version: 66.04
glider: 105
mission: 6
dive: 220
start: 8 2 109 9 52 39
data:
$ID,105
$MISSION,6
$DIVE,220
$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,-1631910.9
$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,23
$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
$GPS1,094631,6201.391,-941.084,40,1.7,40,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-61.2
$GPS2,095219,6201.397,-941.002,14,1.7,14,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$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,152.9,37969,-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,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,87,0.00,0.00,-69.85,0.000,6,0.000,0.000,390,2243,3430
$GC,91,-0.96,-146.6,2.9,-5.1,3,112,11.62,2.53,0.00,0.000,4,0.130,0.040,2584,836,3432
$GC,427,-0.96,-146.6,36.1,-9.1,18,431,0.00,2.47,0.00,0.000,6,0.000,0.035,2583,2252,3433
$GC,755,-0.96,-146.6,59.6,-7.3,34,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2252,3434
$GC,1063,-0.96,-146.6,82.2,-5.6,49,1067,0.00,2.55,0.00,0.000,4,0.000,0.058,2583,3653,3434
$GC,1129,-0.96,-146.6,87.6,-8.7,52,1134,0.00,2.42,0.00,0.000,6,0.000,0.030,2583,2232,3434
$GC,1451,-0.96,-146.6,111.1,-6.7,68,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2232,3434
$GC,1760,-0.96,-146.6,132.8,-6.9,83,1764,0.00,2.58,0.00,0.000,4,0.000,0.051,2583,3653,3434
$GC,1859,-0.96,-146.6,139.6,-6.7,87,1866,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3434
$GC,2175,-0.96,-146.6,157.6,-6.6,103,2179,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3654,3435
$GC,2269,-0.96,-146.6,165.2,-8.1,107,2273,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2250,3434
$GC,2585,-0.96,-146.6,189.4,-7.8,122,2589,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3650,3434
$GC,2647,-0.96,-146.6,194.6,-8.4,125,2651,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2246,3434
$GC,2973,-0.96,-146.6,221.0,-8.3,141,2978,0.00,2.55,0.00,0.000,4,0.000,0.051,2583,3654,3434
$GC,3046,-0.96,-146.6,227.4,-9.0,144,3050,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3434
$GC,3364,-0.96,-146.6,252.6,-8.0,159,3368,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3651,3434
$GC,3430,-0.96,-146.6,258.4,-9.0,162,3435,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2253,3433
$GC,3757,-0.96,-146.6,282.5,-7.4,178,3761,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3651,3433
$GC,3812,-0.96,-146.6,286.8,-7.9,180,3819,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3434
$GC,4128,-0.96,-146.6,309.1,-6.9,196,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2247,3433
$GC,4440,-0.96,-146.6,328.2,-5.8,211,4445,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3649,3433
$GC,4513,-0.96,-146.6,332.9,-6.4,214,4517,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3432
$GC,4832,-0.96,-146.6,350.2,-5.5,229,4836,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3650,3433
$GC,4894,-0.96,-146.6,353.9,-6.6,232,4898,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3432
$GC,5220,-0.96,-146.6,373.2,-6.2,248,5224,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3653,3432
$GC,5275,-0.96,-146.6,377.0,-7.2,250,5283,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2251,3432
$GC,5592,-0.96,-146.6,398.5,-7.4,266,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2251,3433
$GC,5900,-0.96,-146.6,421.5,-7.6,281,5905,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3648,3432
$GC,5978,-0.96,-146.6,427.9,-8.5,284,5983,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2247,3432
$GC,6297,-0.96,-146.6,450.8,-7.3,299,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2247,3432
