version: 66.04
glider: 105
mission: 6
dive: 43
start: 6 13 109 7 46 46
data:
$ID,105
$MISSION,6
$DIVE,43
$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,-1628853
$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
$GPS1,074136,6211.458,-916.646,38,1.4,38,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-60.3
$GPS2,074627,6211.496,-916.649,15,1.5,16,-9.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6211.496,-939.798
$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,14,begin dive
$GC,17,-1.17,-146.6,0.0,0.0,0,78,0.00,0.00,-59.45,0.000,6,0.000,0.000,395,2466,3432
$GC,81,-1.17,-146.6,4.4,-8.6,3,102,11.52,2.50,0.00,0.000,4,0.138,0.053,2541,3825,3434
$GC,439,-1.17,-146.6,50.7,-10.4,19,444,0.00,2.33,0.00,0.000,6,0.000,0.026,2541,2453,3434
$GC,771,-1.17,-146.6,79.2,-8.0,35,775,0.00,2.47,0.00,0.000,4,0.000,0.052,2541,3822,3434
$GC,837,-1.17,-146.6,84.9,-8.5,38,841,0.00,2.25,0.00,0.000,6,0.000,0.025,2540,2476,3434
$GC,1159,-1.17,-146.6,106.7,-5.9,54,1163,0.00,2.40,0.00,0.000,4,0.000,0.036,2541,1084,3434
$GC,1199,-1.17,-146.6,109.1,-6.4,56,1204,0.00,2.42,0.00,0.000,6,0.000,0.032,2541,2470,3434
$GC,1532,-1.17,-146.6,129.2,-6.6,72,1536,0.00,2.42,0.00,0.000,4,0.000,0.035,2541,1092,3434
$GC,1564,-1.17,-146.6,131.6,-7.1,73,1569,0.00,2.42,0.00,0.000,6,0.000,0.033,2540,2475,3434
$GC,1885,-1.17,-146.6,156.6,-8.3,89,1890,0.00,2.40,0.00,0.000,4,0.000,0.036,2540,1089,3434
$GC,1930,-1.17,-146.6,160.4,-8.2,91,1934,0.00,2.40,0.00,0.000,6,0.000,0.035,2540,2475,3434
$GC,2250,-1.17,-146.6,184.0,-7.0,107,2255,0.00,2.42,0.00,0.000,4,0.000,0.037,2540,1078,3434
$GC,2313,-1.17,-146.6,188.1,-6.7,110,2317,0.00,2.42,0.00,0.000,6,0.000,0.034,2540,2476,3434
$GC,2640,-1.17,-146.6,209.8,-7.2,126,2644,0.00,2.40,0.00,0.000,4,0.000,0.038,2541,1091,3434
$GC,2683,-1.17,-146.6,213.3,-7.6,128,2688,0.00,2.42,0.00,0.000,6,0.000,0.036,2540,2483,3435
$GC,3005,-1.17,-146.6,246.8,-11.9,144,3009,0.00,2.42,0.00,0.000,4,0.000,0.038,2541,1091,3434
$GC,3060,-1.17,-146.6,253.5,-12.5,146,3066,0.00,2.45,0.00,0.000,6,0.000,0.038,2541,2473,3434
$GC,3375,-1.17,-146.6,291.6,-12.0,162,3379,0.00,2.42,0.00,0.000,4,0.000,0.039,2540,1084,3434
$GC,3424,-1.17,-146.6,297.5,-11.5,164,3429,0.00,2.45,0.00,0.000,6,0.000,0.038,2541,2483,3434
$GC,3740,-1.17,-146.6,330.3,-9.4,179,3744,0.00,2.42,0.00,0.000,4,0.000,0.040,2541,1092,3434
$GC,3779,-1.17,-146.6,333.7,-8.6,181,3783,0.00,2.42,0.00,0.000,6,0.000,0.038,2540,2482,3434
$GC,4106,-1.17,-146.6,358.8,-7.2,197,4111,0.00,2.45,0.00,0.000,4,0.000,0.040,2540,1082,3434
$GC,4173,-1.17,-146.6,363.4,-6.2,200,4178,0.00,2.42,0.00,0.000,6,0.000,0.038,2540,2475,3434
$GC,4495,-1.17,-146.6,383.3,-6.6,216,4499,0.00,2.42,0.00,0.000,4,0.000,0.041,2541,1089,3434
$GC,4545,-1.17,-146.6,386.6,-6.1,218,4549,0.00,2.42,0.00,0.000,6,0.000,0.038,2541,2474,3434
$GC,4861,-1.17,-146.6,419.3,-14.0,233,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2475,3434
$GC,5169,-1.17,-146.6,462.8,-11.2,248,5174,0.00,2.42,0.00,0.000,4,0.000,0.041,2541,1094,3434
$GC,5258,-1.17,-146.6,471.0,-7.6,252,5262,0.00,2.42,0.00,0.000,6,0.000,0.039,2540,2479,3434
$GC,5579,-1.17,-146.6,497.2,-8.3,268,5583,0.00,2.45,0.00,0.000,4,0.000,0.042,2541,1086,3433
$GC,5721,-1.17,-146.6,508.7,-7.9,274,5725,0.00,2.45,0.00,0.000,6,0.000,0.040,2540,2480,3433
$GC,6039,-1.17,-146.6,531.3,-7.3,289,6043,0.00,2.45,0.00,0.000,4,0.000,0.043,2540,1088,3433
$GC,6118,-1.17,-146.6,537.4,-7.4,292,6124,0.00,2.45,0.00,0.000,6,0.000,0.041,2540,2482,3433
$STATE,6246,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6246,begin apogee
$GC,6254,-0.36,0.0,548.0,8.3,299,6383,0.85,0.00,125.85,1.106,6,0.071,0.000,2721,1485,2832
