version: 66.04
glider: 105
mission: 6
dive: 60
start: 6 16 109 12 56 46
data:
$ID,105
$MISSION,6
$DIVE,60
$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,-1629104.5
$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,27
$R_STBD_OVSHOOT,28
$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
$GPS1,124436,6207.099,-1030.247,32,1.0,32,-10.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-60.2
$GPS2,125625,6207.231,-1030.380,12,1.4,17,-10.3
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6207.231,-1053.474
$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,280.3,20000,-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,-146.6,0.0,0.0,0,76,0.00,0.00,-59.10,0.000,6,0.000,0.000,392,2462,3431
$GC,80,-1.17,-146.6,3.8,-5.7,3,101,11.48,2.47,0.00,0.000,4,0.137,0.033,2538,1057,3433
$GC,223,-1.17,-146.6,27.3,-10.3,9,228,0.00,2.47,0.00,0.000,6,0.000,0.032,2537,2483,3433
$GC,539,-1.17,-146.6,60.2,-8.9,24,544,0.00,2.47,0.00,0.000,4,0.000,0.035,2538,1058,3433
$GC,580,-1.17,-146.6,64.0,-8.9,26,584,0.00,2.47,0.00,0.000,6,0.000,0.033,2537,2466,3433
$GC,912,-1.17,-146.6,91.5,-8.2,42,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2466,3433
$GC,1222,-1.17,-146.6,117.4,-8.7,57,1227,0.00,2.45,0.00,0.000,4,0.000,0.037,2538,1058,3434
$GC,1286,-1.17,-146.6,123.5,-9.7,60,1291,0.00,2.47,0.00,0.000,6,0.000,0.035,2537,2480,3434
$GC,1613,-1.17,-146.6,156.7,-10.2,76,1618,0.00,2.47,0.00,0.000,4,0.000,0.037,2538,1060,3433
$GC,1678,-1.17,-146.6,163.1,-10.0,79,1683,0.00,2.47,0.00,0.000,6,0.000,0.036,2537,2475,3433
$GC,2004,-1.17,-146.6,195.4,-9.4,95,2008,0.00,2.47,0.00,0.000,4,0.000,0.038,2538,1057,3433
$GC,2066,-1.17,-146.6,200.7,-8.8,98,2070,0.00,2.47,0.00,0.000,6,0.000,0.036,2537,2476,3433
$GC,2392,-1.17,-146.6,230.0,-9.2,114,2397,0.00,2.47,0.00,0.000,4,0.000,0.038,2538,1056,3433
$GC,2433,-1.17,-146.6,233.9,-9.8,116,2437,0.00,2.50,0.00,0.000,6,0.000,0.037,2537,2484,3433
$GC,2760,-1.17,-146.6,264.6,-9.6,132,2764,0.00,2.50,0.00,0.000,4,0.000,0.039,2537,1055,3433
$GC,2809,-1.17,-146.6,269.6,-9.0,134,2814,0.00,2.50,0.00,0.000,6,0.000,0.037,2538,2482,3433
$GC,3128,-1.17,-146.6,300.9,-10.2,149,3132,0.00,2.47,0.00,0.000,4,0.000,0.039,2537,1063,3433
$GC,3173,-1.17,-146.6,306.0,-11.0,151,3177,0.00,2.47,0.00,0.000,6,0.000,0.037,2538,2477,3433
$GC,3493,-1.17,-146.6,339.1,-10.2,167,3497,0.00,2.47,0.00,0.000,4,0.000,0.039,2538,1060,3433
$GC,3565,-1.17,-146.6,346.3,-9.7,170,3570,0.00,2.50,0.00,0.000,6,0.000,0.038,2537,2474,3433
$GC,3889,-1.17,-146.6,375.8,-8.7,186,3893,0.00,2.47,0.00,0.000,4,0.000,0.040,2538,1056,3433
$GC,3939,-1.17,-146.6,380.5,-8.4,188,3943,0.00,2.50,0.00,0.000,6,0.000,0.038,2538,2484,3432
$GC,4255,-1.17,-146.6,405.7,-7.6,203,4259,0.00,2.47,0.00,0.000,4,0.000,0.040,2537,1064,3432
$GC,4288,-1.17,-146.6,408.2,-7.9,204,4294,0.00,2.47,0.00,0.000,6,0.000,0.038,2538,2477,3433
$GC,4604,-1.17,-146.6,433.2,-8.6,220,4608,0.00,2.47,0.00,0.000,4,0.000,0.040,2538,1061,3432
$GC,4643,-1.17,-146.6,436.5,-8.4,222,4647,0.00,2.47,0.00,0.000,6,0.000,0.037,2537,2480,3432
$GC,4970,-1.17,-146.6,465.7,-9.1,238,4974,0.00,2.47,0.00,0.000,4,0.000,0.040,2538,1065,3432
$GC,5036,-1.17,-146.6,472.1,-9.1,241,5041,0.00,2.50,0.00,0.000,6,0.000,0.037,2538,2476,3432
