version: 66.04
glider: 105
mission: 6
dive: 40
start: 6 12 109 21 12 3
data:
$ID,105
$MISSION,6
$DIVE,40
$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,-1628786.1
$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,25
$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
$GPS1,210706,6205.680,-917.154,36,1.0,41,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-59.8
$GPS2,211144,6205.770,-917.101,14,1.1,14,-9.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6205.770,-940.177
$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,279.6,20000,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-67.32,0.000,6,0.000,0.000,396,2467,3433
$GC,87,-1.17,-146.6,3.4,-6.6,3,108,11.50,2.47,0.00,0.000,4,0.137,0.052,2534,3821,3433
$GC,445,-1.17,-146.6,54.6,-12.1,19,450,0.00,2.33,0.00,0.000,6,0.000,0.025,2534,2445,3434
$GC,778,-1.17,-146.6,87.4,-7.3,35,782,0.00,2.50,0.00,0.000,4,0.000,0.054,2534,3828,3434
$GC,930,-1.17,-146.6,94.5,-4.4,42,935,0.00,2.28,0.00,0.000,6,0.000,0.026,2533,2482,3434
$GC,1263,-1.17,-146.6,112.8,-6.9,58,1267,0.00,2.40,0.00,0.000,4,0.000,0.036,2534,1089,3434
$GC,1357,-1.17,-146.6,119.2,-6.8,62,1361,0.00,2.40,0.00,0.000,6,0.000,0.032,2534,2478,3434
$GC,1673,-1.17,-146.6,142.1,-7.8,77,1677,0.00,2.42,0.00,0.000,4,0.000,0.036,2534,1082,3434
$GC,1705,-1.17,-146.6,144.9,-8.1,78,1713,0.00,2.45,0.00,0.000,6,0.000,0.034,2534,2474,3434
$GC,2021,-1.17,-146.6,174.0,-10.1,94,2025,0.00,2.45,0.00,0.000,4,0.000,0.037,2534,1082,3435
$GC,2070,-1.17,-146.6,179.2,-10.7,96,2074,0.00,2.42,0.00,0.000,6,0.000,0.035,2534,2474,3434
$GC,2392,-1.17,-146.6,211.8,-10.2,112,2396,0.00,2.42,0.00,0.000,4,0.000,0.038,2534,1080,3435
$GC,2447,-1.17,-146.6,217.7,-10.7,114,2453,0.00,2.42,0.00,0.000,6,0.000,0.035,2533,2479,3434
$GC,2765,-1.17,-146.6,249.5,-9.8,130,2769,0.00,2.42,0.00,0.000,4,0.000,0.038,2534,1088,3434
$GC,2831,-1.17,-146.6,256.2,-9.5,133,2836,0.00,2.45,0.00,0.000,6,0.000,0.038,2534,2472,3435
$GC,3163,-1.17,-146.6,284.7,-8.1,149,3167,0.00,2.42,0.00,0.000,4,0.000,0.039,2534,1084,3434
$GC,3224,-1.17,-146.6,289.7,-7.9,152,3229,0.00,2.45,0.00,0.000,6,0.000,0.038,2534,2483,3435
$GC,3554,-1.17,-146.6,313.5,-6.9,168,3558,0.00,2.45,0.00,0.000,4,0.000,0.040,2534,1081,3434
$GC,3620,-1.17,-146.6,318.3,-7.0,171,3625,0.00,2.47,0.00,0.000,6,0.000,0.038,2534,2475,3434
$GC,3946,-1.17,-146.6,341.9,-8.0,187,3950,0.00,2.42,0.00,0.000,4,0.000,0.040,2534,1088,3434
$GC,4011,-1.17,-146.6,347.3,-8.8,190,4015,0.00,2.42,0.00,0.000,6,0.000,0.039,2534,2474,3435
$GC,4340,-1.17,-146.6,374.7,-8.0,206,4345,0.00,2.42,0.00,0.000,4,0.000,0.041,2534,1091,3434
$GC,4378,-1.17,-146.6,378.1,-8.5,207,4384,0.00,2.45,0.00,0.000,6,0.000,0.039,2534,2486,3434
$GC,4694,-1.17,-146.6,401.9,-7.2,223,4699,0.00,2.47,0.00,0.000,4,0.000,0.041,2534,1094,3434
$GC,4755,-1.17,-146.6,406.6,-8.1,225,4761,0.00,2.42,0.00,0.000,6,0.000,0.038,2534,2477,3434
$GC,5071,-1.17,-146.6,431.9,-9.9,241,5075,0.00,2.47,0.00,0.000,4,0.000,0.064,2534,3832,3434
$GC,5126,-1.17,-146.6,438.9,-12.9,243,5132,0.00,2.28,0.00,0.000,6,0.000,0.028,2534,2482,3434
$GC,5444,-1.17,-146.6,474.5,-9.7,259,5448,0.00,2.45,0.00,0.000,4,0.000,0.040,2534,1073,3434
$GC,5477,-1.17,-146.6,478.1,-10.2,260,5483,0.00,2.42,0.00,0.000,6,0.000,0.036,2534,2479,3433
$GC,5793,-1.17,-146.6,505.1,-7.9,276,5797,0.00,2.45,0.00,0.000,4,0.000,0.062,2534,3827,3433
$GC,5832,-1.17,-146.6,508.4,-7.6,278,5836,0.00,2.28,0.00,0.000,6,0.000,0.029,2534,2480,3433
