version: 66.04
glider: 105
mission: 6
dive: 35
start: 6 12 109 4 58 1
data:
$ID,105
$MISSION,6
$DIVE,35
$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,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$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,-1628706.9
$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,28
$R_STBD_OVSHOOT,38
$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
$GPS1,045206,6155.815,-928.260,41,0.9,46,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-61.8
$GPS2,045710,6155.866,-928.271,9,4.8,28,-9.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,AW
$TGT_LATLONG,6140.000,-930.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.115,-0.210
$KALMAN_X,-178439.7,4543.7,1750.8,108699.1,-31359.2
$KALMAN_Y,101055.8,-984.5,-976.0,-41433.5,25385.3
$MHEAD_RNG_PITCHd_Wd,160.9,29422,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-59.12,0.000,6,0.000,0.000,397,2467,3432
$GC,80,-1.17,-146.6,4.8,-9.2,3,101,11.48,2.47,0.00,0.000,4,0.137,0.034,2536,1061,3433
$GC,331,-1.17,-146.6,36.3,-8.6,14,336,0.00,2.45,0.00,0.000,6,0.000,0.032,2537,2474,3433
$GC,652,-1.17,-146.6,67.6,-9.6,30,656,0.00,2.45,0.00,0.000,4,0.000,0.057,2537,3828,3433
$GC,684,-1.17,-146.6,71.2,-10.2,31,692,0.00,2.33,0.00,0.000,6,0.000,0.025,2537,2456,3433
$GC,1000,-1.17,-146.6,103.1,-10.2,47,1004,0.00,2.38,0.00,0.000,4,0.000,0.036,2537,1079,3433
$GC,1040,-1.17,-146.6,107.1,-10.0,49,1045,0.00,2.40,0.00,0.000,6,0.000,0.030,2537,2479,3433
$GC,1367,-1.17,-146.6,140.4,-10.3,65,1371,0.00,2.42,0.00,0.000,4,0.000,0.035,2537,1080,3433
$GC,1400,-1.17,-146.6,143.6,-9.4,66,1407,0.00,2.42,0.00,0.000,6,0.000,0.032,2537,2480,3433
$GC,1716,-1.17,-146.6,171.6,-8.8,82,1721,0.00,2.45,0.00,0.000,4,0.000,0.036,2537,1086,3433
$GC,1815,-1.17,-146.6,180.5,-9.0,86,1819,0.00,2.42,0.00,0.000,6,0.000,0.034,2537,2483,3433
$GC,2131,-1.17,-146.6,210.9,-10.2,101,2136,0.00,2.45,0.00,0.000,4,0.000,0.038,2537,1094,3434
$GC,2164,-1.17,-146.6,214.6,-11.1,102,2168,0.00,2.40,0.00,0.000,6,0.000,0.035,2537,2472,3433
$GC,2480,-1.17,-146.6,243.7,-8.4,117,2484,0.00,2.42,0.00,0.000,4,0.000,0.038,2537,1080,3434
$GC,2515,-1.17,-146.6,246.5,-8.1,118,2521,0.00,2.42,0.00,0.000,6,0.000,0.035,2537,2476,3434
$GC,2831,-1.17,-146.6,275.4,-9.5,134,2835,0.00,2.42,0.00,0.000,4,0.000,0.039,2537,1083,3434
$GC,2908,-1.17,-146.6,283.2,-10.4,137,2914,0.00,2.45,0.00,0.000,6,0.000,0.038,2537,2483,3434
$GC,3225,-1.17,-146.6,314.1,-9.4,153,3229,0.00,2.45,0.00,0.000,4,0.000,0.039,2537,1079,3433
$GC,3265,-1.17,-146.6,318.0,-9.5,155,3269,0.00,2.45,0.00,0.000,6,0.000,0.037,2537,2483,3434
$GC,3593,-1.17,-146.6,349.9,-9.7,171,3597,0.00,2.45,0.00,0.000,4,0.000,0.040,2536,1081,3433
$GC,3682,-1.17,-146.6,359.4,-10.8,175,3687,0.00,2.42,0.00,0.000,6,0.000,0.037,2537,2477,3433
$GC,4011,-1.17,-146.6,394.4,-11.1,191,4015,0.00,2.42,0.00,0.000,4,0.000,0.040,2537,1088,3433
$GC,4096,-1.17,-146.6,404.2,-11.1,195,4100,0.00,2.42,0.00,0.000,6,0.000,0.037,2536,2476,3433
$GC,4424,-1.17,-146.6,440.7,-10.2,211,4428,0.00,2.42,0.00,0.000,4,0.000,0.041,2537,1090,3433
$GC,4473,-1.17,-146.6,445.9,-10.4,213,4477,0.00,2.42,0.00,0.000,6,0.000,0.038,2537,2478,3433
$GC,4791,-1.17,-146.6,485.8,-13.4,228,4795,0.00,2.45,0.00,0.000,4,0.000,0.041,2537,1079,3433
$GC,4858,-1.17,-146.6,495.7,-13.5,231,4863,0.00,2.47,0.00,0.000,6,0.000,0.038,2537,2473,3433
$GC,5187,-1.17,-146.6,547.0,-16.3,247,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2473,3433
$GC,5494,-1.17,-146.6,588.8,-10.3,262,5498,0.00,2.47,0.00,0.000,6,0.000,0.061,2537,3831,3432
$STATE,5499,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5499,begin apogee
$GC,5509,-0.36,0.0,589.2,9.8,262,5639,0.82,0.00,126.05,1.112,6,0.069,0.000,2717,1479,2832
