version: 66.04
glider: 105
mission: 6
dive: 45
start: 6 13 109 14 25 3
data:
$ID,105
$MISSION,6
$DIVE,45
$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,-1628882.1
$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,22
$R_STBD_OVSHOOT,26
$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
$GPS1,142000,6215.476,-921.499,36,1.4,41,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-57.8
$GPS2,142444,6215.503,-921.506,15,1.5,15,-9.7
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6215.503,-944.706
$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,279.7,20000,-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,-146.6,0.0,0.0,0,97,0.00,0.00,-75.18,0.000,6,0.000,0.000,393,2452,3432
$GC,100,-1.17,-146.6,5.8,-8.3,4,121,11.48,2.50,0.00,0.000,4,0.136,0.053,2534,3832,3433
$GC,458,-1.17,-146.6,49.5,-9.1,20,463,0.00,2.35,0.00,0.000,6,0.000,0.026,2534,2448,3434
$GC,790,-1.17,-146.6,80.6,-9.7,36,794,0.00,2.50,0.00,0.000,4,0.000,0.054,2534,3828,3434
$GC,830,-1.17,-146.6,84.6,-10.3,38,835,0.00,2.30,0.00,0.000,6,0.000,0.026,2534,2477,3434
$GC,1162,-1.17,-146.6,115.2,-8.7,54,1167,0.00,2.42,0.00,0.000,4,0.000,0.038,2534,1076,3434
$GC,1212,-1.17,-146.6,119.4,-8.1,56,1217,0.00,2.42,0.00,0.000,6,0.000,0.031,2534,2481,3434
$GC,1528,-1.17,-146.6,143.7,-7.5,71,1532,0.00,2.42,0.00,0.000,4,0.000,0.036,2534,1082,3435
$GC,1561,-1.17,-146.6,146.2,-7.5,72,1568,0.00,2.42,0.00,0.000,6,0.000,0.035,2534,2474,3434
$GC,1877,-1.17,-146.6,172.4,-8.9,88,1881,0.00,2.42,0.00,0.000,4,0.000,0.037,2534,1079,3435
$GC,1939,-1.17,-146.6,178.2,-9.5,91,1943,0.00,2.42,0.00,0.000,6,0.000,0.035,2534,2475,3435
$GC,2265,-1.17,-146.6,209.9,-10.0,107,2270,0.00,2.42,0.00,0.000,4,0.000,0.038,2534,1084,3434
$GC,2315,-1.17,-146.6,215.2,-10.2,109,2320,0.00,2.42,0.00,0.000,6,0.000,0.036,2534,2473,3434
$GC,2631,-1.17,-146.6,244.6,-9.1,124,2636,0.00,2.45,0.00,0.000,4,0.000,0.038,2534,1088,3434
$GC,2663,-1.17,-146.6,247.7,-8.9,125,2667,0.00,2.42,0.00,0.000,6,0.000,0.037,2534,2477,3435
$GC,2980,-1.17,-146.6,275.5,-8.6,140,2984,0.00,2.45,0.00,0.000,4,0.000,0.039,2534,1076,3435
$GC,3024,-1.17,-146.6,279.5,-8.7,142,3029,0.00,2.45,0.00,0.000,6,0.000,0.037,2534,2478,3435
$GC,3346,-1.17,-146.6,307.3,-9.2,158,3350,0.00,2.42,0.00,0.000,4,0.000,0.039,2534,1085,3434
$GC,3435,-1.17,-146.6,315.9,-9.6,162,3439,0.00,2.45,0.00,0.000,6,0.000,0.038,2534,2477,3434
$GC,3756,-1.17,-146.6,349.4,-11.7,178,3761,0.00,2.45,0.00,0.000,4,0.000,0.039,2534,1076,3434
$GC,3789,-1.17,-146.6,353.5,-12.5,179,3793,0.00,2.45,0.00,0.000,6,0.000,0.037,2534,2476,3434
$GC,4105,-1.17,-146.6,391.3,-12.1,194,4109,0.00,2.42,0.00,0.000,4,0.000,0.040,2534,1085,3435
$GC,4161,-1.17,-146.6,397.6,-11.5,196,4167,0.00,2.45,0.00,0.000,6,0.000,0.038,2534,2485,3435
$GC,4477,-1.17,-146.6,432.9,-10.6,212,4481,0.00,2.45,0.00,0.000,4,0.000,0.062,2534,3833,3434
$GC,4545,-1.17,-146.6,440.5,-11.1,215,4549,0.00,2.30,0.00,0.000,6,0.000,0.028,2534,2474,3434
$GC,4869,-1.17,-146.6,452.3,0.1,231,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2473,3434
$GC,5176,-1.17,-146.6,467.5,-7.1,246,5180,0.00,2.45,0.00,0.000,4,0.000,0.042,2535,1069,3434
$GC,5265,-1.17,-146.6,474.9,-8.5,250,5270,0.00,2.47,0.00,0.000,6,0.000,0.040,2534,2476,3433
$GC,5591,-1.17,-146.6,504.7,-9.5,266,5596,0.00,2.45,0.00,0.000,4,0.000,0.042,2534,1079,3433
$GC,5641,-1.17,-146.6,509.4,-9.1,268,5646,0.00,2.47,0.00,0.000,6,0.000,0.039,2534,2486,3433
$GC,5959,-1.17,-146.6,536.1,-8.5,283,5963,0.00,2.47,0.00,0.000,4,0.000,0.041,2534,1077,3432
$GC,6000,-1.17,-146.6,539.6,-8.7,285,6004,0.00,2.45,0.00,0.000,6,0.000,0.039,2534,2474,3432
$GC,6329,-1.17,-146.6,567.3,-8.2,301,6333,0.00,2.47,0.00,0.000,4,0.000,0.043,2534,1072,3431
$GC,6373,-1.17,-146.6,571.4,-8.3,303,6377,0.00,2.47,0.00,0.000,6,0.000,0.040,2534,2480,3431