$GC,5362,-1.17,-146.6,503.2,-9.9,257,5367,0.00,2.50,0.00,0.000,4,0.000,0.040,2538,1065,3432
$GC,5419,-1.17,-146.6,509.0,-9.8,259,5423,0.00,2.47,0.00,0.000,6,0.000,0.037,2538,2484,3432
$GC,5734,-1.17,-146.6,539.9,-9.1,274,5738,0.00,2.50,0.00,0.000,4,0.000,0.040,2537,1057,3432
$GC,5778,-1.17,-146.6,544.1,-9.5,276,5783,0.00,2.50,0.00,0.000,6,0.000,0.036,2537,2477,3432
$GC,6104,-1.17,-146.6,573.7,-8.6,292,6108,0.00,2.47,0.00,0.000,4,0.000,0.040,2537,1060,3432
$GC,6153,-1.17,-146.6,578.0,-7.9,294,6158,0.00,2.47,0.00,0.000,6,0.000,0.036,2537,2469,3432
$GC,6474,-1.17,-146.6,604.2,-8.6,310,6478,0.00,2.45,0.00,0.000,4,0.000,0.040,2537,1065,3432
$GC,6517,-1.17,-146.6,608.2,-8.9,312,6522,0.00,2.47,0.00,0.000,6,0.000,0.037,2538,2481,3432
$GC,6838,-1.17,-146.6,642.4,-11.0,328,6843,0.00,2.47,0.00,0.000,4,0.000,0.039,2538,1064,3432
$GC,6866,-1.17,-146.6,645.4,-10.8,329,6870,0.00,2.47,0.00,0.000,6,0.000,0.037,2537,2484,3432
$GC,7182,-1.17,-146.6,672.5,-7.3,344,7186,0.00,2.47,0.00,0.000,4,0.000,0.039,2537,1065,3432
$GC,7266,-1.17,-146.6,678.3,-6.4,348,7271,0.00,2.45,0.00,0.000,6,0.000,0.037,2538,2473,3431
$GC,7593,-1.17,-146.6,701.7,-7.3,364,7597,0.00,2.47,0.00,0.000,4,0.000,0.040,2538,1059,3431
$GC,7637,-1.17,-146.6,704.8,-6.8,366,7641,0.00,2.50,0.00,0.000,6,0.000,0.038,2538,2472,3431
$GC,7963,-1.17,-146.6,720.4,-4.1,382,7967,0.00,2.47,0.00,0.000,4,0.000,0.041,2538,1059,3431
$GC,8053,-1.17,-146.6,725.5,-7.0,386,8058,0.00,2.50,0.00,0.000,6,0.000,0.038,2538,2470,3431
$GC,8379,-1.17,-146.6,757.3,-12.5,402,8380,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2470,3431
$GC,8691,-1.17,-146.6,792.7,-8.6,417,8695,0.00,2.47,0.00,0.000,4,0.000,0.063,2538,3830,3431
$GC,8763,-1.17,-146.6,797.6,-5.2,420,8767,0.00,2.33,0.00,0.000,6,0.000,0.031,2538,2457,3431
$GC,9078,-1.17,-146.6,808.5,-11.1,435,9082,0.00,2.40,0.00,0.000,4,0.000,0.041,2538,1079,3430
$GC,9123,-1.17,-146.6,814.6,-13.7,437,9128,0.00,2.47,0.00,0.000,6,0.000,0.039,2537,2474,3431
$GC,9449,-1.17,-146.6,828.2,-0.2,453,9453,0.00,2.47,0.00,0.000,4,0.000,0.065,2537,3828,3430
$GC,9493,-1.17,-146.6,830.0,-4.7,455,9497,0.00,2.30,0.00,0.000,6,0.000,0.033,2537,2480,3430
$GC,9814,-1.17,-146.6,869.4,-14.7,471,9819,0.00,2.47,0.00,0.000,4,0.000,0.047,2538,1077,3430
$GC,9909,-1.17,-146.6,879.3,-6.9,475,9914,0.00,2.47,0.00,0.000,6,0.000,0.042,2537,2475,3430
$GC,10225,-1.17,-146.6,892.9,-6.2,490,10229,0.00,2.50,0.00,0.000,4,0.000,0.048,2538,1075,3429
$GC,10247,-1.17,-146.6,894.7,-8.7,491,10251,0.00,2.50,0.00,0.000,6,0.000,0.046,2538,2478,3429
$STATE,10381,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10381,begin apogee
$GC,10389,-0.36,0.0,900.4,2.4,498,10523,0.88,0.00,130.02,1.353,6,0.071,0.000,2723,1469,2832
$STATE,10524,end apogee,CONTROL_FINISHED_OK
$STATE,10524,begin climb
$GC,10527,1.17,146.6,908.1,0.0,505,10667,1.52,2.35,131.73,1.315,4,0.056,0.071,3055,266,2234
$GC,10677,1.50,406.9,913.7,-1.4,512,10919,0.32,2.10,232.70,1.302,6,0.031,0.038,3146,1466,1173
$GC,11235,1.50,406.9,847.9,12.0,539,11239,0.00,2.25,0.00,0.000,4,0.000,0.065,3146,261,1162
$GC,11454,1.50,406.9,797.7,23.5,548,11461,0.08,2.10,0.00,0.000,6,0.087,0.035,3128,1458,1160
