version: 66.04
glider: 105
mission: 6
dive: 37
start: 6 12 109 11 54 36
data:
$ID,105
$MISSION,6
$DIVE,37
$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,-1628738.4
$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,27
$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
$GPS1,114907,6201.641,-922.115,37,1.0,37,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-62.0
$GPS2,115344,6201.746,-922.020,16,1.1,16,-9.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,AW
$TGT_LATLONG,6140.000,-930.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.018,-0.239
$KALMAN_X,-167774.8,2141.5,1758.1,105998.4,-13304.6
$KALMAN_Y,120018.8,-2304.7,-1082.7,-48058.0,43223.1
$MHEAD_RNG_PITCHd_Wd,185.3,40879,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-59.42,0.000,6,0.000,0.000,398,2460,3431
$GC,81,-1.17,-146.6,4.8,-9.5,3,102,11.48,2.47,0.00,0.000,4,0.137,0.033,2535,1056,3432
$GC,327,-1.17,-146.6,39.8,-11.8,14,332,0.00,2.47,0.00,0.000,6,0.000,0.033,2534,2469,3433
$GC,659,-1.17,-146.6,80.5,-12.8,30,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2468,3433
$GC,969,-1.17,-146.6,120.6,-12.0,45,973,0.00,2.45,0.00,0.000,4,0.000,0.035,2534,1057,3433
$GC,1042,-1.17,-146.6,129.4,-11.9,48,1046,0.00,2.45,0.00,0.000,6,0.000,0.032,2535,2472,3433
$GC,1357,-1.17,-146.6,165.7,-10.9,63,1361,0.00,2.45,0.00,0.000,4,0.000,0.036,2534,1061,3433
$GC,1396,-1.17,-146.6,170.2,-10.8,65,1401,0.00,2.45,0.00,0.000,6,0.000,0.035,2534,2473,3434
$GC,1723,-1.17,-146.6,206.7,-11.2,81,1727,0.00,2.45,0.00,0.000,4,0.000,0.037,2534,1062,3434
$GC,1778,-1.17,-146.6,213.0,-10.5,83,1785,0.00,2.47,0.00,0.000,6,0.000,0.036,2534,2482,3433
$GC,2094,-1.17,-146.6,247.1,-10.8,99,2098,0.00,2.47,0.00,0.000,4,0.000,0.038,2534,1062,3434
$GC,2139,-1.17,-146.6,252.4,-11.6,101,2144,0.00,2.47,0.00,0.000,6,0.000,0.038,2534,2474,3434
$GC,2459,-1.17,-146.6,290.8,-11.6,117,2464,0.00,2.50,0.00,0.000,4,0.000,0.039,2535,1060,3433
$GC,2527,-1.17,-146.6,298.9,-12.4,120,2531,0.00,2.47,0.00,0.000,6,0.000,0.038,2534,2478,3433
$GC,2853,-1.17,-146.6,334.1,-10.8,136,2857,0.00,2.47,0.00,0.000,4,0.000,0.040,2534,1061,3433
$GC,2909,-1.17,-146.6,340.0,-10.0,138,2915,0.00,2.47,0.00,0.000,6,0.000,0.038,2535,2474,3434
$GC,3224,-1.17,-146.6,371.9,-10.6,154,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2474,3433
$GC,3536,-1.17,-146.6,402.8,-9.9,169,3540,0.00,2.47,0.00,0.000,4,0.000,0.041,2534,1061,3433
$GC,3642,-1.17,-146.6,413.2,-8.3,174,3647,0.00,2.47,0.00,0.000,6,0.000,0.039,2534,2479,3433
$GC,3969,-1.17,-146.6,443.6,-9.6,190,3973,0.00,2.47,0.00,0.000,4,0.000,0.041,2534,1065,3433
$GC,4069,-1.17,-146.6,452.8,-9.1,194,4076,0.00,2.47,0.00,0.000,6,0.000,0.039,2534,2481,3433
$GC,4385,-1.17,-146.6,470.8,-3.4,210,4389,0.00,2.45,0.00,0.000,4,0.000,0.065,2534,3826,3433
$GC,4549,-1.17,-146.6,479.0,-7.3,217,4553,0.00,2.33,0.00,0.000,6,0.000,0.030,2534,2455,3433
$GC,4864,-1.17,-146.6,500.6,-8.6,232,4868,0.00,2.53,0.00,0.000,4,0.000,0.064,2534,3826,3432
$GC,4981,-1.17,-146.6,507.7,-1.0,237,4985,0.00,2.30,0.00,0.000,6,0.000,0.031,2535,2472,3431
$STATE,5171,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5171,begin apogee
$GC,5179,-0.36,0.0,520.6,7.1,246,5308,0.88,0.00,124.90,1.096,6,0.073,0.000,2719,1466,2832
$STATE,5308,end apogee,CONTROL_FINISHED_OK
$STATE,5308,begin climb
$GC,5311,1.17,146.6,523.9,0.0,252,5445,1.52,2.25,125.93,1.057,4,0.055,0.061,3051,267,2233