$STATE,6384,end apogee,CONTROL_FINISHED_OK
$STATE,6384,begin climb
$GC,6386,1.17,146.6,552.4,0.0,305,6521,1.52,2.30,126.38,1.068,4,0.050,0.063,3058,265,2233
$GC,6596,1.21,175.3,544.5,6.5,315,6628,0.00,2.05,25.75,1.012,6,0.000,0.033,3058,1473,2116
$GC,6940,1.25,204.9,521.8,6.5,332,6973,0.00,2.50,26.65,1.027,4,0.000,0.048,3058,2842,1994
$GC,7030,1.29,237.1,515.8,6.4,336,7067,0.00,2.47,29.38,1.025,6,0.000,0.039,3058,1451,1865
$GC,7379,1.30,249.6,491.5,7.1,353,7400,0.10,2.25,11.73,0.956,4,0.047,0.060,3099,264,1814
$GC,7416,1.30,249.6,487.8,9.2,354,7423,0.00,2.05,0.00,0.000,6,0.000,0.033,3099,1459,1813
$GC,7732,1.30,249.6,451.3,13.6,370,7735,0.00,2.17,0.00,0.000,4,0.000,0.058,3099,264,1810
$GC,7810,1.30,249.6,440.1,13.5,373,7814,0.00,2.05,0.00,0.000,6,0.000,0.031,3099,1463,1809
$GC,8134,1.31,257.0,413.0,7.2,389,8148,0.00,2.53,7.22,0.864,4,0.000,0.044,3100,2846,1783
$GC,8182,1.33,273.5,409.6,6.9,391,8206,0.00,2.47,16.58,0.977,6,0.000,0.037,3099,1444,1717
$GC,8528,1.33,273.5,381.8,9.7,408,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1444,1713
$GC,8837,1.33,273.5,344.1,13.9,423,8841,0.00,2.12,0.00,0.000,4,0.000,0.057,3100,264,1712
$GC,8907,1.33,273.5,333.7,15.7,426,8911,0.00,2.00,0.00,0.000,6,0.000,0.029,3099,1459,1712
$GC,9239,1.33,273.5,291.5,11.7,442,9244,0.00,2.45,0.00,0.000,4,0.000,0.043,3099,2837,1712
$GC,9277,1.33,273.5,286.9,11.5,443,9283,0.00,2.42,0.00,0.000,6,0.000,0.035,3100,1447,1711
$GC,9595,1.33,273.5,253.0,10.8,459,9599,0.00,2.12,0.00,0.000,4,0.000,0.055,3099,262,1711
$GC,9618,1.33,273.5,250.2,10.9,460,9622,0.00,1.98,0.00,0.000,6,0.000,0.028,3099,1458,1711
$GC,9950,1.33,273.5,213.9,10.8,476,9954,0.00,2.15,0.00,0.000,4,0.000,0.054,3099,262,1711
$GC,9983,1.33,273.5,209.8,11.7,477,9987,0.00,2.00,0.00,0.000,6,0.000,0.029,3099,1454,1711
$GC,10304,1.33,273.5,174.8,10.7,493,10305,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1456,1711
$GC,10614,1.33,273.5,141.3,10.6,508,10618,0.00,2.15,0.00,0.000,4,0.000,0.053,3099,258,1711
$GC,10642,1.33,273.5,138.1,11.6,509,10646,0.00,1.98,0.00,0.000,6,0.000,0.028,3099,1455,1711
$GC,10970,1.33,273.5,103.3,11.0,525,10972,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1456,1711
$GC,11278,1.33,273.5,67.5,12.0,540,11283,0.00,2.42,0.00,0.000,4,0.000,0.040,3099,2849,1711
$GC,11328,1.33,273.5,61.4,11.9,542,11332,0.00,2.42,0.00,0.000,6,0.000,0.034,3099,1451,1711
$GC,11644,1.33,273.5,25.4,11.4,557,11648,0.00,2.10,0.00,0.000,4,0.000,0.054,3100,265,1712
$GC,11668,1.33,273.5,22.6,12.0,558,11671,0.00,1.98,0.00,0.000,6,0.000,0.029,3099,1463,1712
$STATE,11853,end climb,SURFACE_DEPTH_REACHED
$STATE,11853,begin surface coast
$FINISH,0.2,1.027228
$STATE,11877,end surface coast,CONTROL_FINISHED_OK
$STATE,11877,begin surface
$SM_CCo,11901,17.08,0.726,0,0,1609,300.00
$SM_GC,0.59,0.00,0.00,17.08,0.000,0.000,0.726,397,2457,1609,-11.05,-0.54,300.00
$IRIDIUM_FIX,6144.36,-914.87,070998,040454
$TT8_MAMPS,0.027612
$HUMID,1822
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,13.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.1,56.7
$24V_AH,23.3,24.271
$10V_AH,10.1,10.437
$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,25.775,129.350,369.525,17.075,0.000,29.299,29.850,122.622,4.000,0.000,0.000,16.630,1108.532,8672.288,455.640,1402.062,576.749,0.000,1230.249,0.000,1506.095,0.000,28.195,0.000
$DEVICE_MAMPS,138.060,62.894,1106.014,725.582,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,515.548,388.437,403.489,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28582,568
$CAP_FILE_SIZE,97440,0
$CFSIZE,260165632,255549440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,130609,110637,6213.625,-919.456,33,1.0,33,-9.7