version: 66.04
glider: 105
mission: 6
dive: 39
start: 6 12 109 18 12 56
data:
$ID,105
$MISSION,6
$DIVE,39
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,270
$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,-1628771.1
$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,39
$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
$GPS1,180755,6203.626,-916.044,41,1.6,41,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-61.8
$GPS2,181237,6203.652,-916.000,12,1.3,17,-9.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6203.652,-939.049
$TGT_RADIUS,1852.000
$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,279.6,20000,-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,-59.10,0.000,6,0.000,0.000,398,2469,3431
$GC,81,-1.17,-146.6,4.9,-9.7,3,101,11.50,2.47,0.00,0.000,4,0.137,0.053,2543,3816,3431
$GC,438,-1.17,-146.6,50.6,-11.2,19,443,0.00,2.33,0.00,0.000,6,0.000,0.026,2543,2445,3432
$GC,770,-1.17,-146.6,81.9,-9.8,35,774,0.00,2.47,0.00,0.000,4,0.000,0.054,2543,3815,3433
$GC,998,-1.17,-146.6,105.7,-10.3,45,1003,0.00,2.25,0.00,0.000,6,0.000,0.025,2542,2485,3433
$GC,1319,-1.17,-146.6,134.7,-9.1,61,1323,0.00,2.42,0.00,0.000,4,0.000,0.037,2543,1080,3433
$GC,1381,-1.17,-146.6,140.3,-8.7,64,1385,0.00,2.38,0.00,0.000,6,0.000,0.031,2543,2469,3433
$GC,1707,-1.17,-146.6,168.8,-8.8,80,1711,0.00,2.40,0.00,0.000,4,0.000,0.037,2543,1088,3433
$GC,1761,-1.17,-146.6,174.0,-9.4,82,1767,0.00,2.40,0.00,0.000,6,0.000,0.033,2543,2474,3433
$GC,2077,-1.17,-146.6,203.2,-9.1,98,2081,0.00,2.42,0.00,0.000,4,0.000,0.038,2543,1082,3433
$GC,2143,-1.17,-146.6,209.1,-8.6,101,2148,0.00,2.45,0.00,0.000,6,0.000,0.036,2543,2471,3433
$GC,2469,-1.17,-146.6,235.7,-7.8,117,2473,0.00,2.42,0.00,0.000,4,0.000,0.039,2543,1081,3433
$GC,2537,-1.17,-146.6,241.0,-7.7,120,2541,0.00,2.45,0.00,0.000,6,0.000,0.037,2543,2484,3433
$GC,2861,-1.17,-146.6,264.9,-7.4,136,2865,0.00,2.45,0.00,0.000,4,0.000,0.039,2543,1081,3433
$GC,2904,-1.17,-146.6,268.4,-7.5,138,2909,0.00,2.45,0.00,0.000,6,0.000,0.038,2543,2480,3433
$GC,3229,-1.17,-146.6,291.9,-7.3,154,3233,0.00,2.42,0.00,0.000,4,0.000,0.040,2543,1089,3433
$GC,3284,-1.17,-146.6,296.6,-8.2,156,3290,0.00,2.42,0.00,0.000,6,0.000,0.038,2543,2476,3433
$GC,3600,-1.17,-146.6,322.8,-8.6,172,3604,0.00,2.42,0.00,0.000,4,0.000,0.040,2543,1084,3433
$GC,3667,-1.17,-146.6,328.8,-9.2,175,3671,0.00,2.45,0.00,0.000,6,0.000,0.038,2543,2482,3432
$GC,3988,-1.17,-146.6,356.3,-8.2,191,3992,0.00,2.42,0.00,0.000,4,0.000,0.040,2543,1091,3432
$GC,4021,-1.17,-146.6,359.0,-8.0,192,4027,0.00,2.42,0.00,0.000,6,0.000,0.038,2543,2477,3433
$GC,4337,-1.17,-146.6,381.7,-6.9,208,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2477,3432
$GC,4649,-1.17,-146.6,400.4,-5.6,223,4653,0.00,2.42,0.00,0.000,4,0.000,0.041,2543,1091,3432
$GC,4713,-1.17,-146.6,403.9,-5.7,226,4717,0.00,2.42,0.00,0.000,6,0.000,0.038,2543,2478,3432
$GC,5039,-1.17,-146.6,420.5,-6.1,242,5044,0.00,2.45,0.00,0.000,4,0.000,0.041,2543,1098,3432
$GC,5084,-1.17,-146.6,423.8,-7.8,244,5089,0.00,2.42,0.00,0.000,6,0.000,0.038,2543,2475,3432
$GC,5415,-1.17,-146.6,454.3,-9.4,260,5419,0.00,2.42,0.00,0.000,4,0.000,0.041,2543,1089,3432
$GC,5488,-1.17,-146.6,460.4,-9.1,263,5493,0.00,2.42,0.00,0.000,6,0.000,0.038,2543,2478,3432