$GC,11769,1.50,406.9,747.1,18.5,564,11774,0.00,2.53,0.00,0.000,4,0.000,0.048,3128,2861,1159
$GC,11797,1.50,406.9,741.3,19.7,565,11801,0.00,2.47,0.00,0.000,6,0.000,0.040,3128,1455,1158
$GC,12112,1.50,406.9,689.9,15.4,580,12116,0.00,2.17,0.00,0.000,4,0.000,0.058,3128,260,1158
$GC,12280,1.50,406.9,658.3,18.3,587,12284,0.00,2.08,0.00,0.000,6,0.000,0.031,3128,1474,1158
$GC,12601,1.50,406.9,609.4,13.9,603,12606,0.00,2.22,0.00,0.000,4,0.000,0.056,3128,265,1158
$GC,12718,1.50,406.9,592.5,13.6,608,12722,0.00,2.03,0.00,0.000,6,0.000,0.030,3128,1461,1157
$GC,13048,1.50,406.9,547.7,13.9,624,13051,0.00,2.17,0.00,0.000,4,0.000,0.055,3128,262,1157
$GC,13142,1.50,406.9,531.9,16.4,628,13146,0.00,2.03,0.00,0.000,6,0.000,0.030,3127,1460,1157
$GC,13469,1.50,406.9,478.9,16.7,644,13474,0.00,2.20,0.00,0.000,4,0.000,0.054,3128,260,1157
$GC,13565,1.50,406.9,462.3,18.1,648,13569,0.00,2.03,0.00,0.000,6,0.000,0.030,3128,1460,1157
$GC,13892,1.50,406.9,406.5,17.0,664,13896,0.00,2.17,0.00,0.000,4,0.000,0.054,3128,257,1157
$GC,13987,1.50,406.9,389.5,17.9,668,13991,0.00,2.03,0.00,0.000,6,0.000,0.029,3128,1462,1158
$GC,14314,1.50,406.9,338.5,14.9,684,14318,0.00,2.17,0.00,0.000,4,0.000,0.054,3128,260,1158
$GC,14431,1.50,406.9,319.9,15.0,689,14436,0.00,2.05,0.00,0.000,6,0.000,0.031,3128,1452,1158
$GC,14757,1.50,406.9,273.8,13.5,705,14761,0.00,2.15,0.00,0.000,4,0.000,0.054,3127,259,1158
$GC,14841,1.50,406.9,261.5,15.6,708,14847,0.00,2.00,0.00,0.000,6,0.000,0.030,3128,1453,1158
$GC,15159,1.50,406.9,217.6,14.3,724,15163,0.00,2.15,0.00,0.000,4,0.000,0.054,3128,262,1158
$GC,15259,1.50,406.9,200.9,16.3,728,15263,0.00,2.00,0.00,0.000,6,0.000,0.030,3128,1456,1158
$GC,15581,1.50,406.9,152.1,15.8,744,15586,0.00,2.17,0.00,0.000,4,0.000,0.054,3128,263,1158
$GC,15671,1.50,406.9,136.6,16.7,748,15674,0.00,2.00,0.00,0.000,6,0.000,0.029,3128,1458,1159
$GC,16005,1.50,406.9,85.5,15.1,764,16008,0.00,2.15,0.00,0.000,4,0.000,0.053,3128,262,1159
$GC,16118,1.50,406.9,66.8,15.9,769,16121,0.00,2.00,0.00,0.000,6,0.000,0.029,3128,1461,1159
$GC,16451,1.50,406.9,19.0,14.4,785,16453,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1464,1158
$STATE,16571,end climb,SURFACE_DEPTH_REACHED
$STATE,16571,begin surface coast
$FINISH,0.0,1.013584
$STATE,16593,end surface coast,CONTROL_FINISHED_OK
$STATE,16593,begin surface
$SM_CCo,16677,0.00,0.000,0,0,1158,410.88
$SM_GC,0.88,11.82,0.00,0.00,0.025,0.000,0.000,394,2464,1158,-10.99,-0.31,410.88
$IRIDIUM_FIX,6139.81,-1028.15,100998,131334
$TT8_MAMPS,0.026845
$HUMID,1847
$INTERNAL_PRESSURE,8.06019
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,801.2,108.8
$24V_AH,23.2,26.659
$10V_AH,10.1,11.797
$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,26.100,187.900,494.450,0.000,0.000,76.625,88.358,289.497,7.000,0.000,0.000,17.306,1543.132,12301.385,533.148,2009.443,997.680,0.000,1650.079,0.000,2117.134,0.000,47.732,0.000
$DEVICE_MAMPS,136.526,70.564,1352.988,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,680.924,566.797,446.367,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41026,792
$CAP_FILE_SIZE,141151,0
$CFSIZE,260165632,254480384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,160609,173620,6208.555,-1041.327,40,2.3,59,-10.4