version: 66.04
glider: 105
mission: 6
dive: 252
start: 8 9 109 10 45 12
data:
$ID,105
$MISSION,6
$DIVE,252
$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,-1632526.6
$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,22
$R_STBD_OVSHOOT,27
$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
$GPS1,103924,6213.818,-923.336,38,1.6,38,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-58.8
$GPS2,104450,6213.885,-923.156,12,2.0,12,-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,178.1,101894,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-82.05,0.000,2,0.000,0.000,386,2233,3414
$GC,102,-0.96,-146.6,4.3,-5.6,4,124,11.73,2.58,-0.22,0.000,4,0.133,0.064,2580,3652,3431
$GC,461,-0.96,-146.6,45.9,-10.6,20,466,0.00,2.45,0.00,0.000,6,0.000,0.029,2581,2233,3431
$GC,794,-0.96,-146.6,82.5,-11.7,36,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2233,3432
$GC,1104,-0.96,-146.6,115.9,-10.1,51,1108,0.00,2.58,0.00,0.000,4,0.000,0.053,2580,3651,3433
$GC,1290,-0.96,-146.6,133.7,-8.9,59,1294,0.00,2.40,0.00,0.000,6,0.000,0.029,2580,2245,3432
$GC,1606,-0.96,-146.6,153.8,-4.9,74,1610,0.00,2.55,0.00,0.000,4,0.000,0.052,2580,3652,3432
$GC,1663,-0.96,-146.6,156.5,-4.8,76,1669,0.00,2.40,0.00,0.000,6,0.000,0.029,2580,2245,3432
$GC,1980,-0.96,-146.6,166.4,-2.5,92,1984,0.00,2.55,0.00,0.000,4,0.000,0.052,2580,3653,3433
$GC,2020,-0.96,-146.6,167.4,-2.5,94,2024,0.00,2.40,0.00,0.000,6,0.000,0.030,2580,2246,3432
$GC,2347,-0.96,-146.6,175.5,-2.9,110,2352,0.00,2.55,0.00,0.000,4,0.000,0.052,2580,3654,3433
$GC,2398,-0.96,-146.6,177.5,-4.3,112,2403,0.00,2.42,0.00,0.000,6,0.000,0.030,2580,2253,3432
$GC,2719,-0.96,-146.6,191.4,-4.9,128,2723,0.00,2.53,0.00,0.000,4,0.000,0.052,2580,3651,3432
$GC,2803,-0.96,-146.6,196.8,-6.3,132,2807,0.00,2.40,0.00,0.000,6,0.000,0.030,2580,2247,3431
$GC,3130,-0.96,-146.6,217.8,-6.4,148,3134,0.00,2.45,0.00,0.000,4,0.000,0.043,2580,850,3431
$GC,3164,-0.96,-146.6,220.1,-6.9,149,3170,0.00,2.42,0.00,0.000,6,0.000,0.032,2581,2252,3431
$GC,3479,-0.96,-146.6,245.1,-8.5,165,3483,0.00,2.47,0.00,0.000,4,0.000,0.043,2580,850,3431
$GC,3523,-0.96,-146.6,249.2,-9.4,167,3528,0.00,2.45,0.00,0.000,6,0.000,0.034,2580,2242,3431
$GC,3849,-0.96,-146.6,277.0,-8.7,183,3854,0.00,2.58,0.00,0.000,4,0.000,0.058,2580,3644,3430
$GC,4056,-0.96,-146.6,295.8,-9.0,192,4060,0.00,2.40,0.00,0.000,6,0.000,0.031,2580,2245,3430
$GC,4379,-0.96,-146.6,323.6,-8.6,208,4383,0.00,2.55,0.00,0.000,4,0.000,0.054,2580,3653,3430
$GC,4496,-0.96,-146.6,335.3,-10.5,213,4501,0.00,2.42,0.00,0.000,6,0.000,0.031,2580,2254,3429
$GC,4817,-0.96,-146.6,364.7,-9.0,229,4821,0.00,2.53,0.00,0.000,4,0.000,0.053,2580,3653,3429
$GC,4856,-0.96,-146.6,368.4,-9.7,231,4861,0.00,2.40,0.00,0.000,6,0.000,0.031,2580,2251,3429
$GC,5183,-0.96,-146.6,397.3,-8.9,247,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2250,3429