$GC,6603,-0.96,-146.6,472.3,-7.0,314,6607,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3650,3431
$GC,6733,-0.96,-146.6,482.4,-7.8,320,6737,0.00,2.40,0.00,0.000,6,0.000,0.032,2583,2250,3431
$GC,7060,-0.96,-146.6,505.1,-6.6,336,7064,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3651,3431
$GC,7144,-0.96,-146.6,510.9,-7.1,340,7148,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2252,3430
$GC,7473,-0.96,-146.6,528.9,-5.0,356,7477,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3653,3430
$GC,7523,-0.96,-146.6,531.5,-4.9,358,7527,0.00,2.42,0.00,0.000,6,0.000,0.032,2582,2236,3430
$GC,7839,-0.96,-146.6,545.5,-4.6,373,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2236,3430
$GC,8148,-0.96,-146.6,561.4,-5.4,388,8153,0.00,2.58,0.00,0.000,4,0.000,0.054,2583,3652,3430
$GC,8249,-0.96,-146.6,567.9,-7.0,392,8255,0.00,2.40,0.00,0.000,6,0.000,0.032,2583,2255,3429
$GC,8566,-0.96,-146.6,587.3,-6.2,408,8570,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3650,3429
$GC,8650,-0.96,-146.6,593.4,-8.2,412,8655,0.00,2.40,0.00,0.000,6,0.000,0.033,2583,2252,3429
$GC,8979,-0.96,-146.6,617.1,-6.9,428,8984,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3650,3429
$GC,9042,-0.96,-146.6,621.7,-7.1,431,9047,0.00,2.42,0.00,0.000,6,0.000,0.033,2583,2236,3429
$GC,9369,-0.96,-146.6,641.8,-6.4,447,9374,0.00,2.60,0.00,0.000,4,0.000,0.056,2583,3651,3429
$GC,9460,-0.96,-146.6,648.3,-7.3,451,9465,0.00,2.42,0.00,0.000,6,0.000,0.033,2583,2257,3428
$GC,9792,-0.96,-146.6,669.4,-5.7,467,9796,0.00,2.53,0.00,0.000,4,0.000,0.056,2583,3650,3429
$GC,9869,-0.96,-146.6,674.3,-6.4,470,9876,0.00,2.42,0.00,0.000,6,0.000,0.033,2583,2242,3429
$GC,10186,-0.96,-146.6,693.2,-6.4,486,10191,0.00,2.60,0.00,0.000,4,0.000,0.058,2583,3650,3428
$GC,10236,-0.96,-146.6,696.7,-7.4,488,10241,0.00,2.42,0.00,0.000,4,0.000,0.034,2583,2247,3428
$STATE,10242,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10242,begin apogee
$GC,10250,-0.36,0.0,697.1,6.9,488,10382,0.62,0.00,127.35,1.238,6,0.067,0.000,2719,1453,2832
$STATE,10383,end apogee,CONTROL_FINISHED_OK
$STATE,10383,begin climb
$GC,10386,0.96,146.6,701.3,0.0,495,10522,1.30,2.22,128.57,1.203,4,0.051,0.063,3006,267,2233
$GC,10603,1.00,175.9,693.4,5.2,505,10634,0.00,2.05,26.52,1.144,6,0.000,0.033,3006,1473,2114
$GC,10950,1.00,177.6,674.4,6.0,521,10954,0.00,2.45,0.00,0.000,4,0.000,0.045,3006,2851,2107
$GC,11016,1.00,177.6,669.7,6.4,524,11020,0.00,2.45,0.00,0.000,6,0.000,0.041,3006,1454,2106
$GC,11337,1.00,177.6,649.8,6.2,540,11342,0.00,2.47,0.00,0.000,4,0.000,0.046,3006,2845,2105
$GC,11382,1.02,192.9,647.2,5.6,542,11402,0.00,2.45,15.02,1.111,6,0.000,0.039,3006,1455,2045
$GC,11730,1.04,211.4,627.3,5.5,559,11753,0.00,2.58,17.80,1.131,4,0.000,0.045,3006,2844,1970
$GC,11826,1.07,231.6,622.1,5.4,563,11852,0.12,2.47,19.80,1.127,6,0.044,0.040,3058,1452,1887
$GC,12175,1.07,231.6,596.0,8.2,580,12180,0.12,2.50,0.00,0.000,4,0.079,0.044,3032,2845,1882
$GC,12219,1.07,231.6,592.4,7.6,582,12223,0.00,2.47,0.00,0.000,6,0.000,0.040,3032,1447,1882
$GC,12540,1.07,231.6,569.3,7.0,598,12544,0.00,2.50,0.00,0.000,4,0.000,0.044,3032,2848,1880
$GC,12602,1.07,231.6,565.0,6.4,601,12606,0.00,2.45,0.00,0.000,6,0.000,0.038,3032,1448,1880
$GC,12929,1.07,231.6,543.1,6.6,617,12930,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1448,1880
$GC,13237,1.07,231.6,522.5,6.8,632,13241,0.00,2.50,0.00,0.000,4,0.000,0.043,3032,2855,1879
$GC,13293,1.07,231.6,518.4,7.6,634,13299,0.00,2.45,0.00,0.000,6,0.000,0.038,3032,1455,1879
$GC,13611,1.07,231.6,494.3,7.9,650,13615,0.00,2.45,0.00,0.000,4,0.000,0.042,3032,2846,1879
$GC,13660,1.07,231.6,490.1,7.9,652,13664,0.00,2.45,0.00,0.000,6,0.000,0.038,3032,1452,1879
$GC,13976,1.07,231.6,468.4,6.7,667,13981,0.00,2.47,0.00,0.000,4,0.000,0.041,3032,2839,1879
