version: 66.04
glider: 105
mission: 6
dive: 227
start: 8 3 109 22 45 2
data:
$ID,105
$MISSION,6
$DIVE,227
$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,-1632058.1
$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,27
$R_STBD_OVSHOOT,34
$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
$GPS1,223400,6147.620,-931.026,41,1.4,41,-9.6
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-59.2
$GPS2,224443,6147.795,-931.032,30,1.1,36,-9.6
$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,119.8,14977,-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,-146.6,0.0,0.0,0,82,0.00,0.00,-64.53,0.000,6,0.000,0.000,394,2244,3431
$GC,85,-0.96,-146.6,3.6,-6.4,3,106,11.65,2.50,0.00,0.000,4,0.133,0.037,2584,840,3433
$GC,117,-0.96,-146.6,15.4,-26.4,4,121,0.00,2.45,0.00,0.000,6,0.000,0.032,2584,2243,3433
$GC,433,-0.96,-146.6,45.6,-10.5,19,437,0.00,2.55,0.00,0.000,4,0.000,0.055,2584,3651,3433
$GC,495,-0.96,-146.6,52.4,-10.8,22,499,0.00,2.42,0.00,0.000,6,0.000,0.029,2584,2226,3433
$GC,821,-0.96,-146.6,83.2,-8.1,38,826,0.00,2.58,0.00,0.000,4,0.000,0.051,2584,3651,3433
$GC,899,-0.96,-146.6,89.7,-8.6,41,906,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2257,3433
$GC,1216,-0.96,-146.6,121.1,-10.4,57,1221,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3648,3434
$GC,1293,-0.96,-146.6,129.2,-10.2,60,1298,0.00,2.38,0.00,0.000,6,0.000,0.029,2584,2253,3434
$GC,1609,-0.96,-146.6,153.5,-8.8,75,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2253,3434
$GC,1919,-0.96,-146.6,171.6,-5.8,90,1923,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3657,3433
$GC,1996,-0.96,-146.6,178.5,-8.2,93,2002,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2251,3433
$GC,2312,-0.96,-146.6,201.0,-5.7,109,2316,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3652,3433
$GC,2398,-0.96,-146.6,204.9,-4.6,113,2402,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2247,3433
$GC,2727,-0.96,-146.6,224.6,-7.3,129,2732,0.00,2.55,0.00,0.000,4,0.000,0.051,2584,3660,3432
$GC,2788,-0.96,-146.6,229.7,-7.8,131,2794,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3432
$GC,3104,-0.96,-146.6,251.2,-6.5,147,3108,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3657,3432
$GC,3143,-0.96,-146.6,253.9,-6.9,149,3148,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2253,3432
$GC,3471,-0.96,-146.6,273.9,-6.2,165,3475,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3652,3432
$GC,3520,-0.96,-146.6,277.2,-6.6,167,3524,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2248,3432
$GC,3837,-0.96,-146.6,294.5,-5.4,182,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3431
$GC,4145,-0.96,-146.6,315.3,-7.1,197,4150,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3652,3431
$GC,4258,-0.96,-146.6,324.3,-8.4,202,4263,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2248,3431
$GC,4583,-0.96,-146.6,350.3,-8.2,218,4587,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3653,3430
$GC,4668,-0.96,-146.6,357.5,-8.2,222,4672,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2247,3430
$GC,4997,-0.96,-146.6,380.7,-7.0,238,5001,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3658,3430
$GC,5082,-0.96,-146.6,387.2,-7.9,242,5086,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2240,3430
$GC,5410,-0.96,-146.6,410.7,-7.4,258,5415,0.00,2.58,0.00,0.000,4,0.000,0.055,2584,3658,3430