$GC,5497,1.17,146.6,515.5,9.0,260,5504,0.00,2.08,0.00,0.000,6,0.000,0.033,3051,1467,2228
$GC,5813,1.17,146.6,491.7,8.1,276,5816,0.00,2.22,0.00,0.000,4,0.000,0.061,3051,260,2224
$GC,6020,1.21,172.8,476.9,6.6,285,6048,0.00,2.05,22.42,1.025,6,0.000,0.032,3051,1458,2127
$GC,6367,1.29,237.1,457.7,5.3,302,6430,0.12,2.60,57.15,1.056,4,0.041,0.047,3103,2853,1864
$GC,6521,1.32,262.7,448.6,6.6,309,6550,0.00,2.53,23.52,1.008,6,0.000,0.040,3103,1450,1760
$GC,6874,1.32,262.7,416.8,9.7,326,6875,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1450,1752
$GC,7183,1.32,262.7,389.3,7.6,341,7186,0.00,2.15,0.00,0.000,4,0.000,0.057,3103,262,1751
$GC,7244,1.32,262.7,384.4,8.2,343,7250,0.00,2.05,0.00,0.000,6,0.000,0.028,3103,1466,1751
$GC,7559,1.32,262.7,359.6,8.7,359,7560,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1466,1749
$GC,7868,1.32,262.7,329.5,10.3,374,7873,0.00,2.40,0.00,0.000,4,0.000,0.042,3103,2836,1749
$GC,7896,1.32,262.7,326.5,11.2,375,7900,0.00,2.42,0.00,0.000,6,0.000,0.035,3103,1448,1748
$GC,8211,1.32,262.7,295.5,9.6,390,8215,0.00,2.12,0.00,0.000,4,0.000,0.055,3103,264,1748
$GC,8250,1.32,262.7,291.4,10.5,391,8256,0.00,2.00,0.00,0.000,6,0.000,0.028,3103,1458,1749
$GC,8568,1.32,262.7,261.5,9.7,407,8572,0.00,2.42,0.00,0.000,4,0.000,0.041,3103,2842,1749
$GC,8600,1.32,262.7,258.0,9.7,408,8607,0.00,2.40,0.00,0.000,6,0.000,0.035,3103,1454,1748
$GC,8916,1.32,262.7,225.0,11.0,424,8919,0.00,2.12,0.00,0.000,4,0.000,0.054,3103,265,1749
$GC,8961,1.32,262.7,219.7,12.2,426,8965,0.00,2.00,0.00,0.000,6,0.000,0.028,3103,1461,1748
$GC,9294,1.32,262.7,182.9,11.3,442,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1464,1748
$GC,9603,1.32,262.7,148.2,11.1,457,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1464,1748
$GC,9913,1.32,262.7,112.5,11.6,472,9916,0.00,2.15,0.00,0.000,4,0.000,0.053,3103,265,1748
$GC,9981,1.32,262.7,104.4,11.7,475,9984,0.00,2.00,0.00,0.000,6,0.000,0.029,3103,1462,1749
$GC,10314,1.32,262.7,67.2,11.3,491,10318,0.00,2.40,0.00,0.000,4,0.000,0.041,3103,2839,1749
$GC,10335,1.32,262.7,64.4,11.5,492,10339,0.00,2.40,0.00,0.000,6,0.000,0.034,3103,1453,1749
$GC,10658,1.32,262.7,29.7,10.3,508,10662,0.00,2.12,0.00,0.000,4,0.000,0.053,3103,258,1749
$GC,10714,1.32,262.7,23.1,11.9,510,10717,0.00,2.00,0.00,0.000,6,0.000,0.028,3103,1460,1750
$STATE,10909,end climb,SURFACE_DEPTH_REACHED
$STATE,10909,begin surface coast
$FINISH,0.0,1.027192
$STATE,10931,end surface coast,CONTROL_FINISHED_OK
$STATE,10931,begin surface
$SM_CCo,10954,24.58,0.743,0,0,1609,300.00
$SM_GC,0.68,0.00,0.00,24.58,0.000,0.000,0.743,395,2454,1609,-11.06,-0.62,300.00
$IRIDIUM_FIX,6130.75,-924.73,060998,080839
$TT8_MAMPS,0.027612
$HUMID,1838
$INTERNAL_PRESSURE,8.08949
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.4,104.8
$24V_AH,23.3,23.522
$10V_AH,10.1,10.058
$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,25.725,106.475,353.925,24.575,0.000,29.332,25.231,114.883,3.250,0.000,0.000,16.809,1006.412,7981.235,442.548,1301.902,530.077,33.367,1154.813,0.000,1384.776,0.000,23.480,0.000
$DEVICE_MAMPS,137.293,65.195,1096.043,743.223,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.457,371.866,351.096,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25380,521
$CAP_FILE_SIZE,86246,0
$CFSIZE,260165632,255827968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120609,145854,6203.472,-918.323,39,1.7,39,-9.6