$GC,14003,1.08,237.9,466.7,5.8,668,14014,0.00,2.42,5.68,0.839,6,0.000,0.038,3032,1453,1862
$GC,14331,1.09,248.7,447.3,5.7,684,14351,0.00,2.55,11.62,0.986,4,0.000,0.041,3032,2846,1818
$GC,14368,1.14,290.4,445.1,4.9,685,14416,0.00,2.47,39.45,1.058,6,0.000,0.038,3032,1451,1647
$GC,14728,1.14,290.4,418.6,8.1,703,14732,0.00,2.50,0.00,0.000,4,0.000,0.041,3032,2855,1641
$GC,14760,1.14,290.4,415.3,8.1,704,14767,0.00,2.47,0.00,0.000,6,0.000,0.038,3032,1448,1641
$GC,15076,1.14,290.4,387.6,8.8,720,15080,0.00,2.50,0.00,0.000,4,0.000,0.041,3032,2855,1640
$GC,15103,1.14,290.4,385.1,8.4,721,15107,0.00,2.47,0.00,0.000,6,0.000,0.038,3032,1449,1639
$GC,15421,1.14,290.4,359.4,7.9,736,15423,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1449,1640
$GC,15729,1.14,290.4,334.6,8.4,751,15734,0.00,2.45,0.00,0.000,4,0.000,0.041,3033,2846,1639
$GC,15770,1.14,290.4,331.2,8.1,753,15775,0.00,2.42,0.00,0.000,6,0.000,0.038,3032,1455,1639
$GC,16097,1.14,290.4,303.3,8.8,769,16098,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1455,1639
$GC,16409,1.14,290.4,273.7,10.2,784,16413,0.00,2.45,0.00,0.000,4,0.000,0.041,3032,2852,1639
$GC,16453,1.14,290.4,268.8,10.4,786,16457,0.00,2.45,0.00,0.000,6,0.000,0.038,3032,1453,1638
$GC,16776,1.14,290.4,234.2,10.6,802,16780,0.00,2.45,0.00,0.000,4,0.000,0.041,3032,2846,1638
$GC,16825,1.14,290.4,228.6,9.8,804,16830,0.00,2.45,0.00,0.000,6,0.000,0.038,3032,1450,1638
$GC,17141,1.14,290.4,198.3,9.0,819,17142,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1450,1638
$GC,17450,1.14,290.4,171.2,8.2,834,17455,0.00,2.47,0.00,0.000,4,0.000,0.041,3033,2840,1638
$GC,17505,1.14,290.4,166.4,8.0,836,17510,0.00,2.42,0.00,0.000,6,0.000,0.037,3032,1453,1638
$GC,17822,1.14,290.4,139.0,9.1,851,17826,0.00,2.45,0.00,0.000,4,0.000,0.041,3032,2853,1638
$GC,17854,1.14,290.4,135.9,9.3,852,17861,0.00,2.45,0.00,0.000,6,0.000,0.036,3032,1450,1637
$GC,18171,1.14,290.4,110.0,8.0,868,18176,0.00,2.45,0.00,0.000,4,0.000,0.039,3032,2854,1638
$GC,18212,1.14,290.4,106.5,9.2,870,18216,0.00,2.45,0.00,0.000,6,0.000,0.036,3032,1448,1638
$GC,18538,1.14,290.4,80.0,7.2,886,18542,0.00,2.45,0.00,0.000,4,0.000,0.039,3032,2850,1637
$GC,18579,1.15,296.8,77.6,5.8,888,18589,0.00,2.45,5.45,0.650,6,0.000,0.036,3032,1462,1622
$GC,18905,1.15,296.8,57.6,6.1,904,18909,0.00,2.15,0.00,0.000,4,0.000,0.057,3032,263,1622
$GC,18951,1.15,296.8,54.4,7.6,906,18956,0.00,2.00,0.00,0.000,6,0.000,0.028,3032,1459,1621
$GC,19283,1.22,356.2,38.6,4.4,922,19347,0.15,2.53,52.97,0.799,4,0.039,0.041,3092,2840,1378
$GC,19395,1.22,356.2,29.1,9.2,927,19400,0.12,2.45,0.00,0.000,6,0.082,0.035,3066,1445,1375
$STATE,19678,end climb,SURFACE_DEPTH_REACHED
$STATE,19678,begin surface coast
$FINISH,0.3,1.026829
$STATE,19700,end surface coast,CONTROL_FINISHED_OK
$STATE,19702,begin surface
$SM_CCo,19786,0.00,0.000,0,0,1369,358.87
$SM_GC,0.85,11.52,0.00,0.00,0.021,0.000,0.000,389,2227,1369,-10.98,-0.65,358.87
$IRIDIUM_FIX,6135.28,-949.59,271098,030359
$TT8_MAMPS,0.026845
$HUMID,1888
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.5,81.3
$24V_AH,23.2,49.286
$10V_AH,10.1,30.247
$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,25.600,209.025,450.250,0.000,0.000,24.574,32.346,159.981,5.250,0.000,0.000,14.974,1787.918,14707.302,556.050,2230.037,845.884,0.000,1768.269,0.000,2392.819,0.000,36.341,0.000
$DEVICE_MAMPS,130.390,62.894,1237.938,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,778.230,722.585,602.872,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47527,942
$CAP_FILE_SIZE,152721,0
$CFSIZE,260165632,241573888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,020809,152336,6159.061,-935.478,34,2.0,34,-9.7