version: 66.04
glider: 105
mission: 6
dive: 248
start: 8 8 109 16 50 9
data:
$ID,105
$MISSION,6
$DIVE,248
$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,-1632443.8
$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,26
$R_STBD_OVSHOOT,32
$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
$GPS1,164106,6204.095,-932.184,38,1.1,43,-9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-59.3
$GPS2,164950,6204.201,-932.235,17,1.4,17,-9.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$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,170.4,86726,-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,-146.6,0.0,0.0,0,85,0.00,0.00,-67.97,0.000,6,0.000,0.000,388,2243,3431
$GC,88,-0.96,-146.6,3.4,-5.7,3,110,11.80,2.53,0.00,0.000,4,0.137,0.038,2586,831,3433
$GC,229,-0.96,-146.6,25.6,-8.9,9,233,0.00,2.47,0.00,0.000,6,0.000,0.034,2586,2245,3434
$GC,549,-0.96,-146.6,53.2,-8.8,25,554,0.00,2.58,0.00,0.000,4,0.000,0.056,2587,3650,3434
$GC,644,-0.96,-146.6,62.1,-9.0,29,648,0.00,2.42,0.00,0.000,6,0.000,0.030,2586,2231,3435
$GC,966,-0.96,-146.6,84.5,-5.7,45,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2231,3435
$GC,1275,-0.96,-146.6,102.3,-5.8,60,1280,0.00,2.60,0.00,0.000,4,0.000,0.053,2586,3647,3435
$GC,1370,-0.96,-146.6,109.0,-7.0,64,1374,0.00,2.38,0.00,0.000,6,0.000,0.029,2587,2251,3435
$GC,1691,-0.96,-146.6,132.4,-7.7,80,1696,0.00,2.55,0.00,0.000,4,0.000,0.051,2587,3663,3435
$GC,1747,-0.96,-146.6,137.6,-9.6,82,1753,0.00,2.42,0.00,0.000,6,0.000,0.030,2586,2245,3435
$GC,2065,-0.96,-146.6,166.2,-9.2,98,2069,0.00,2.55,0.00,0.000,4,0.000,0.052,2586,3654,3435
$GC,2115,-0.96,-146.6,171.4,-9.7,100,2119,0.00,2.40,0.00,0.000,6,0.000,0.030,2587,2251,3436
$GC,2430,-0.96,-146.6,195.1,-6.9,115,2434,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3654,3435
$GC,2492,-0.96,-146.6,199.4,-6.9,118,2496,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2252,3435
$GC,2821,-0.96,-146.6,219.1,-5.6,134,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2252,3435
$GC,3127,-0.96,-146.6,239.3,-7.4,149,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2251,3434
$GC,3436,-0.96,-146.6,267.1,-10.2,164,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2250,3434
$GC,3747,-0.96,-146.6,301.2,-11.6,179,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2249,3433
$GC,4055,-0.96,-146.6,335.2,-10.0,194,4060,0.00,2.55,0.00,0.000,4,0.000,0.051,2587,3648,3433
$GC,4115,-0.96,-146.6,341.1,-10.0,196,4121,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2250,3433
$GC,4432,-0.96,-146.6,365.5,-6.9,212,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2249,3433
$GC,4740,-0.96,-146.6,382.3,-4.4,227,4744,0.00,2.53,0.00,0.000,4,0.000,0.052,2587,3654,3432
$GC,4813,-0.96,-146.6,385.7,-4.5,230,4817,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2252,3432
$GC,5129,-0.96,-146.6,396.1,-3.3,245,5134,0.00,2.55,0.00,0.000,4,0.000,0.054,2587,3661,3432
$GC,5238,-0.96,-146.6,400.9,-4.8,250,5242,0.00,2.42,0.00,0.000,6,0.000,0.031,2587,2251,3432
$GC,5567,-0.96,-146.6,420.7,-7.6,266,5571,0.00,2.53,0.00,0.000,4,0.000,0.054,2587,3654,3431
$GC,5712,-0.96,-146.6,434.9,-9.6,272,5718,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2239,3432
$GC,6030,-0.96,-146.6,467.2,-10.6,288,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2239,3431
$GC,6337,-0.96,-146.6,497.0,-8.8,303,6341,0.00,2.45,0.00,0.000,4,0.000,0.046,2587,850,3431
$GC,6380,-0.96,-146.6,501.1,-9.2,305,6385,0.00,2.45,0.00,0.000,6,0.000,0.037,2587,2255,3431
$GC,6703,-0.96,-146.6,526.1,-7.3,321,6708,0.00,2.50,0.00,0.000,4,0.000,0.047,2587,849,3430
$GC,6753,-0.96,-146.6,529.6,-6.1,323,6758,0.00,2.45,0.00,0.000,6,0.000,0.038,2586,2248,3430
$GC,7072,-0.96,-146.6,547.7,-5.2,338,7076,0.00,2.55,0.00,0.000,4,0.000,0.059,2586,3651,3429
$GC,7143,-0.96,-146.6,551.5,-5.1,341,7148,0.00,2.42,0.00,0.000,6,0.000,0.034,2586,2253,3429
$GC,7459,-0.96,-146.6,562.6,-3.9,356,7461,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2253,3428