$GC,5491,-0.96,-146.6,417.1,-8.0,261,5497,0.00,2.42,0.00,0.000,6,0.000,0.032,2584,2246,3430
$GC,5807,-0.96,-146.6,439.7,-6.6,277,5811,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3658,3430
$GC,5850,-0.96,-146.6,442.9,-6.9,279,5855,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2243,3430
$GC,6172,-0.96,-146.6,461.6,-5.9,295,6176,0.00,2.58,0.00,0.000,4,0.000,0.055,2584,3659,3429
$GC,6260,-0.96,-146.6,467.2,-6.5,299,6264,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2248,3429
$GC,6584,-0.96,-146.6,485.0,-5.1,315,6588,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3658,3429
$GC,6652,-0.96,-146.6,488.7,-5.2,318,6656,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2247,3429
$GC,6973,-0.96,-146.6,502.2,-4.3,334,6977,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3658,3429
$GC,7036,-0.96,-146.6,505.3,-4.9,337,7040,0.00,2.42,0.00,0.000,6,0.000,0.032,2584,2243,3429
$GC,7363,-0.96,-146.6,521.0,-4.1,353,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2243,3428
$GC,7672,-0.96,-146.6,532.8,-4.2,368,7677,0.00,2.55,0.00,0.000,4,0.000,0.055,2584,3651,3428
$GC,7805,-0.96,-146.6,539.2,-5.3,374,7809,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2253,3428
$GC,8131,-0.96,-146.6,564.0,-8.3,390,8136,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3660,3428
$GC,8280,-0.96,-146.6,575.0,-7.5,396,8286,0.00,2.42,0.00,0.000,6,0.000,0.032,2584,2251,3427
$GC,8596,-0.96,-146.6,588.2,-3.4,412,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3427
$GC,8905,-0.96,-146.6,601.1,-4.1,427,8910,0.00,2.55,0.00,0.000,4,0.000,0.055,2584,3645,3427
$GC,8989,-0.96,-146.6,606.0,-5.8,430,8996,0.00,2.42,0.00,0.000,6,0.000,0.033,2584,2252,3427
$GC,9305,-0.96,-146.6,633.7,-10.1,446,9309,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3651,3426
$GC,9467,-0.96,-146.6,649.4,-8.2,453,9471,0.00,2.45,0.00,0.000,6,0.000,0.033,2584,2250,3426
$GC,9788,-0.96,-146.6,661.1,-1.8,469,9793,0.00,2.55,0.00,0.000,4,0.000,0.055,2584,3646,3426
$GC,10130,-0.96,-146.6,677.5,-12.5,484,10135,0.00,2.42,0.00,0.000,6,0.000,0.033,2584,2236,3426
$GC,10451,-0.96,-146.6,701.1,-7.6,500,10456,0.00,2.58,0.00,0.000,4,0.000,0.055,2584,3658,3425
$GC,10604,-0.96,-146.6,713.1,-11.6,507,10609,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2259,3425
$GC,10937,-0.96,-146.6,731.9,0.8,523,10941,0.00,2.55,0.00,0.000,4,0.000,0.059,2584,3651,3424
$GC,11021,-0.96,-146.6,738.3,-5.6,527,11025,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2251,3423
$STATE,11036,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11036,begin apogee
$GC,11045,-0.36,0.0,740.0,10.1,528,11178,0.65,0.00,126.68,1.297,6,0.066,0.000,2723,1464,2832
$STATE,11179,end apogee,CONTROL_FINISHED_OK
$STATE,11179,begin climb
$GC,11182,0.96,146.6,743.7,0.0,535,11318,1.30,2.60,128.57,1.258,4,0.054,0.051,3008,2859,2232
$GC,11558,0.96,146.6,733.4,6.8,552,11562,0.00,2.50,0.00,0.000,6,0.000,0.041,3008,1453,2223
$GC,11879,1.06,226.8,711.3,3.8,568,11956,0.10,2.60,70.72,1.262,4,0.052,0.049,3055,2862,1905
$GC,12041,1.16,307.1,706.6,3.8,574,12121,0.00,2.55,72.95,1.239,6,0.000,0.046,3055,1455,1578
$GC,12438,1.20,339.2,675.3,5.1,594,12473,0.00,2.62,28.40,1.203,4,0.000,0.051,3055,2858,1448
$GC,12525,1.31,423.6,671.2,3.7,598,12610,0.12,2.55,78.00,1.226,6,0.043,0.046,3108,1453,1104
