH,10.1,9.999
$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,25.625,122.575,336.675,34.900,0.000,58.210,72.240,186.606,3.750,0.000,0.000,13.532,1136.598,8881.333,461.532,1517.951,727.505,33.361,1267.658,0.000,1617.427,0.000,26.657,0.000
$DEVICE_MAMPS,136.526,62.894,1096.810,742.456,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,507.927,401.110,413.593,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28511,579
$CAP_FILE_SIZE,99309,0
$CFSIZE,260165632,255864832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,120609,114907,6201.641,-922.115,37,1.0,37,-9.6