version: 66.04
glider: 105
mission: 6
dive: 48
start: 6 14 109 1 17 15
data:
$ID,105
$MISSION,6
$DIVE,48
$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,-1628923.8
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,011207,6215.984,-936.806,35,1.3,35,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-60.8
$GPS2,011656,6215.993,-936.781,13,1.4,13,-9.8
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6215.993,-959.987
$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,-146.6,0.0,0.0,0,79,0.00,0.00,-59.05,0.000,6,0.000,0.000,392,2456,3431
$GC,82,-1.17,-146.6,4.6,-8.9,3,103,11.48,2.55,0.00,0.000,4,0.136,0.052,2534,3831,3433
$GC,440,-1.17,-146.6,48.0,-9.0,19,445,0.00,2.35,0.00,0.000,6,0.000,0.026,2534,2454,3434
$GC,772,-1.17,-146.6,77.6,-8.6,35,776,0.00,2.47,0.00,0.000,4,0.000,0.051,2534,3827,3433
$GC,1014,-1.17,-146.6,99.7,-10.2,46,1018,0.00,2.28,0.00,0.000,6,0.000,0.026,2534,2469,3433
$GC,1342,-1.17,-146.6,129.8,-9.2,62,1346,0.00,2.40,0.00,0.000,4,0.000,0.038,2534,1081,3434
$GC,1408,-1.17,-146.6,136.2,-9.6,65,1412,0.00,2.40,0.00,0.000,6,0.000,0.033,2534,2472,3434
$GC,1731,-1.17,-146.6,162.3,-7.4,81,1735,0.00,2.42,0.00,0.000,4,0.000,0.036,2534,1076,3434
$GC,1781,-1.17,-146.6,166.1,-7.1,83,1785,0.00,2.42,0.00,0.000,6,0.000,0.033,2534,2483,3434
$GC,2099,-1.17,-146.6,189.8,-8.1,98,2103,0.00,2.42,0.00,0.000,4,0.000,0.037,2534,1086,3434
$GC,2161,-1.17,-146.6,195.4,-9.5,101,2165,0.00,2.42,0.00,0.000,6,0.000,0.035,2534,2477,3434
$GC,2487,-1.17,-146.6,227.3,-10.1,117,2491,0.00,2.42,0.00,0.000,4,0.000,0.038,2534,1084,3434
$GC,2527,-1.17,-146.6,231.4,-10.2,119,2531,0.00,2.42,0.00,0.000,6,0.000,0.037,2534,2475,3434
$GC,2853,-1.17,-146.6,260.4,-8.1,135,2857,0.00,2.42,0.00,0.000,4,0.000,0.038,2534,1083,3434
$GC,2902,-1.17,-146.6,264.5,-8.6,137,2906,0.00,2.45,0.00,0.000,6,0.000,0.037,2534,2484,3434
$GC,3218,-1.17,-146.6,288.9,-8.2,152,3222,0.00,2.45,0.00,0.000,4,0.000,0.039,2534,1079,3434
$GC,3268,-1.17,-146.6,293.6,-8.4,154,3272,0.00,2.45,0.00,0.000,6,0.000,0.037,2534,2480,3434
$GC,3584,-1.17,-146.6,324.3,-10.1,169,3588,0.00,2.45,0.00,0.000,4,0.000,0.039,2534,1095,3434
$GC,3644,-1.17,-146.6,330.4,-9.5,171,3650,0.00,2.42,0.00,0.000,6,0.000,0.037,2534,2484,3434
$GC,3960,-1.17,-146.6,358.4,-9.1,187,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2484,3434
$GC,4269,-1.17,-146.6,388.0,-11.0,202,4273,0.00,2.45,0.00,0.000,4,0.000,0.040,2534,1081,3434
$GC,4354,-1.17,-146.6,397.7,-11.3,206,4358,0.00,2.45,0.00,0.000,6,0.000,0.038,2534,2485,3434
$GC,4681,-1.17,-146.6,423.8,-4.8,222,4685,0.00,2.45,0.00,0.000,4,0.000,0.040,2534,1082,3433
