version: 66.04
glider: 105
mission: 6
dive: 221
start: 8 2 109 15 29 48
data:
$ID,105
$MISSION,6
$DIVE,221
$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,-1631947
$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,25
$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
$GPS1,152336,6159.061,-935.478,34,2.0,34,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-60.9
$GPS2,152928,6159.038,-935.402,15,2.6,34,-9.7
$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,155.2,31555,-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,-146.6,0.0,0.0,0,85,0.00,0.00,-67.97,0.000,6,0.000,0.000,389,2228,3431
$GC,89,-0.96,-146.6,3.2,-5.6,3,110,11.65,2.62,0.00,0.000,4,0.132,0.051,2583,3660,3433
$GC,447,-0.96,-146.6,53.0,-11.3,19,452,0.00,2.47,0.00,0.000,6,0.000,0.030,2584,2230,3434
$GC,779,-0.96,-146.6,90.2,-11.7,35,784,0.00,2.60,0.00,0.000,4,0.000,0.051,2584,3651,3435
$GC,1030,-0.96,-146.6,122.0,-11.8,46,1034,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2249,3434
$GC,1351,-0.96,-146.6,154.2,-9.9,62,1356,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3654,3435
$GC,1401,-0.96,-146.6,159.2,-9.7,64,1406,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2248,3435
$GC,1720,-0.96,-146.6,167.4,1.9,79,1724,0.00,2.53,0.00,0.000,4,0.000,0.050,2584,3654,3435
$GC,1787,-0.96,-146.6,166.1,1.8,82,1791,0.00,2.42,0.00,0.000,6,0.000,0.030,2584,2251,3435
$GC,2113,-0.96,-146.6,170.9,-3.2,98,2117,0.00,2.53,0.00,0.000,4,0.000,0.050,2584,3654,3435
$GC,2185,-0.96,-146.6,174.0,-4.7,101,2189,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2249,3435
$GC,2501,-0.96,-146.6,188.3,-5.2,116,2506,0.00,2.55,0.00,0.000,4,0.000,0.051,2583,3650,3435
$GC,2546,-0.96,-146.6,191.2,-6.3,118,2551,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2249,3434
$GC,2878,-0.96,-146.6,211.2,-5.9,134,2883,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3653,3434
$GC,2951,-0.96,-146.6,216.0,-6.9,137,2955,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2249,3434
$GC,3269,-0.96,-146.6,236.9,-6.5,152,3273,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3654,3434
$GC,3346,-0.96,-146.6,242.8,-7.3,155,3353,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2247,3434
$GC,3662,-0.96,-146.6,265.0,-7.7,171,3667,0.00,2.58,0.00,0.000,4,0.000,0.053,2584,3651,3434
$GC,3775,-0.96,-146.6,274.7,-9.2,176,3780,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3434
$GC,4107,-0.96,-146.6,302.7,-8.3,192,4111,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3661,3433
$GC,4184,-0.96,-146.6,309.7,-9.0,195,4191,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2247,3433
$GC,4501,-0.96,-146.6,335.6,-8.0,211,4506,0.00,2.58,0.00,0.000,4,0.000,0.052,2584,3654,3434
$GC,4584,-0.96,-146.6,342.5,-8.5,214,4590,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2235,3433
$GC,4900,-0.96,-146.6,363.3,-6.3,230,4904,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3657,3433
$GC,4995,-0.96,-146.6,370.0,-6.8,234,4999,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2253,3433
$GC,5313,-0.96,-146.6,388.4,-5.5,249,5317,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3653,3432
$GC,5398,-0.96,-146.6,393.3,-5.6,253,5402,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3432
$GC,5727,-0.96,-146.6,410.5,-5.2,269,5732,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3654,3432
$GC,5800,-0.96,-146.6,415.1,-6.0,272,5805,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2253,3432
