version: 66.04
glider: 105
mission: 6
dive: 238
start: 8 6 109 9 38 16
data:
$ID,105
$MISSION,6
$DIVE,238
$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,-1632237.8
$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,24
$R_STBD_OVSHOOT,33
$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
$GPS1,093131,6138.022,-922.534,42,1.3,42,-9.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-56.5
$GPS2,093756,6137.972,-922.516,13,1.7,13,-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,36.3,14588,-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,-60.35,0.000,6,0.000,0.000,391,2242,3431
$GC,81,-0.96,-146.6,4.4,-7.8,3,102,11.68,2.60,0.00,0.000,4,0.133,0.051,2584,3653,3432
$GC,439,-0.96,-146.6,42.4,-8.5,19,444,0.00,2.45,0.00,0.000,6,0.000,0.028,2584,2229,3434
$GC,771,-0.96,-146.6,67.3,-7.1,35,776,0.00,2.58,0.00,0.000,4,0.000,0.052,2584,3650,3434
$GC,929,-0.96,-146.6,80.7,-8.6,42,933,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2251,3434
$GC,1250,-0.96,-146.6,109.0,-8.9,58,1255,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3644,3435
$GC,1333,-0.96,-146.6,117.7,-10.7,61,1339,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2247,3435
$GC,1649,-0.96,-146.6,145.8,-8.9,77,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3435
$GC,1958,-0.96,-146.6,173.5,-8.8,92,1963,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3638,3435
$GC,2074,-0.96,-146.6,185.3,-9.9,97,2079,0.00,2.35,0.00,0.000,6,0.000,0.029,2584,2254,3435
$GC,2395,-0.96,-146.6,215.1,-9.0,113,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2254,3434
$GC,2705,-0.96,-146.6,244.5,-9.7,128,2709,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3648,3434
$GC,2801,-0.96,-146.6,254.2,-10.3,132,2806,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2251,3434
$GC,3117,-0.96,-146.6,282.5,-8.3,147,3121,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3650,3434
$GC,3202,-0.96,-146.6,290.1,-9.3,151,3206,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2251,3434
$GC,3529,-0.96,-146.6,317.2,-8.1,167,3533,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3650,3434
$GC,3601,-0.96,-146.6,322.6,-7.1,170,3606,0.00,2.42,0.00,0.000,6,0.000,0.029,2584,2248,3433
$GC,3922,-0.96,-146.6,340.3,-5.0,186,3927,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3638,3433
$GC,3990,-0.96,-146.6,343.9,-5.7,189,3994,0.00,2.38,0.00,0.000,6,0.000,0.029,2584,2245,3433
$GC,4317,-0.96,-146.6,359.5,-4.7,205,4322,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3650,3432
$GC,4390,-0.96,-146.6,363.6,-5.7,208,4395,0.00,2.42,0.00,0.000,6,0.000,0.030,2584,2251,3432
$GC,4711,-0.96,-146.6,381.0,-5.8,224,4716,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3648,3432
$GC,4778,-0.96,-146.6,385.5,-6.4,227,4782,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2238,3432
$GC,5102,-0.96,-146.6,402.7,-5.0,243,5106,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3647,3432
$GC,5188,-0.96,-146.6,407.0,-5.2,247,5192,0.00,2.38,0.00,0.000,6,0.000,0.029,2584,2253,3431
$GC,5514,-0.96,-146.6,422.5,-4.9,263,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2253,3431
$GC,5824,-0.96,-146.6,438.8,-5.4,278,5828,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3648,3431
$GC,5880,-0.96,-146.6,442.2,-6.5,280,5887,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2237,3431
$GC,6198,-0.96,-146.6,459.7,-5.2,296,6202,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3652,3431
$GC,6247,-0.96,-146.6,462.3,-5.6,298,6252,0.00,2.38,0.00,0.000,6,0.000,0.029,2584,2253,3431
