version: 66.04
glider: 105
mission: 6
dive: 38
start: 6 12 109 15 4 35
data:
$ID,105
$MISSION,6
$DIVE,38
$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,-1628753.2
$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,26
$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
$GPS1,145854,6203.472,-918.323,39,1.7,39,-9.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-62.5
$GPS2,150343,6203.527,-918.210,9,1.6,14,-9.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,AW
$TGT_LATLONG,6140.000,-930.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.025,-0.238
$KALMAN_X,-160384.0,991.3,628.8,104309.0,-21.7
$KALMAN_Y,127308.9,-3266.1,-2239.5,-49887.2,54062.8
$MHEAD_RNG_PITCHd_Wd,195.7,44787,-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,-59.47,0.000,6,0.000,0.000,395,2454,3432
$GC,81,-1.17,-146.6,4.8,-9.6,3,102,11.52,2.47,0.00,0.000,4,0.138,0.033,2537,1051,3433
$GC,332,-1.17,-146.6,38.3,-10.7,14,336,0.00,2.47,0.00,0.000,6,0.000,0.032,2537,2476,3434
$GC,653,-1.17,-146.6,72.4,-10.6,30,657,0.00,2.45,0.00,0.000,4,0.000,0.035,2537,1058,3434
$GC,725,-1.17,-146.6,80.0,-10.7,33,729,0.00,2.47,0.00,0.000,6,0.000,0.032,2537,2483,3434
$GC,1042,-1.17,-146.6,110.0,-9.6,48,1046,0.00,2.47,0.00,0.000,4,0.000,0.036,2537,1058,3434
$GC,1085,-1.17,-146.6,114.3,-9.0,50,1089,0.00,2.47,0.00,0.000,6,0.000,0.034,2537,2480,3434
$GC,1407,-1.17,-146.6,143.0,-8.7,66,1411,0.00,2.47,0.00,0.000,4,0.000,0.037,2537,1057,3434
$GC,1453,-1.17,-146.6,146.8,-8.4,68,1457,0.00,2.47,0.00,0.000,6,0.000,0.035,2537,2476,3434
$GC,1775,-1.17,-146.6,175.9,-9.6,84,1779,0.00,2.45,0.00,0.000,4,0.000,0.037,2537,1061,3434
$GC,1818,-1.17,-146.6,180.6,-10.1,86,1823,0.00,2.47,0.00,0.000,6,0.000,0.036,2537,2479,3435
$GC,2140,-1.17,-146.6,213.9,-10.4,102,2144,0.00,2.47,0.00,0.000,4,0.000,0.038,2537,1059,3434
$GC,2201,-1.17,-146.6,220.3,-10.0,105,2206,0.00,2.47,0.00,0.000,6,0.000,0.037,2537,2473,3435
$GC,2528,-1.17,-146.6,252.0,-9.6,121,2533,0.00,2.50,0.00,0.000,4,0.000,0.038,2537,1059,3434
$GC,2599,-1.17,-146.6,259.4,-10.0,124,2604,0.00,2.47,0.00,0.000,6,0.000,0.038,2537,2478,3434
$GC,2921,-1.17,-146.6,290.5,-9.5,140,2925,0.00,2.47,0.00,0.000,4,0.000,0.039,2537,1061,3434
$GC,2966,-1.17,-146.6,295.3,-10.3,142,2970,0.00,2.47,0.00,0.000,6,0.000,0.038,2537,2474,3434
$GC,3287,-1.17,-146.6,326.6,-9.5,158,3292,0.00,2.47,0.00,0.000,4,0.000,0.040,2537,1057,3434
$GC,3337,-1.17,-146.6,331.7,-9.1,160,3342,0.00,2.50,0.00,0.000,6,0.000,0.038,2537,2485,3434
$GC,3655,-1.17,-146.6,359.7,-9.0,175,3660,0.00,2.50,0.00,0.000,4,0.000,0.041,2537,1059,3434
$GC,3700,-1.17,-146.6,364.2,-9.4,177,3704,0.00,2.50,0.00,0.000,6,0.000,0.038,2537,2483,3434
$GC,4021,-1.17,-146.6,391.9,-8.4,193,4025,0.00,2.47,0.00,0.000,4,0.000,0.041,2537,1063,3434
$GC,4064,-1.17,-146.6,395.4,-7.7,195,4069,0.00,2.47,0.00,0.000,6,0.000,0.038,2537,2475,3434
$GC,4388,-1.17,-146.6,416.6,-6.0,211,4392,0.00,2.47,0.00,0.000,4,0.000,0.041,2537,1059,3434
$GC,4438,-1.17,-146.6,419.9,-6.0,213,4442,0.00,2.47,0.00,0.000,6,0.000,0.038,2537,2477,3434
$GC,4754,-1.17,-146.6,438.2,-6.5,228,4758,0.00,2.47,0.00,0.000,4,0.000,0.041,2537,1061,3434
$GC,4839,-1.17,-146.6,443.6,-6.4,232,4844,0.00,2.47,0.00,0.000,6,0.000,0.038,2537,2484,3434
$GC,5166,-1.17,-146.6,470.9,-9.2,248,5171,0.00,2.47,0.00,0.000,4,0.000,0.064,2537,3824,3434
$GC,5364,-1.17,-146.6,491.3,-10.3,256,5371,0.00,2.33,0.00,0.000,6,0.000,0.030,2537,2457,3434
