version: 66.04
glider: 105
mission: 6
dive: 232
start: 8 4 109 22 6 22
data:
$ID,105
$MISSION,6
$DIVE,232
$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,-1632137.2
$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,21
$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
$GPS1,215755,6154.297,-920.601,37,1.8,37,-9.5
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-58.0
$GPS2,220602,6154.308,-920.544,17,1.2,17,-9.5
$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,173.8,17911,-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,-146.6,0.0,0.0,0,86,0.00,0.00,-68.88,0.000,6,0.000,0.000,395,2263,3431
$GC,89,-0.96,-146.6,3.0,-5.0,3,111,11.62,2.55,0.00,0.000,4,0.132,0.039,2585,835,3433
$GC,189,-0.96,-146.6,22.0,-8.5,7,194,0.00,2.47,0.00,0.000,6,0.000,0.034,2585,2234,3433
$GC,510,-0.96,-146.6,45.3,-6.7,23,515,0.00,2.60,0.00,0.000,4,0.000,0.056,2585,3653,3435
$GC,655,-0.96,-146.6,56.0,-7.6,29,660,0.00,2.45,0.00,0.000,6,0.000,0.030,2585,2233,3435
$GC,976,-0.96,-146.6,77.1,-6.5,45,980,0.00,2.58,0.00,0.000,4,0.000,0.052,2585,3654,3435
$GC,1031,-0.96,-146.6,81.2,-7.8,47,1037,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2251,3435
$GC,1347,-0.96,-146.6,103.6,-7.2,63,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3435
$GC,1658,-0.96,-146.6,126.7,-7.6,78,1662,0.00,2.53,0.00,0.000,4,0.000,0.051,2585,3651,3435
$GC,1746,-0.96,-146.6,133.9,-8.1,82,1751,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3435
$GC,2068,-0.96,-146.6,156.8,-6.8,98,2072,0.00,2.53,0.00,0.000,4,0.000,0.051,2585,3652,3435
$GC,2108,-0.96,-146.6,159.7,-7.4,100,2112,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2249,3435
$GC,2436,-0.96,-146.6,181.4,-6.5,116,2440,0.00,2.53,0.00,0.000,4,0.000,0.051,2585,3651,3435
$GC,2491,-0.96,-146.6,185.5,-7.6,118,2497,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2247,3434
$GC,2807,-0.96,-146.6,207.0,-6.9,134,2812,0.00,2.55,0.00,0.000,4,0.000,0.051,2585,3647,3434
$GC,2867,-0.96,-146.6,211.6,-7.8,136,2873,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2245,3434
$GC,3183,-0.96,-146.6,233.5,-7.1,152,3187,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3653,3434
$GC,3223,-0.96,-146.6,236.6,-8.1,154,3227,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3435
$GC,3552,-0.96,-146.6,260.6,-7.3,170,3556,0.00,2.53,0.00,0.000,4,0.000,0.051,2585,3651,3434
$GC,3613,-0.96,-146.6,265.6,-7.9,173,3617,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2248,3434
$GC,3940,-0.96,-146.6,289.1,-6.8,189,3944,0.00,2.53,0.00,0.000,4,0.000,0.051,2585,3651,3434
$GC,4007,-0.96,-146.6,294.2,-7.3,192,4011,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3433
$GC,4330,-0.96,-146.6,316.4,-6.9,208,4334,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3654,3434
$GC,4419,-0.96,-146.6,323.6,-7.6,212,4423,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2249,3433
$GC,4742,-0.96,-146.6,347.9,-7.7,228,4746,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3653,3433
$GC,4810,-0.96,-146.6,353.5,-8.4,231,4815,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2249,3432
