version: 66.04
glider: 105
mission: 6
dive: 51
start: 6 14 109 13 36 59
data:
$ID,105
$MISSION,6
$DIVE,51
$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,-1628969
$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,34
$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
$GPS1,133107,6211.879,-946.568,27,1.6,27,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-60.4
$GPS2,133638,6211.874,-946.492,13,1.7,13,-9.9
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6211.874,-1009.646
$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,279.9,20000,-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,-59.42,0.000,6,0.000,0.000,396,2454,3432
$GC,81,-1.17,-146.6,4.9,-9.8,3,101,11.40,2.47,0.00,0.000,4,0.133,0.051,2537,3828,3433
$GC,438,-1.17,-146.6,46.6,-9.2,19,443,0.00,2.35,0.00,0.000,6,0.000,0.026,2537,2448,3434
$GC,770,-1.17,-146.6,70.3,-8.0,35,775,0.00,2.50,0.00,0.000,4,0.000,0.054,2537,3828,3434
$GC,887,-1.17,-146.6,81.8,-10.5,40,892,0.00,2.30,0.00,0.000,6,0.000,0.026,2537,2480,3434
$GC,1208,-1.17,-146.6,110.9,-8.3,56,1212,0.00,2.42,0.00,0.000,4,0.000,0.035,2537,1074,3434
$GC,1240,-1.17,-146.6,113.6,-8.0,57,1246,0.00,2.42,0.00,0.000,6,0.000,0.031,2537,2477,3434
$GC,1557,-1.17,-146.6,137.7,-7.4,73,1561,0.00,2.42,0.00,0.000,4,0.000,0.035,2537,1079,3434
$GC,1597,-1.17,-146.6,141.0,-8.0,75,1602,0.00,2.42,0.00,0.000,6,0.000,0.033,2537,2481,3434
$GC,1926,-1.17,-146.6,170.1,-9.6,91,1930,0.00,2.42,0.00,0.000,4,0.000,0.036,2536,1084,3434
$GC,1976,-1.17,-146.6,175.2,-9.9,93,1980,0.00,2.42,0.00,0.000,6,0.000,0.035,2537,2476,3433
$GC,2293,-1.17,-146.6,204.0,-9.1,108,2298,0.00,2.42,0.00,0.000,4,0.000,0.037,2537,1078,3434
$GC,2343,-1.17,-146.6,208.7,-8.9,110,2348,0.00,2.42,0.00,0.000,6,0.000,0.035,2537,2474,3434
$GC,2659,-1.17,-146.6,237.8,-9.3,125,2663,0.00,2.42,0.00,0.000,4,0.000,0.037,2537,1081,3434
$GC,2702,-1.17,-146.6,241.9,-9.1,127,2707,0.00,2.47,0.00,0.000,6,0.000,0.036,2537,2480,3434
$GC,3029,-1.17,-146.6,270.8,-8.6,143,3033,0.00,2.45,0.00,0.000,4,0.000,0.038,2537,1075,3434
$GC,3078,-1.17,-146.6,275.0,-8.5,145,3087,0.00,2.45,0.00,0.000,6,0.000,0.036,2537,2477,3434
$GC,3404,-1.17,-146.6,300.3,-7.9,161,3409,0.00,2.45,0.00,0.000,4,0.000,0.038,2537,1090,3434
$GC,3460,-1.17,-146.6,304.8,-7.8,163,3464,0.00,2.42,0.00,0.000,6,0.000,0.036,2537,2478,3434
$GC,3775,-1.17,-146.6,329.9,-8.2,178,3779,0.00,2.42,0.00,0.000,4,0.000,0.038,2537,1084,3434
$GC,3839,-1.17,-146.6,335.3,-8.7,181,3843,0.00,2.42,0.00,0.000,6,0.000,0.037,2537,2475,3434
$GC,4168,-1.17,-146.6,362.0,-8.4,197,4172,0.00,2.42,0.00,0.000,4,0.000,0.039,2537,1084,3434
$GC,4223,-1.17,-146.6,367.3,-9.3,199,4229,0.00,2.45,0.00,0.000,6,0.000,0.038,2537,2486,3434
$GC,4540,-1.17,-146.6,393.8,-8.2,215,4545,0.00,2.45,0.00,0.000,4,0.000,0.039,2537,1081,3433
$GC,4616,-1.17,-146.6,400.5,-9.0,218,4620,0.00,2.42,0.00,0.000,6,0.000,0.037,2537,2477,3434
$GC,4931,-1.17,-146.6,427.5,-8.6,233,4936,0.00,2.42,0.00,0.000,4,0.000,0.040,2537,1084,3433
