version: 66.04
glider: 105
mission: 6
dive: 41
start: 6 13 109 0 39 9
data:
$ID,105
$MISSION,6
$DIVE,41
$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,-1628800.6
$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,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
$GPS1,003407,6209.171,-915.217,40,1.2,40,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-60.3
$GPS2,003850,6209.208,-915.095,13,1.2,13,-9.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6209.208,-938.214
$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,14,begin dive
$GC,17,-1.17,-146.6,0.0,0.0,0,83,0.00,0.00,-64.03,0.000,6,0.000,0.000,397,2455,3433
$GC,86,-1.17,-146.6,3.6,-6.7,3,107,11.48,2.53,0.00,0.000,4,0.137,0.051,2538,3831,3434
$GC,444,-1.17,-146.6,55.4,-11.3,19,449,0.00,2.35,0.00,0.000,6,0.000,0.026,2537,2452,3434
$GC,777,-1.17,-146.6,72.9,-2.0,35,781,0.00,2.50,0.00,0.000,4,0.000,0.053,2537,3819,3434
$GC,1010,-1.17,-146.6,81.5,-6.1,45,1014,0.00,2.25,0.00,0.000,6,0.000,0.025,2538,2477,3434
$GC,1326,-1.17,-146.6,101.3,-6.5,60,1331,0.00,2.42,0.00,0.000,4,0.000,0.036,2537,1090,3434
$GC,1368,-1.17,-146.6,103.9,-6.6,61,1374,0.00,2.40,0.00,0.000,6,0.000,0.032,2538,2482,3434
$GC,1683,-1.17,-146.6,128.5,-8.6,77,1687,0.00,2.42,0.00,0.000,4,0.000,0.036,2537,1084,3435
$GC,1723,-1.17,-146.6,132.0,-9.0,79,1728,0.00,2.45,0.00,0.000,6,0.000,0.035,2538,2474,3435
$GC,2055,-1.17,-146.6,161.2,-9.0,95,2059,0.00,2.42,0.00,0.000,4,0.000,0.037,2537,1079,3435
$GC,2105,-1.17,-146.6,165.9,-10.0,97,2109,0.00,2.45,0.00,0.000,6,0.000,0.035,2537,2487,3435
$GC,2421,-1.17,-146.6,195.6,-9.5,112,2425,0.00,2.45,0.00,0.000,4,0.000,0.038,2537,1079,3435
$GC,2502,-1.17,-146.6,203.0,-9.5,115,2508,0.00,2.42,0.00,0.000,6,0.000,0.036,2537,2473,3435
$GC,2820,-1.17,-146.6,231.6,-8.7,131,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2473,3435
$GC,3127,-1.17,-146.6,258.1,-8.7,146,3131,0.00,2.42,0.00,0.000,4,0.000,0.038,2538,1079,3434
$GC,3189,-1.17,-146.6,263.8,-9.0,149,3193,0.00,2.45,0.00,0.000,6,0.000,0.037,2537,2484,3434
$GC,3515,-1.17,-146.6,293.0,-9.0,165,3519,0.00,2.45,0.00,0.000,4,0.000,0.039,2538,1079,3434
$GC,3547,-1.17,-146.6,296.1,-9.5,166,3554,0.00,2.45,0.00,0.000,6,0.000,0.038,2537,2479,3434
$GC,3864,-1.17,-146.6,326.2,-9.7,182,3869,0.00,2.42,0.00,0.000,4,0.000,0.039,2537,1088,3434
$GC,3914,-1.17,-146.6,331.3,-9.5,184,3919,0.00,2.45,0.00,0.000,6,0.000,0.038,2537,2485,3434
$GC,4231,-1.17,-146.6,359.7,-8.6,199,4235,0.00,2.45,0.00,0.000,4,0.000,0.040,2537,1085,3434
$GC,4302,-1.17,-146.6,366.2,-9.0,202,4307,0.00,2.47,0.00,0.000,6,0.000,0.038,2538,2479,3434
$GC,4623,-1.17,-146.6,390.5,-7.1,218,4627,0.00,2.42,0.00,0.000,4,0.000,0.039,2538,1087,3434
$GC,4651,-1.17,-146.6,392.5,-6.7,219,4655,0.00,2.45,0.00,0.000,6,0.000,0.038,2537,2486,3434
$GC,4967,-1.17,-146.6,409.6,-4.6,234,4972,0.00,2.47,0.00,0.000,4,0.000,0.041,2537,1091,3434
$GC,5038,-1.17,-146.6,413.0,-4.8,237,5043,0.00,2.42,0.00,0.000,6,0.000,0.038,2537,2477,3433
$GC,5360,-1.17,-146.6,426.2,-3.6,253,5364,0.00,2.42,0.00,0.000,4,0.000,0.041,2538,1088,3434
$GC,5433,-1.17,-146.6,429.2,-4.2,256,5438,0.00,2.42,0.00,0.000,6,0.000,0.038,2538,2479,3434
$GC,5750,-1.17,-146.6,444.9,-5.4,271,5754,0.00,2.45,0.00,0.000,4,0.000,0.064,2537,3827,3433
$GC,5902,-1.17,-146.6,457.6,-7.6,278,5906,0.00,2.28,0.00,0.000,6,0.000,0.030,2537,2479,3433
$GC,6228,-1.17,-146.6,484.5,-11.7,294,6232,0.00,2.42,0.00,0.000,4,0.000,0.041,2537,1086,3433
$GC,6257,-1.17,-146.6,487.5,-11.3,295,6261,0.00,2.42,0.00,0.000,6,0.000,0.038,2538,2474,3433