$GC,5131,-0.96,-146.6,377.6,-7.4,247,5136,0.00,2.55,0.00,0.000,4,0.000,0.052,2585,3645,3432
$GC,5209,-0.96,-146.6,383.8,-8.2,250,5213,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2238,3432
$GC,5526,-0.96,-146.6,407.4,-7.5,265,5530,0.00,2.58,0.00,0.000,4,0.000,0.054,2585,3658,3432
$GC,5587,-0.96,-146.6,412.4,-8.0,268,5592,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2247,3432
$GC,5914,-0.96,-146.6,437.1,-7.5,284,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2247,3431
$GC,6223,-0.96,-146.6,460.0,-7.6,299,6228,0.00,2.58,0.00,0.000,4,0.000,0.053,2585,3652,3431
$GC,6325,-0.96,-146.6,468.5,-8.3,303,6329,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2251,3431
$GC,6640,-0.96,-146.6,492.5,-7.3,318,6644,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3651,3431
$GC,6707,-0.96,-146.6,497.9,-8.5,321,6712,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2251,3431
$GC,7031,-0.96,-146.6,520.3,-7.1,337,7035,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3651,3431
$GC,7103,-0.96,-146.6,526.3,-9.1,340,7107,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2252,3431
$GC,7418,-0.96,-146.6,551.2,-7.8,355,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2252,3430
$GC,7728,-0.96,-146.6,575.1,-7.5,370,7732,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3651,3430
$GC,7790,-0.96,-146.6,580.1,-7.7,373,7794,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2235,3430
$GC,8116,-0.96,-146.6,604.0,-7.3,389,8121,0.00,2.58,0.00,0.000,4,0.000,0.054,2585,3647,3430
$STATE,8129,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8129,begin apogee
$GC,8140,-0.36,0.0,605.3,7.6,389,8269,0.60,0.00,126.70,1.167,6,0.068,0.000,2717,1467,2832
$STATE,8270,end apogee,CONTROL_FINISHED_OK
$STATE,8270,begin climb
$GC,8273,0.96,146.6,612.6,0.0,396,8408,1.33,2.28,126.72,1.133,4,0.054,0.059,3008,267,2233
$GC,8641,0.96,146.6,595.1,8.1,412,8647,0.00,2.05,0.00,0.000,6,0.000,0.033,3008,1477,2226
$GC,8959,1.02,194.4,579.9,4.7,428,9006,0.00,2.47,41.65,1.116,4,0.000,0.044,3008,2846,2039
$GC,9068,1.08,236.7,574.2,4.8,433,9114,0.12,2.47,38.00,1.099,6,0.041,0.038,3065,1447,1866
$GC,9438,1.08,236.7,542.4,10.2,451,9443,0.15,2.50,0.00,0.000,4,0.072,0.042,3033,2847,1859
$GC,9465,1.08,236.7,539.3,9.8,452,9469,0.00,2.47,0.00,0.000,6,0.000,0.039,3033,1447,1858
$GC,9781,1.08,236.7,510.2,8.4,467,9782,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1447,1858
$GC,10092,1.08,236.7,488.9,6.6,482,10094,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1447,1857
$GC,10399,1.08,242.0,469.7,5.9,497,10409,0.00,2.50,4.57,0.738,4,0.000,0.042,3034,2851,1845
$GC,10461,1.08,242.0,466.0,6.6,500,10466,0.00,2.47,0.00,0.000,6,0.000,0.038,3033,1462,1844
$GC,10793,1.08,242.0,444.7,6.6,516,10794,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1463,1844
$GC,11105,1.08,242.0,423.4,6.8,531,11106,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1463,1844
$GC,11414,1.10,252.9,403.8,5.7,546,11430,0.00,2.47,11.07,0.944,4,0.000,0.040,3033,2848,1801
$GC,11480,1.10,252.9,399.6,6.2,548,11485,0.00,2.50,0.00,0.000,6,0.000,0.038,3033,1451,1799
$GC,11807,1.13,278.7,381.7,5.3,564,11837,0.00,2.53,24.52,1.000,4,0.000,0.041,3033,2849,1694