$GC,5493,-0.96,-146.6,425.3,-8.9,262,5498,0.00,2.58,0.00,0.000,4,0.000,0.054,2580,3654,3429
$GC,5691,-0.96,-146.6,442.7,-8.5,270,5698,0.00,2.40,0.00,0.000,6,0.000,0.031,2580,2251,3429
$GC,6007,-0.96,-146.6,460.1,-5.0,286,6011,0.00,2.55,0.00,0.000,4,0.000,0.054,2581,3656,3428
$GC,6051,-0.96,-146.6,462.2,-4.6,288,6055,0.00,2.42,0.00,0.000,6,0.000,0.031,2580,2242,3428
$GC,6374,-0.96,-146.6,475.5,-5.0,304,6379,0.00,2.58,0.00,0.000,4,0.000,0.057,2580,3654,3428
$GC,6527,-0.96,-146.6,484.1,-6.2,311,6531,0.00,2.42,0.00,0.000,6,0.000,0.033,2580,2251,3428
$GC,6854,-0.96,-146.6,507.4,-7.4,327,6858,0.00,2.55,0.00,0.000,4,0.000,0.058,2580,3652,3426
$GC,6898,-0.96,-146.6,510.3,-7.4,329,6902,0.00,2.42,0.00,0.000,6,0.000,0.032,2580,2249,3426
$GC,7219,-0.96,-146.6,536.5,-8.9,345,7223,0.00,2.55,0.00,0.000,4,0.000,0.057,2580,3651,3425
$GC,7281,-0.96,-146.6,541.1,-7.7,348,7285,0.00,2.42,0.00,0.000,6,0.000,0.034,2580,2251,3424
$GC,7607,-0.96,-146.6,558.9,-5.6,364,7612,0.00,2.50,0.00,0.000,4,0.000,0.048,2580,842,3423
$GC,7652,-0.96,-146.6,562.3,-7.8,366,7656,0.00,2.47,0.00,0.000,6,0.000,0.038,2580,2254,3423
$STATE,7908,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7908,begin apogee
$GC,7917,-0.36,0.0,581.5,7.2,379,8045,0.65,0.00,125.25,1.194,6,0.069,0.000,2719,1456,2832
$STATE,8046,end apogee,CONTROL_FINISHED_OK
$STATE,8046,begin climb
$GC,8049,0.96,146.6,584.4,0.0,385,8184,1.33,2.28,126.85,1.147,4,0.051,0.065,3009,271,2233
$GC,8221,0.98,159.4,578.8,5.7,393,8242,0.00,2.08,12.05,1.007,6,0.000,0.035,3009,1474,2181
$GC,8553,1.05,219.5,561.8,4.4,409,8616,0.00,2.58,53.05,1.131,4,0.000,0.048,3009,2845,1935
$GC,8695,1.05,219.5,552.7,6.6,415,8699,0.00,2.47,0.00,0.000,6,0.000,0.041,3009,1455,1931
$GC,9010,1.05,219.5,532.9,6.6,430,9014,0.00,2.20,0.00,0.000,4,0.000,0.064,3009,260,1927
$GC,9043,1.05,219.5,530.3,8.3,431,9047,0.00,2.03,0.00,0.000,6,0.000,0.035,3009,1453,1928
$GC,9365,1.05,219.5,506.1,8.6,447,9369,0.00,2.50,0.00,0.000,4,0.000,0.048,3009,2854,1926
$GC,9415,1.05,219.5,501.6,8.6,449,9419,0.00,2.47,0.00,0.000,6,0.000,0.040,3009,1453,1925
$GC,9731,1.05,219.5,469.6,9.2,464,9736,0.00,2.50,0.00,0.000,4,0.000,0.048,3009,2839,1924
$GC,9785,1.05,219.5,463.6,10.7,466,9789,0.00,2.45,0.00,0.000,6,0.000,0.041,3009,1454,1924
$GC,10101,1.05,219.5,429.7,9.3,481,10106,0.00,2.47,0.00,0.000,4,0.000,0.048,3009,2846,1923
$GC,10202,1.18,320.8,425.4,3.2,485,10297,0.17,2.50,88.75,1.108,6,0.025,0.041,3082,1454,1524
$GC,10619,1.18,320.8,400.2,7.7,506,10624,0.12,2.53,0.00,0.000,4,0.076,0.044,3055,2855,1513
$GC,10652,1.18,320.8,397.7,7.2,507,10658,0.00,2.50,0.00,0.000,6,0.000,0.040,3055,1448,1512
$GC,10970,1.18,320.8,374.7,7.9,523,10974,0.00,2.15,0.00,0.000,4,0.000,0.060,3055,264,1511
$GC,11020,1.18,320.8,370.1,8.7,525,11024,0.00,2.03,0.00,0.000,6,0.000,0.032,3055,1458,1511