$STATE,5639,end apogee,CONTROL_FINISHED_OK
$STATE,5639,begin climb
$GC,5642,1.17,146.6,589.1,0.0,268,5777,1.50,2.55,126.82,1.071,4,0.042,0.046,3059,2870,2233
$GC,6043,1.17,146.6,533.1,11.1,286,6047,0.00,2.50,0.00,0.000,6,0.000,0.038,3059,1448,2225
$GC,6366,1.36,294.2,518.6,2.5,302,6501,0.15,2.60,128.02,1.057,4,0.039,0.042,3116,2869,1631
$GC,6542,1.36,294.2,501.4,12.0,310,6546,0.00,2.50,0.00,0.000,6,0.000,0.037,3116,1452,1626
$GC,6860,1.36,294.2,470.4,9.5,325,6864,0.00,2.15,0.00,0.000,4,0.000,0.056,3116,264,1620
$GC,6898,1.36,294.2,466.3,10.2,326,6905,0.00,2.03,0.00,0.000,6,0.000,0.028,3116,1481,1620
$GC,7214,1.36,294.2,440.8,8.4,342,7218,0.00,2.22,0.00,0.000,4,0.000,0.054,3116,260,1618
$GC,7241,1.36,294.2,438.3,9.3,343,7245,0.00,2.00,0.00,0.000,6,0.000,0.028,3116,1461,1618
$GC,7571,1.36,294.2,408.2,9.5,359,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1463,1618
$GC,7877,1.36,294.2,377.5,10.5,374,7881,0.00,2.17,0.00,0.000,4,0.000,0.054,3116,262,1617
$GC,7910,1.36,294.2,373.8,10.8,375,7914,0.00,2.00,0.00,0.000,6,0.000,0.028,3116,1456,1617
$GC,8232,1.36,294.2,345.1,8.2,391,8237,0.00,2.17,0.00,0.000,4,0.000,0.054,3116,268,1617
$GC,8264,1.36,294.2,342.0,9.0,392,8268,0.00,2.00,0.00,0.000,6,0.000,0.028,3116,1462,1616
$GC,8586,1.36,294.2,316.2,7.7,408,8590,0.00,2.17,0.00,0.000,4,0.000,0.054,3116,261,1617
$GC,8625,1.36,294.2,312.8,8.8,409,8631,0.00,1.98,0.00,0.000,6,0.000,0.029,3116,1453,1617
$GC,8941,1.39,324.2,289.8,6.5,425,8969,0.00,0.00,25.25,0.913,6,0.000,0.000,3116,1454,1509
$GC,9293,1.41,337.4,266.5,7.0,442,9314,0.00,2.22,12.50,0.848,4,0.000,0.053,3116,259,1455
$GC,9360,1.41,337.4,260.8,9.7,445,9364,0.00,2.00,0.00,0.000,6,0.000,0.029,3116,1453,1454
$GC,9693,1.41,337.4,230.2,8.5,461,9696,0.00,2.15,0.00,0.000,4,0.000,0.053,3116,261,1453
$GC,9754,1.41,337.4,223.6,11.1,463,9760,0.00,2.03,0.00,0.000,6,0.000,0.028,3116,1456,1452
$GC,10069,1.41,337.4,186.6,11.8,479,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1457,1452
$GC,10378,1.41,337.4,154.0,10.1,494,10382,0.00,2.15,0.00,0.000,4,0.000,0.053,3116,261,1451
$GC,10434,1.41,337.4,147.9,11.5,496,10439,0.00,2.00,0.00,0.000,6,0.000,0.028,3116,1450,1451
$GC,10755,1.41,337.4,115.7,10.2,512,10759,0.00,2.12,0.00,0.000,4,0.000,0.053,3116,262,1451
$GC,10847,1.41,337.4,104.5,13.2,516,10851,0.00,1.98,0.00,0.000,6,0.000,0.028,3116,1458,1451
$GC,11181,1.41,337.4,60.4,13.0,532,11185,0.00,2.15,0.00,0.000,4,0.000,0.051,3116,258,1451
$GC,11220,1.41,337.4,54.9,14.2,533,11226,0.00,2.03,0.00,0.000,6,0.000,0.028,3117,1454,1451
$GC,11536,1.41,337.4,15.8,12.5,549,11537,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1455,1451
$STATE,11636,end climb,SURFACE_DEPTH_REACHED
$STATE,11636,begin surface coast
$FINISH,0.3,1.027253
$STATE,11659,end surface coast,CONTROL_FINISHED_OK
$STATE,11659,begin surface
$SM_CCo,11743,0.00,0.000,0,0,1449,339.25
$SM_GC,0.96,11.80,0.00,0.00,0.026,0.000,0.000,397,2455,1449,-10.98,-0.59,339.25
$IRIDIUM_FIX,6130.75,-929.24,060998,010116
$TT8_MAMPS,0.026845
$HUMID,1813
$INTERNAL_PRESSURE,8.07973
$TCM_TEMP,13.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.6,98.6
$24V_AH,23.3,23.276
$10V_AH,10.1,9.931
$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,25.750,123.450,418.650,0.000,0.000,28.444,33.720,119.976,4.000,0.000,0.000,29.346,1068.776,8549.397,475.562,1387.798,567.195,33.355,1246.144,0.000,1469.632,0.000,28.317,0.000
$DEVICE_MAMPS,136.526,61.360,1112.150,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,498.895,378.511,373.018,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28568,555
$CAP_FILE_SIZE,92031,0
$CFSIZE,260165632,255918080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,120609,081501,6157.779,-926.638,40,1.8,40,-9.6