version: 66.04
glider: 105
mission: 6
dive: 256
start: 8 10 109 3 53 51
data:
$ID,105
$MISSION,6
$DIVE,256
$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,550
$T_MISSION,580
$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,-1
$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,-1632621.6
$T_RSLEEP,27
$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,2250
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,49
$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
$GPS1,034837,6211.246,-911.977,38,1.1,38,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-61.8
$GPS2,035331,6211.212,-911.987,11,1.3,16,-9.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$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,183.2,95441,-11.0,-6.000
$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,-0.96,-146.6,0.0,0.0,0,75,0.00,0.00,-58.08,0.000,6,0.000,0.000,393,2223,3431
$GC,78,-0.96,-146.6,3.5,-5.4,3,100,11.65,2.60,0.00,0.000,4,0.133,0.049,2586,3638,3432
$GC,240,-0.96,-146.6,27.4,-7.6,10,244,0.00,2.38,0.00,0.000,6,0.000,0.028,2586,2250,3433
$GC,561,-0.96,-146.6,48.6,-6.4,26,565,0.00,2.50,0.00,0.000,4,0.000,0.051,2586,3632,3434
$GC,700,-0.96,-146.6,58.2,-6.6,32,704,0.00,2.35,0.00,0.000,6,0.000,0.029,2586,2252,3434
$GC,1015,-0.96,-146.6,78.4,-6.5,47,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2252,3435
$GC,1326,-0.96,-146.6,100.9,-8.4,62,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2251,3435
$GC,1634,-0.96,-146.6,133.0,-11.3,77,1638,0.00,2.50,0.00,0.000,4,0.000,0.053,2586,3628,3435
$GC,1741,-0.96,-146.6,145.6,-12.2,82,1745,0.00,2.35,0.00,0.000,6,0.000,0.029,2586,2251,3435
$GC,2070,-0.96,-146.6,181.7,-10.4,98,2074,0.00,2.50,0.00,0.000,4,0.000,0.053,2586,3632,3435
$GC,2159,-0.96,-146.6,191.3,-10.3,102,2163,0.00,2.38,0.00,0.000,6,0.000,0.030,2586,2240,3435
$GC,2482,-0.96,-146.6,219.3,-8.0,118,2486,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3631,3435
$GC,2599,-0.96,-146.6,229.5,-8.3,123,2603,0.00,2.38,0.00,0.000,6,0.000,0.031,2586,2257,3435
$GC,2919,-0.96,-146.6,252.7,-7.2,139,2923,0.00,2.50,0.00,0.000,4,0.000,0.054,2586,3632,3435
$GC,3008,-0.96,-146.6,259.8,-8.2,143,3012,0.00,2.38,0.00,0.000,6,0.000,0.030,2586,2247,3430
$GC,3329,-0.96,-146.6,283.8,-7.6,159,3333,0.00,2.50,0.00,0.000,4,0.000,0.054,2586,3628,3434
$GC,3413,-0.96,-146.6,290.8,-8.9,163,3417,0.00,2.38,0.00,0.000,6,0.000,0.031,2586,2237,3434
$GC,3739,-0.96,-146.6,316.1,-7.7,179,3744,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3634,3434
$GC,3819,-0.96,-146.6,322.7,-8.5,182,3826,0.00,2.38,0.00,0.000,6,0.000,0.031,2587,2249,3434
$GC,4134,-0.96,-146.6,346.3,-7.3,198,4138,0.00,2.50,0.00,0.000,4,0.000,0.053,2586,3631,3433