$STATE,5867,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5867,begin apogee
$GC,5875,-0.36,0.0,509.2,2.1,280,6004,0.88,0.00,125.95,1.068,6,0.070,0.000,2719,1462,2832
$STATE,6005,end apogee,CONTROL_FINISHED_OK
$STATE,6005,begin climb
$GC,6008,1.17,146.6,518.9,0.0,286,6143,1.52,2.25,126.57,1.037,4,0.052,0.058,3055,268,2233
$GC,6478,1.17,146.6,498.6,7.5,307,6483,0.00,2.05,0.00,0.000,6,0.000,0.031,3055,1471,2225
$GC,6799,1.30,245.8,476.4,4.1,323,6891,0.12,2.25,86.18,1.037,4,0.041,0.058,3114,264,1829
$GC,7228,1.30,245.8,447.9,8.6,342,7232,0.17,2.00,0.00,0.000,6,0.084,0.030,3080,1457,1820
$GC,7549,1.30,245.8,419.4,9.1,358,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1457,1818
$GC,7858,1.30,245.8,387.8,10.6,373,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1457,1817
$GC,8167,1.30,245.8,353.1,11.4,388,8171,0.00,2.42,0.00,0.000,4,0.000,0.041,3079,2839,1817
$GC,8199,1.30,245.8,349.1,12.0,389,8205,0.00,2.42,0.00,0.000,6,0.000,0.035,3080,1452,1816
$GC,8515,1.30,245.8,312.7,10.7,405,8518,0.00,2.15,0.00,0.000,4,0.000,0.056,3079,258,1816
$GC,8560,1.30,245.8,307.5,11.7,407,8565,0.00,2.00,0.00,0.000,6,0.000,0.028,3080,1453,1816
$GC,8892,1.30,245.8,274.4,10.1,423,8896,0.00,2.42,0.00,0.000,4,0.000,0.040,3080,2844,1816
$GC,8919,1.30,245.8,271.6,9.7,424,8923,0.00,2.42,0.00,0.000,6,0.000,0.034,3079,1450,1816
$GC,9234,1.30,245.8,240.9,9.9,439,9235,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1451,1816
$GC,9543,1.30,245.8,210.4,9.8,454,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1451,1815
$GC,9853,1.30,245.8,180.3,9.6,469,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1450,1816
$GC,10164,1.30,245.8,152.1,8.6,484,10166,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1450,1816
$GC,10473,1.30,245.8,127.7,7.5,499,10474,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1451,1816
$GC,10781,1.30,245.8,103.9,7.6,514,10782,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1450,1816
$GC,11090,1.30,245.8,78.2,8.7,529,11094,0.00,2.10,0.00,0.000,4,0.000,0.052,3079,267,1816
$GC,11139,1.30,245.8,73.3,9.6,531,11143,0.00,1.95,0.00,0.000,6,0.000,0.028,3079,1458,1816
$GC,11468,1.35,289.4,49.5,6.0,547,11510,0.00,2.47,36.38,0.778,4,0.000,0.037,3079,2832,1651
$GC,11530,1.40,331.1,45.7,6.1,550,11574,0.12,2.42,36.80,0.755,6,0.041,0.033,3136,1445,1482
$GC,11885,1.40,331.1,8.4,11.7,567,11887,0.15,0.00,0.00,0.000,6,0.079,0.000,3106,1445,1475
$STATE,11941,end climb,SURFACE_DEPTH_REACHED
$STATE,11941,begin surface coast
$FINISH,0.2,1.012487
$STATE,11963,end surface coast,CONTROL_FINISHED_OK
$STATE,11963,begin surface
$SM_CCo,12047,0.00,0.000,0,0,1471,333.85
$SM_GC,0.79,11.88,0.00,0.00,0.029,0.000,0.000,397,2453,1471,-10.98,-0.65,333.85
$IRIDIUM_FIX,6139.81,-917.93,060998,181820
$TT8_MAMPS,0.027612
$HUMID,1812
$INTERNAL_PRESSURE,8.07973
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.6,93.3
$24V_AH,23.4,23.900
$10V_AH,10.1,10.240
$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,26.350,107.550,411.875,0.000,0.000,27.460,40.204,110.565,3.250,0.000,0.000,14.339,1103.284,8733.127,471.020,1460.694,562.752,0.000,1262.536,0.000,1554.193,0.000,23.471,0.000
$DEVICE_MAMPS,137.293,64.428,1068.431,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,484.093,408.232,433.588,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28488,571
$CAP_FILE_SIZE,92500,0
$CFSIZE,260165632,255692800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,130609,003407,6209.171,-915.217,40,1.2,40,-9.6