version: 66.04
glider: 105
mission: 6
dive: 47
start: 6 13 109 21 27 51
data:
$ID,105
$MISSION,6
$DIVE,47
$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,-1628909.6
$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,29
$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
$GPS1,212237,6215.339,-932.892,31,1.2,31,-9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-59.9
$GPS2,212732,6215.333,-932.986,12,1.5,12,-9.8
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6215.333,-956.184
$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,279.8,20000,-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,-146.6,0.0,0.0,0,80,0.00,0.00,-59.45,0.000,6,0.000,0.000,397,2454,3433
$GC,83,-1.17,-146.6,4.7,-9.4,3,103,11.50,2.53,0.00,0.000,4,0.138,0.054,2537,3825,3433
$GC,441,-1.17,-146.6,50.2,-10.2,19,446,0.00,2.33,0.00,0.000,6,0.000,0.026,2538,2458,3433
$GC,773,-1.17,-146.6,81.6,-9.6,35,777,0.00,2.47,0.00,0.000,4,0.000,0.053,2538,3827,3434
$GC,973,-1.17,-146.6,100.8,-9.9,44,977,0.00,2.28,0.00,0.000,6,0.000,0.025,2538,2468,3434
$GC,1302,-1.17,-146.6,128.6,-8.6,60,1306,0.00,2.40,0.00,0.000,4,0.000,0.037,2538,1077,3434
$GC,1334,-1.17,-146.6,131.6,-7.7,61,1341,0.00,2.40,0.00,0.000,6,0.000,0.032,2538,2474,3434
$GC,1650,-1.17,-146.6,159.9,-9.6,77,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2474,3434
$GC,1959,-1.17,-146.6,193.0,-11.2,92,1963,0.00,2.42,0.00,0.000,4,0.000,0.037,2538,1077,3435
$GC,2054,-1.17,-146.6,204.0,-11.6,96,2059,0.00,2.45,0.00,0.000,6,0.000,0.034,2538,2476,3435
$GC,2374,-1.17,-146.6,237.8,-9.3,112,2379,0.00,2.42,0.00,0.000,4,0.000,0.038,2538,1078,3435
$GC,2414,-1.17,-146.6,241.5,-9.2,114,2418,0.00,2.42,0.00,0.000,6,0.000,0.035,2537,2476,3435
$GC,2740,-1.17,-146.6,267.8,-7.9,130,2744,0.00,2.42,0.00,0.000,4,0.000,0.038,2538,1080,3435
$GC,2790,-1.17,-146.6,271.9,-7.7,132,2794,0.00,2.42,0.00,0.000,6,0.000,0.036,2538,2474,3435
$GC,3106,-1.17,-146.6,298.2,-8.6,147,3110,0.00,2.42,0.00,0.000,4,0.000,0.038,2538,1083,3434
$GC,3139,-1.17,-146.6,301.3,-9.2,148,3145,0.00,2.45,0.00,0.000,6,0.000,0.038,2538,2485,3435
$GC,3454,-1.17,-146.6,327.2,-8.2,164,3458,0.00,2.45,0.00,0.000,4,0.000,0.039,2538,1081,3434
$GC,3527,-1.17,-146.6,332.8,-7.7,167,3531,0.00,2.45,0.00,0.000,6,0.000,0.038,2538,2485,3434
$GC,3845,-1.17,-146.6,355.6,-7.6,182,3849,0.00,2.45,0.00,0.000,4,0.000,0.040,2538,1083,3434
$GC,3952,-1.17,-146.6,364.5,-8.7,187,3956,0.00,2.42,0.00,0.000,6,0.000,0.038,2538,2476,3434
$GC,4278,-1.17,-146.6,397.8,-10.2,203,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2476,3434
$GC,4588,-1.17,-146.6,421.2,-5.6,218,4592,0.00,2.45,0.00,0.000,4,0.000,0.062,2537,3829,3434
$GC,4632,-1.17,-146.6,423.4,-4.7,220,4636,0.00,2.28,0.00,0.000,6,0.000,0.028,2538,2481,3434
$GC,4953,-1.17,-146.6,440.5,-8.2,236,4957,0.00,2.42,0.00,0.000,4,0.000,0.039,2538,1078,3434
$GC,5008,-1.17,-146.6,446.3,-10.7,238,5014,0.00,2.42,0.00,0.000,6,0.000,0.038,2537,2479,3434
$GC,5323,-1.17,-146.6,473.1,-7.2,254,5328,0.00,2.45,0.00,0.000,4,0.000,0.041,2538,1081,3434
$GC,5379,-1.17,-146.6,477.5,-7.9,256,5385,0.00,2.45,0.00,0.000,6,0.000,0.039,2538,2482,3434
$GC,5694,-1.17,-146.6,503.6,-8.7,272,5699,0.00,2.50,0.00,0.000,4,0.000,0.042,2538,1078,3433
$GC,5772,-1.17,-146.6,510.8,-9.3,275,5776,0.00,2.45,0.00,0.000,6,0.000,0.040,2538,2472,3433
$GC,6088,-1.17,-146.6,536.9,-7.7,290,6092,0.00,2.45,0.00,0.000,4,0.000,0.043,2538,1080,3433
$GC,6189,-1.17,-146.6,544.5,-7.8,294,6195,0.00,2.47,0.00,0.000,6,0.000,0.041,2538,2481,3432
$GC,6505,-1.17,-146.6,565.6,-7.1,310,6509,0.00,2.47,0.00,0.000,4,0.000,0.043,2538,1078,3431
$GC,6621,-1.17,-146.6,574.3,-7.7,315,6626,0.00,2.50,0.00,0.000,6,0.000,0.041,2538,2475,3430
$STATE,6919,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6919,begin apogee
$GC,6927,-0.36,0.0,597.6,8.0,330,7062,0.88,0.00,126.47,1.157,6,0.071,0.000,2723,1466,2831