$GC,4219,-0.96,-146.6,352.9,-7.5,202,4224,0.00,2.38,0.00,0.000,6,0.000,0.031,2586,2239,3433
$GC,4547,-0.96,-146.6,375.4,-6.6,218,4551,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3631,3433
$GC,4624,-0.96,-146.6,380.7,-6.8,221,4630,0.00,2.38,0.00,0.000,6,0.000,0.031,2586,2243,3432
$GC,4940,-0.96,-146.6,397.5,-5.4,237,4945,0.00,2.53,0.00,0.000,4,0.000,0.055,2586,3621,3432
$GC,5004,-0.96,-146.6,401.3,-6.2,239,5010,0.00,2.35,0.00,0.000,6,0.000,0.031,2586,2250,3432
$GC,5319,-0.96,-146.6,421.1,-6.8,255,5323,0.00,2.50,0.00,0.000,4,0.000,0.054,2586,3628,3432
$GC,5408,-0.96,-146.6,427.8,-7.4,259,5412,0.00,2.38,0.00,0.000,6,0.000,0.030,2586,2236,3432
$GC,5729,-0.96,-146.6,450.2,-7.1,275,5733,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3633,3431
$GC,5847,-0.96,-146.6,459.4,-8.2,280,5851,0.00,2.38,0.00,0.000,6,0.000,0.030,2586,2247,3431
$GC,6165,-0.96,-146.6,481.1,-6.8,295,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2247,3431
$STATE,6304,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6304,begin apogee
$GC,6312,-0.36,0.0,490.5,6.5,302,6441,0.62,0.00,125.20,1.091,6,0.064,0.000,2721,1463,2832
$STATE,6441,end apogee,CONTROL_FINISHED_OK
$STATE,6441,begin climb
$GC,6445,0.96,146.6,494.7,0.0,308,6578,1.33,2.25,125.32,1.055,4,0.055,0.060,3010,274,2233
$GC,6675,1.01,187.0,486.0,4.9,318,6716,0.00,2.03,35.60,1.016,6,0.000,0.032,3010,1448,2068
$GC,7036,1.04,211.3,467.8,5.3,336,7062,0.00,2.53,21.52,1.000,4,0.000,0.044,3010,2842,1969
$GC,7102,1.04,211.7,463.8,6.0,339,7106,0.00,2.45,0.00,0.000,6,0.000,0.037,3010,1455,1967
$GC,7424,1.04,211.7,445.1,6.3,355,7428,0.00,2.47,0.00,0.000,4,0.000,0.043,3010,2851,1965
$GC,7486,1.04,211.7,441.1,6.5,358,7490,0.00,2.47,0.00,0.000,6,0.000,0.038,3010,1446,1964
$GC,7812,1.04,211.7,419.5,7.3,374,7816,0.00,2.50,0.00,0.000,4,0.000,0.041,3010,2851,1964
$GC,7840,1.04,211.7,417.5,7.4,375,7844,0.00,2.45,0.00,0.000,6,0.000,0.037,3010,1454,1963
$GC,8155,1.04,211.7,393.7,7.3,390,8160,0.00,2.47,0.00,0.000,4,0.000,0.041,3010,2853,1963
$GC,8205,1.04,211.7,390.0,7.2,392,8210,0.00,2.47,0.00,0.000,6,0.000,0.037,3010,1463,1962
$GC,8526,1.04,211.7,367.2,7.3,408,8530,0.00,2.45,0.00,0.000,4,0.000,0.040,3010,2845,1962
$GC,8576,1.04,211.7,363.5,7.0,410,8580,0.00,2.45,0.00,0.000,6,0.000,0.037,3010,1446,1962
$GC,8892,1.04,211.7,341.0,7.3,425,8896,0.00,2.47,0.00,0.000,4,0.000,0.041,3010,2845,1962
$GC,8942,1.04,211.7,337.1,7.6,427,8947,0.00,2.47,0.00,0.000,6,0.000,0.037,3010,1451,1962
$GC,9262,1.04,211.7,311.6,8.6,443,9266,0.00,2.47,0.00,0.000,4,0.000,0.042,3010,2843,1962
$GC,9311,1.04,211.7,307.3,8.4,445,9316,0.00,2.45,0.00,0.000,6,0.000,0.038,3010,1448,1961
$GC,9627,1.04,211.7,280.0,8.4,460,9631,0.00,2.47,0.00,0.000,4,0.000,0.043,3010,2843,1961
