version: 66.04
glider: 105
mission: 6
dive: 234
start: 8 5 109 9 4 22
data:
$ID,105
$MISSION,6
$DIVE,234
$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,-1632164.4
$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,25
$R_STBD_OVSHOOT,37
$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
$GPS1,085824,6145.609,-921.641,41,0.9,41,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-56.9
$GPS2,090402,6145.603,-921.831,11,1.5,11,-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,110.1,6091,-14.2,-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,-1.13,-96.4,0.0,0.0,0,72,0.00,0.00,-54.45,0.000,6,0.000,0.000,388,2246,3226
$GC,75,-1.17,-126.7,2.0,-4.7,2,97,11.43,2.58,-2.22,0.000,4,0.131,0.063,2538,3644,3352
$GC,284,-1.17,-126.7,32.8,-11.1,11,289,0.00,2.40,0.00,0.000,6,0.000,0.028,2538,2232,3353
$GC,606,-1.17,-126.7,64.4,-12.1,27,610,0.00,2.58,0.00,0.000,4,0.000,0.052,2538,3650,3354
$GC,668,-1.17,-126.7,73.7,-14.7,30,672,0.00,2.38,0.00,0.000,6,0.000,0.030,2538,2251,3354
$GC,994,-1.17,-126.7,106.8,-6.1,46,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2251,3354
$GC,1304,-1.17,-126.7,124.7,-7.5,61,1309,0.00,2.55,0.00,0.000,4,0.000,0.054,2538,3639,3354
$GC,1449,-1.17,-126.7,138.6,-9.9,67,1454,0.00,2.40,0.00,0.000,6,0.000,0.031,2538,2255,3355
$GC,1770,-1.17,-126.7,168.7,-9.3,83,1774,0.00,2.53,0.00,0.000,4,0.000,0.053,2538,3647,3354
$GC,1825,-1.17,-126.7,174.0,-10.0,85,1831,0.00,2.38,0.00,0.000,6,0.000,0.031,2538,2250,3354
$GC,2141,-1.17,-126.7,198.1,-7.7,101,2145,0.00,2.50,0.00,0.000,4,0.000,0.051,2538,3642,3354
$GC,2252,-1.17,-126.7,209.1,-10.5,106,2256,0.00,2.38,0.00,0.000,6,0.000,0.031,2538,2250,3354
$GC,2573,-1.17,-126.7,242.3,-9.4,122,2578,0.00,2.53,0.00,0.000,4,0.000,0.052,2537,3635,3354
$GC,2650,-1.17,-126.7,249.3,-8.2,125,2654,0.00,2.38,0.00,0.000,6,0.000,0.031,2538,2244,3354
$GC,2966,-1.17,-126.7,270.7,-6.4,140,2971,0.00,2.53,0.00,0.000,4,0.000,0.054,2538,3642,3354
$GC,3017,-1.17,-126.7,274.1,-6.3,142,3021,0.00,2.38,0.00,0.000,6,0.000,0.031,2538,2250,3353
$GC,3333,-1.17,-126.7,297.5,-8.4,157,3337,0.00,2.50,0.00,0.000,4,0.000,0.052,2538,3642,3354
$GC,3462,-1.17,-126.7,309.8,-10.3,163,3467,0.00,2.38,0.00,0.000,6,0.000,0.031,2538,2250,3353
$GC,3792,-1.17,-126.7,343.3,-10.5,179,3796,0.00,2.53,0.00,0.000,4,0.000,0.053,2538,3645,3353
$GC,3880,-1.17,-126.7,353.1,-10.4,183,3885,0.00,2.40,0.00,0.000,6,0.000,0.030,2538,2238,3353
$GC,4204,-1.17,-126.7,378.7,-7.1,199,4208,0.00,2.55,0.00,0.000,4,0.000,0.054,2538,3645,3353
$GC,4316,-1.17,-126.7,387.3,-7.2,204,4320,0.00,2.38,0.00,0.000,6,0.000,0.030,2538,2250,3353
