version: 66.04
glider: 105
mission: 6
dive: 229
start: 8 4 109 9 6 36
data:
$ID,105
$MISSION,6
$DIVE,229
$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,-1632085.6
$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,25
$R_STBD_OVSHOOT,31
$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
$GPS1,090037,6155.439,-926.369,40,0.9,40,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-59.2
$GPS2,090614,6155.536,-926.312,10,1.2,10,-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,162.7,21888,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-61.20,0.000,6,0.000,0.000,394,2242,3430
$GC,81,-0.96,-146.6,4.3,-7.9,3,102,11.65,2.50,0.00,0.000,4,0.133,0.038,2584,839,3432
$GC,171,-0.96,-146.6,19.9,-6.9,7,175,0.00,2.47,0.00,0.000,6,0.000,0.034,2583,2258,3433
$GC,498,-0.96,-146.6,45.0,-8.1,23,502,0.00,2.53,0.00,0.000,4,0.000,0.056,2584,3651,3434
$GC,598,-0.96,-146.6,53.2,-7.9,27,604,0.00,2.42,0.00,0.000,6,0.000,0.030,2583,2231,3434
$GC,915,-0.96,-146.6,77.3,-7.6,43,920,0.00,2.58,0.00,0.000,4,0.000,0.051,2584,3653,3434
$GC,1050,-0.96,-146.6,89.2,-8.9,49,1054,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2248,3435
$GC,1371,-0.96,-146.6,118.1,-9.4,65,1376,0.00,2.55,0.00,0.000,4,0.000,0.051,2583,3644,3435
$GC,1432,-0.96,-146.6,124.4,-10.3,67,1438,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2242,3435
$GC,1750,-0.96,-146.6,151.3,-8.5,83,1754,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3648,3434
$GC,1805,-0.96,-146.6,156.7,-9.5,85,1812,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2247,3435
$GC,2122,-0.96,-146.6,182.5,-7.5,101,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3435
$GC,2430,-0.96,-146.6,204.4,-6.9,116,2434,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3648,3434
$GC,2514,-0.96,-146.6,210.8,-7.5,120,2519,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2247,3435
$GC,2842,-0.96,-146.6,235.2,-7.6,136,2846,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3648,3435
$GC,2926,-0.96,-146.6,242.0,-7.8,140,2930,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2247,3434
$GC,3254,-0.96,-146.6,266.8,-7.5,156,3259,0.00,2.55,0.00,0.000,4,0.000,0.052,2583,3654,3434
$GC,3304,-0.96,-146.6,271.2,-8.4,158,3308,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2242,3434
$GC,3622,-0.96,-146.6,296.0,-8.1,173,3626,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3648,3434
$GC,3677,-0.96,-146.6,301.0,-9.3,175,3684,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3434
$GC,3994,-0.96,-146.6,327.6,-8.6,191,3999,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3648,3434
$GC,4050,-0.96,-146.6,333.0,-9.6,193,4056,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3434
$GC,4366,-0.96,-146.6,359.3,-8.4,209,4370,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3650,3433
$GC,4432,-0.96,-146.6,365.3,-9.0,212,4437,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2251,3433
$GC,4759,-0.96,-146.6,392.2,-8.1,228,4763,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3651,3433
$GC,4822,-0.96,-146.6,397.5,-7.9,231,4826,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3433
$GC,5151,-0.96,-146.6,421.8,-7.0,247,5155,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3650,3433
$GC,5217,-0.96,-146.6,426.8,-6.9,250,5221,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2253,3433
$GC,5539,-0.96,-146.6,445.6,-5.5,266,5543,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3648,3433
$GC,5623,-0.96,-146.6,450.7,-6.0,270,5627,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3432
$GC,5952,-0.96,-146.6,469.8,-5.9,286,5956,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3648,3433
$GC,6090,-0.96,-146.6,479.3,-6.6,292,6095,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3432
$GC,6407,-0.96,-146.6,499.1,-6.9,307,6411,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3642,3432
$GC,6529,-0.96,-146.6,508.7,-8.5,312,6534,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2251,3432
$GC,6850,-0.96,-146.6,532.4,-7.6,328,6854,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3653,3432
$GC,7113,-0.96,-146.6,553.1,-6.7,340,7118,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2237,3431
$GC,7441,-0.96,-146.6,573.0,-6.3,356,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2236,3431
$STATE,7687,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7687,begin apogee
$GC,7695,-0.36,0.0,585.1,4.9,368,7828,0.65,0.00,126.70,1.164,6,0.067,0.000,2723,1457,2832
