version: 66.04
glider: 105
mission: 6
dive: 49
start: 6 14 109 5 17 10
data:
$ID,105
$MISSION,6
$DIVE,49
$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,-1628939.4
$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,26
$R_STBD_OVSHOOT,28
$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
$GPS1,051137,6214.822,-939.971,33,1.2,33,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-61.1
$GPS2,051649,6214.776,-939.945,15,1.2,15,-9.8
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6214.776,-1003.136
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.17,-146.6,0.0,0.0,0,78,0.00,0.00,-59.30,0.000,6,0.000,0.000,398,2451,3431
$GC,81,-1.17,-146.6,4.8,-9.8,3,101,11.45,2.47,0.00,0.000,4,0.135,0.052,2535,3826,3432
$GC,438,-1.17,-146.6,51.4,-10.8,19,443,0.00,2.33,0.00,0.000,6,0.000,0.026,2535,2457,3433
$GC,770,-1.17,-146.6,84.6,-9.5,35,774,0.00,2.47,0.00,0.000,4,0.000,0.053,2535,3826,3433
$GC,892,-1.17,-146.6,97.0,-10.4,40,898,0.00,2.30,0.00,0.000,6,0.000,0.026,2535,2476,3433
$GC,1208,-1.17,-146.6,127.8,-9.8,56,1212,0.00,2.40,0.00,0.000,4,0.000,0.036,2536,1082,3433
$GC,1263,-1.17,-146.6,133.2,-10.0,58,1269,0.00,2.42,0.00,0.000,6,0.000,0.032,2535,2486,3434
$GC,1578,-1.17,-146.6,158.8,-7.0,74,1583,0.00,2.45,0.00,0.000,4,0.000,0.036,2535,1076,3433
$GC,1612,-1.17,-146.6,161.1,-6.7,75,1618,0.00,2.42,0.00,0.000,6,0.000,0.033,2535,2475,3434
$GC,1929,-1.17,-146.6,183.3,-7.6,91,1933,0.00,2.42,0.00,0.000,4,0.000,0.036,2535,1077,3434
$GC,1969,-1.17,-146.6,186.7,-8.8,93,1973,0.00,2.42,0.00,0.000,6,0.000,0.035,2535,2474,3434
$GC,2298,-1.17,-146.6,216.4,-9.8,109,2302,0.00,2.42,0.00,0.000,4,0.000,0.037,2535,1078,3434
$GC,2376,-1.17,-146.6,224.9,-10.5,112,2383,0.00,2.45,0.00,0.000,6,0.000,0.036,2535,2482,3434
$GC,2691,-1.17,-146.6,255.3,-8.5,128,2695,0.00,2.45,0.00,0.000,4,0.000,0.038,2535,1076,3434
$GC,2746,-1.17,-146.6,260.1,-8.8,130,2753,0.00,2.42,0.00,0.000,6,0.000,0.037,2535,2473,3434
$GC,3062,-1.17,-146.6,291.9,-11.3,146,3067,0.00,2.45,0.00,0.000,4,0.000,0.038,2535,1084,3434
$GC,3084,-1.17,-146.6,294.3,-10.5,147,3089,0.00,2.45,0.00,0.000,6,0.000,0.037,2535,2482,3434
$GC,3411,-1.17,-146.6,329.8,-10.6,163,3415,0.00,2.45,0.00,0.000,4,0.000,0.038,2535,1077,3434
$GC,3483,-1.17,-146.6,337.1,-9.6,166,3487,0.00,2.45,0.00,0.000,6,0.000,0.037,2535,2486,3434
$GC,3799,-1.17,-146.6,365.4,-8.4,181,3803,0.00,2.47,0.00,0.000,4,0.000,0.039,2535,1085,3433
$GC,3859,-1.17,-146.6,370.6,-8.5,183,3865,0.00,2.42,0.00,0.000,6,0.000,0.038,2535,2475,3433
$GC,4175,-1.17,-146.6,398.7,-8.7,199,4180,0.00,2.45,0.00,0.000,4,0.000,0.039,2535,1088,3433
$GC,4242,-1.17,-146.6,404.8,-9.5,202,4246,0.00,2.42,0.00,0.000,6,0.000,0.038,2535,2477,3433