$GC,4976,-1.17,-146.6,431.8,-9.6,235,4980,0.00,2.45,0.00,0.000,6,0.000,0.038,2537,2486,3433
$GC,5297,-1.17,-146.6,459.0,-7.8,251,5301,0.00,2.45,0.00,0.000,4,0.000,0.041,2537,1087,3433
$GC,5352,-1.17,-146.6,463.4,-7.3,253,5359,0.00,2.42,0.00,0.000,6,0.000,0.038,2537,2477,3433
$GC,5667,-1.17,-146.6,489.7,-8.2,269,5672,0.00,2.45,0.00,0.000,4,0.000,0.041,2537,1078,3433
$GC,5700,-1.17,-146.6,492.5,-8.5,270,5707,0.00,2.45,0.00,0.000,6,0.000,0.037,2537,2482,3433
$GC,6018,-1.17,-146.6,518.0,-8.1,286,6022,0.00,2.45,0.00,0.000,4,0.000,0.041,2537,1082,3433
$GC,6061,-1.17,-146.6,521.9,-8.5,288,6065,0.00,2.42,0.00,0.000,6,0.000,0.037,2537,2476,3433
$GC,6385,-1.17,-146.6,548.9,-8.5,304,6389,0.00,2.45,0.00,0.000,4,0.000,0.041,2537,1076,3433
$GC,6429,-1.17,-146.6,553.3,-9.1,306,6433,0.00,2.45,0.00,0.000,6,0.000,0.037,2537,2479,3433
$GC,6750,-1.17,-146.6,579.6,-7.6,322,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2479,3433
$GC,7059,-1.17,-146.6,602.9,-7.3,337,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2479,3432
$GC,7369,-1.17,-146.6,624.7,-6.6,352,7374,0.00,2.47,0.00,0.000,4,0.000,0.063,2537,3819,3432
$GC,7441,-1.17,-146.6,629.9,-7.1,355,7445,0.00,2.28,0.00,0.000,6,0.000,0.032,2537,2484,3432
$GC,7764,-1.17,-146.6,654.9,-8.0,371,7768,0.00,2.47,0.00,0.000,4,0.000,0.044,2537,1070,3432
$STATE,7788,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7789,begin apogee
$GC,7795,-0.36,0.0,657.0,7.2,372,7928,0.82,0.00,127.32,1.174,6,0.067,0.000,2715,1475,2832
$STATE,7928,end apogee,CONTROL_FINISHED_OK
$STATE,7929,begin climb
$GC,7931,1.17,146.6,660.7,0.0,379,8069,1.55,2.30,128.35,1.137,4,0.052,0.063,3058,280,2233
$GC,8149,1.17,146.6,650.5,7.8,389,8153,0.00,2.03,0.00,0.000,6,0.000,0.034,3058,1460,2228
$GC,8477,1.19,160.7,626.9,7.0,405,8491,0.00,0.00,12.45,1.030,6,0.000,0.000,3058,1460,2176
$GC,8805,1.19,160.7,603.4,7.5,420,8809,0.00,2.50,0.00,0.000,4,0.000,0.049,3058,2854,2172
$GC,9045,1.21,177.0,586.7,6.9,431,9068,0.00,2.45,15.25,1.071,6,0.000,0.040,3058,1468,2110
$GC,9378,1.21,177.0,563.9,7.7,447,9380,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1468,2106
$GC,9686,1.23,192.2,541.4,7.0,462,9708,0.00,2.50,14.57,1.055,4,0.000,0.042,3058,2856,2048
$GC,9758,1.23,192.2,536.0,8.0,465,9763,0.00,2.50,0.00,0.000,6,0.000,0.038,3058,1458,2046
$GC,10084,1.23,192.2,509.9,8.1,481,10086,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1458,2045
$GC,10394,1.23,192.2,484.4,8.5,496,10399,0.00,2.50,0.00,0.000,4,0.000,0.041,3058,2857,2044
$GC,10426,1.23,192.2,481.3,8.8,497,10431,0.00,2.45,0.00,0.000,6,0.000,0.035,3058,1453,2044
$GC,10744,1.23,192.2,452.8,8.5,512,10746,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1453,2044
$GC,11051,1.23,192.2,426.8,8.4,527,11056,0.00,2.47,0.00,0.000,4,0.000,0.038,3057,2863,2044
$GC,11085,1.24,198.0,424.1,7.3,528,11096,0.00,2.47,6.15,0.828,6,0.000,0.035,3058,1443,2024
$GC,11417,1.24,199.6,399.2,7.4,545,11419,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1443,2023