$STATE,6467,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6467,begin apogee
$GC,6475,-0.36,0.0,503.9,7.0,305,6604,0.88,0.00,125.32,1.079,6,0.071,0.000,2724,1473,2832
$STATE,6604,end apogee,CONTROL_FINISHED_OK
$STATE,6604,begin climb
$GC,6607,1.17,146.6,508.6,0.0,311,6738,1.52,0.00,126.18,1.036,6,0.054,0.000,3055,1472,2234
$GC,7060,1.24,201.2,482.6,5.6,333,7109,0.00,0.00,47.55,1.022,6,0.000,0.000,3055,1472,2011
$GC,7431,1.28,233.2,458.7,6.4,351,7466,0.10,2.58,28.38,1.006,4,0.048,0.047,3100,2864,1880
$GC,7685,1.28,233.2,432.6,10.0,362,7689,0.00,2.50,0.00,0.000,6,0.000,0.038,3100,1450,1875
$GC,8001,1.28,233.2,401.5,9.8,377,8006,0.00,2.17,0.00,0.000,4,0.000,0.058,3100,267,1873
$GC,8078,1.28,233.2,393.5,10.4,380,8082,0.00,2.03,0.00,0.000,6,0.000,0.029,3100,1479,1873
$GC,8401,1.28,233.2,363.5,9.3,396,8402,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1481,1872
$GC,8709,1.28,233.2,336.6,8.8,411,8711,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1481,1872
$GC,9018,1.28,233.2,306.5,10.0,426,9022,0.00,2.20,0.00,0.000,4,0.000,0.054,3100,264,1871
$GC,9046,1.28,233.2,303.6,10.9,427,9049,0.00,2.00,0.00,0.000,6,0.000,0.028,3100,1459,1871
$GC,9372,1.28,233.2,271.1,9.8,443,9377,0.00,2.45,0.00,0.000,4,0.000,0.042,3100,2839,1871
$GC,9411,1.28,233.2,267.3,9.7,444,9417,0.00,2.42,0.00,0.000,6,0.000,0.035,3100,1446,1871
$GC,9729,1.28,233.2,236.3,9.8,460,9730,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1446,1871
$GC,10035,1.28,233.2,207.9,8.9,475,10037,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1446,1871
$GC,10345,1.30,248.4,184.1,7.0,490,10367,0.00,2.17,13.23,0.822,4,0.000,0.055,3100,271,1819
$GC,10390,1.30,248.4,180.4,8.3,492,10393,0.00,1.98,0.00,0.000,6,0.000,0.028,3100,1456,1818
$GC,10725,1.35,291.8,157.9,6.0,508,10766,0.00,0.00,39.15,0.848,6,0.000,0.000,3100,1458,1642
$GC,11072,1.42,347.0,138.7,5.6,525,11127,0.00,2.25,48.22,0.828,4,0.000,0.053,3100,258,1416
$GC,11150,1.42,347.0,133.0,8.3,528,11156,0.00,2.03,0.00,0.000,6,0.000,0.028,3100,1455,1413
$GC,11467,1.42,347.0,106.8,8.6,544,11468,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1457,1410
$GC,11775,1.42,347.0,74.3,12.3,559,11779,0.00,2.15,0.00,0.000,4,0.000,0.052,3100,264,1408
$GC,11826,1.42,347.0,67.8,13.6,561,11830,0.00,1.98,0.00,0.000,6,0.000,0.028,3100,1460,1407
$GC,12153,1.42,347.0,33.7,10.2,577,12158,0.00,2.42,0.00,0.000,4,0.000,0.039,3100,2838,1407
$GC,12180,1.42,347.0,30.9,9.8,578,12185,0.00,2.40,0.00,0.000,6,0.000,0.034,3100,1452,1407
$STATE,12437,end climb,SURFACE_DEPTH_REACHED
$STATE,12437,begin surface coast
$FINISH,0.1,1.014644
$STATE,12459,end surface coast,CONTROL_FINISHED_OK
$STATE,12459,begin surface
$SM_CCo,12543,0.00,0.000,0,0,1405,350.04
$SM_GC,0.85,11.75,0.00,0.00,0.025,0.000,0.000,395,2467,1405,-10.99,-0.25,350.04
$IRIDIUM_FIX,6139.81,-922.46,060998,212135
$TT8_MAMPS,0.026845
$HUMID,1813
$INTERNAL_PRESSURE,8.07973
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.4,87.5
$24V_AH,23.4,24.030
$10V_AH,10.1,10.306
$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,25.725,112.125,428.025,0.000,0.000,24.134,30.549,123.364,3.250,0.000,0.000,13.921,1134.783,9178.396,480.146,1458.291,578.483,0.000,1276.864,0.000,1559.682,0.000,23.425,0.000
$DEVICE_MAMPS,137.293,63.661,1079.169,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,517.181,411.613,438.037,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28555,592
$CAP_FILE_SIZE,94980,0
$CFSIZE,260165632,255643648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,130609,040930,6210.668,-914.190,36,2.0,41,-9.6