$GC,6121,-0.96,-146.6,432.3,-5.6,288,6125,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3652,3431
$GC,6209,-0.96,-146.6,438.0,-6.4,292,6213,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3431
$GC,6530,-0.96,-146.6,458.3,-6.7,308,6534,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3654,3431
$GC,6602,-0.96,-146.6,463.7,-7.7,311,6606,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3431
$GC,6918,-0.96,-146.6,488.8,-8.3,326,6923,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3654,3431
$GC,7040,-0.96,-146.6,500.6,-10.1,331,7045,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2252,3431
$GC,7358,-0.96,-146.6,532.8,-10.4,346,7362,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3653,3430
$GC,7424,-0.96,-146.6,540.4,-11.6,349,7428,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2242,3430
$GC,7746,-0.96,-146.6,572.4,-9.7,365,7750,0.00,2.58,0.00,0.000,4,0.000,0.057,2583,3657,3430
$GC,7822,-0.96,-146.6,580.1,-10.5,368,7829,0.00,2.42,0.00,0.000,6,0.000,0.033,2583,2249,3430
$GC,8140,-0.96,-146.6,609.5,-8.7,384,8145,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3654,3430
$GC,8241,-0.96,-146.6,618.2,-8.1,388,8247,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2240,3430
$GC,8557,-0.96,-146.6,640.1,-6.3,404,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2240,3430
$GC,8868,-0.96,-146.6,659.2,-6.0,419,8873,0.00,2.58,0.00,0.000,4,0.000,0.056,2583,3658,3430
$STATE,8952,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8952,begin apogee
$GC,8962,-0.36,0.0,664.9,6.2,423,9094,0.65,0.00,127.68,1.203,6,0.066,0.000,2723,1468,2832
$STATE,9095,end apogee,CONTROL_FINISHED_OK
$STATE,9095,begin climb
$GC,9098,0.96,146.6,669.1,0.0,430,9233,1.30,2.25,128.05,1.165,4,0.054,0.060,3008,262,2234
$GC,9293,0.96,146.6,659.7,7.8,439,9296,0.00,2.08,0.00,0.000,6,0.000,0.033,3008,1477,2230
$GC,9619,0.96,146.6,632.1,7.2,455,9623,0.00,2.45,0.00,0.000,4,0.000,0.044,3008,2849,2226
$GC,9714,0.96,146.6,625.5,6.5,459,9718,0.00,2.45,0.00,0.000,6,0.000,0.038,3008,1450,2225
$GC,10032,1.03,199.2,608.9,4.6,474,10083,0.00,2.58,46.22,1.140,4,0.000,0.044,3008,2855,2020
$GC,10123,1.07,232.9,604.3,5.1,478,10160,0.10,2.50,31.35,1.106,6,0.047,0.038,3058,1446,1882
$GC,10490,1.07,232.9,579.2,7.3,496,10492,0.12,0.00,0.00,0.000,6,0.080,0.000,3031,1446,1875
$GC,10797,1.07,232.9,557.9,6.8,511,10802,0.00,2.53,0.00,0.000,4,0.000,0.044,3032,2852,1874
$GC,10852,1.07,232.9,554.2,6.6,513,10857,0.00,2.47,0.00,0.000,6,0.000,0.038,3031,1447,1873
$GC,11168,1.07,232.9,533.6,6.4,528,11172,0.00,2.47,0.00,0.000,4,0.000,0.042,3031,2850,1872
$GC,11189,1.07,232.9,532.1,6.7,529,11193,0.00,2.45,0.00,0.000,6,0.000,0.038,3031,1447,1872
$GC,11510,1.07,232.9,509.6,7.8,545,11511,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1447,1872
$GC,11819,1.07,232.9,486.1,7.7,560,11823,0.00,2.47,0.00,0.000,4,0.000,0.041,3031,2852,1871
$GC,11891,1.07,232.9,480.2,7.9,563,11895,0.00,2.45,0.00,0.000,6,0.000,0.038,3031,1455,1870
$GC,12206,1.07,232.9,452.9,8.7,578,12211,0.00,2.47,0.00,0.000,4,0.000,0.041,3031,2847,1870
$GC,12233,1.07,232.9,450.5,8.0,579,12238,0.00,2.42,0.00,0.000,6,0.000,0.038,3031,1454,1870
$GC,12555,1.07,232.9,421.9,9.0,595,12557,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1454,1870
$GC,12864,1.07,232.9,394.1,8.9,610,12868,0.00,2.47,0.00,0.000,4,0.000,0.041,3031,2855,1870
$GC,12914,1.07,232.9,389.6,9.1,612,12918,0.00,2.47,0.00,0.000,6,0.000,0.038,3031,1445,1870
