version: 66.04
glider: 105
mission: 6
dive: 249
start: 8 8 109 21 9 10
data:
$ID,105
$MISSION,6
$DIVE,249
$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,-1632459.2
$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,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
$GPS1,205300,6207.580,-929.758,38,0.9,43,-9.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-60.7
$GPS2,210850,6208.015,-929.343,14,1.7,14,-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,173.4,92667,-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,-146.6,0.0,0.0,0,92,0.00,0.00,-73.35,0.000,6,0.000,0.000,388,2256,3431
$GC,95,-0.96,-146.6,2.7,-4.3,3,117,11.73,2.55,0.00,0.000,4,0.133,0.041,2586,835,3433
$GC,195,-0.96,-146.6,21.6,-7.9,7,200,0.00,2.50,0.00,0.000,6,0.000,0.034,2586,2246,3433
$GC,516,-0.96,-146.6,47.9,-8.0,23,520,0.00,2.55,0.00,0.000,4,0.000,0.056,2586,3654,3434
$GC,694,-0.96,-146.6,63.8,-7.9,31,698,0.00,2.42,0.00,0.000,6,0.000,0.030,2586,2230,3434
$GC,1015,-0.96,-146.6,89.9,-9.5,47,1019,0.00,2.58,0.00,0.000,4,0.000,0.051,2585,3654,3434
$GC,1206,-0.96,-146.6,109.7,-11.1,55,1213,0.00,2.38,0.00,0.000,6,0.000,0.030,2586,2253,3434
$GC,1522,-0.96,-146.6,142.2,-10.0,71,1526,0.00,2.53,0.00,0.000,4,0.000,0.050,2586,3654,3434
$GC,1634,-0.96,-146.6,153.5,-10.4,76,1638,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2252,3434
$GC,1955,-0.96,-146.6,176.8,-6.2,92,1959,0.00,2.47,0.00,0.000,4,0.000,0.043,2586,854,3434
$GC,2010,-0.96,-146.6,180.0,-6.1,94,2014,0.00,2.42,0.00,0.000,6,0.000,0.033,2586,2257,3435
$GC,2326,-0.96,-146.6,195.0,-4.2,109,2330,0.00,2.53,0.00,0.000,4,0.000,0.056,2586,3651,3435
$GC,2427,-0.96,-146.6,199.5,-4.6,113,2433,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2249,3435
$GC,2742,-0.96,-146.6,210.0,-2.9,129,2747,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3647,3434
$GC,2793,-0.96,-146.6,211.6,-3.1,131,2797,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2252,3434
$GC,3114,-0.96,-146.6,221.9,-3.8,147,3118,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3648,3434
$GC,3181,-0.96,-146.6,225.1,-4.7,150,3186,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2252,3434
$GC,3508,-0.96,-146.6,244.8,-7.5,166,3512,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3649,3433
$GC,3580,-0.96,-146.6,251.5,-10.1,169,3585,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2236,3433
$GC,3896,-0.96,-146.6,288.8,-14.1,184,3901,0.00,2.58,0.00,0.000,4,0.000,0.053,2586,3640,3432
$GC,4097,-0.96,-146.6,323.5,-18.4,193,4102,0.00,2.38,0.00,0.000,6,0.000,0.031,2586,2255,3432
$GC,4424,-0.96,-146.6,376.3,-14.0,209,4428,0.00,2.47,0.00,0.000,4,0.000,0.044,2586,843,3432
$GC,4469,-0.96,-146.6,382.7,-14.0,211,4474,0.00,2.47,0.00,0.000,6,0.000,0.034,2586,2246,3431
$GC,4795,-0.96,-146.6,417.0,-9.0,227,4800,0.00,2.50,0.00,0.000,4,0.000,0.044,2586,848,3431
$GC,4873,-0.96,-146.6,424.1,-8.9,230,4877,0.00,2.45,0.00,0.000,6,0.000,0.035,2586,2260,3431