$STATE,7062,end apogee,CONTROL_FINISHED_OK
$STATE,7062,begin climb
$GC,7065,1.17,146.6,602.5,0.0,337,7198,1.55,0.00,128.02,1.120,6,0.054,0.000,3059,1466,2234
$GC,7494,1.24,195.9,581.9,5.8,358,7545,0.00,2.60,43.05,1.096,4,0.000,0.050,3059,2859,2032
$GC,7580,1.27,226.4,576.2,6.5,362,7616,0.00,2.53,27.92,1.064,6,0.000,0.040,3059,1448,1908
$GC,7932,1.27,226.4,549.0,8.6,379,7936,0.00,2.17,0.00,0.000,4,0.000,0.060,3058,261,1900
$GC,7988,1.27,226.4,543.3,10.6,381,7992,0.00,2.08,0.00,0.000,6,0.000,0.034,3059,1479,1900
$GC,8309,1.27,226.4,510.1,10.1,397,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1478,1899
$GC,8618,1.27,226.4,481.7,8.7,412,8622,0.00,2.22,0.00,0.000,4,0.000,0.058,3058,261,1898
$GC,8663,1.27,226.4,477.7,8.8,414,8667,0.00,2.03,0.00,0.000,6,0.000,0.032,3059,1460,1898
$GC,8997,1.30,244.9,457.0,6.9,430,9018,0.10,2.28,16.10,1.032,4,0.047,0.058,3102,260,1833
$GC,9068,1.30,244.9,447.4,15.0,433,9073,0.00,2.05,0.00,0.000,6,0.000,0.032,3102,1454,1831
$GC,9395,1.30,244.9,403.6,12.3,449,9399,0.00,2.45,0.00,0.000,4,0.000,0.044,3102,2841,1829
$GC,9512,1.30,244.9,390.6,9.8,454,9516,0.00,2.45,0.00,0.000,6,0.000,0.038,3102,1451,1828
$GC,9827,1.30,244.9,359.2,11.2,469,9832,0.00,2.45,0.00,0.000,4,0.000,0.039,3102,2841,1828
$GC,9855,1.30,244.9,356.0,11.4,470,9859,0.00,2.42,0.00,0.000,6,0.000,0.036,3102,1453,1828
$GC,10170,1.30,244.9,318.7,11.8,485,10174,0.00,2.12,0.00,0.000,4,0.000,0.056,3102,266,1828
$GC,10209,1.30,244.9,314.0,12.2,486,10215,0.00,2.00,0.00,0.000,6,0.000,0.029,3102,1456,1828
$GC,10527,1.30,244.9,283.0,9.2,502,10528,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1457,1828
$GC,10834,1.30,244.9,251.6,11.0,517,10837,0.00,2.15,0.00,0.000,4,0.000,0.054,3102,262,1828
$GC,10895,1.30,244.9,244.1,12.8,519,10901,0.00,2.00,0.00,0.000,6,0.000,0.028,3102,1455,1828
$GC,11213,1.30,244.9,206.0,12.3,535,11214,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1456,1828
$GC,11519,1.30,244.9,171.8,10.0,550,11521,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1456,1828
$GC,11830,1.30,244.9,145.0,7.9,565,11834,0.00,2.12,0.00,0.000,4,0.000,0.053,3102,265,1829
$GC,11869,1.30,244.9,141.5,8.3,566,11875,0.00,2.00,0.00,0.000,6,0.000,0.028,3102,1455,1830
$GC,12185,1.30,244.9,116.8,7.8,582,12186,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1455,1829
$GC,12495,1.30,244.9,90.1,9.7,597,12497,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1455,1829
$GC,12804,1.30,244.9,56.7,11.4,612,12808,0.00,2.42,0.00,0.000,4,0.000,0.038,3102,2852,1830
$GC,12825,1.30,244.9,54.0,11.3,613,12830,0.00,2.42,0.00,0.000,6,0.000,0.033,3102,1450,1830
$GC,13148,1.30,244.9,19.7,10.1,629,13152,0.00,2.10,0.00,0.000,4,0.000,0.052,3102,266,1830
$GC,13270,1.30,244.9,5.6,11.3,634,13274,0.00,1.98,0.00,0.000,6,0.000,0.028,3102,1472,1830
$STATE,13301,end climb,SURFACE_DEPTH_REACHED
$STATE,13301,begin surface coast
$FINISH,0.1,1.027231
$STATE,13323,end surface coast,CONTROL_FINISHED_OK
$STATE,13323,begin surface
$SM_CCo,13346,33.88,0.745,0,0,1609,300.00
$SM_GC,1.07,0.00,0.00,33.88,0.000,0.000,0.745,392,2455,1609,-11.08,-0.57,300.00
$IRIDIUM_FIX,6153.50,-926.22,070998,181856
$TT8_MAMPS,0.026845
$HUMID,1811
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.3,57.1
$24V_AH,23.3,24.809
$10V_AH,10.1,10.696
$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,25.725,125.525,341.575,33.875,0.000,23.459,32.194,135.040,4.500,0.000,0.000,12.615,1218.797,9848.359,485.148,1520.820,609.033,0.000,1291.959,0.000,1635.942,0.000,31.426,0.000
$DEVICE_MAMPS,138.060,62.127,1157.403,744.757,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,574.733,436.281,427.886,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31682,637
$CAP_FILE_SIZE,102024,0
$CFSIZE,260165632,255348736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,140609,011207,6215.984,-936.806,35,1.3,35,-9.8