$GC,6563,-0.96,-146.6,477.9,-4.9,313,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2253,3431
$GC,6875,-0.96,-146.6,493.1,-5.0,328,6879,0.00,2.50,0.00,0.000,4,0.000,0.052,2584,3646,3431
$GC,6941,-0.96,-146.6,497.1,-6.0,331,6946,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2253,3431
$GC,7268,-0.96,-146.6,511.8,-4.2,347,7272,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3651,3431
$GC,7368,-0.96,-146.6,516.7,-5.6,351,7375,0.00,2.38,0.00,0.000,6,0.000,0.029,2584,2250,3431
$GC,7684,-0.96,-146.6,535.7,-7.2,367,7688,0.00,2.45,0.00,0.000,4,0.000,0.043,2585,848,3430
$GC,7716,-0.96,-146.6,538.1,-6.8,368,7722,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2247,3430
$GC,8034,-0.96,-146.6,559.6,-6.9,384,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3431
$GC,8342,-0.96,-146.6,578.7,-5.7,399,8346,0.00,2.45,0.00,0.000,4,0.000,0.044,2584,852,3430
$GC,8385,-0.96,-146.6,581.8,-7.1,401,8391,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2247,3431
$GC,8712,-0.96,-146.6,601.5,-5.8,417,8716,0.00,2.47,0.00,0.000,4,0.000,0.044,2584,846,3430
$GC,8756,-0.96,-146.6,604.1,-5.6,419,8761,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2259,3430
$GC,9077,-0.96,-146.6,624.7,-7.1,435,9079,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2259,3430
$GC,9387,-0.96,-146.6,646.2,-6.8,450,9391,0.00,2.50,0.00,0.000,4,0.000,0.044,2585,847,3429
$GC,9459,-0.96,-146.6,651.1,-6.0,453,9463,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2258,3429
$GC,9777,-0.96,-146.6,667.2,-5.4,468,9781,0.00,2.50,0.00,0.000,4,0.000,0.045,2584,847,3429
$GC,9832,-0.96,-146.6,670.7,-5.6,470,9839,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2246,3429
$GC,10150,-0.96,-146.6,687.9,-5.3,486,10154,0.00,2.47,0.00,0.000,4,0.000,0.044,2584,846,3429
$GC,10347,-0.96,-146.6,700.9,-7.6,495,10351,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2252,3429
$GC,10675,-0.96,-146.6,723.5,-6.6,511,10676,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2253,3428
$GC,10983,-0.96,-146.6,742.4,-5.9,526,10987,0.00,2.50,0.00,0.000,4,0.000,0.048,2584,853,3428
$GC,11016,-0.96,-146.6,744.2,-5.7,527,11023,0.00,2.45,0.00,0.000,6,0.000,0.039,2584,2246,3428
$GC,11332,-0.96,-146.6,762.1,-6.3,543,11334,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2246,3427
$GC,11641,-0.96,-146.6,781.5,-5.1,558,11643,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2246,3425
$GC,11953,-0.96,-146.6,801.1,-6.4,573,11954,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2246,3423
$GC,12260,-0.96,-146.6,822.5,-7.8,588,12261,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2249,3421
$GC,12569,-0.96,-146.6,842.0,-7.0,603,12573,0.00,2.60,0.00,0.000,4,0.000,0.067,2584,3660,3420
$STATE,12599,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12599,begin apogee
$GC,12610,-0.36,0.0,844.1,5.2,604,12742,0.60,0.00,129.43,1.402,6,0.073,0.000,2715,1467,2832
$STATE,12743,end apogee,CONTROL_FINISHED_OK
$STATE,12743,begin climb
$GC,12746,0.96,146.6,855.7,0.0,611,12887,1.35,2.33,131.40,1.359,4,0.055,0.068,3008,267,2233
$GC,13098,1.19,328.0,843.2,1.0,627,13270,0.22,2.08,161.65,1.345,6,0.036,0.037,3071,1472,1493
$GC,13597,1.19,328.0,796.2,9.9,651,13601,0.00,2.50,0.00,0.000,4,0.000,0.052,3071,2849,1480
$GC,13652,1.19,328.0,789.7,12.1,653,13659,0.00,2.53,0.00,0.000,6,0.000,0.047,3071,1450,1479
$GC,13968,1.19,328.0,755.3,9.6,669,13969,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1449,1478
$GC,14277,1.19,328.0,724.8,10.0,684,14278,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1450,1476