$GC,5190,-0.96,-146.6,451.4,-8.7,245,5194,0.00,2.53,0.00,0.000,4,0.000,0.057,2586,3651,3431
$GC,5329,-0.96,-146.6,463.3,-8.2,251,5333,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2252,3431
$GC,5647,-0.96,-146.6,484.3,-6.7,266,5651,0.00,2.55,0.00,0.000,4,0.000,0.056,2586,3654,3430
$GC,5776,-0.96,-146.6,494.0,-6.8,272,5781,0.00,2.45,0.00,0.000,6,0.000,0.032,2586,2250,3431
$GC,6108,-0.96,-146.6,511.1,-4.8,288,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2250,3430
$GC,6417,-0.96,-146.6,523.9,-3.7,303,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2250,3429
$GC,6727,-0.96,-146.6,533.1,-0.8,318,6731,0.00,2.55,0.00,0.000,4,0.000,0.058,2586,3647,3428
$GC,6790,-0.96,-146.6,535.7,-4.0,321,6794,0.00,2.42,0.00,0.000,6,0.000,0.035,2586,2252,3428
$GC,7119,-0.96,-146.6,550.3,-4.7,337,7123,0.00,2.55,0.00,0.000,4,0.000,0.058,2586,3648,3427
$GC,7187,-0.96,-146.6,554.6,-6.0,340,7191,0.00,2.42,0.00,0.000,6,0.000,0.034,2586,2252,3426
$GC,7509,-0.96,-146.6,570.5,-3.7,356,7513,0.00,2.58,0.00,0.000,4,0.000,0.058,2586,3638,3425
$GC,7576,-0.96,-146.6,571.7,0.3,359,7581,0.00,2.42,0.00,0.000,6,0.000,0.035,2586,2237,3424
$GC,7904,-0.96,-146.6,585.9,-4.9,375,7908,0.00,2.60,0.00,0.000,4,0.000,0.061,2586,3651,3423
$GC,8056,-0.96,-146.6,598.5,-4.5,382,8061,0.00,2.45,0.00,0.000,6,0.000,0.035,2586,2255,3423
$GC,8388,-0.96,-146.6,617.5,-5.9,398,8393,0.00,2.55,0.00,0.000,4,0.000,0.058,2586,3647,3422
$STATE,8452,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8452,begin apogee
$GC,8463,-0.36,0.0,624.2,6.9,401,8591,0.60,0.00,124.85,1.239,6,0.063,0.000,2720,1460,2832
$STATE,8591,end apogee,CONTROL_FINISHED_OK
$STATE,8592,begin climb
$GC,8594,0.96,146.6,627.2,0.0,407,8730,1.33,2.58,127.78,1.178,4,0.055,0.046,3009,2855,2232
$GC,9069,0.96,146.6,601.6,9.2,428,9075,0.00,2.50,0.00,0.000,6,0.000,0.041,3009,1452,2223
$GC,9387,0.96,146.8,581.0,6.0,444,9391,0.00,2.50,0.00,0.000,4,0.000,0.044,3009,2857,2221
$GC,9607,1.00,176.2,570.6,5.2,454,9637,0.00,2.53,25.42,1.148,6,0.000,0.041,3009,1451,2113
$GC,9953,1.00,176.2,550.8,7.1,471,9958,0.00,2.53,0.00,0.000,4,0.000,0.047,3009,2862,2108
$GC,9998,1.08,239.6,548.6,4.3,473,10061,0.12,2.50,57.17,1.167,6,0.041,0.041,3064,1454,1855
$GC,10388,1.08,239.6,513.5,11.3,492,10393,0.15,2.53,0.00,0.000,4,0.074,0.046,3032,2856,1846
$GC,10428,1.08,239.6,509.6,9.7,494,10432,0.00,2.50,0.00,0.000,6,0.000,0.041,3032,1452,1846
$GC,10757,1.08,239.6,471.7,13.6,510,10762,0.00,2.53,0.00,0.000,4,0.000,0.046,3032,2862,1844
$GC,10819,1.08,239.6,463.1,15.2,513,10823,0.00,2.50,0.00,0.000,6,0.000,0.041,3032,1454,1844
$GC,11145,1.08,239.6,426.0,9.8,529,11149,0.00,2.50,0.00,0.000,4,0.000,0.046,3032,2857,1843
$GC,11229,1.08,239.6,418.4,9.3,533,11234,0.00,2.50,0.00,0.000,6,0.000,0.041,3032,1448,1842
$GC,11559,1.08,239.6,390.8,8.0,549,11563,0.00,2.50,0.00,0.000,4,0.000,0.044,3032,2856,1842
$GC,11591,1.08,239.6,388.3,7.8,550,11598,0.00,2.47,0.00,0.000,6,0.000,0.040,3032,1447,1841
