version: 66.04
glider: 105
mission: 6
dive: 42
start: 6 13 109 4 14 57
data:
$ID,105
$MISSION,6
$DIVE,42
$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,-1628835.8
$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,26
$R_STBD_OVSHOOT,36
$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
$GPS1,040930,6210.668,-914.190,36,2.0,41,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-57.7
$GPS2,041440,6210.682,-914.156,14,2.1,33,-9.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6210.682,-937.294
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.17,-146.6,0.0,0.0,0,86,0.00,0.00,-67.03,0.000,6,0.000,0.000,396,2467,3433
$GC,89,-1.17,-146.6,2.9,-5.2,3,110,11.50,2.47,0.00,0.000,4,0.137,0.051,2542,3821,3434
$GC,447,-1.17,-146.6,46.1,-9.4,19,452,0.00,2.33,0.00,0.000,6,0.000,0.026,2542,2453,3434
$GC,779,-1.17,-146.6,72.2,-6.7,35,783,0.00,2.47,0.00,0.000,4,0.000,0.054,2542,3822,3434
$GC,1021,-1.17,-146.6,87.4,-6.4,46,1025,0.00,2.25,0.00,0.000,6,0.000,0.025,2542,2476,3434
$GC,1349,-1.17,-146.6,108.3,-6.9,62,1353,0.00,2.40,0.00,0.000,4,0.000,0.037,2542,1082,3434
$GC,1414,-1.17,-146.6,112.7,-7.0,65,1418,0.00,2.40,0.00,0.000,6,0.000,0.031,2542,2473,3434
$GC,1740,-1.17,-146.6,133.9,-5.9,81,1745,0.00,2.42,0.00,0.000,4,0.000,0.036,2542,1076,3434
$GC,1774,-1.17,-146.6,135.8,-5.3,82,1781,0.00,2.45,0.00,0.000,6,0.000,0.033,2542,2475,3434
$GC,2089,-1.17,-146.6,153.1,-5.5,98,2094,0.00,2.42,0.00,0.000,4,0.000,0.037,2542,1078,3434
$GC,2152,-1.17,-146.6,156.8,-5.9,101,2157,0.00,2.45,0.00,0.000,6,0.000,0.035,2542,2473,3434
$GC,2485,-1.17,-146.6,179.3,-7.2,117,2489,0.00,2.42,0.00,0.000,4,0.000,0.038,2542,1078,3434
$GC,2540,-1.17,-146.6,183.5,-7.7,119,2547,0.00,2.45,0.00,0.000,6,0.000,0.035,2542,2487,3434
$GC,2855,-1.17,-146.6,209.0,-8.0,135,2860,0.00,2.45,0.00,0.000,4,0.000,0.038,2542,1080,3434
$GC,2900,-1.17,-146.6,212.7,-8.0,137,2905,0.00,2.45,0.00,0.000,6,0.000,0.035,2542,2472,3434
$GC,3226,-1.17,-146.6,237.3,-7.3,153,3231,0.00,2.42,0.00,0.000,4,0.000,0.038,2542,1078,3434
$GC,3291,-1.17,-146.6,241.8,-7.4,156,3295,0.00,2.45,0.00,0.000,6,0.000,0.037,2542,2481,3434
$GC,3620,-1.17,-146.6,263.3,-6.3,172,3624,0.00,2.45,0.00,0.000,4,0.000,0.039,2542,1077,3434
$GC,3683,-1.17,-146.6,267.4,-5.6,175,3687,0.00,2.45,0.00,0.000,6,0.000,0.038,2542,2479,3434
$GC,4009,-1.17,-146.6,290.3,-7.9,191,4013,0.00,2.42,0.00,0.000,4,0.000,0.040,2541,1087,3434
$GC,4049,-1.17,-146.6,293.8,-9.2,193,4053,0.00,2.42,0.00,0.000,6,0.000,0.038,2542,2476,3434
$GC,4375,-1.17,-146.6,328.1,-11.3,209,4379,0.00,2.42,0.00,0.000,4,0.000,0.040,2542,1083,3434
$GC,4447,-1.17,-146.6,336.7,-12.1,212,4451,0.00,2.45,0.00,0.000,6,0.000,0.038,2542,2482,3434
$GC,4765,-1.17,-146.6,376.5,-12.1,227,4770,0.00,2.45,0.00,0.000,4,0.000,0.039,2542,1077,3434
$GC,4854,-1.17,-146.6,385.3,-11.1,231,4858,0.00,2.45,0.00,0.000,6,0.000,0.038,2542,2482,3433
$GC,5175,-1.17,-146.6,419.0,-9.0,247,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2482,3433
$GC,5484,-1.17,-146.6,444.4,-7.1,262,5488,0.00,2.45,0.00,0.000,4,0.000,0.041,2542,1081,3433
$GC,5517,-1.17,-146.6,447.1,-7.7,263,5523,0.00,2.42,0.00,0.000,6,0.000,0.037,2542,2476,3433
$GC,5832,-1.17,-146.6,471.6,-6.6,279,5837,0.00,2.45,0.00,0.000,4,0.000,0.062,2541,3827,3433
$GC,6090,-1.17,-146.6,492.5,-10.2,290,6097,0.00,2.30,0.00,0.000,6,0.000,0.030,2542,2484,3433
$STATE,6301,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6301,begin apogee
$GC,6309,-0.36,0.0,509.5,7.3,301,6438,0.85,0.00,125.60,1.073,6,0.071,0.000,2723,1472,2832
$STATE,6438,end apogee,CONTROL_FINISHED_OK
$STATE,6439,begin climb
$GC,6441,1.17,146.6,513.5,0.0,307,6575,1.52,2.25,126.12,1.038,4,0.059,0.061,3053,268,2233