$GC,13232,1.07,232.9,362.5,8.4,627,13236,0.00,2.47,0.00,0.000,4,0.000,0.041,3031,2857,1870
$GC,13272,1.07,232.9,359.0,8.5,629,13277,0.00,2.45,0.00,0.000,6,0.000,0.037,3031,1453,1870
$GC,13599,1.07,232.9,334.5,7.2,645,13603,0.00,2.45,0.00,0.000,4,0.000,0.041,3031,2852,1870
$GC,13638,1.07,232.9,331.6,7.1,647,13642,0.00,2.45,0.00,0.000,6,0.000,0.038,3031,1451,1870
$GC,13965,1.07,232.9,309.0,6.6,663,13966,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1450,1870
$GC,14273,1.07,232.9,287.9,7.0,678,14278,0.00,2.47,0.00,0.000,4,0.000,0.041,3031,2857,1870
$GC,14340,1.07,232.9,282.9,7.5,681,14344,0.00,2.45,0.00,0.000,6,0.000,0.037,3031,1454,1870
$GC,14661,1.07,232.9,258.5,7.7,697,14665,0.00,2.45,0.00,0.000,4,0.000,0.041,3031,2851,1870
$GC,14688,1.07,232.9,256.2,7.6,698,14692,0.00,2.42,0.00,0.000,6,0.000,0.038,3031,1454,1870
$GC,15003,1.07,232.9,232.5,7.1,713,15008,0.00,2.47,0.00,0.000,4,0.000,0.041,3031,2849,1870
$GC,15049,1.07,232.9,229.4,6.6,715,15053,0.00,2.47,0.00,0.000,6,0.000,0.038,3031,1450,1870
$GC,15381,1.07,232.9,207.5,6.3,731,15386,0.00,2.47,0.00,0.000,4,0.000,0.041,3031,2848,1870
$GC,15419,1.07,232.9,204.9,6.4,732,15425,0.00,2.42,0.00,0.000,6,0.000,0.037,3031,1454,1870
$GC,15738,1.10,253.2,186.9,5.4,748,15757,0.00,0.00,17.15,0.869,6,0.000,0.000,3031,1454,1799
$GC,16067,1.13,281.3,170.9,5.2,764,16098,0.00,2.53,25.85,0.876,4,0.000,0.041,3031,2848,1684
$GC,16150,1.13,281.3,165.2,7.9,768,16154,0.00,2.45,0.00,0.000,6,0.000,0.038,3031,1451,1681
$GC,16477,1.13,281.3,138.4,8.5,784,16478,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1452,1680
$GC,16787,1.13,281.3,114.6,7.8,799,16791,0.00,2.47,0.00,0.000,4,0.000,0.041,3031,2857,1680
$GC,16827,1.13,281.3,111.1,7.8,801,16831,0.00,2.45,0.00,0.000,6,0.000,0.037,3031,1454,1679
$GC,17153,1.13,281.3,81.7,8.0,817,17155,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1454,1679
$GC,17462,1.13,281.3,61.1,7.0,832,17467,0.00,2.47,0.00,0.000,4,0.000,0.041,3031,2857,1679
$GC,17512,1.13,281.3,56.9,9.1,834,17516,0.00,2.45,0.00,0.000,6,0.000,0.037,3031,1454,1678
$GC,17829,1.15,300.3,35.0,5.5,849,17849,0.00,0.00,17.23,0.775,6,0.000,0.000,3031,1455,1607
$GC,18159,1.15,300.3,9.7,7.7,865,18163,0.00,2.47,0.00,0.000,4,0.000,0.040,3031,2860,1604
$GC,18191,1.15,300.3,7.3,6.5,866,18198,0.00,2.45,0.00,0.000,6,0.000,0.036,3031,1453,1604
$STATE,18257,end climb,SURFACE_DEPTH_REACHED
$STATE,18257,begin surface coast
$FINISH,0.2,1.003005
$STATE,18300,end surface coast,CONTROL_FINISHED_OK
$STATE,18300,begin surface
$SM_CCo,18384,0.00,0.000,0,0,1601,301.96
$SM_GC,1.08,11.38,0.00,0.00,0.021,0.000,0.000,383,2248,1601,-10.99,-0.06,301.96
$IRIDIUM_FIX,6139.81,-1101.47,271098,090922
$TT8_MAMPS,0.026845
$HUMID,1905
$INTERNAL_PRESSURE,8.13832
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.6,99.0
$24V_AH,23.2,49.423
$10V_AH,10.1,30.336
$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,25.200,195.375,393.525,0.000,0.000,28.369,28.593,144.816,4.750,0.000,0.000,35.534,1678.001,13622.406,506.345,2141.091,782.419,0.000,1642.009,0.000,2257.350,0.000,33.171,0.000
$DEVICE_MAMPS,131.924,59.826,1202.656,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,690.004,686.036,519.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44345,872
$CAP_FILE_SIZE,141581,0
$CFSIZE,260165632,241516544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,020809,203736,6157.653,-932.331,42,1.2,47,-9.7