$GC,4568,-1.17,-146.6,432.8,-7.8,218,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2477,3433
$GC,4877,-1.17,-146.6,458.8,-9.2,233,4882,0.00,2.47,0.00,0.000,4,0.000,0.041,2535,1080,3433
$GC,4915,-1.17,-146.6,462.6,-9.8,234,4922,0.00,2.45,0.00,0.000,6,0.000,0.038,2535,2480,3433
$GC,5232,-1.17,-146.6,488.7,-7.0,250,5236,0.00,2.45,0.00,0.000,4,0.000,0.041,2535,1080,3433
$GC,5366,-1.17,-146.6,498.0,-7.3,256,5370,0.00,2.45,0.00,0.000,6,0.000,0.038,2535,2485,3433
$GC,5686,-1.17,-146.6,527.6,-7.6,272,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2486,3433
$GC,5996,-1.17,-146.6,548.4,-6.4,287,6000,0.00,2.47,0.00,0.000,4,0.000,0.042,2535,1077,3432
$GC,6024,-1.17,-146.6,550.3,-6.9,288,6028,0.00,2.45,0.00,0.000,6,0.000,0.040,2535,2475,3432
$GC,6342,-1.17,-146.6,570.5,-6.5,303,6346,0.00,2.45,0.00,0.000,4,0.000,0.044,2535,1085,3431
$GC,6416,-1.17,-146.6,576.0,-6.7,306,6420,0.00,2.45,0.00,0.000,6,0.000,0.042,2535,2475,3431
$GC,6731,-1.17,-146.6,599.8,-8.5,321,6742,0.00,2.45,0.00,0.000,4,0.000,0.044,2535,1088,3430
$GC,6785,-1.17,-146.6,604.4,-9.3,323,6789,0.00,2.45,0.00,0.000,6,0.000,0.042,2535,2476,3430
$GC,7112,-1.17,-146.6,626.9,-5.4,339,7116,0.00,2.45,0.00,0.000,4,0.000,0.045,2534,1088,3429
$GC,7246,-1.17,-146.6,635.0,-6.6,345,7250,0.00,2.47,0.00,0.000,6,0.000,0.044,2535,2484,3427
$GC,7569,-1.17,-146.6,635.1,0.1,361,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2485,3427
$STATE,7626,end dive,NO_VERTICAL_VELOCITY
$STATE,7626,begin apogee
$GC,7634,-0.36,0.0,635.2,0.0,364,7763,0.85,0.00,126.20,1.192,6,0.058,0.000,2722,1476,2832
$STATE,7764,end apogee,CONTROL_FINISHED_OK
$STATE,7764,begin climb
$GC,7767,1.17,146.6,634.8,0.0,370,7905,1.50,2.55,129.40,1.144,4,0.050,0.051,3052,2857,2232
$GC,8241,1.17,146.6,609.8,8.5,392,8245,0.00,2.50,0.00,0.000,6,0.000,0.041,3052,1455,2223
$GC,8559,1.19,155.5,586.7,7.2,407,8573,0.00,2.25,6.95,0.930,4,0.000,0.061,3052,267,2197
$GC,8850,1.19,155.5,561.7,7.7,420,8853,0.00,2.05,0.00,0.000,6,0.000,0.031,3052,1480,2196
$GC,9182,1.23,192.5,537.7,6.2,436,9225,0.00,2.53,34.25,1.122,4,0.000,0.048,3052,2842,2046
$GC,9316,1.30,244.7,530.0,5.7,442,9371,0.12,2.47,47.78,1.113,6,0.042,0.039,3102,1448,1834
$GC,9690,1.30,244.7,493.5,11.7,460,9694,0.00,2.53,0.00,0.000,4,0.000,0.044,3102,2854,1826
$GC,9734,1.30,244.7,487.4,13.4,462,9738,0.00,2.47,0.00,0.000,6,0.000,0.038,3102,1454,1824
$GC,10057,1.30,244.7,452.5,10.1,478,10060,0.00,2.15,0.00,0.000,4,0.000,0.058,3102,265,1823
$GC,10135,1.30,244.7,444.0,10.2,481,10140,0.00,2.03,0.00,0.000,6,0.000,0.029,3102,1460,1823
$GC,10455,1.30,244.7,410.2,11.9,497,10460,0.00,2.45,0.00,0.000,4,0.000,0.043,3102,2845,1822
$GC,10488,1.30,244.7,406.1,11.4,498,10495,0.00,2.45,0.00,0.000,6,0.000,0.036,3102,1445,1822
