version: 66.04
glider: 105
mission: 6
dive: 259
start: 8 10 109 15 35 54
data:
$ID,105
$MISSION,6
$DIVE,259
$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,-1632670.1
$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,24
$R_STBD_OVSHOOT,29
$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
$GPS1,153006,6203.667,-915.526,37,1.2,42,-9.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-62.5
$GPS2,153532,6203.594,-915.526,15,1.3,15,-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,179.9,81906,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-57.70,0.000,6,0.000,0.000,385,2247,3430
$GC,80,-0.96,-146.6,6.0,-12.0,3,102,11.70,2.60,0.00,0.000,4,0.133,0.051,2583,3657,3432
$GC,439,-0.96,-146.6,51.9,-11.3,19,444,0.00,2.47,0.00,0.000,6,0.000,0.030,2584,2229,3433
$GC,772,-0.96,-146.6,73.3,-3.4,35,777,0.00,2.60,0.00,0.000,4,0.000,0.051,2584,3650,3434
$GC,922,-0.96,-146.6,80.6,-6.6,41,929,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2232,3434
$GC,1238,-0.96,-146.6,107.6,-10.0,57,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2232,3435
$GC,1549,-0.96,-146.6,137.0,-8.5,72,1553,0.00,2.58,0.00,0.000,4,0.000,0.053,2584,3650,3435
$GC,1688,-0.96,-146.6,148.6,-8.0,78,1692,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2247,3435
$GC,2006,-0.96,-146.6,166.0,-5.4,93,2011,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3650,3435
$GC,2079,-0.96,-146.6,170.9,-6.3,96,2084,0.00,2.42,0.00,0.000,6,0.000,0.030,2583,2250,3434
$GC,2399,-0.96,-146.6,192.0,-7.4,112,2404,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3649,3434
$GC,2468,-0.96,-146.6,197.9,-8.8,115,2472,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3434
$GC,2792,-0.96,-146.6,226.2,-8.8,131,2796,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3650,3434
$GC,2869,-0.96,-146.6,233.8,-8.8,134,2876,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2250,3434
$GC,3185,-0.96,-146.6,259.4,-7.6,150,3190,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3651,3434
$GC,3243,-0.96,-146.6,263.7,-7.6,152,3249,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3433
$GC,3559,-0.96,-146.6,283.8,-5.8,168,3563,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3651,3433
$GC,3623,-0.96,-146.6,287.4,-5.8,171,3627,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3433
$GC,3949,-0.96,-146.6,306.2,-6.0,187,3954,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3650,3433
$GC,4010,-0.96,-146.6,310.3,-6.9,189,4016,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3433
$GC,4326,-0.96,-146.6,331.9,-7.4,205,4330,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3653,3433
$GC,4392,-0.96,-146.6,337.4,-8.4,208,4396,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3432
$GC,4716,-0.96,-146.6,361.4,-7.3,224,4721,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3650,3432
$GC,4778,-0.96,-146.6,366.5,-8.0,227,4783,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3432
$GC,5105,-0.96,-146.6,389.3,-7.0,243,5109,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3650,3431
$GC,5177,-0.96,-146.6,394.9,-7.6,246,5181,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3431
$GC,5492,-0.96,-146.6,417.1,-7.0,261,5497,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3647,3431
$GC,5570,-0.96,-146.6,423.1,-7.6,264,5574,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2246,3431
$GC,5886,-0.96,-146.6,448.3,-8.7,279,5890,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3653,3430
$GC,5986,-0.96,-146.6,457.0,-9.1,283,5993,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2254,3430
$GC,6301,-0.96,-146.6,481.8,-7.2,299,6306,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3653,3430
$GC,6488,-0.96,-146.6,495.3,-7.6,307,6492,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2251,3430
$STATE,6554,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6554,begin apogee
$GC,6562,-0.36,0.0,500.8,8.0,310,6690,0.65,0.00,124.55,1.096,6,0.063,0.000,2724,1463,2832
$STATE,6690,end apogee,CONTROL_FINISHED_OK
$STATE,6690,begin climb
$GC,6694,0.96,146.6,507.0,0.0,316,6828,1.30,2.22,125.38,1.061,4,0.058,0.058,3006,267,2232
