version: 66.04
glider: 105
mission: 6
dive: 46
start: 6 13 109 17 57 39
data:
$ID,105
$MISSION,6
$DIVE,46
$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,-1628896.4
$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,25
$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
$GPS1,175230,6215.382,-926.365,39,1.7,39,-9.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-59.2
$GPS2,175720,6215.372,-926.444,13,1.2,13,-9.7
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6215.372,-949.642
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.17,-146.6,0.0,0.0,0,79,0.00,0.00,-59.88,0.000,6,0.000,0.000,398,2461,3432
$GC,82,-1.17,-146.6,4.4,-8.6,3,103,11.45,2.47,0.00,0.000,4,0.136,0.051,2535,3831,3434
$GC,441,-1.17,-146.6,53.5,-10.9,19,446,0.00,2.35,0.00,0.000,6,0.000,0.025,2535,2444,3433
$GC,773,-1.17,-146.6,84.6,-8.1,35,777,0.00,2.50,0.00,0.000,4,0.000,0.053,2535,3827,3435
$GC,925,-1.17,-146.6,96.0,-6.7,42,930,0.00,2.28,0.00,0.000,6,0.000,0.026,2535,2483,3435
$GC,1258,-1.17,-146.6,119.9,-7.8,58,1262,0.00,2.42,0.00,0.000,4,0.000,0.036,2535,1077,3434
$GC,1347,-1.17,-146.6,127.5,-8.5,62,1351,0.00,2.42,0.00,0.000,6,0.000,0.031,2535,2482,3435
$GC,1667,-1.17,-146.6,154.9,-8.7,78,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2482,3435
$GC,1979,-1.17,-146.6,181.7,-8.4,93,1983,0.00,2.42,0.00,0.000,4,0.000,0.037,2535,1086,3435
$GC,2051,-1.17,-146.6,188.3,-8.8,96,2056,0.00,2.45,0.00,0.000,6,0.000,0.035,2535,2471,3435
$GC,2372,-1.17,-146.6,217.6,-9.4,112,2376,0.00,2.42,0.00,0.000,4,0.000,0.038,2535,1078,3435
$GC,2404,-1.17,-146.6,221.0,-10.5,113,2411,0.00,2.45,0.00,0.000,6,0.000,0.035,2535,2486,3435
$GC,2720,-1.17,-146.6,254.0,-10.7,129,2724,0.00,2.45,0.00,0.000,4,0.000,0.038,2535,1080,3435
$GC,2809,-1.17,-146.6,264.0,-11.0,133,2813,0.00,2.45,0.00,0.000,6,0.000,0.037,2535,2480,3435
$GC,3130,-1.17,-146.6,298.6,-10.5,149,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2480,3435
$GC,3439,-1.17,-146.6,329.7,-9.8,164,3443,0.00,2.42,0.00,0.000,4,0.000,0.039,2535,1088,3435
$GC,3495,-1.17,-146.6,335.2,-9.3,166,3501,0.00,2.42,0.00,0.000,6,0.000,0.038,2535,2475,3435
$GC,3811,-1.17,-146.6,362.4,-7.7,182,3815,0.00,2.42,0.00,0.000,4,0.000,0.039,2536,1086,3435
$GC,3838,-1.17,-146.6,364.3,-7.3,183,3842,0.00,2.45,0.00,0.000,6,0.000,0.038,2535,2486,3435
$GC,4156,-1.17,-146.6,383.1,-6.4,198,4160,0.00,2.45,0.00,0.000,4,0.000,0.039,2535,1084,3435
$GC,4183,-1.17,-146.6,385.3,-7.1,199,4188,0.00,2.47,0.00,0.000,6,0.000,0.038,2535,2476,3435
$GC,4504,-1.17,-146.6,415.3,-9.2,215,4508,0.00,2.42,0.00,0.000,4,0.000,0.039,2535,1088,3435
$GC,4727,-1.17,-146.6,438.4,-10.9,225,4731,0.00,2.45,0.00,0.000,6,0.000,0.041,2535,2477,3435
$GC,5048,-1.17,-146.6,471.5,-9.7,241,5052,0.00,2.45,0.00,0.000,4,0.000,0.041,2535,1084,3434
$GC,5091,-1.17,-146.6,475.6,-9.4,243,5095,0.00,2.45,0.00,0.000,6,0.000,0.040,2535,2477,3434
$GC,5415,-1.17,-146.6,500.8,-7.8,259,5419,0.00,2.45,0.00,0.000,4,0.000,0.043,2535,1087,3434
$GC,5500,-1.17,-146.6,507.9,-8.3,263,5504,0.00,2.45,0.00,0.000,6,0.000,0.041,2535,2476,3434
$GC,5826,-1.17,-146.6,532.9,-7.7,279,5830,0.00,2.45,0.00,0.000,4,0.000,0.044,2535,1084,3433
$GC,5888,-1.17,-146.6,538.1,-8.7,282,5892,0.00,2.47,0.00,0.000,6,0.000,0.042,2535,2469,3432
$GC,6219,-1.17,-146.6,569.6,-9.7,298,6223,0.00,2.42,0.00,0.000,4,0.000,0.044,2535,1094,3431
$STATE,6238,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6238,begin apogee
$GC,6245,-0.36,0.0,571.7,9.4,299,6375,0.85,0.00,126.32,1.137,6,0.066,0.000,2720,1470,2832
$STATE,6376,end apogee,CONTROL_FINISHED_OK
$STATE,6376,begin climb
$GC,6378,1.17,146.6,577.8,0.0,305,6510,1.52,0.00,126.95,1.097,6,0.049,0.000,3057,1470,2234
