version: 66.04
glider: 105
mission: 6
dive: 231
start: 8 4 109 18 9 34
data:
$ID,105
$MISSION,6
$DIVE,231
$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,-1632119.4
$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,36
$R_STBD_OVSHOOT,41
$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
$GPS1,180407,6155.085,-922.657,32,0.9,32,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-57.7
$GPS2,180914,6155.176,-922.564,15,1.0,15,-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,170.2,19978,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.96,-146.6,0.0,0.0,0,85,0.00,0.00,-61.95,0.000,6,0.000,0.000,391,2225,3431
$GC,88,-0.96,-146.6,5.6,-7.9,4,108,11.70,2.42,0.00,0.000,4,0.133,0.038,2583,846,3433
$GC,177,-0.96,-146.6,22.3,-7.7,8,182,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2241,3433
$GC,504,-0.96,-146.6,45.4,-7.4,24,509,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3652,3434
$GC,582,-0.96,-146.6,52.4,-9.0,27,589,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2233,3434
$GC,898,-0.96,-146.6,79.2,-8.3,43,903,0.00,2.42,0.00,0.000,4,0.000,0.042,2583,850,3435
$GC,931,-0.96,-146.6,82.2,-8.5,44,938,0.00,2.45,0.00,0.000,6,0.000,0.033,2583,2261,3435
$GC,1249,-0.96,-146.6,106.8,-7.7,60,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2261,3435
$GC,1557,-0.96,-146.6,128.8,-6.9,75,1561,0.00,2.53,0.00,0.000,4,0.000,0.057,2583,3652,3435
$GC,1606,-0.96,-146.6,132.6,-7.4,77,1610,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3435
$GC,1922,-0.96,-146.6,153.2,-6.4,92,1926,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3651,3435
$GC,2029,-0.96,-146.6,160.3,-5.9,97,2034,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2250,3435
$GC,2361,-0.96,-146.6,180.7,-5.9,113,2365,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3654,3434
$GC,2410,-0.96,-146.6,184.0,-6.9,115,2414,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2250,3434
$GC,2727,-0.96,-146.6,205.2,-7.1,130,2731,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3652,3434
$GC,2826,-0.96,-146.6,213.6,-8.2,134,2833,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3434
$GC,3145,-0.96,-146.6,238.1,-7.8,150,3149,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3653,3434
$GC,3206,-0.96,-146.6,243.4,-8.2,153,3211,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2251,3434
$GC,3533,-0.96,-146.6,267.4,-7.0,169,3537,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3650,3434
$GC,3595,-0.96,-146.6,272.2,-7.7,172,3600,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3434
$GC,3925,-0.96,-146.6,294.6,-6.9,188,3929,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3650,3434
$GC,3969,-0.96,-146.6,298.0,-7.2,190,3973,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3434
$GC,4291,-0.96,-146.6,320.5,-7.2,206,4296,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3653,3433
$GC,4377,-0.96,-146.6,327.5,-8.5,210,4381,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3433
$GC,4704,-0.96,-146.6,352.6,-7.4,226,4709,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3650,3433
$GC,4795,-0.96,-146.6,359.6,-7.4,230,4799,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3433
$GC,5116,-0.96,-146.6,381.0,-6.6,246,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2248,3433
$GC,5427,-0.96,-146.6,402.2,-7.3,261,5431,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3649,3433
$GC,5517,-0.96,-146.6,409.4,-7.8,265,5521,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2247,3433
$GC,5839,-0.96,-146.6,433.6,-7.5,281,5844,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3648,3432
$GC,5906,-0.96,-146.6,439.2,-8.2,284,5911,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2247,3432
$GC,6227,-0.96,-146.6,464.9,-8.4,300,6232,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3654,3432
$GC,6277,-0.96,-146.6,469.6,-10.2,302,6281,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2240,3431
$GC,6593,-0.96,-146.6,497.2,-8.8,317,6597,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3648,3431
$GC,6687,-0.96,-146.6,505.8,-8.9,321,6692,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3431