$GC,7769,-0.96,-146.6,570.6,-2.1,371,7774,0.00,2.60,0.00,0.000,4,0.000,0.060,2586,3652,3427
$GC,7909,-0.96,-146.6,575.1,-1.4,377,7914,0.00,2.45,0.00,0.000,6,0.000,0.034,2586,2254,3426
$GC,8235,-0.96,-146.6,586.4,-4.7,393,8240,0.00,2.55,0.00,0.000,4,0.000,0.056,2587,3655,3425
$GC,8292,-0.96,-146.6,589.2,-4.7,395,8298,0.00,2.42,0.00,0.000,6,0.000,0.035,2586,2250,3425
$GC,8608,-0.96,-146.6,614.3,-5.3,411,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2249,3423
$STATE,8628,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8628,begin apogee
$GC,8636,-0.36,0.0,615.3,4.1,412,8768,0.62,0.00,126.05,1.216,6,0.067,0.000,2721,1460,2831
$STATE,8769,end apogee,CONTROL_FINISHED_OK
$STATE,8769,begin climb
$GC,8772,0.96,146.6,617.1,0.0,419,8904,1.30,0.00,127.50,1.172,6,0.052,0.000,3007,1460,2234
$GC,9207,0.96,146.6,584.9,9.3,440,9208,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1460,2223
$GC,9516,1.12,273.3,581.4,2.5,455,9636,0.17,2.60,110.10,1.176,4,0.037,0.047,3083,2856,1715
$GC,9777,1.17,313.9,566.2,4.9,467,9820,0.10,2.53,36.30,1.124,6,0.071,0.043,3058,1464,1552
$GC,10133,1.28,404.8,552.5,3.5,484,10218,0.00,0.00,82.32,1.147,6,0.000,0.000,3057,1464,1180
$GC,10529,1.28,404.8,522.6,10.8,503,10533,0.00,2.22,0.00,0.000,4,0.000,0.064,3057,259,1170
$GC,10620,1.28,404.8,510.1,14.3,507,10624,0.00,2.08,0.00,0.000,6,0.000,0.035,3057,1467,1169
$GC,10955,1.28,404.8,448.3,22.7,523,10959,0.00,2.50,0.00,0.000,4,0.000,0.048,3057,2855,1167
$GC,10972,1.28,404.8,443.4,24.5,524,10976,0.00,2.50,0.00,0.000,6,0.000,0.042,3057,1453,1167
$GC,11298,1.28,404.8,363.3,23.4,540,11302,0.00,2.17,0.00,0.000,4,0.000,0.061,3057,264,1166
$GC,11337,1.28,404.8,354.1,23.2,541,11343,0.00,2.03,0.00,0.000,6,0.000,0.034,3057,1455,1165
$GC,11655,1.28,404.8,289.8,19.4,557,11659,0.00,2.20,0.00,0.000,4,0.000,0.060,3057,256,1165
$GC,11711,1.28,404.8,278.5,19.0,559,11715,0.00,2.05,0.00,0.000,6,0.000,0.032,3057,1457,1165
$GC,12032,1.28,404.8,223.1,16.2,575,12036,0.00,2.17,0.00,0.000,4,0.000,0.058,3057,262,1164
$GC,12059,1.28,404.8,218.3,16.3,576,12063,0.00,2.05,0.00,0.000,6,0.000,0.032,3057,1457,1165
$GC,12387,1.28,404.8,176.5,11.0,592,12388,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1457,1165
$GC,12696,1.28,404.8,144.3,9.6,607,12699,0.00,2.17,0.00,0.000,4,0.000,0.057,3057,261,1165
$GC,12719,1.28,404.8,142.2,9.2,608,12723,0.00,2.03,0.00,0.000,6,0.000,0.032,3057,1456,1164
$GC,13053,1.28,404.8,116.8,7.5,624,13057,0.00,2.15,0.00,0.000,4,0.000,0.055,3057,261,1165
$GC,13103,1.28,404.8,112.3,8.3,626,13107,0.00,2.05,0.00,0.000,6,0.000,0.031,3057,1459,1165
$GC,13430,1.28,404.8,86.5,8.0,642,13432,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1461,1165
$GC,13740,1.28,404.8,60.4,9.4,657,13741,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1461,1165
$GC,14050,1.28,404.8,31.8,9.5,672,14054,0.00,2.17,0.00,0.000,4,0.000,0.054,3057,257,1166
$GC,14099,1.28,404.8,26.6,10.7,674,14103,0.00,2.05,0.00,0.000,6,0.000,0.031,3057,1459,1165
$STATE,14383,end climb,SURFACE_DEPTH_REACHED
$STATE,14383,begin surface coast
$FINISH,0.2,1.016917
$STATE,14406,end surface coast,CONTROL_FINISHED_OK
$STATE,14406,begin surface
$SM_CCo,14491,0.00,0.000,0,0,1164,409.16
$SM_GC,1.01,11.48,0.00,0.00,0.022,0.000,0.000,387,2254,1164,-10.98,0.11,409.16
$IRIDIUM_FIX,6139.81,-936.03,021198,161652
$TT8_MAMPS,0.026845
$HUMID,1935
$INTERNAL_PRESSURE,8.10902
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.2,74.8
$24V_AH,23.2,53.934
$10V_AH,10.1,32.812
$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,25.475,117.025,482.275,0.000,0.000,55.448,55.835,210.912,4.500,0.000,0.000,17.368,1286.794,10790.271,528.716,1598.693,807.747,0.000,1394.089,0.000,1722.870,0.000,31.480,0.000
$DEVICE_MAMPS,136.526,64.428,1216.462,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,604.781,480.144,482.702,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34802,689
$CAP_FILE_SIZE,108218,0
$CFSIZE,260165632,239783936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,080809,205300,6207.580,-929.758,38,0.9,43,-9.7