$GC,10804,1.30,244.7,375.1,9.3,514,10807,0.00,2.12,0.00,0.000,4,0.000,0.055,3102,264,1821
$GC,10831,1.30,244.7,372.3,10.1,515,10835,0.00,1.98,0.00,0.000,6,0.000,0.028,3102,1462,1821
$GC,11160,1.30,244.7,338.7,10.8,531,11161,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1465,1821
$GC,11468,1.30,244.7,306.3,10.5,546,11471,0.00,2.17,0.00,0.000,4,0.000,0.053,3102,260,1821
$GC,11513,1.30,244.7,301.5,10.8,548,11517,0.00,1.98,0.00,0.000,6,0.000,0.028,3102,1453,1822
$GC,11848,1.30,244.7,267.4,10.3,564,11849,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1455,1821
$GC,12154,1.30,244.7,234.7,10.3,579,12156,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1455,1821
$GC,12464,1.30,244.7,202.3,10.6,594,12467,0.00,2.15,0.00,0.000,4,0.000,0.052,3102,258,1822
$GC,12526,1.30,244.7,195.4,11.0,596,12532,0.00,2.00,0.00,0.000,6,0.000,0.028,3102,1455,1822
$GC,12841,1.30,244.7,162.6,10.4,612,12845,0.00,2.42,0.00,0.000,4,0.000,0.041,3102,2843,1822
$GC,12869,1.30,244.7,159.7,9.7,613,12873,0.00,2.40,0.00,0.000,6,0.000,0.034,3102,1454,1821
$GC,13186,1.30,244.7,132.2,9.0,628,13190,0.00,2.12,0.00,0.000,4,0.000,0.053,3102,258,1822
$GC,13269,1.30,244.7,123.6,9.4,631,13275,0.00,2.03,0.00,0.000,6,0.000,0.028,3102,1457,1822
$GC,13586,1.30,244.7,87.6,12.7,647,13590,0.00,2.12,0.00,0.000,4,0.000,0.051,3102,265,1822
$GC,13656,1.30,244.7,78.9,12.2,650,13659,0.00,1.98,0.00,0.000,6,0.000,0.028,3102,1457,1822
$GC,13989,1.30,244.7,41.2,12.4,666,13993,0.00,2.40,0.00,0.000,4,0.000,0.038,3102,2841,1822
$GC,14018,1.30,244.7,37.6,12.1,667,14022,0.00,2.40,0.00,0.000,6,0.000,0.033,3102,1452,1822
$GC,14334,1.30,244.7,4.9,10.0,682,14337,0.00,2.12,0.00,0.000,4,0.000,0.052,3102,260,1822
$STATE,14355,end climb,SURFACE_DEPTH_REACHED
$STATE,14355,begin surface coast
$FINISH,0.3,1.027204
$STATE,14378,end surface coast,CONTROL_FINISHED_OK
$STATE,14378,begin surface
$SM_CCo,14404,33.47,0.746,0,0,1609,300.00
$SM_GC,1.25,0.00,0.00,33.47,0.000,0.000,0.746,395,2457,1609,-11.06,-0.54,300.00
$IRIDIUM_FIX,6153.50,-936.10,080998,010136
$TT8_MAMPS,0.027612
$HUMID,1816
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.3,77.2
$24V_AH,23.3,25.063
$10V_AH,10.1,10.840
$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,25.675,149.400,344.575,33.475,0.000,29.930,31.439,138.161,5.000,0.000,0.000,15.015,1336.885,10536.384,499.699,1730.929,652.810,0.000,1416.841,0.000,1836.457,0.000,34.740,0.000
$DEVICE_MAMPS,134.992,61.360,1191.918,746.291,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,600.738,468.427,429.438,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34840,684
$CAP_FILE_SIZE,114186,0
$CFSIZE,260165632,255225856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,140609,091906,6212.881,-944.745,39,1.1,39,-9.9