$GC,4708,-1.17,-146.6,425.3,-5.7,223,4712,0.00,2.42,0.00,0.000,6,0.000,0.036,2534,2476,3433
$GC,5024,-1.17,-146.6,447.3,-6.9,238,5028,0.00,2.42,0.00,0.000,4,0.000,0.041,2534,1087,3433
$GC,5068,-1.17,-146.6,450.8,-7.7,240,5072,0.00,2.42,0.00,0.000,6,0.000,0.038,2534,2474,3433
$GC,5389,-1.17,-146.6,474.0,-7.0,256,5394,0.00,2.47,0.00,0.000,4,0.000,0.062,2534,3836,3433
$GC,5534,-1.17,-146.6,486.8,-8.8,262,5541,0.00,2.30,0.00,0.000,6,0.000,0.030,2534,2480,3433
$GC,5851,-1.17,-146.6,511.8,-7.7,278,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2478,3433
$GC,6159,-1.17,-146.6,529.2,-7.3,293,6164,0.00,2.45,0.00,0.000,4,0.000,0.042,2534,1076,3432
$GC,6271,-1.17,-146.6,539.3,-9.5,298,6276,0.00,2.47,0.00,0.000,6,0.000,0.039,2534,2469,3432
$GC,6600,-1.17,-146.6,565.6,-7.5,314,6604,0.00,2.45,0.00,0.000,4,0.000,0.043,2534,1078,3430
$GC,6685,-1.17,-146.6,573.3,-9.6,318,6689,0.00,2.45,0.00,0.000,6,0.000,0.040,2534,2476,3430
$GC,7013,-1.17,-146.6,598.4,-7.8,334,7018,0.00,2.47,0.00,0.000,4,0.000,0.044,2533,1070,3430
$GC,7069,-1.17,-146.6,602.9,-7.9,336,7075,0.00,2.50,0.00,0.000,6,0.000,0.041,2534,2484,3429
$STATE,7134,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7135,begin apogee
$GC,7143,-0.36,0.0,608.3,8.1,340,7277,0.88,0.00,126.75,1.163,6,0.069,0.000,2720,1468,2832
$STATE,7278,end apogee,CONTROL_FINISHED_OK
$STATE,7278,begin climb
$GC,7281,1.17,146.6,613.0,0.0,347,7417,1.52,2.28,128.02,1.120,4,0.054,0.061,3054,273,2233
$GC,7458,1.19,159.2,606.3,7.1,355,7476,0.00,2.08,11.90,0.979,6,0.000,0.035,3054,1478,2182
$GC,7787,1.19,159.2,580.6,7.8,371,7791,0.00,2.45,0.00,0.000,4,0.000,0.049,3054,2846,2176
$GC,7842,1.19,159.2,575.7,8.5,373,7848,0.00,2.47,0.00,0.000,6,0.000,0.040,3054,1454,2175
$GC,8158,1.20,166.8,552.0,7.2,389,8171,0.00,2.55,6.72,0.899,4,0.000,0.046,3054,2851,2151
$GC,8220,1.23,188.0,547.7,6.8,391,8248,0.00,2.47,20.50,1.066,6,0.000,0.040,3054,1450,2065
$GC,8559,1.24,197.0,522.7,7.2,408,8573,0.00,2.22,8.90,0.967,4,0.000,0.061,3054,270,2028
$GC,8613,1.24,197.0,518.4,7.5,410,8617,0.00,2.03,0.00,0.000,6,0.000,0.032,3054,1459,2027
$GC,8935,1.24,197.0,489.9,10.5,426,8939,0.00,2.47,0.00,0.000,4,0.000,0.047,3054,2845,2025
$GC,9046,1.24,197.0,478.1,10.0,431,9051,0.00,2.50,0.00,0.000,6,0.000,0.039,3054,1449,2024
$GC,9372,1.24,197.0,448.3,8.3,447,9376,0.00,2.50,0.00,0.000,4,0.000,0.042,3054,2856,2023
$GC,9421,1.24,197.0,444.1,8.0,449,9426,0.00,2.47,0.00,0.000,6,0.000,0.037,3054,1451,2023
$GC,9739,1.24,197.0,417.8,9.5,464,9743,0.00,2.12,0.00,0.000,4,0.000,0.056,3054,267,2023
$GC,9795,1.24,197.0,411.8,10.0,466,9799,0.00,2.00,0.00,0.000,6,0.000,0.029,3054,1469,2022
$GC,10118,1.24,197.0,385.4,8.0,482,10122,0.00,2.42,0.00,0.000,4,0.000,0.044,3053,2843,2022