$GC,6895,0.96,146.6,498.0,6.0,325,6899,0.00,2.05,0.00,0.000,6,0.000,0.032,3006,1476,2228
$GC,7219,0.96,146.6,480.6,6.2,341,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1476,2226
$GC,7526,1.01,181.2,463.3,5.1,356,7562,0.00,2.50,29.90,1.026,4,0.000,0.044,3007,2850,2092
$GC,7630,1.07,232.0,458.0,4.6,360,7683,0.12,2.47,45.47,1.031,6,0.043,0.038,3055,1447,1886
$GC,8009,1.07,232.0,432.5,6.2,379,8014,0.00,2.50,0.00,0.000,4,0.000,0.043,3055,2845,1879
$GC,8117,1.07,232.0,425.9,6.3,384,8122,0.08,2.47,0.00,0.000,6,0.069,0.039,3033,1460,1877
$GC,8450,1.12,270.7,408.2,4.9,400,8492,0.00,2.55,34.20,1.016,4,0.000,0.042,3033,2843,1727
$GC,8531,1.15,293.9,403.8,5.4,403,8559,0.00,2.47,22.15,0.975,6,0.000,0.038,3033,1447,1633
$GC,8871,1.15,293.9,382.2,7.3,420,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1447,1626
$GC,9176,1.15,293.9,356.3,8.8,435,9181,0.00,2.47,0.00,0.000,4,0.000,0.043,3033,2845,1624
$GC,9204,1.15,293.9,353.8,9.1,436,9208,0.00,2.45,0.00,0.000,6,0.000,0.038,3033,1456,1625
$GC,9520,1.15,293.9,325.0,9.5,451,9524,0.00,2.45,0.00,0.000,4,0.000,0.042,3033,2846,1624
$GC,9541,1.15,293.9,322.8,9.4,452,9545,0.00,2.45,0.00,0.000,6,0.000,0.038,3033,1453,1623
$GC,9862,1.15,293.9,292.7,9.2,468,9863,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1454,1623
$GC,10174,1.15,293.9,268.4,6.8,483,10179,0.00,2.45,0.00,0.000,4,0.000,0.043,3033,2846,1623
$GC,10215,1.15,293.9,265.6,6.8,485,10219,0.00,2.42,0.00,0.000,6,0.000,0.039,3033,1454,1623
$GC,10544,1.15,293.9,243.4,7.2,501,10548,0.00,2.45,0.00,0.000,4,0.000,0.043,3033,2847,1623
$GC,10565,1.15,293.9,241.6,7.3,502,10570,0.00,2.45,0.00,0.000,6,0.000,0.040,3033,1454,1623
$GC,10887,1.15,293.9,217.4,7.3,518,10891,0.00,2.45,0.00,0.000,4,0.000,0.042,3033,2846,1623
$GC,10921,1.15,293.9,214.9,7.1,519,10927,0.00,2.45,0.00,0.000,6,0.000,0.038,3033,1450,1622
$GC,11236,1.15,293.9,191.9,7.5,535,11241,0.00,2.47,0.00,0.000,4,0.000,0.042,3033,2855,1623
$GC,11269,1.15,293.9,189.3,7.5,536,11276,0.00,2.45,0.00,0.000,6,0.000,0.038,3033,1453,1623
$GC,11588,1.15,293.9,166.4,7.2,552,11592,0.00,2.45,0.00,0.000,4,0.000,0.041,3033,2851,1623
$GC,11609,1.15,293.9,164.5,7.7,553,11614,0.00,2.45,0.00,0.000,6,0.000,0.038,3033,1454,1622
$GC,11933,1.15,293.9,141.6,6.7,569,11937,0.00,2.45,0.00,0.000,4,0.000,0.041,3033,2851,1623
$GC,11961,1.15,293.9,139.6,6.0,570,11965,0.00,2.45,0.00,0.000,6,0.000,0.038,3033,1453,1622
$GC,12277,1.15,293.9,117.2,9.3,585,12281,0.00,2.42,0.00,0.000,4,0.000,0.041,3033,2846,1622
$GC,12317,1.15,293.9,113.1,10.7,587,12322,0.00,2.47,0.00,0.000,6,0.000,0.038,3033,1450,1622
$GC,12649,1.15,293.9,77.3,10.4,603,12653,0.00,2.12,0.00,0.000,4,0.000,0.059,3032,264,1622
$GC,12696,1.15,293.9,71.9,11.2,605,12700,0.00,2.00,0.00,0.000,6,0.000,0.031,3033,1461,1623
$GC,13030,1.15,293.9,42.0,8.3,621,13031,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1463,1622
$GC,13337,1.15,293.9,18.5,7.4,636,13342,0.00,2.42,0.00,0.000,4,0.000,0.043,3033,2848,1622
$GC,13359,1.15,293.9,16.8,7.0,637,13364,0.00,2.45,0.00,0.000,6,0.000,0.037,3033,1443,1622
$STATE,13575,end climb,SURFACE_DEPTH_REACHED
$STATE,13575,begin surface coast
$FINISH,0.3,1.026559
$STATE,13619,end surface coast,CONTROL_FINISHED_OK
$STATE,13619,begin surface
$SM_CCo,13643,2.35,0.255,0,0,1609,300.00
$SM_GC,1.89,0.00,0.00,2.35,0.000,0.000,0.255,385,2241,1609,-11.11,-0.25,300.00
$IRIDIUM_FIX,6139.81,-913.40,041198,111105
$TT8_MAMPS,0.026845
$HUMID,1919
$INTERNAL_PRESSURE,8.15785
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.0,84.1
$24V_AH,23.3,55.501
$10V_AH,10.1,33.656
$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,25.250,149.425,381.650,2.350,0.000,27.820,25.957,152.676,3.250,0.000,0.000,15.253,1261.564,9961.073,460.769,1618.525,675.592,0.000,1347.514,0.000,1740.111,0.000,23.423,0.000
$DEVICE_MAMPS,132.691,59.059,1096.043,255.411,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,548.536,484.611,459.332,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31728,650
$CAP_FILE_SIZE,108997,0
$CFSIZE,260165632,239165440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,100809,192437,6159.569,-920.411,37,1.2,37,-9.6