version: 66.04
glider: 105
mission: 6
dive: 52
start: 6 14 109 18 13 16
data:
$ID,105
$MISSION,6
$DIVE,52
$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,-1628985.5
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,180737,6209.895,-948.450,39,1.4,45,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-61.2
$GPS2,181255,6209.852,-948.408,10,0.9,15,-9.9
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6209.852,-1011.535
$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,-58.92,0.000,6,0.000,0.000,392,2457,3432
$GC,81,-1.17,-146.6,4.9,-9.9,3,97,11.38,2.45,0.00,0.000,4,0.131,0.034,2533,1053,3433
$GC,103,-1.17,-146.6,14.5,-39.1,3,108,0.00,2.47,0.00,0.000,6,0.000,0.032,2534,2474,3433
$GC,425,-1.17,-146.6,46.1,-8.9,19,429,0.00,2.45,0.00,0.000,4,0.000,0.057,2534,3827,3433
$GC,766,-1.17,-146.6,78.6,-10.4,34,771,0.00,2.33,0.00,0.000,6,0.000,0.027,2533,2461,3434
$GC,1087,-1.17,-146.6,110.1,-9.7,50,1091,0.00,2.47,0.00,0.000,4,0.000,0.055,2533,3825,3434
$GC,1284,-1.17,-146.6,130.0,-10.0,59,1289,0.00,2.28,0.00,0.000,6,0.000,0.028,2533,2475,3434
$GC,1611,-1.17,-146.6,159.8,-9.1,75,1615,0.00,2.42,0.00,0.000,4,0.000,0.038,2533,1075,3434
$GC,1649,-1.17,-146.6,163.2,-8.6,77,1654,0.00,2.42,0.00,0.000,6,0.000,0.033,2533,2478,3434
$GC,1976,-1.17,-146.6,190.8,-8.3,93,1980,0.00,2.45,0.00,0.000,4,0.000,0.038,2533,1074,3434
$GC,2038,-1.17,-146.6,196.3,-8.5,96,2043,0.00,2.45,0.00,0.000,6,0.000,0.035,2534,2467,3434
$GC,2370,-1.17,-146.6,224.5,-8.4,112,2374,0.00,2.42,0.00,0.000,4,0.000,0.038,2534,1077,3434
$GC,2419,-1.17,-146.6,228.9,-8.8,114,2424,0.00,2.45,0.00,0.000,6,0.000,0.036,2533,2466,3433
$GC,2739,-1.17,-146.6,257.0,-8.9,130,2744,0.00,2.42,0.00,0.000,4,0.000,0.039,2533,1078,3434
$GC,2784,-1.17,-146.6,261.1,-9.3,132,2789,0.00,2.47,0.00,0.000,6,0.000,0.037,2533,2474,3434
$GC,3110,-1.17,-146.6,290.6,-9.2,148,3114,0.00,2.42,0.00,0.000,4,0.000,0.039,2533,1081,3433
$GC,3165,-1.17,-146.6,296.1,-10.1,150,3172,0.00,2.42,0.00,0.000,6,0.000,0.038,2533,2483,3433
$GC,3484,-1.17,-146.6,325.5,-9.5,166,3488,0.00,2.45,0.00,0.000,4,0.000,0.040,2533,1078,3434
$GC,3546,-1.17,-146.6,331.5,-8.7,169,3551,0.00,2.45,0.00,0.000,6,0.000,0.038,2534,2477,3434
$GC,3873,-1.17,-146.6,360.4,-8.8,185,3877,0.00,2.45,0.00,0.000,4,0.000,0.040,2533,1076,3433
$GC,3923,-1.17,-146.6,364.7,-8.3,187,3927,0.00,2.45,0.00,0.000,6,0.000,0.037,2533,2477,3434
$GC,4239,-1.17,-146.6,391.7,-8.5,202,4243,0.00,2.45,0.00,0.000,4,0.000,0.040,2533,1075,3433
$GC,4289,-1.17,-146.6,396.1,-8.8,204,4293,0.00,2.45,0.00,0.000,6,0.000,0.038,2533,2477,3433
$GC,4605,-1.17,-146.6,422.8,-8.7,219,4610,0.00,2.47,0.00,0.000,4,0.000,0.041,2533,1082,3433
$GC,4660,-1.17,-146.6,428.0,-9.4,221,4664,0.00,2.42,0.00,0.000,6,0.000,0.038,2533,2479,3433
$GC,4977,-1.17,-146.6,455.5,-8.7,236,4981,0.00,2.45,0.00,0.000,4,0.000,0.041,2533,1076,3433
$GC,5032,-1.17,-146.6,460.8,-9.0,238,5038,0.00,2.45,0.00,0.000,6,0.000,0.038,2533,2483,3433
$GC,5350,-1.17,-146.6,488.6,-9.0,254,5354,0.00,2.45,0.00,0.000,4,0.000,0.041,2533,1082,3433
$GC,5405,-1.17,-146.6,493.9,-8.5,256,5411,0.00,2.42,0.00,0.000,6,0.000,0.037,2533,2477,3433