$GC,9677,1.04,211.7,275.7,8.0,462,9682,0.00,2.45,0.00,0.000,6,0.000,0.038,3010,1463,1961
$GC,9998,1.04,211.7,250.8,7.5,478,10003,0.00,2.45,0.00,0.000,4,0.000,0.041,3010,2846,1961
$GC,10038,1.04,211.7,247.7,7.6,480,10042,0.00,2.42,0.00,0.000,6,0.000,0.036,3010,1452,1962
$GC,10366,1.04,211.7,224.4,7.0,496,10370,0.00,2.47,0.00,0.000,4,0.000,0.042,3010,2848,1961
$GC,10415,1.04,211.7,220.7,7.1,498,10419,0.00,2.45,0.00,0.000,6,0.000,0.037,3010,1446,1961
$GC,10731,1.04,211.7,200.0,6.4,513,10735,0.00,2.47,0.00,0.000,4,0.000,0.041,3010,2845,1961
$GC,10780,1.04,211.7,196.8,6.2,515,10784,0.00,2.42,0.00,0.000,6,0.000,0.037,3010,1455,1961
$GC,11098,1.10,259.6,179.9,4.7,530,11147,0.12,2.53,41.42,0.897,4,0.042,0.041,3062,2838,1772
$GC,11198,1.10,259.6,173.5,6.4,534,11203,0.08,2.47,0.00,0.000,6,0.070,0.037,3040,1457,1769
$GC,11519,1.14,293.1,156.7,5.1,550,11551,0.00,0.00,30.27,0.865,6,0.000,0.000,3040,1457,1636
$GC,11849,1.14,293.1,130.4,10.2,566,11853,0.00,2.45,0.00,0.000,4,0.000,0.041,3040,2848,1630
$GC,11881,1.14,293.1,126.7,10.5,567,11888,0.00,2.42,0.00,0.000,6,0.000,0.038,3040,1453,1630
$GC,12199,1.14,293.1,96.0,8.6,583,12203,0.00,2.47,0.00,0.000,4,0.000,0.040,3040,2850,1629
$GC,12222,1.14,293.1,94.2,7.8,584,12227,0.00,2.45,0.00,0.000,6,0.000,0.037,3040,1454,1628
$GC,12544,1.14,293.1,66.5,9.1,600,12549,0.00,2.17,0.00,0.000,4,0.000,0.059,3040,266,1629
$GC,12617,1.14,293.1,59.7,9.0,603,12621,0.00,2.00,0.00,0.000,6,0.000,0.030,3040,1465,1629
$GC,12944,1.14,293.1,27.5,9.0,619,12949,0.00,2.45,0.00,0.000,4,0.000,0.041,3040,2843,1627
$GC,12977,1.14,293.1,24.5,8.5,620,12982,0.00,2.45,0.00,0.000,6,0.000,0.035,3040,1453,1627
$STATE,13275,end climb,SURFACE_DEPTH_REACHED
$STATE,13275,begin surface coast
$FINISH,0.2,1.001765
$STATE,13319,end surface coast,CONTROL_FINISHED_OK
$STATE,13319,begin surface
$SM_CCo,13343,4.78,0.577,0,0,1609,300.00
$SM_GC,2.02,0.00,0.00,4.78,0.000,0.000,0.577,390,2238,1609,-11.09,-0.34,300.00
$IRIDIUM_FIX,6148.92,-916.36,041198,000045
$TT8_MAMPS,0.027612
$HUMID,1912
$INTERNAL_PRESSURE,8.14809
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.1,100.0
$24V_AH,23.3,55.133
$10V_AH,10.1,33.439
$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,25.275,148.675,379.350,4.775,0.000,24.889,29.762,124.924,3.000,0.000,0.000,16.372,1237.482,9759.346,459.372,1573.133,618.455,0.000,1317.943,0.000,1680.781,0.000,21.851,0.000
$DEVICE_MAMPS,132.691,59.826,1090.674,576.784,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,522.969,476.510,453.524,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31625,637
$CAP_FILE_SIZE,106680,0
$CFSIZE,260165632,239325184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,100809,073736,6207.859,-914.459,37,1.0,37,-9.6