$GC,11872,1.14,290.2,378.1,5.7,567,11893,0.00,2.45,11.77,0.918,6,0.000,0.038,3033,1453,1647
$GC,12205,1.14,290.2,357.9,6.8,583,12206,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1453,1644
$GC,12512,1.14,290.2,335.2,7.8,598,12516,0.00,2.47,0.00,0.000,4,0.000,0.041,3033,2848,1643
$GC,12534,1.14,290.2,333.3,7.7,599,12539,0.00,2.45,0.00,0.000,6,0.000,0.038,3033,1456,1642
$GC,12855,1.14,290.2,309.6,7.2,615,12857,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1456,1642
$GC,13165,1.14,290.2,286.7,7.6,630,13166,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1456,1642
$GC,13476,1.14,290.2,262.3,7.9,645,13481,0.00,2.45,0.00,0.000,4,0.000,0.041,3034,2848,1641
$GC,13498,1.14,290.2,260.2,8.4,646,13503,0.00,2.47,0.00,0.000,6,0.000,0.038,3033,1456,1641
$GC,13825,1.14,290.2,234.1,7.7,662,13826,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1456,1641
$GC,14134,1.14,290.2,210.3,7.5,677,14135,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1456,1641
$GC,14443,1.14,290.2,185.9,8.1,692,14444,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1456,1641
$GC,14755,1.14,290.2,159.3,9.1,707,14759,0.00,2.47,0.00,0.000,4,0.000,0.041,3034,2854,1641
$GC,14795,1.14,290.2,155.1,10.2,709,14799,0.00,2.45,0.00,0.000,6,0.000,0.037,3033,1450,1641
$GC,15121,1.14,290.2,122.1,10.0,725,15126,0.00,2.50,0.00,0.000,4,0.000,0.041,3033,2848,1641
$GC,15148,1.14,290.2,119.3,10.0,726,15153,0.00,2.47,0.00,0.000,6,0.000,0.038,3034,1450,1641
$GC,15476,1.14,290.2,89.8,8.6,742,15480,0.00,2.50,0.00,0.000,4,0.000,0.041,3033,2847,1641
$GC,15508,1.14,290.2,86.9,8.2,743,15513,0.00,2.47,0.00,0.000,6,0.000,0.037,3033,1451,1641
$GC,15829,1.14,290.2,60.0,8.3,759,15830,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1452,1641
$GC,16140,1.14,290.2,34.0,8.3,774,16144,0.00,2.47,0.00,0.000,4,0.000,0.040,3033,2858,1641
$GC,16172,1.14,290.2,31.1,8.2,775,16179,0.00,2.45,0.00,0.000,6,0.000,0.037,3033,1455,1640
$GC,16489,1.15,295.6,9.8,5.9,791,16499,0.00,2.47,5.25,0.611,4,0.000,0.038,3034,2858,1625
$STATE,16585,end climb,SURFACE_DEPTH_REACHED
$STATE,16585,begin surface coast
$FINISH,0.2,1.026797
$STATE,16620,end surface coast,CONTROL_FINISHED_OK
$STATE,16621,begin surface
$SM_CCo,16644,2.95,0.392,0,0,1609,300.00
$SM_GC,1.74,0.00,0.00,2.95,0.000,0.000,0.392,389,2227,1609,-11.09,-0.65,300.00
$IRIDIUM_FIX,6130.75,-918.74,291098,222227
$TT8_MAMPS,0.027612
$HUMID,1913
$INTERNAL_PRESSURE,8.14809
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,525.2,89.8
$24V_AH,23.3,51.270
$10V_AH,10.1,31.286
$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,25.200,157.975,390.275,2.950,0.000,53.293,56.378,193.857,4.250,0.000,0.000,17.259,1502.915,12482.149,479.404,1836.573,838.289,0.000,1472.130,0.000,1969.423,0.000,29.900,0.000
$DEVICE_MAMPS,131.924,59.059,1166.607,391.937,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,642.794,601.968,529.020,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41140,797
$CAP_FILE_SIZE,126371,0
$CFSIZE,260165632,240852992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,050809,024506,6150.344,-920.585,37,1.3,37,-9.5