$GC,6816,1.18,150.3,558.4,7.4,326,6820,0.00,2.50,0.00,0.000,4,0.000,0.051,3057,2857,2225
$GC,6851,1.18,150.3,555.3,8.4,327,6857,0.00,2.45,0.00,0.000,6,0.000,0.041,3057,1479,2224
$GC,7166,1.18,150.3,529.6,7.6,343,7170,0.00,2.47,0.00,0.000,4,0.000,0.048,3057,2856,2223
$GC,7193,1.19,155.8,527.5,7.3,344,7207,0.00,2.50,7.57,0.911,6,0.000,0.039,3057,1445,2196
$GC,7536,1.24,203.1,506.3,5.9,361,7587,0.00,2.62,43.15,1.084,4,0.000,0.044,3057,2857,2002
$GC,7610,1.27,221.8,501.3,6.9,364,7634,0.00,2.50,17.83,1.015,6,0.000,0.038,3057,1453,1926
$GC,7952,1.27,221.8,469.6,10.5,381,7956,0.00,2.17,0.00,0.000,4,0.000,0.061,3056,259,1920
$GC,7968,1.27,221.8,467.3,12.1,381,7975,0.00,2.05,0.00,0.000,6,0.000,0.033,3057,1456,1920
$GC,8284,1.27,221.8,433.1,10.5,397,8288,0.00,2.47,0.00,0.000,4,0.000,0.045,3057,2842,1919
$GC,8369,1.27,221.8,424.5,10.3,401,8373,0.00,2.45,0.00,0.000,6,0.000,0.038,3057,1452,1918
$GC,8697,1.27,221.8,396.7,8.1,417,8701,0.00,2.15,0.00,0.000,4,0.000,0.058,3057,265,1918
$GC,8844,1.27,225.8,383.9,7.4,423,8848,0.00,2.03,0.00,0.000,6,0.000,0.031,3057,1459,1917
$GC,9165,1.34,280.5,365.9,5.6,439,9223,0.15,2.50,51.67,1.019,4,0.037,0.043,3108,2842,1687
$GC,9307,1.34,280.5,353.3,10.3,444,9313,0.00,2.45,0.00,0.000,6,0.000,0.037,3108,1454,1683
$GC,9625,1.34,280.5,318.0,11.7,460,9626,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1454,1680
$GC,9932,1.34,280.5,281.3,12.1,475,9935,0.00,2.12,0.00,0.000,4,0.000,0.055,3108,265,1679
$GC,9970,1.34,280.5,276.1,13.4,476,9976,0.00,2.00,0.00,0.000,6,0.000,0.028,3108,1467,1679
$GC,10286,1.34,280.5,236.4,12.6,492,10290,0.00,2.20,0.00,0.000,4,0.000,0.054,3108,270,1679
$GC,10331,1.34,280.5,230.3,13.8,494,10336,0.00,2.03,0.00,0.000,6,0.000,0.030,3108,1452,1679
$GC,10663,1.34,280.5,183.6,14.3,510,10667,0.00,2.45,0.00,0.000,4,0.000,0.042,3108,2848,1679
$GC,10702,1.34,280.5,177.8,14.3,512,10707,0.00,2.42,0.00,0.000,6,0.000,0.035,3108,1453,1678
$GC,11031,1.34,280.5,133.0,12.9,528,11034,0.00,2.12,0.00,0.000,4,0.000,0.054,3108,262,1678
$GC,11069,1.34,280.5,127.8,12.7,529,11076,0.00,2.00,0.00,0.000,6,0.000,0.028,3108,1459,1678
$GC,11385,1.34,280.5,91.7,10.8,545,11390,0.00,2.17,0.00,0.000,4,0.000,0.052,3108,264,1678
$GC,11412,1.34,280.5,88.5,11.9,546,11416,0.00,1.98,0.00,0.000,6,0.000,0.028,3108,1459,1678
$GC,11739,1.34,280.5,50.3,11.6,562,11744,0.00,2.40,0.00,0.000,4,0.000,0.040,3108,2838,1678
$GC,11791,1.34,280.5,44.6,10.7,564,11795,0.00,2.40,0.00,0.000,6,0.000,0.033,3108,1450,1678
$GC,12106,1.34,280.5,9.0,11.8,579,12110,0.00,2.12,0.00,0.000,4,0.000,0.053,3108,259,1678
$GC,12134,1.34,280.5,5.6,12.1,580,12137,0.00,1.98,0.00,0.000,6,0.000,0.028,3108,1459,1679
$STATE,12170,end climb,SURFACE_DEPTH_REACHED
$STATE,12170,begin surface coast
$FINISH,-0.0,1.027078
$STATE,12192,end surface coast,CONTROL_FINISHED_OK
$STATE,12192,begin surface
$SM_CCo,12216,10.93,0.700,0,0,1609,300.00
$SM_GC,1.08,0.00,0.00,10.93,0.000,0.000,0.700,397,2452,1609,-11.05,-0.68,300.00
$IRIDIUM_FIX,6148.92,-926.22,070998,141422
$TT8_MAMPS,0.026845
$HUMID,1838
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.8,80.9
$24V_AH,23.3,24.682
$10V_AH,10.1,10.627
$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,25.825,131.875,373.500,10.925,0.000,30.053,26.228,128.494,4.000,0.000,0.000,13.637,1140.736,8862.879,451.885,1476.804,590.935,0.000,1266.319,0.000,1571.509,0.000,28.253,0.000
$DEVICE_MAMPS,135.759,60.593,1136.694,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,513.717,399.042,395.288,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28488,583
$CAP_FILE_SIZE,99585,0
$CFSIZE,260165632,255401984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,130609,212237,6215.339,-932.892,31,1.2,31,-9.8