$GC,4637,-1.17,-126.7,411.3,-8.0,220,4641,0.00,2.53,0.00,0.000,4,0.000,0.053,2538,3648,3352
$GC,4759,-1.17,-126.7,422.8,-9.0,225,4766,0.00,2.40,0.00,0.000,6,0.000,0.031,2538,2239,3352
$GC,5075,-1.17,-126.7,447.3,-6.8,241,5080,0.00,2.55,0.00,0.000,4,0.000,0.054,2538,3632,3352
$GC,5147,-1.17,-126.7,452.2,-6.7,244,5151,0.00,2.35,0.00,0.000,6,0.000,0.031,2538,2251,3352
$GC,5467,-1.19,-140.8,469.0,-5.4,260,5472,0.00,2.50,0.00,0.000,4,0.000,0.053,2538,3642,3351
$GC,5556,-1.19,-140.8,474.9,-7.0,264,5561,0.00,2.38,0.00,0.000,6,0.000,0.031,2538,2253,3351
$GC,5883,-1.19,-140.8,498.9,-9.0,280,5888,0.00,2.50,0.00,0.000,4,0.000,0.053,2538,3642,3352
$GC,5968,-1.19,-140.8,507.8,-10.8,284,5972,0.00,2.38,0.00,0.000,6,0.000,0.031,2538,2249,3352
$GC,6297,-1.19,-140.8,537.1,-7.9,300,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2248,3351
$GC,6603,-1.19,-140.8,562.5,-8.9,315,6608,0.00,2.50,0.00,0.000,4,0.000,0.052,2538,3644,3351
$GC,6876,-1.19,-140.8,586.6,-8.1,327,6881,0.00,2.40,0.00,0.000,6,0.000,0.031,2538,2250,3350
$GC,7192,-1.19,-140.8,609.1,-7.3,342,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2250,3350
$GC,7501,-1.19,-140.8,633.7,-8.4,357,7506,0.00,2.53,0.00,0.000,4,0.000,0.054,2538,3648,3350
$GC,7631,-1.19,-140.8,646.6,-10.6,363,7635,0.00,2.40,0.00,0.000,6,0.000,0.031,2538,2250,3350
$GC,7959,-1.19,-140.8,674.6,-6.8,379,7963,0.00,2.53,0.00,0.000,4,0.000,0.054,2538,3648,3349
$GC,8205,-1.19,-140.8,695.4,-9.5,390,8209,0.00,2.40,0.00,0.000,6,0.000,0.032,2538,2253,3349
$GC,8526,-1.19,-140.8,727.5,-10.1,406,8531,0.00,2.50,0.00,0.000,4,0.000,0.048,2538,851,3349
$GC,8643,-1.19,-140.8,739.0,-8.2,411,8647,0.00,2.45,0.00,0.000,6,0.000,0.038,2538,2246,3349
$GC,8967,-1.19,-140.8,760.7,-6.2,427,8971,0.00,2.50,0.00,0.000,4,0.000,0.048,2538,844,3348
$GC,9039,-1.19,-140.8,765.5,-6.9,430,9044,0.00,2.47,0.00,0.000,6,0.000,0.038,2539,2257,3347
$GC,9357,-1.19,-140.8,788.7,-8.4,445,9361,0.00,2.53,0.00,0.000,4,0.000,0.062,2538,3651,3347
$GC,9496,-1.19,-140.8,801.6,-9.0,451,9500,0.00,2.42,0.00,0.000,6,0.000,0.035,2538,2250,3347
$GC,9812,-1.19,-140.8,822.8,-8.4,466,9816,0.00,2.60,0.00,0.000,4,0.000,0.064,2538,3657,3346
$STATE,9826,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9827,begin apogee
$GC,9837,-0.36,0.0,823.4,3.9,467,9952,0.88,0.00,112.10,1.360,6,0.073,0.000,2722,1465,2832
$STATE,9953,end apogee,CONTROL_FINISHED_OK
$STATE,9953,begin climb
$GC,9956,1.19,140.8,827.4,0.0,473,10089,1.52,2.30,125.75,1.315,4,0.046,0.068,3061,262,2258
$GC,10319,1.25,192.3,812.3,3.9,489,10372,0.00,2.08,46.45,1.289,6,0.000,0.035,3061,1471,2048
$GC,10685,1.27,208.0,795.2,5.3,507,10707,0.00,2.55,14.38,1.212,4,0.000,0.051,3061,2842,1983