$GC,11350,1.18,320.8,338.8,10.5,541,11354,0.00,2.47,0.00,0.000,4,0.000,0.045,3055,2846,1510
$GC,11400,1.18,320.8,333.1,10.7,543,11404,0.00,2.45,0.00,0.000,6,0.000,0.038,3055,1453,1509
$GC,11715,1.18,320.8,302.3,9.5,558,11716,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1453,1509
$GC,12027,1.18,320.8,274.4,8.3,573,12031,0.00,2.47,0.00,0.000,4,0.000,0.042,3055,2857,1509
$GC,12054,1.18,320.8,271.9,7.8,574,12059,0.00,2.50,0.00,0.000,6,0.000,0.038,3055,1453,1508
$GC,12375,1.19,330.7,250.8,5.7,590,12390,0.00,2.22,7.43,0.821,4,0.000,0.058,3055,264,1484
$GC,12407,1.22,351.6,248.8,5.4,591,12432,0.00,2.00,20.55,0.930,6,0.000,0.029,3055,1459,1398
$GC,12744,1.24,369.2,232.1,5.5,607,12763,0.00,0.00,16.58,0.902,6,0.000,0.000,3055,1459,1327
$GC,13075,1.30,415.5,215.0,4.7,623,13120,0.12,0.00,43.00,0.918,6,0.040,0.000,3093,1459,1137
$GC,13424,1.30,415.5,185.3,9.6,640,13428,0.00,2.17,0.00,0.000,4,0.000,0.056,3094,262,1131
$GC,13492,1.30,415.5,177.6,10.7,643,13496,0.00,2.03,0.00,0.000,6,0.000,0.031,3094,1455,1129
$GC,13825,1.30,415.5,143.8,9.8,659,13829,0.00,2.15,0.00,0.000,4,0.000,0.056,3094,261,1129
$GC,13858,1.30,415.5,140.1,10.5,660,13862,0.00,2.00,0.00,0.000,6,0.000,0.030,3094,1455,1128
$GC,14180,1.30,415.5,107.8,10.4,676,14183,0.00,2.15,0.00,0.000,4,0.000,0.055,3094,263,1128
$GC,14280,1.30,415.5,95.2,12.2,680,14283,0.00,2.00,0.00,0.000,6,0.000,0.031,3094,1455,1127
$GC,14603,1.30,415.5,58.9,11.5,696,14607,0.00,2.15,0.00,0.000,4,0.000,0.054,3094,257,1127
$GC,14658,1.30,415.5,51.3,12.8,698,14662,0.00,2.03,0.00,0.000,6,0.000,0.030,3094,1455,1127
$GC,14980,1.30,415.5,14.1,11.3,714,14984,0.00,2.15,0.00,0.000,4,0.000,0.054,3094,262,1127
$GC,15064,1.30,415.5,3.7,11.2,717,15070,0.00,2.05,0.00,0.000,6,0.000,0.030,3094,1456,1127
$STATE,15088,end climb,SURFACE_DEPTH_REACHED
$STATE,15088,begin surface coast
$FINISH,0.2,1.012895
$STATE,15111,end surface coast,CONTROL_FINISHED_OK
$STATE,15111,begin surface
$SM_CCo,15195,0.00,0.000,0,0,1125,418.73
$SM_GC,1.04,11.70,0.00,0.00,0.025,0.000,0.000,388,2233,1125,-10.98,-0.48,418.73
$IRIDIUM_FIX,6148.92,-925.46,031198,060615
$TT8_MAMPS,0.026845
$HUMID,1935
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.0,90.6
$24V_AH,23.2,54.602
$10V_AH,10.1,33.140
$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,25.825,159.875,493.500,0.000,0.000,29.387,26.405,146.823,4.000,0.000,0.000,12.506,1392.830,11025.845,570.787,1815.923,716.296,0.000,1572.260,0.000,1918.320,0.000,28.287,0.000
$DEVICE_MAMPS,132.691,65.195,1194.219,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,640.328,503.410,441.245,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37978,720
$CAP_FILE_SIZE,121275,0
$CFSIZE,260165632,239525888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,090809,145957,6214.265,-920.128,33,3.7,52,-9.7