$STATE,6464,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6464,begin apogee
$GC,6472,-0.36,0.0,578.8,7.9,308,6607,0.88,0.00,126.68,1.141,6,0.072,0.000,2719,1467,2831
$STATE,6607,end apogee,CONTROL_FINISHED_OK
$STATE,6608,begin climb
$GC,6610,1.17,146.6,583.5,0.0,315,6745,1.52,2.28,127.22,1.100,4,0.048,0.061,3056,261,2234
$GC,6787,1.21,171.9,576.7,6.6,323,6816,0.00,2.10,22.92,1.034,6,0.000,0.034,3056,1478,2131
$GC,7133,1.21,171.9,550.4,7.8,340,7137,0.00,2.47,0.00,0.000,4,0.000,0.048,3057,2857,2123
$GC,7183,1.21,171.9,546.1,7.7,342,7187,0.00,2.50,0.00,0.000,6,0.000,0.039,3056,1447,2122
$GC,7501,1.23,189.9,523.4,6.9,357,7523,0.00,2.58,15.65,1.028,4,0.000,0.044,3056,2856,2056
$GC,7592,1.23,189.9,516.2,8.2,361,7596,0.00,2.50,0.00,0.000,6,0.000,0.038,3056,1445,2054
$GC,7920,1.23,189.9,487.0,10.0,377,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1445,2053
$GC,8227,1.23,189.9,454.2,11.0,392,8231,0.00,2.15,0.00,0.000,4,0.000,0.060,3057,261,2052
$GC,8283,1.23,189.9,448.0,11.2,394,8287,0.00,2.03,0.00,0.000,6,0.000,0.030,3056,1464,2052
$GC,8607,1.34,283.9,426.6,4.3,410,8698,0.15,2.50,83.82,1.059,4,0.038,0.046,3111,2843,1673
$GC,8728,1.34,283.9,418.7,7.8,416,8732,0.00,2.47,0.00,0.000,6,0.000,0.038,3111,1452,1669
$GC,9054,1.35,287.5,393.0,7.4,432,9058,0.00,2.15,0.00,0.000,4,0.000,0.057,3111,262,1663
$GC,9083,1.35,287.5,390.8,7.8,433,9087,0.00,2.00,0.00,0.000,6,0.000,0.029,3111,1459,1663
$GC,9409,1.35,287.5,351.7,14.4,449,9410,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1461,1661
$GC,9719,1.35,287.5,307.4,13.3,464,9724,0.00,2.20,0.00,0.000,4,0.000,0.054,3111,262,1660
$GC,9824,1.35,287.5,293.3,13.4,468,9830,0.00,2.03,0.00,0.000,6,0.000,0.030,3111,1458,1660
$GC,10139,1.35,287.5,253.1,13.0,484,10143,0.00,2.45,0.00,0.000,4,0.000,0.042,3111,2851,1660
$GC,10167,1.35,287.5,249.4,13.2,485,10171,0.00,2.42,0.00,0.000,6,0.000,0.035,3111,1452,1659
$GC,10482,1.35,287.5,212.9,11.1,500,10486,0.00,2.12,0.00,0.000,4,0.000,0.054,3111,264,1659
$GC,10543,1.35,287.5,205.8,11.2,502,10549,0.00,1.98,0.00,0.000,6,0.000,0.028,3111,1457,1659
$GC,10859,1.35,287.5,174.1,9.6,518,10863,0.00,2.15,0.00,0.000,4,0.000,0.053,3111,259,1659
$GC,10886,1.35,287.5,171.1,10.7,519,10890,0.00,1.98,0.00,0.000,6,0.000,0.028,3111,1454,1659
$GC,11213,1.35,287.5,139.0,10.3,535,11215,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1456,1659
$GC,11524,1.35,287.5,102.4,12.6,550,11525,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1456,1659
$GC,11832,1.35,287.5,62.1,13.1,565,11836,0.00,2.12,0.00,0.000,4,0.000,0.052,3111,265,1660
$GC,11954,1.35,287.5,44.9,13.5,570,11959,0.00,2.03,0.00,0.000,6,0.000,0.029,3111,1456,1660
$GC,12275,1.35,287.5,7.2,11.2,586,12276,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1456,1660
$STATE,12314,end climb,SURFACE_DEPTH_REACHED
$STATE,12314,begin surface coast
$FINISH,0.2,1.027211
$STATE,12336,end surface coast,CONTROL_FINISHED_OK
$STATE,12336,begin surface
$SM_CCo,12360,8.80,0.680,0,0,1609,300.00
$SM_GC,1.27,0.00,0.00,8.80,0.000,0.000,0.680,398,2461,1609,-11.05,-0.42,300.00
$IRIDIUM_FIX,6148.92,-920.16,070998,111100
$TT8_MAMPS,0.027612
$HUMID,1838
$INTERNAL_PRESSURE,8.08949
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.9,86.8
$24V_AH,23.3,24.554
$10V_AH,10.1,10.563
$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,25.825,130.750,376.300,8.800,0.000,25.037,31.534,121.311,4.000,0.000,0.000,15.632,1137.266,9050.501,473.878,1423.318,575.528,0.000,1264.893,0.000,1516.137,0.000,28.293,0.000
$DEVICE_MAMPS,135.759,62.127,1141.296,680.329,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,519.946,403.312,396.569,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28597,589
$CAP_FILE_SIZE,98179,0
$CFSIZE,260165632,255455232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,130609,175230,6215.382,-926.365,39,1.7,39,-9.7