$GC,10735,1.27,208.0,792.2,6.0,509,10739,0.00,2.53,0.00,0.000,6,0.000,0.044,3061,1446,1982
$GC,11058,1.27,208.0,770.7,7.0,525,11062,0.00,2.17,0.00,0.000,4,0.000,0.067,3061,265,1979
$GC,11097,1.27,208.0,767.4,8.0,526,11103,0.00,2.03,0.00,0.000,6,0.000,0.035,3061,1454,1978
$GC,11412,1.27,208.0,742.1,9.6,542,11416,0.00,2.20,0.00,0.000,4,0.000,0.064,3060,262,1977
$GC,11525,1.27,208.0,728.4,12.6,547,11529,0.00,2.05,0.00,0.000,6,0.000,0.036,3061,1455,1976
$GC,11857,1.27,208.0,691.7,9.9,563,11862,0.00,2.22,0.00,0.000,4,0.000,0.064,3061,264,1974
$GC,11930,1.27,208.0,684.7,9.0,566,11934,0.00,2.05,0.00,0.000,6,0.000,0.035,3061,1456,1974
$GC,12256,1.27,208.0,657.4,9.9,582,12258,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1456,1974
$GC,12566,1.27,208.0,631.3,7.7,597,12570,0.00,2.50,0.00,0.000,4,0.000,0.047,3061,2855,1973
$GC,12598,1.27,208.0,628.8,6.9,598,12604,0.00,2.47,0.00,0.000,6,0.000,0.040,3061,1452,1973
$GC,12914,1.27,208.0,607.7,6.6,614,12919,0.00,2.53,0.00,0.000,4,0.000,0.044,3061,2854,1973
$GC,12947,1.27,208.0,605.1,7.3,615,12951,0.00,2.47,0.00,0.000,6,0.000,0.040,3061,1452,1972
$GC,13265,1.27,208.0,579.7,7.9,630,13269,0.00,2.47,0.00,0.000,4,0.000,0.043,3061,2855,1972
$GC,13331,1.27,208.0,574.7,6.6,633,13336,0.00,2.47,0.00,0.000,6,0.000,0.038,3061,1447,1972
$GC,13653,1.27,209.1,555.7,6.0,649,13657,0.00,2.12,0.00,0.000,4,0.000,0.059,3061,265,1973
$GC,13687,1.27,209.1,553.4,6.5,650,13691,0.00,2.00,0.00,0.000,6,0.000,0.031,3061,1458,1973
$GC,14010,1.29,225.1,536.5,5.3,666,14031,0.00,2.50,15.18,1.102,4,0.000,0.044,3061,2846,1913
$GC,14070,1.29,225.1,532.7,6.6,668,14076,0.00,2.47,0.00,0.000,6,0.000,0.038,3061,1447,1912
$GC,14389,1.29,225.1,510.9,7.5,684,14393,0.00,2.50,0.00,0.000,4,0.000,0.041,3061,2857,1912
$GC,14429,1.29,225.1,507.6,7.4,686,14433,0.00,2.47,0.00,0.000,6,0.000,0.038,3061,1446,1911
$GC,14758,1.29,225.1,481.3,7.9,702,14759,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1445,1911
$GC,15065,1.29,225.1,460.3,6.2,717,15066,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1445,1912
$GC,15374,1.30,231.3,442.1,5.7,732,15389,0.00,2.55,7.12,0.905,4,0.000,0.041,3061,2852,1889
$GC,15434,1.30,231.3,438.4,6.3,734,15441,0.00,2.50,0.00,0.000,6,0.000,0.037,3061,1450,1888
$GC,15750,1.30,231.3,415.3,7.9,750,15751,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1449,1888
$GC,16059,1.30,231.3,389.2,8.8,765,16063,0.00,2.47,0.00,0.000,4,0.000,0.041,3061,2848,1888
$GC,16098,1.30,231.3,385.8,8.9,767,16102,0.00,2.45,0.00,0.000,6,0.000,0.038,3061,1447,1888
$GC,16424,1.30,231.3,356.7,9.0,783,16425,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1447,1888