$STATE,7828,end apogee,CONTROL_FINISHED_OK
$STATE,7828,begin climb
$GC,7831,0.96,146.6,588.8,0.0,375,7966,1.27,2.25,127.05,1.128,4,0.039,0.062,3015,262,2233
$GC,8205,0.97,153.4,569.8,5.8,392,8216,0.00,2.05,5.80,0.841,6,0.000,0.036,3015,1456,2207
$GC,8533,1.04,206.8,552.0,4.5,408,8588,0.00,2.60,48.28,1.133,4,0.000,0.048,3015,2850,1987
$GC,8732,1.12,269.4,542.2,4.3,417,8795,0.12,2.47,55.90,1.127,6,0.042,0.042,3065,1454,1733
$GC,9103,1.12,269.4,510.6,9.2,435,9108,0.12,2.53,0.00,0.000,4,0.077,0.044,3039,2855,1724
$GC,9170,1.12,269.4,504.7,8.4,438,9175,0.00,2.53,0.00,0.000,6,0.000,0.041,3039,1454,1722
$GC,9496,1.12,269.4,475.8,9.2,454,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1454,1720
$GC,9805,1.12,269.4,449.6,7.8,469,9810,0.00,2.47,0.00,0.000,4,0.000,0.043,3038,2857,1719
$GC,9867,1.12,269.4,445.0,6.9,472,9872,0.00,2.47,0.00,0.000,6,0.000,0.038,3040,1450,1719
$GC,10194,1.12,269.4,421.6,7.0,488,10199,0.00,2.50,0.00,0.000,4,0.000,0.041,3039,2853,1719
$GC,10246,1.12,269.4,418.0,7.0,490,10251,0.00,2.45,0.00,0.000,6,0.000,0.038,3039,1454,1718
$GC,10568,1.12,269.4,394.0,7.5,506,10569,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1454,1718
$GC,10880,1.12,269.4,370.0,7.7,521,10881,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1454,1718
$GC,11187,1.12,269.4,346.9,7.1,536,11191,0.00,2.47,0.00,0.000,4,0.000,0.041,3039,2859,1719
$GC,11226,1.12,269.4,344.0,7.6,538,11230,0.00,2.47,0.00,0.000,6,0.000,0.038,3039,1446,1718
$GC,11555,1.12,269.4,321.9,6.6,554,11556,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1446,1718
$GC,11861,1.12,269.4,302.2,6.2,569,11865,0.00,2.47,0.00,0.000,4,0.000,0.040,3039,2858,1718
$GC,11910,1.12,269.4,298.9,6.4,571,11915,0.00,2.45,0.00,0.000,6,0.000,0.036,3039,1454,1718
$GC,12229,1.12,269.4,279.4,6.4,586,12230,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1455,1718
$GC,12536,1.12,269.4,259.3,6.6,601,12540,0.00,2.47,0.00,0.000,4,0.000,0.041,3039,2862,1719
$GC,12575,1.12,269.4,256.5,7.1,603,12579,0.00,2.47,0.00,0.000,6,0.000,0.037,3039,1447,1719
$GC,12904,1.12,269.4,234.5,6.7,619,12905,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1447,1719
$GC,13210,1.12,269.4,212.3,7.4,634,13214,0.00,2.47,0.00,0.000,4,0.000,0.040,3039,2857,1719
$GC,13242,1.12,269.4,209.9,6.9,635,13249,0.00,2.45,0.00,0.000,6,0.000,0.036,3039,1456,1719
$GC,13559,1.12,269.4,188.2,6.5,651,13560,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1456,1719
$GC,13870,1.12,276.5,169.5,5.8,666,13881,0.00,2.50,5.28,0.683,4,0.000,0.040,3039,2859,1703
$GC,13910,1.14,292.6,167.1,5.6,668,13931,0.00,2.47,15.60,0.849,6,0.000,0.037,3039,1449,1639
$GC,14241,1.14,292.6,147.2,6.6,684,14242,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1449,1636
$GC,14550,1.14,292.6,125.7,7.2,699,14554,0.00,2.50,0.00,0.000,4,0.000,0.039,3039,2863,1636
$GC,14595,1.14,292.6,122.3,7.7,701,14599,0.00,2.47,0.00,0.000,6,0.000,0.036,3039,1450,1636
$GC,14916,1.14,292.6,98.7,7.4,717,14917,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1450,1636
$GC,15226,1.14,292.6,74.4,8.1,732,15227,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1450,1636
$GC,15534,1.14,292.6,48.8,7.8,747,15538,0.00,2.50,0.00,0.000,4,0.000,0.041,3039,2862,1636
$GC,15579,1.14,292.6,45.6,6.7,749,15584,0.00,2.47,0.00,0.000,6,0.000,0.036,3039,1444,1635
$GC,15901,1.14,292.6,21.9,6.8,765,15902,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1444,1635
$STATE,16166,end climb,SURFACE_DEPTH_REACHED
$STATE,16166,begin surface coast
$FINISH,0.2,1.011504
$STATE,16210,end surface coast,CONTROL_FINISHED_OK
$STATE,16210,begin surface
$SM_CCo,16234,6.35,0.651,0,0,1609,300.00
$SM_GC,1.71,0.00,0.00,6.35,0.000,0.000,0.651,386,2253,1609,-11.10,0.08,300.00
$IRIDIUM_FIX,6126.23,-927.74,291098,040455
$TT8_MAMPS,0.027612
$HUMID,1921
$INTERNAL_PRESSURE,8.13832
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.4,93.9
$24V_AH,23.2,50.842
$10V_AH,10.1,31.056
$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,25.200,145.875,384.600,6.350,0.000,30.601,31.717,150.717,4.000,0.000,0.000,10.952,1473.234,12054.413,472.247,1851.045,728.734,0.000,1451.807,0.000,1983.608,0.000,28.289,0.000
$DEVICE_MAMPS,133.458,62.127,1163.539,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,653.828,569.298,524.841,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41198,780
$CAP_FILE_SIZE,120130,0
$CFSIZE,260165632,241016832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,040809,133836,6155.770,-923.605,39,1.8,39,-9.6