$GC,5804,-1.17,-146.6,487.6,-5.4,278,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2478,3432
$STATE,5822,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5822,begin apogee
$GC,5830,-0.36,0.0,489.1,5.7,279,5958,0.85,0.00,124.60,1.053,6,0.074,0.000,2722,1476,2832
$STATE,5958,end apogee,CONTROL_FINISHED_OK
$STATE,5959,begin climb
$GC,5961,1.17,146.6,496.3,0.0,285,6096,1.52,2.30,125.60,1.023,4,0.053,0.061,3056,271,2233
$GC,6148,1.17,146.6,492.3,9.7,293,6155,0.00,2.08,0.00,0.000,6,0.000,0.034,3057,1468,2229
$GC,6464,1.26,217.0,476.2,5.1,309,6534,0.00,2.28,61.17,1.023,4,0.000,0.060,3057,265,1946
$GC,6641,1.43,353.3,470.2,2.8,317,6768,0.25,2.03,119.68,1.015,6,0.034,0.034,3127,1457,1391
$GC,7075,1.43,353.3,427.7,14.1,338,7079,0.00,2.17,0.00,0.000,4,0.000,0.058,3127,267,1380
$GC,7110,1.43,353.3,422.5,16.0,339,7114,0.00,2.00,0.00,0.000,6,0.000,0.030,3127,1460,1379
$GC,7431,1.43,353.3,376.4,13.6,355,7432,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1462,1378
$GC,7741,1.43,353.3,336.8,12.6,370,7744,0.00,2.17,0.00,0.000,4,0.000,0.055,3127,264,1376
$GC,7797,1.43,353.3,329.2,13.7,372,7801,0.00,2.00,0.00,0.000,6,0.000,0.029,3127,1460,1376
$GC,8118,1.43,353.3,286.8,13.4,388,8122,0.00,2.17,0.00,0.000,4,0.000,0.055,3127,264,1376
$GC,8168,1.43,353.3,279.2,15.1,390,8172,0.00,2.00,0.00,0.000,6,0.000,0.030,3127,1459,1375
$GC,8495,1.43,353.3,233.2,13.7,406,8499,0.00,2.17,0.00,0.000,4,0.000,0.054,3127,262,1375
$GC,8569,1.43,353.3,222.5,14.9,409,8573,0.00,2.00,0.00,0.000,6,0.000,0.029,3127,1456,1375
$GC,8896,1.43,353.3,180.3,13.0,425,8899,0.00,2.15,0.00,0.000,4,0.000,0.054,3127,265,1375
$GC,8941,1.43,353.3,173.7,14.7,427,8946,0.00,2.03,0.00,0.000,6,0.000,0.029,3127,1454,1375
$GC,9273,1.43,353.3,132.3,11.0,443,9277,0.00,2.15,0.00,0.000,4,0.000,0.054,3127,260,1375
$GC,9324,1.43,353.3,126.1,13.0,445,9328,0.00,2.00,0.00,0.000,6,0.000,0.028,3127,1456,1375
$GC,9651,1.43,353.3,84.2,12.5,461,9656,0.00,2.17,0.00,0.000,4,0.000,0.053,3127,265,1375
$GC,9678,1.43,353.3,80.7,13.6,462,9682,0.00,2.00,0.00,0.000,6,0.000,0.028,3127,1458,1376
$GC,10005,1.43,353.3,39.2,13.4,478,10009,0.00,2.15,0.00,0.000,4,0.000,0.053,3127,265,1375
$GC,10163,1.43,353.3,16.3,13.8,485,10168,0.00,2.00,0.00,0.000,6,0.000,0.029,3127,1456,1376
$STATE,10267,end climb,SURFACE_DEPTH_REACHED
$STATE,10267,begin surface coast
$FINISH,0.4,1.027200
$STATE,10288,end surface coast,CONTROL_FINISHED_OK
$STATE,10288,begin surface
$SM_CCo,10372,0.00,0.000,0,0,1374,357.65
$SM_GC,1.02,11.80,0.00,0.00,0.023,0.000,0.000,396,2466,1374,-10.98,-0.31,357.65
$IRIDIUM_FIX,6139.81,-836.39,060998,151511
$TT8_MAMPS,0.026845
$HUMID,1811
$INTERNAL_PRESSURE,8.07973
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.5,47.5
$24V_AH,23.4,23.774
$10V_AH,10.1,10.175
$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,25.925,108.525,431.050,0.000,0.000,31.231,25.984,117.576,4.000,0.000,0.000,17.245,970.861,7381.178,459.531,1315.068,532.416,0.000,1199.063,0.000,1390.518,0.000,30.744,0.000
$DEVICE_MAMPS,137.293,61.360,1053.091,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.489,344.242,347.452,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25439,491
$CAP_FILE_SIZE,85361,0
$CFSIZE,260165632,255741952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,120609,210706,6205.680,-917.154,36,1.0,41,-9.6