$GC,11907,1.08,239.6,366.0,6.4,566,11912,0.00,2.50,0.00,0.000,4,0.000,0.044,3032,2858,1841
$GC,11980,1.08,239.6,361.4,6.2,569,11984,0.00,2.47,0.00,0.000,6,0.000,0.038,3032,1452,1841
$GC,12295,1.08,239.6,342.3,6.0,584,12300,0.00,2.50,0.00,0.000,4,0.000,0.043,3032,2862,1841
$GC,12323,1.09,252.6,340.6,5.6,585,12340,0.00,2.47,10.57,0.957,6,0.000,0.038,3032,1455,1802
$GC,12667,1.14,291.3,322.3,4.9,602,12708,0.00,2.60,35.90,1.017,4,0.000,0.043,3032,2860,1643
$GC,12725,1.20,334.0,319.2,4.8,604,12774,0.12,2.50,39.45,0.986,6,0.041,0.038,3088,1455,1469
$GC,13087,1.20,334.0,288.7,9.3,622,13089,0.15,0.00,0.00,0.000,6,0.071,0.000,3056,1455,1461
$GC,13391,1.20,334.0,265.6,7.4,637,13393,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1454,1460
$GC,13701,1.20,334.0,241.0,8.2,652,13705,0.00,2.47,0.00,0.000,4,0.000,0.042,3056,2857,1459
$GC,13728,1.20,334.0,238.6,8.2,653,13732,0.00,2.47,0.00,0.000,6,0.000,0.038,3056,1453,1459
$GC,14043,1.20,334.0,207.9,10.4,668,14045,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1452,1459
$GC,14356,1.20,334.0,174.3,11.6,683,14360,0.00,2.47,0.00,0.000,4,0.000,0.041,3056,2856,1459
$GC,14377,1.20,334.0,171.3,12.1,684,14381,0.00,2.47,0.00,0.000,6,0.000,0.037,3056,1445,1458
$GC,14699,1.20,334.0,133.7,11.4,700,14700,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1445,1458
$GC,15008,1.20,334.0,100.4,9.9,715,15012,0.00,2.47,0.00,0.000,4,0.000,0.039,3056,2858,1459
$GC,15054,1.20,334.0,96.1,8.7,717,15058,0.00,2.45,0.00,0.000,6,0.000,0.035,3056,1452,1458
$GC,15375,1.20,334.0,64.3,10.0,733,15379,0.00,2.15,0.00,0.000,4,0.000,0.057,3055,259,1459
$GC,15422,1.20,334.0,59.7,10.0,735,15426,0.00,2.03,0.00,0.000,6,0.000,0.030,3056,1470,1459
$GC,15756,1.20,334.0,27.2,9.5,751,15758,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1471,1458
$STATE,16042,end climb,SURFACE_DEPTH_REACHED
$STATE,16042,begin surface coast
$FINISH,0.3,1.025134
$STATE,16063,end surface coast,CONTROL_FINISHED_OK
$STATE,16063,begin surface
$SM_CCo,16147,0.00,0.000,0,0,1456,337.53
$SM_GC,0.89,11.52,0.00,0.00,0.025,0.000,0.000,393,2237,1456,-10.98,-0.40,337.53
$IRIDIUM_FIX,6144.36,-933.80,021198,212134
$TT8_MAMPS,0.026845
$HUMID,1920
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,17.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.5,58.5
$24V_AH,23.2,54.102
$10V_AH,10.1,32.900
$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,25.725,166.375,421.150,0.000,0.000,115.123,131.619,330.320,5.000,0.000,0.000,14.816,1491.985,11958.175,503.939,1965.839,1178.749,0.000,1555.364,0.000,2078.020,0.000,35.980,0.000
$DEVICE_MAMPS,133.458,60.593,1239.472,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,670.658,538.610,476.220,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38051,766
$CAP_FILE_SIZE,135803,0
$CFSIZE,260165632,239702016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,090809,013930,6211.171,-923.935,36,2.0,36,-9.7