$GC,7006,-0.96,-146.6,529.3,-5.8,336,7011,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3651,3431
$GC,7102,-0.96,-146.6,533.7,-3.8,340,7106,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3431
$GC,7417,-0.96,-146.6,554.6,-9.1,355,7421,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3649,3430
$GC,7517,-0.96,-146.6,562.8,-8.7,359,7524,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2236,3431
$STATE,7562,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7562,begin apogee
$GC,7570,-0.36,0.0,566.8,9.0,362,7699,0.65,0.00,126.07,1.146,6,0.070,0.000,2721,1465,2832
$STATE,7700,end apogee,CONTROL_FINISHED_OK
$STATE,7700,begin climb
$GC,7703,0.96,146.6,572.8,0.0,368,7838,1.30,2.28,126.22,1.108,4,0.053,0.061,3007,268,2234
$GC,8052,0.96,146.6,556.1,6.5,384,8056,0.00,2.03,0.00,0.000,6,0.000,0.035,3006,1457,2227
$GC,8387,0.96,146.6,528.7,9.2,400,8391,0.00,2.47,0.00,0.000,4,0.000,0.046,3007,2854,2225
$GC,8442,0.96,146.6,523.8,8.0,402,8448,0.00,2.47,0.00,0.000,6,0.000,0.039,3007,1448,2224
$GC,8760,1.23,360.6,518.1,0.1,418,8958,0.22,2.62,186.20,1.098,4,0.034,0.045,3085,2859,1360
$GC,9047,1.23,360.6,494.9,9.7,431,9052,0.00,2.50,0.00,0.000,6,0.000,0.041,3085,1458,1354
$GC,9366,1.23,360.6,460.6,10.3,446,9370,0.00,2.17,0.00,0.000,4,0.000,0.061,3085,262,1348
$GC,9393,1.23,360.6,457.2,10.8,447,9398,0.00,2.05,0.00,0.000,6,0.000,0.034,3085,1456,1349
$GC,9720,1.23,360.6,422.7,10.7,463,9721,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1456,1348
$GC,10029,1.23,360.6,390.6,10.5,478,10033,0.00,2.17,0.00,0.000,4,0.000,0.059,3085,261,1347
$GC,10098,1.23,360.6,382.5,12.3,481,10101,0.00,2.03,0.00,0.000,6,0.000,0.033,3085,1455,1347
$GC,10432,1.23,360.6,341.3,12.5,497,10436,0.00,2.17,0.00,0.000,4,0.000,0.059,3085,262,1347
$GC,10465,1.23,360.6,336.5,13.0,498,10470,0.00,2.05,0.00,0.000,6,0.000,0.033,3085,1456,1347
$GC,10786,1.23,360.6,297.8,12.2,514,10787,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1456,1346
$GC,11095,1.23,360.6,260.8,11.8,529,11099,0.00,2.17,0.00,0.000,4,0.000,0.058,3085,261,1346
$GC,11113,1.23,360.6,258.8,11.7,529,11119,0.00,2.03,0.00,0.000,6,0.000,0.033,3085,1456,1346
$GC,11428,1.23,360.6,224.0,10.5,545,11432,0.00,2.17,0.00,0.000,4,0.000,0.058,3085,259,1346
$GC,11456,1.23,360.6,220.9,11.6,546,11459,0.00,2.05,0.00,0.000,6,0.000,0.032,3085,1458,1346
$GC,11785,1.23,360.6,188.4,9.8,562,11786,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1458,1346
$GC,12092,1.23,360.6,157.0,10.4,577,12096,0.00,2.15,0.00,0.000,4,0.000,0.058,3085,262,1346
$GC,12131,1.23,360.6,152.6,11.1,578,12137,0.00,2.03,0.00,0.000,6,0.000,0.032,3085,1456,1346
$GC,12447,1.23,360.6,119.2,10.7,594,12448,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1456,1346
$GC,12756,1.23,360.6,87.3,10.1,609,12761,0.00,2.20,0.00,0.000,4,0.000,0.058,3085,258,1345
$GC,12789,1.23,360.6,83.5,10.5,610,12794,0.00,2.08,0.00,0.000,6,0.000,0.032,3085,1458,1346
$GC,13110,1.23,360.6,48.9,11.0,626,13111,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1458,1345
$GC,13419,1.23,360.6,13.1,11.0,641,13420,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1458,1345
$STATE,13519,end climb,SURFACE_DEPTH_REACHED
$STATE,13519,begin surface coast
$FINISH,0.5,1.026813
$STATE,13543,end surface coast,CONTROL_FINISHED_OK
$STATE,13543,begin surface
$SM_CCo,13627,0.00,0.000,0,0,1341,365.74
$SM_GC,0.96,11.57,0.00,0.00,0.022,0.000,0.000,394,2264,1341,-10.98,0.37,365.74
$IRIDIUM_FIX,6135.28,-1007.64,291098,131315
$TT8_MAMPS,0.026845
$HUMID,1929
$INTERNAL_PRESSURE,8.10902
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,475.7,99.9
$24V_AH,23.3,51.130
$10V_AH,10.1,31.203
$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,25.450,135.325,438.500,0.000,0.000,22.517,27.130,137.909,3.750,0.000,0.000,15.226,1232.897,10004.325,494.725,1571.748,631.240,0.000,1362.770,0.000,1682.681,0.000,26.696,0.000
$DEVICE_MAMPS,133.458,61.360,1145.898,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,532.323,481.564,444.373,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31715,647
$CAP_FILE_SIZE,104812,0
$CFSIZE,260165632,240934912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,040809,215755,6154.297,-920.601,37,1.8,37,-9.5