$GC,11727,1.24,199.6,375.9,7.6,560,11731,0.00,2.47,0.00,0.000,4,0.000,0.038,3058,2858,2023
$GC,11766,1.27,225.3,373.0,6.6,562,11797,0.00,2.45,25.77,0.978,6,0.000,0.035,3058,1450,1913
$GC,12114,1.27,225.3,344.4,8.4,579,12115,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1449,1909
$GC,12422,1.27,225.3,318.5,8.6,594,12427,0.00,2.47,0.00,0.000,4,0.000,0.039,3058,2857,1909
$GC,12478,1.27,225.3,313.6,8.7,596,12484,0.00,2.45,0.00,0.000,6,0.000,0.035,3058,1453,1909
$GC,12796,1.27,225.3,287.1,8.4,612,12797,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1453,1909
$GC,13103,1.27,225.3,260.8,8.6,627,13104,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1453,1909
$GC,13412,1.27,225.3,233.4,8.5,642,13416,0.00,2.47,0.00,0.000,4,0.000,0.038,3058,2864,1909
$GC,13455,1.27,225.3,229.6,8.1,644,13460,0.00,2.45,0.00,0.000,6,0.000,0.034,3058,1453,1909
$GC,13777,1.27,225.3,202.2,8.7,660,13779,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1453,1909
$GC,14086,1.27,225.3,174.7,8.7,675,14090,0.00,2.45,0.00,0.000,4,0.000,0.038,3058,2858,1909
$GC,14140,1.27,225.3,169.8,9.2,677,14146,0.00,2.42,0.00,0.000,6,0.000,0.034,3058,1454,1909
$GC,14456,1.27,225.3,141.7,8.7,693,14460,0.00,2.12,0.00,0.000,4,0.000,0.054,3058,262,1909
$GC,14479,1.27,225.3,139.5,9.9,694,14483,0.00,2.00,0.00,0.000,6,0.000,0.028,3058,1474,1909
$GC,14813,1.27,225.3,110.6,8.8,710,14817,0.00,2.35,0.00,0.000,4,0.000,0.039,3058,2838,1909
$GC,14854,1.27,225.3,106.8,9.7,712,14858,0.00,2.40,0.00,0.000,6,0.000,0.034,3058,1449,1909
$GC,15181,1.27,225.3,78.4,8.4,728,15182,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1449,1909
$GC,15490,1.27,225.3,53.5,8.2,743,15494,0.00,2.42,0.00,0.000,4,0.000,0.038,3058,2839,1909
$GC,15535,1.27,225.3,49.1,9.6,745,15539,0.00,2.40,0.00,0.000,6,0.000,0.034,3057,1450,1909
$GC,15856,1.27,225.3,18.9,8.3,761,15857,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1450,1909
$STATE,16059,end climb,SURFACE_DEPTH_REACHED
$STATE,16059,begin surface coast
$FINISH,1.0,1.027123
$STATE,16081,end surface coast,CONTROL_FINISHED_OK
$STATE,16081,begin surface
$SM_CCo,16105,48.05,0.750,0,0,1609,300.00
$SM_GC,0.70,0.00,0.00,48.05,0.000,0.000,0.750,393,2457,1609,-11.07,-0.54,300.00
$IRIDIUM_FIX,6148.92,-943.65,080998,090935
$TT8_MAMPS,0.027612
$HUMID,1815
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.1,66.6
$24V_AH,23.3,25.318
$10V_AH,10.1,10.992
$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,25.325,149.900,329.875,48.050,0.000,32.997,48.755,137.307,5.000,0.000,0.000,13.612,1453.500,12079.449,480.194,1768.374,709.076,0.000,1420.378,0.000,1904.965,0.000,34.701,0.000
$DEVICE_MAMPS,133.458,62.894,1174.277,750.126,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,662.215,544.400,496.806,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38002,772
$CAP_FILE_SIZE,119970,0
$CFSIZE,260165632,255098880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,140609,180737,6209.895,-948.450,39,1.4,45,-9.9