$GC,14586,1.19,328.0,688.0,12.5,699,14590,0.00,2.22,0.00,0.000,4,0.000,0.071,3071,257,1475
$GC,14686,1.19,328.0,675.4,12.8,703,14692,0.00,2.08,0.00,0.000,6,0.000,0.035,3071,1453,1475
$GC,15008,1.19,328.0,638.7,11.4,719,15011,0.00,2.20,0.00,0.000,4,0.000,0.065,3070,262,1474
$GC,15098,1.19,328.0,627.4,12.1,723,15102,0.00,2.03,0.00,0.000,6,0.000,0.034,3071,1455,1474
$GC,15430,1.19,328.0,587.9,13.1,739,15434,0.00,2.20,0.00,0.000,4,0.000,0.062,3070,258,1473
$GC,15486,1.19,328.0,579.9,14.0,741,15491,0.00,2.08,0.00,0.000,6,0.000,0.031,3071,1456,1473
$GC,15807,1.19,328.0,541.7,11.8,757,15808,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1456,1473
$GC,16116,1.19,328.0,502.5,12.3,772,16120,0.00,2.17,0.00,0.000,4,0.000,0.059,3071,261,1473
$GC,16207,1.19,328.0,490.8,12.8,776,16211,0.00,2.03,0.00,0.000,6,0.000,0.031,3070,1458,1474
$GC,16540,1.19,328.0,454.2,11.0,792,16541,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1458,1474
$GC,16849,1.19,328.0,419.0,11.8,807,16850,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1458,1474
$GC,17158,1.19,328.0,380.7,12.8,822,17159,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1458,1475
$GC,17467,1.19,328.0,341.3,12.9,837,17468,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1458,1475
$GC,17777,1.19,328.0,303.1,12.8,852,17778,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1458,1476
$GC,18088,1.19,328.0,261.9,13.3,867,18092,0.00,2.17,0.00,0.000,4,0.000,0.057,3071,258,1476
$GC,18171,1.19,328.0,250.0,13.8,870,18178,0.00,2.05,0.00,0.000,6,0.000,0.031,3071,1453,1476
$GC,18488,1.19,328.0,209.1,13.9,886,18492,0.00,2.47,0.00,0.000,4,0.000,0.045,3071,2849,1477
$GC,18520,1.19,328.0,204.6,13.4,887,18526,0.00,2.45,0.00,0.000,6,0.000,0.037,3071,1445,1477
$GC,18836,1.19,328.0,169.8,11.3,903,18837,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1445,1477
$GC,19146,1.19,328.0,140.3,8.7,918,19151,0.00,2.47,0.00,0.000,4,0.000,0.041,3071,2842,1477
$GC,19201,1.19,328.0,135.2,9.1,920,19205,0.00,2.42,0.00,0.000,6,0.000,0.036,3071,1451,1477
$GC,19518,1.19,328.0,107.5,7.8,935,19519,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1451,1478
$GC,19826,1.19,328.0,83.0,8.4,950,19830,0.00,2.12,0.00,0.000,4,0.000,0.055,3070,267,1478
$GC,19918,1.19,328.0,75.8,8.3,954,19922,0.00,2.00,0.00,0.000,6,0.000,0.030,3071,1455,1478
$GC,20252,1.19,328.0,52.9,6.9,970,20254,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1455,1478
$GC,20561,1.19,328.0,28.9,8.4,985,20562,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1455,1478
$STATE,20846,end climb,SURFACE_DEPTH_REACHED
$STATE,20846,begin surface coast
$FINISH,0.6,1.026842
$STATE,20868,end surface coast,CONTROL_FINISHED_OK
$STATE,20868,begin surface
$SM_CCo,20952,0.00,0.000,0,0,1477,332.38
$SM_GC,1.03,11.52,0.00,0.00,0.022,0.000,0.000,392,2232,1477,-10.98,-0.54,332.38
$IRIDIUM_FIX,6112.75,-928.48,311098,020251
$TT8_MAMPS,0.026845
$HUMID,1881
$INTERNAL_PRESSURE,8.13832
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,776.1,77.7
$24V_AH,23.1,52.309
$10V_AH,10.1,31.895
$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,25.375,160.950,422.475,0.000,0.000,27.605,42.180,178.749,6.750,0.000,0.000,13.164,1846.482,15816.988,500.560,2292.020,871.991,0.000,1706.580,0.000,2466.353,0.000,46.034,0.000
$DEVICE_MAMPS,132.691,70.564,1402.076,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,892.214,714.902,585.182,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50529,1000
$CAP_FILE_SIZE,146401,0
$CFSIZE,260165632,240410624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,060809,152837,6139.380,-913.722,32,1.0,32,-9.4