$GC,6667,1.18,147.4,503.4,7.5,317,6673,0.00,2.05,0.00,0.000,6,0.000,0.033,3053,1470,2228
$GC,6985,1.25,205.3,481.7,5.5,333,7041,0.00,2.53,50.90,1.025,4,0.000,0.048,3053,2853,1994
$GC,7087,1.28,228.6,475.8,6.7,337,7114,0.08,2.50,21.45,0.976,6,0.033,0.038,3102,1464,1899
$GC,7437,1.28,228.6,445.5,9.8,354,7442,0.12,2.47,0.00,0.000,4,0.083,0.040,3077,2858,1892
$GC,7532,1.28,228.6,435.6,10.1,358,7536,0.00,2.47,0.00,0.000,6,0.000,0.038,3077,1452,1892
$GC,7850,1.28,228.6,408.2,7.7,373,7853,0.00,2.15,0.00,0.000,4,0.000,0.058,3077,265,1890
$GC,7922,1.28,231.5,402.4,7.4,376,7927,0.00,2.03,0.00,0.000,6,0.000,0.028,3077,1463,1889
$GC,8249,1.28,231.5,374.9,9.6,392,8250,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1465,1889
$GC,8558,1.28,231.5,342.6,10.7,407,8559,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1464,1889
$GC,8867,1.28,231.5,310.0,10.2,422,8872,0.00,2.20,0.00,0.000,4,0.000,0.055,3077,264,1888
$GC,8900,1.28,231.5,306.5,10.2,423,8903,0.00,2.00,0.00,0.000,6,0.000,0.029,3077,1458,1889
$GC,9221,1.28,231.5,276.7,8.8,439,9225,0.00,2.42,0.00,0.000,4,0.000,0.041,3077,2841,1888
$GC,9262,1.28,231.5,273.1,9.3,441,9266,0.00,2.42,0.00,0.000,6,0.000,0.035,3077,1447,1888
$GC,9590,1.28,231.5,244.4,8.9,457,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1447,1888
$GC,9897,1.28,231.5,215.4,9.5,472,9898,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1447,1888
$GC,10206,1.28,231.5,183.7,10.5,487,10210,0.00,2.45,0.00,0.000,4,0.000,0.038,3077,2845,1888
$GC,10261,1.28,231.5,177.7,10.9,489,10268,0.00,2.40,0.00,0.000,6,0.000,0.035,3077,1451,1888
$GC,10577,1.28,231.5,144.6,10.3,505,10581,0.00,2.42,0.00,0.000,4,0.000,0.036,3078,2843,1888
$GC,10609,1.28,231.5,141.1,10.4,506,10617,0.00,2.42,0.00,0.000,6,0.000,0.034,3077,1460,1888
$GC,10925,1.28,231.5,112.6,8.3,522,10930,0.00,2.40,0.00,0.000,4,0.000,0.036,3077,2839,1888
$GC,10981,1.28,231.5,108.3,7.5,524,10987,0.00,2.40,0.00,0.000,6,0.000,0.034,3077,1453,1888
$GC,11297,1.29,239.2,85.3,7.2,540,11311,0.00,2.45,8.70,0.721,4,0.000,0.035,3077,2842,1856
$GC,11351,1.29,239.2,81.0,8.4,542,11355,0.00,2.42,0.00,0.000,6,0.000,0.034,3077,1449,1855
$GC,11667,1.29,239.2,55.0,8.2,557,11670,0.00,2.12,0.00,0.000,4,0.000,0.054,3077,260,1855
$GC,11712,1.29,239.2,50.7,9.6,559,11717,0.00,2.00,0.00,0.000,6,0.000,0.028,3077,1458,1854
$GC,12045,1.29,239.2,20.3,9.3,575,12050,0.00,2.15,0.00,0.000,4,0.000,0.051,3077,270,1854
$GC,12122,1.29,239.2,12.4,9.3,578,12126,0.00,1.98,0.00,0.000,6,0.000,0.028,3077,1461,1854
$STATE,12235,end climb,SURFACE_DEPTH_REACHED
$STATE,12235,begin surface coast
$FINISH,0.1,1.027250
$STATE,12257,end surface coast,CONTROL_FINISHED_OK
$STATE,12257,begin surface
$SM_CCo,12281,40.12,0.746,0,0,1609,300.00
$SM_GC,1.11,0.00,0.00,40.12,0.000,0.000,0.746,395,2464,1609,-11.06,-0.37,300.00
$IRIDIUM_FIX,6144.36,-914.87,070998,000027
$TT8_MAMPS,0.027612
$HUMID,1810
$INTERNAL_PRESSURE,8.10902
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,426.5,91.5
$24V_AH,23.4,24.147
$10V_AH,10.1,10.374
$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,25.700,126.550,332.775,40.125,0.000,28.534,24.878,131.399,3.250,0.000,0.000,34.489,1150.743,8909.715,463.621,1520.696,591.339,0.000,1265.411,0.000,1597.342,0.000,23.436,0.000
$DEVICE_MAMPS,137.293,62.127,1073.033,745.524,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,501.345,408.019,452.231,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28559,585
$CAP_FILE_SIZE,99429,0
$CFSIZE,260165632,255594496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,130609,074136,6211.458,-916.646,38,1.4,38,-9.6