$GC,5721,-1.17,-146.6,520.5,-8.1,272,5725,0.00,2.45,0.00,0.000,4,0.000,0.040,2533,1075,3433
$GC,5760,-1.17,-146.6,523.8,-8.2,274,5764,0.00,2.45,0.00,0.000,6,0.000,0.037,2533,2484,3433
$GC,6087,-1.17,-146.6,552.3,-8.9,290,6088,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2484,3432
$GC,6396,-1.17,-146.6,581.0,-9.3,305,6400,0.00,2.45,0.00,0.000,4,0.000,0.041,2534,1081,3432
$GC,6448,-1.17,-146.6,585.6,-8.7,307,6452,0.00,2.45,0.00,0.000,6,0.000,0.038,2533,2485,3433
$GC,6763,-1.17,-146.6,613.5,-9.3,322,6767,0.00,2.45,0.00,0.000,4,0.000,0.041,2533,1082,3432
$GC,6807,-1.17,-146.6,617.7,-9.3,324,6812,0.00,2.42,0.00,0.000,6,0.000,0.038,2533,2473,3432
$GC,7128,-1.17,-146.6,646.3,-8.7,340,7133,0.00,2.45,0.00,0.000,4,0.000,0.041,2533,1076,3432
$GC,7172,-1.17,-146.6,650.8,-9.5,342,7176,0.00,2.45,0.00,0.000,6,0.000,0.038,2533,2477,3432
$GC,7497,-1.17,-146.6,675.9,-7.8,358,7501,0.00,2.45,0.00,0.000,4,0.000,0.063,2533,3828,3432
$GC,7626,-1.17,-146.6,687.5,-8.7,364,7630,0.00,2.30,0.00,0.000,6,0.000,0.031,2533,2470,3432
$STATE,7929,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7929,begin apogee
$GC,7937,-0.36,0.0,710.0,7.7,379,8072,0.88,0.00,128.38,1.206,6,0.070,0.000,2719,1471,2831
$STATE,8073,end apogee,CONTROL_FINISHED_OK
$STATE,8073,begin climb
$GC,8076,1.17,146.6,714.5,0.0,386,8214,1.55,0.00,129.43,1.175,6,0.050,0.000,3058,1471,2232
$GC,8524,1.18,148.4,687.6,7.4,408,8527,0.00,2.22,0.00,0.000,4,0.000,0.063,3058,260,2225
$GC,8585,1.18,148.4,682.6,8.7,410,8591,0.00,2.10,0.00,0.000,6,0.000,0.035,3058,1470,2224
$GC,8903,1.22,185.1,660.8,6.2,426,8945,0.00,2.58,33.83,1.154,4,0.000,0.051,3058,2846,2076
$GC,9113,1.22,185.1,644.7,7.7,435,9117,0.00,2.47,0.00,0.000,6,0.000,0.039,3058,1450,2071
$GC,9429,1.22,185.1,618.3,8.5,450,9433,0.00,2.50,0.00,0.000,4,0.000,0.045,3058,2848,2070
$GC,9461,1.22,185.1,615.2,9.1,451,9467,0.00,2.45,0.00,0.000,6,0.000,0.038,3058,1446,2070
$GC,9779,1.22,185.1,588.8,8.4,467,9783,0.00,2.47,0.00,0.000,4,0.000,0.043,3058,2849,2069
$GC,9841,1.22,185.1,583.2,9.1,470,9845,0.00,2.42,0.00,0.000,6,0.000,0.037,3058,1453,2069
$GC,10167,1.22,185.1,555.1,8.6,486,10172,0.00,2.45,0.00,0.000,4,0.000,0.041,3058,2854,2068
$GC,10246,1.22,185.1,548.2,8.4,489,10252,0.00,2.45,0.00,0.000,6,0.000,0.035,3058,1450,2068
$GC,10562,1.22,185.1,522.3,8.2,505,10563,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1450,2067
$GC,10871,1.22,185.1,498.0,7.9,520,10875,0.00,2.47,0.00,0.000,4,0.000,0.040,3058,2854,2067
$GC,10898,1.22,185.1,495.6,8.1,521,10902,0.00,2.45,0.00,0.000,6,0.000,0.035,3058,1449,2067
$GC,11216,1.22,185.1,469.9,8.0,536,11217,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1449,2068
$GC,11524,1.22,185.1,445.0,8.0,551,11529,0.00,2.45,0.00,0.000,4,0.000,0.039,3058,2857,2068
$GC,11565,1.22,185.1,441.8,8.2,553,11569,0.00,2.45,0.00,0.000,6,0.000,0.035,3058,1447,2067
$GC,11891,1.22,185.1,416.1,7.8,569,11892,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1446,2067
$GC,12203,1.22,185.1,391.9,7.8,584,12207,0.00,2.47,0.00,0.000,4,0.000,0.038,3058,2860,2068
$GC,12236,1.22,186.6,389.1,7.4,585,12242,0.00,2.42,0.00,0.000,6,0.000,0.034,3058,1451,2067