$STATE,5389,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5389,begin apogee
$GC,5397,-0.36,0.0,494.3,10.5,258,5525,0.88,0.00,125.38,1.059,6,0.077,0.000,2720,1456,2832
$STATE,5526,end apogee,CONTROL_FINISHED_OK
$STATE,5526,begin climb
$GC,5529,1.17,146.6,498.9,0.0,264,5664,1.50,2.60,125.97,1.025,4,0.039,0.047,3061,2852,2233
$GC,6000,1.17,146.6,464.9,12.4,285,6005,0.00,2.50,0.00,0.000,6,0.000,0.038,3061,1453,2225
$GC,6321,1.17,146.6,440.4,9.5,301,6325,0.00,2.47,0.00,0.000,4,0.000,0.041,3061,2861,2224
$GC,6421,1.17,146.6,431.7,9.1,305,6428,0.00,2.50,0.00,0.000,6,0.000,0.038,3061,1461,2223
$GC,6737,1.20,170.1,404.8,6.7,321,6762,0.00,2.25,20.02,0.980,4,0.000,0.058,3060,265,2137
$GC,6938,1.24,197.8,391.4,6.6,330,6968,0.00,2.03,25.33,0.983,6,0.000,0.028,3061,1487,2025
$GC,7291,1.27,226.8,368.2,6.5,347,7322,0.00,2.42,26.05,0.969,4,0.000,0.041,3061,2836,1906
$GC,7367,1.29,242.2,363.0,7.0,350,7387,0.00,2.42,15.00,0.917,6,0.000,0.036,3061,1452,1844
$GC,7705,1.29,242.2,338.6,7.5,367,7709,0.00,2.45,0.00,0.000,4,0.000,0.038,3060,2843,1839
$GC,7740,1.31,252.9,336.2,7.1,368,7755,0.10,2.42,9.95,0.864,6,0.048,0.035,3111,1452,1801
$GC,8077,1.31,252.9,303.2,10.0,385,8078,0.12,0.00,0.00,0.000,6,0.082,0.000,3084,1452,1798
$GC,8386,1.31,252.9,271.8,10.2,400,8387,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1452,1798
$GC,8696,1.31,252.9,240.9,11.0,415,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1452,1797
$GC,9004,1.31,252.9,207.9,10.5,430,9008,0.00,2.42,0.00,0.000,4,0.000,0.038,3084,2834,1797
$GC,9026,1.31,252.9,205.5,11.2,431,9030,0.00,2.40,0.00,0.000,6,0.000,0.034,3085,1453,1796
$GC,9350,1.31,252.9,171.1,10.9,447,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1453,1797
$GC,9658,1.31,252.9,134.7,11.8,462,9662,0.00,2.42,0.00,0.000,4,0.000,0.036,3084,2844,1797
$GC,9682,1.31,252.9,131.8,11.9,463,9687,0.00,2.42,0.00,0.000,6,0.000,0.033,3084,1445,1796
$GC,10004,1.31,252.9,94.5,11.8,479,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1445,1797
$GC,10315,1.31,252.9,57.3,11.6,494,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1445,1797
$GC,10622,1.31,252.9,22.8,10.0,509,10626,0.00,2.42,0.00,0.000,4,0.000,0.035,3084,2843,1797
$GC,10695,1.31,252.9,15.8,9.6,512,10699,0.00,2.40,0.00,0.000,6,0.000,0.032,3084,1453,1797
$STATE,10843,end climb,SURFACE_DEPTH_REACHED
$STATE,10843,begin surface coast
$FINISH,0.1,1.027182
$STATE,10865,end surface coast,CONTROL_FINISHED_OK
$STATE,10865,begin surface
$SM_CCo,10889,30.27,0.743,0,0,1609,300.00
$SM_GC,1.24,0.00,0.00,30.27,0.000,0.000,0.743,397,2467,1609,-11.05,-0.25,300.00
$IRIDIUM_FIX,6139.81,-926.23,060998,121232
$TT8_MAMPS,0.026845
$HUMID,1817
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.7,76.6
$24V_AH,23.4,23.639
$10V_AH,10.1,10.118
$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,25.850,111.300,347.700,30.275,0.000,22.653,27.581,134.614,3.250,0.000,0.000,14.222,1023.558,7877.442,442.277,1326.657,546.596,33.364,1158.754,0.000,1415.389,0.000,23.400,0.000
$DEVICE_MAMPS,138.060,64.428,1059.227,743.223,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.981,370.084,369.490,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25389,520
$CAP_FILE_SIZE,88689,0
$CFSIZE,260165632,255782912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,120609,180755,6203.626,-916.044,41,1.6,41,-9.6