$GC,10151,1.24,197.0,382.4,7.7,483,10158,0.00,2.42,0.00,0.000,6,0.000,0.035,3054,1452,2022
$GC,10467,1.28,228.9,359.5,6.4,499,10503,0.10,2.53,28.67,0.998,4,0.047,0.038,3096,2840,1897
$GC,10536,1.28,228.9,353.9,8.1,502,10541,0.00,2.47,0.00,0.000,6,0.000,0.035,3096,1455,1896
$GC,10862,1.28,228.9,324.7,9.0,518,10867,0.00,2.42,0.00,0.000,4,0.000,0.037,3096,2839,1894
$GC,10907,1.28,228.9,320.7,8.9,520,10911,0.00,2.42,0.00,0.000,6,0.000,0.035,3096,1452,1893
$GC,11229,1.28,228.9,293.9,8.4,536,11234,0.00,2.42,0.00,0.000,4,0.000,0.036,3096,2840,1893
$GC,11292,1.28,228.9,288.2,8.9,539,11296,0.00,2.42,0.00,0.000,6,0.000,0.035,3096,1448,1893
$GC,11619,1.28,228.9,258.4,9.2,555,11622,0.00,2.12,0.00,0.000,4,0.000,0.054,3096,261,1893
$GC,11691,1.28,228.9,251.3,9.9,558,11696,0.00,2.00,0.00,0.000,6,0.000,0.028,3096,1454,1893
$GC,12017,1.28,228.9,220.8,10.2,574,12019,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1456,1893
$GC,12327,1.28,228.9,181.6,13.9,589,12328,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1456,1893
$GC,12636,1.28,228.9,137.1,14.4,604,12637,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1456,1894
$GC,12946,1.28,228.9,100.4,10.9,619,12947,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1456,1894
$GC,13256,1.28,228.9,69.0,9.8,634,13260,0.00,2.12,0.00,0.000,4,0.000,0.051,3096,264,1894
$GC,13317,1.28,228.9,62.3,9.9,636,13324,0.00,2.00,0.00,0.000,6,0.000,0.028,3096,1456,1894
$GC,13633,1.28,228.9,30.0,10.4,652,13634,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1456,1894
$STATE,13900,end climb,SURFACE_DEPTH_REACHED
$STATE,13900,begin surface coast
$FINISH,0.2,1.027232
$STATE,13920,end surface coast,CONTROL_FINISHED_OK
$STATE,13920,begin surface
$SM_CCo,13944,45.20,0.745,0,0,1608,300.00
$SM_GC,0.69,0.00,0.00,45.20,0.000,0.000,0.745,398,2450,1608,-11.05,-0.74,300.00
$IRIDIUM_FIX,6153.50,-930.78,070998,212101
$TT8_MAMPS,0.027612
$HUMID,1825
$INTERNAL_PRESSURE,8.10902
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,576.8,41.1
$24V_AH,23.3,24.932
$10V_AH,10.1,10.767
$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,25.700,141.825,331.475,45.200,0.000,28.541,26.863,124.541,5.000,0.000,0.000,13.461,1295.253,10274.899,473.282,1624.939,616.030,0.000,1346.942,0.000,1739.667,0.000,35.899,0.000
$DEVICE_MAMPS,135.759,62.127,1162.772,744.757,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,597.496,457.852,430.197,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34868,666
$CAP_FILE_SIZE,110016,0
$CFSIZE,260165632,255283200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,140609,051137,6214.822,-939.971,33,1.2,33,-9.8