$GC,12551,1.22,186.6,365.1,7.8,601,12555,0.00,2.45,0.00,0.000,4,0.000,0.038,3058,2854,2068
$GC,12579,1.23,190.8,362.8,7.4,602,12590,0.00,2.42,5.18,0.738,6,0.000,0.034,3058,1455,2053
$GC,12902,1.23,190.8,337.0,8.2,618,12903,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1455,2053
$GC,13208,1.23,190.8,311.8,8.1,633,13213,0.00,2.45,0.00,0.000,4,0.000,0.038,3058,2855,2053
$GC,13248,1.23,190.8,308.5,8.5,635,13252,0.00,2.42,0.00,0.000,6,0.000,0.034,3058,1455,2052
$GC,13577,1.23,190.8,281.5,8.4,651,13581,0.00,2.12,0.00,0.000,4,0.000,0.055,3058,265,2053
$GC,13610,1.23,190.8,278.1,9.2,652,13615,0.00,2.00,0.00,0.000,6,0.000,0.028,3058,1464,2053
$GC,13931,1.23,190.8,250.2,8.5,668,13935,0.00,2.40,0.00,0.000,4,0.000,0.041,3058,2840,2052
$GC,13959,1.23,190.8,247.7,8.3,669,13963,0.00,2.40,0.00,0.000,6,0.000,0.034,3058,1453,2052
$GC,14275,1.23,190.8,220.3,8.8,684,14276,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1453,2053
$GC,14584,1.23,190.8,193.1,8.7,699,14588,0.00,2.42,0.00,0.000,4,0.000,0.037,3058,2846,2053
$GC,14627,1.23,190.8,189.3,8.4,701,14633,0.00,2.42,0.00,0.000,6,0.000,0.034,3058,1463,2053
$GC,14954,1.23,190.8,161.8,8.6,717,14955,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1463,2053
$GC,15263,1.23,190.8,135.9,8.1,732,15268,0.00,2.40,0.00,0.000,4,0.000,0.037,3058,2843,2053
$GC,15304,1.23,190.8,132.7,8.4,734,15309,0.00,2.42,0.00,0.000,6,0.000,0.034,3058,1455,2053
$GC,15636,1.23,190.8,106.6,7.6,750,15637,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1455,2053
$GC,15947,1.23,194.6,83.4,7.4,765,15957,0.00,2.42,5.20,0.625,4,0.000,0.037,3058,2839,2037
$GC,16013,1.26,214.1,78.6,6.8,768,16037,0.00,2.40,18.08,0.779,6,0.000,0.033,3058,1453,1959
$GC,16361,1.26,214.1,50.3,8.4,785,16362,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1454,1957
$GC,16670,1.26,214.1,25.4,7.7,800,16674,0.00,2.42,0.00,0.000,4,0.000,0.036,3058,2845,1956
$GC,16710,1.28,233.1,22.6,6.9,802,16732,0.00,2.42,17.15,0.742,6,0.000,0.034,3058,1462,1881
$STATE,16955,end climb,SURFACE_DEPTH_REACHED
$STATE,16956,begin surface coast
$FINISH,0.9,1.027121
$STATE,16979,end surface coast,CONTROL_FINISHED_OK
$STATE,16979,begin surface
$SM_CCo,17002,45.20,0.745,0,0,1609,300.00
$SM_GC,0.82,0.00,0.00,45.20,0.000,0.000,0.745,397,2462,1609,-11.05,-0.40,300.00
$IRIDIUM_FIX,6148.92,-948.20,080998,131306
$TT8_MAMPS,0.027612
$HUMID,1811
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,13.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.9,43.3
$24V_AH,23.3,25.447
$10V_AH,10.1,11.075
$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,25.425,172.900,337.225,45.200,0.000,29.705,27.783,144.729,5.750,0.000,0.000,15.840,1545.583,12737.590,515.986,1862.161,709.700,0.000,1502.553,0.000,1993.799,0.000,39.472,0.000
$DEVICE_MAMPS,131.157,62.894,1206.491,744.757,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,710.407,582.258,509.278,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41016,815
$CAP_FILE_SIZE,128388,0
$CFSIZE,260165632,255025152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,140609,225837,6208.233,-951.134,33,1.2,33,-9.9