$GC,16733,1.30,231.3,329.4,9.0,798,16734,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1447,1888
$GC,17042,1.30,231.3,301.8,9.0,813,17044,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1447,1888
$GC,17352,1.30,231.3,274.0,9.1,828,17357,0.00,2.50,0.00,0.000,4,0.000,0.041,3061,2843,1889
$GC,17407,1.30,231.3,268.9,9.1,830,17411,0.00,2.42,0.00,0.000,6,0.000,0.038,3061,1455,1889
$GC,17723,1.30,231.3,240.9,8.8,845,17724,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1455,1889
$GC,18032,1.30,231.3,213.2,9.0,860,18037,0.00,2.45,0.00,0.000,4,0.000,0.041,3061,2855,1889
$GC,18065,1.30,231.3,210.3,8.8,861,18071,0.00,2.45,0.00,0.000,6,0.000,0.037,3061,1452,1889
$GC,18383,1.30,231.3,183.1,8.6,877,18385,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1452,1889
$GC,18690,1.30,231.3,156.6,8.7,892,18691,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1452,1889
$GC,19002,1.30,231.3,128.8,9.3,907,19006,0.00,2.47,0.00,0.000,4,0.000,0.040,3061,2857,1890
$GC,19035,1.30,231.3,125.3,9.5,908,19042,0.10,2.45,0.00,0.000,6,0.047,0.036,3115,1450,1890
$GC,19351,1.30,231.3,88.1,12.1,924,19352,0.15,0.00,0.00,0.000,6,0.074,0.000,3083,1450,1890
$GC,19661,1.30,231.3,55.3,9.5,939,19666,0.00,2.47,0.00,0.000,4,0.000,0.040,3083,2856,1890
$GC,19694,1.30,231.3,51.9,9.2,940,19701,0.00,2.45,0.00,0.000,6,0.000,0.036,3083,1449,1890
$GC,20010,1.30,231.3,21.9,10.1,956,20015,0.00,2.50,0.00,0.000,4,0.000,0.041,3083,2854,1890
$GC,20125,1.30,231.3,10.3,10.6,961,20129,0.00,2.42,0.00,0.000,6,0.000,0.035,3083,1452,1890
$STATE,20222,end climb,SURFACE_DEPTH_REACHED
$STATE,20222,begin surface coast
$FINISH,0.3,1.026870
$STATE,20244,end surface coast,CONTROL_FINISHED_OK
$STATE,20244,begin surface
$SM_CCo,20268,41.70,0.773,0,0,1609,300.00
$SM_GC,0.79,0.00,0.00,41.70,0.000,0.000,0.773,388,2244,1609,-11.10,-0.17,300.00
$IRIDIUM_FIX,6126.23,-918.01,301098,020243
$TT8_MAMPS,0.026845
$HUMID,1897
$INTERNAL_PRESSURE,8.13832
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.7,107.5
$24V_AH,23.1,51.556
$10V_AH,10.1,31.485
$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,25.650,192.050,320.975,41.700,0.000,27.591,26.406,154.184,6.250,0.000,0.000,13.077,1847.616,15131.603,489.221,2334.011,842.464,0.000,1708.075,0.000,2489.881,0.000,42.892,0.000
$DEVICE_MAMPS,131.157,68.263,1359.891,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,814.666,727.723,545.940,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50556,967
$CAP_FILE_SIZE,151793,0
$CFSIZE,260165632,240685056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,050809,144424,6141.297,-922.935,51,0.9,51,-9.5