$GC,12919,1.31,423.6,623.5,17.8,617,12923,0.12,2.20,0.00,0.000,4,0.077,0.065,3083,261,1092
$GC,12958,1.31,423.6,616.2,17.9,619,12962,0.00,2.08,0.00,0.000,6,0.000,0.035,3083,1477,1091
$GC,13290,1.31,423.6,569.2,13.8,635,13291,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1476,1089
$GC,13602,1.31,423.6,521.5,15.9,650,13606,0.00,2.22,0.00,0.000,4,0.000,0.059,3082,259,1088
$GC,13693,1.31,423.6,506.0,17.2,654,13697,0.00,2.03,0.00,0.000,6,0.000,0.032,3082,1456,1087
$GC,14025,1.31,423.6,459.2,13.3,670,14027,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1456,1087
$GC,14337,1.31,423.6,421.9,12.3,685,14341,0.00,2.17,0.00,0.000,4,0.000,0.058,3083,259,1087
$GC,14409,1.31,423.6,412.1,12.8,688,14414,0.00,2.05,0.00,0.000,6,0.000,0.032,3082,1454,1087
$GC,14736,1.31,423.6,368.7,13.7,704,14740,0.00,2.17,0.00,0.000,4,0.000,0.058,3082,258,1087
$GC,14782,1.31,423.6,362.2,14.9,706,14785,0.00,2.03,0.00,0.000,6,0.000,0.033,3083,1455,1087
$GC,15114,1.31,423.6,315.4,14.4,722,15118,0.00,2.17,0.00,0.000,4,0.000,0.058,3083,258,1087
$GC,15164,1.31,423.6,307.6,16.1,724,15168,0.00,2.05,0.00,0.000,6,0.000,0.032,3082,1457,1087
$GC,15493,1.31,423.6,260.5,15.2,740,15495,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1457,1087
$GC,15800,1.31,423.6,216.5,12.8,755,15804,0.00,2.17,0.00,0.000,4,0.000,0.058,3083,259,1087
$GC,15838,1.31,423.6,211.4,12.6,756,15844,0.00,2.03,0.00,0.000,6,0.000,0.032,3083,1455,1087
$GC,16154,1.31,423.6,176.3,10.3,772,16159,0.00,2.20,0.00,0.000,4,0.000,0.058,3083,259,1087
$GC,16199,1.31,423.6,171.3,10.9,774,16204,0.00,2.08,0.00,0.000,6,0.000,0.032,3083,1455,1087
$GC,16531,1.31,423.6,137.2,10.7,790,16535,0.00,2.17,0.00,0.000,4,0.000,0.058,3082,258,1087
$GC,16604,1.31,423.6,128.7,12.9,793,16608,0.00,2.05,0.00,0.000,6,0.000,0.032,3082,1457,1087
$GC,16931,1.31,423.6,96.1,9.4,809,16935,0.00,2.17,0.00,0.000,4,0.000,0.057,3082,258,1087
$GC,16969,1.31,423.6,92.3,8.6,810,16977,0.00,2.08,0.00,0.000,6,0.000,0.032,3083,1456,1087
$GC,17286,1.31,423.6,63.3,9.3,826,17289,0.00,2.17,0.00,0.000,4,0.000,0.056,3083,256,1088
$GC,17363,1.31,423.6,55.3,10.6,829,17367,0.00,2.03,0.00,0.000,6,0.000,0.031,3083,1458,1088
$GC,17685,1.31,423.6,27.2,9.0,845,17687,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1458,1088
$STATE,17909,end climb,SURFACE_DEPTH_REACHED
$STATE,17909,begin surface coast
$FINISH,0.6,1.026814
$STATE,17931,end surface coast,CONTROL_FINISHED_OK
$STATE,17931,begin surface
$SM_CCo,18015,0.00,0.000,0,0,1086,428.29
$SM_GC,0.83,11.55,0.00,0.00,0.021,0.000,0.000,383,2245,1086,-10.98,-0.14,428.29
$IRIDIUM_FIX,6121.73,-930.73,281098,222255
$TT8_MAMPS,0.026845
$HUMID,1911
$INTERNAL_PRESSURE,8.10902
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.3,99.5
$24V_AH,23.2,50.548
$10V_AH,10.1,30.882
$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,25.500,179.675,505.325,0.000,0.000,58.591,53.758,306.680,5.500,0.000,0.000,36.200,1648.674,13207.778,561.820,2205.849,1024.645,0.000,1744.848,0.000,2322.267,0.000,38.027,0.000
$DEVICE_MAMPS,132.691,65.195,1296.997,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,736.511,623.180,504.959,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44342,857
$CAP_FILE_SIZE,146074,0
$CFSIZE,260165632,241123328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,040809,034637,6151.503,-929.115,43,1.6,43,-9.6