version: 66.04
glider: 105
mission: 6
dive: 253
start: 8 9 109 15 5 46
data:
$ID,105
$MISSION,6
$DIVE,253
$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,-1632560.2
$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,23
$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
$GPS1,145957,6214.265,-920.128,33,3.7,52,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-60.9
$GPS2,150528,6214.261,-920.118,13,3.4,32,-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,179.6,102069,-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,15,begin dive
$GC,18,-0.96,-146.6,0.0,0.0,0,99,0.00,0.00,-75.40,0.000,6,0.000,0.000,388,2234,3433
$GC,102,-0.96,-146.6,5.8,-7.9,4,124,11.73,2.58,0.00,0.000,4,0.134,0.052,2579,3660,3434
$GC,320,-0.96,-146.6,36.4,-9.2,13,327,0.00,2.45,0.00,0.000,6,0.000,0.029,2579,2222,3435
$GC,636,-0.96,-146.6,59.5,-7.0,29,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2222,3435
$GC,947,-0.96,-146.6,76.9,-5.3,44,952,0.00,2.60,0.00,0.000,4,0.000,0.054,2579,3651,3436
$GC,1083,-0.96,-146.6,83.9,-4.7,50,1087,0.00,2.40,0.00,0.000,6,0.000,0.029,2579,2248,3436
$GC,1404,-0.96,-146.6,98.1,-5.6,66,1409,0.00,2.58,0.00,0.000,4,0.000,0.053,2579,3651,3436
$GC,1521,-0.96,-146.6,106.3,-7.3,71,1526,0.00,2.40,0.00,0.000,6,0.000,0.028,2579,2241,3436
$GC,1843,-0.96,-146.6,131.2,-7.9,87,1847,0.00,2.58,0.00,0.000,4,0.000,0.054,2579,3658,3436
$GC,1915,-0.96,-146.6,137.6,-8.9,90,1919,0.00,2.40,0.00,0.000,6,0.000,0.030,2579,2251,3436
$GC,2230,-0.96,-146.6,162.8,-7.6,105,2234,0.00,2.53,0.00,0.000,4,0.000,0.051,2579,3651,3436
$GC,2314,-0.96,-146.6,169.7,-8.8,109,2318,0.00,2.38,0.00,0.000,6,0.000,0.030,2579,2253,3436
$GC,2640,-0.96,-146.6,194.1,-7.2,125,2645,0.00,2.53,0.00,0.000,4,0.000,0.052,2580,3651,3436
$GC,2673,-0.96,-146.6,196.6,-7.6,126,2680,0.00,2.40,0.00,0.000,6,0.000,0.029,2579,2247,3436
$GC,2990,-0.96,-146.6,216.5,-5.7,142,2994,0.00,2.55,0.00,0.000,4,0.000,0.051,2579,3658,3436
$GC,3052,-0.96,-146.6,220.6,-6.5,145,3056,0.00,2.40,0.00,0.000,6,0.000,0.030,2579,2250,3436
$GC,3379,-0.96,-146.6,237.9,-4.8,161,3383,0.00,2.53,0.00,0.000,4,0.000,0.052,2579,3652,3436
$GC,3456,-0.96,-146.6,242.1,-5.8,164,3462,0.00,2.40,0.00,0.000,6,0.000,0.029,2579,2245,3436
$GC,3772,-0.96,-146.6,254.6,-3.3,180,3777,0.00,2.55,0.00,0.000,4,0.000,0.053,2579,3651,3435
$GC,3823,-0.96,-146.6,256.5,-3.7,182,3827,0.00,2.42,0.00,0.000,6,0.000,0.030,2579,2250,3436
$GC,4144,-0.96,-146.6,266.3,-3.1,198,4148,0.00,2.53,0.00,0.000,4,0.000,0.052,2579,3653,3435
$GC,4183,-0.96,-146.6,267.7,-4.3,200,4187,0.00,2.40,0.00,0.000,6,0.000,0.030,2579,2246,3435
$GC,4511,-0.96,-146.6,278.5,-3.6,216,4515,0.00,2.55,0.00,0.000,4,0.000,0.054,2579,3651,3435
$GC,4567,-0.96,-146.6,280.9,-4.1,218,4573,0.00,2.40,0.00,0.000,6,0.000,0.030,2579,2250,3434
$GC,4885,-0.96,-146.6,293.8,-4.3,234,4889,0.00,2.53,0.00,0.000,4,0.000,0.053,2579,3652,3434
$GC,4951,-0.96,-146.6,297.4,-5.4,237,4956,0.00,2.42,0.00,0.000,6,0.000,0.030,2579,2250,3434
$GC,5278,-0.96,-146.6,317.5,-6.9,253,5282,0.00,2.53,0.00,0.000,4,0.000,0.052,2579,3653,3433
$GC,5341,-0.96,-146.6,322.3,-7.7,256,5345,0.00,2.40,0.00,0.000,6,0.000,0.030,2579,2249,3434
$GC,5670,-0.96,-146.6,350.0,-9.3,272,5674,0.00,2.53,0.00,0.000,4,0.000,0.052,2579,3651,3433
$GC,5747,-0.96,-146.6,358.2,-10.2,275,5752,0.00,2.42,0.00,0.000,6,0.000,0.030,2579,2250,3433
$GC,6068,-0.96,-146.6,389.1,-9.8,291,6072,0.00,2.53,0.00,0.000,4,0.000,0.053,2579,3651,3433
$GC,6198,-0.96,-146.6,401.7,-9.8,297,6202,0.00,2.40,0.00,0.000,6,0.000,0.030,2579,2249,3433
$GC,6524,-0.96,-146.6,428.2,-7.4,313,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2248,3432
$GC,6834,-0.96,-146.6,447.7,-5.3,328,6838,0.00,2.55,0.00,0.000,4,0.000,0.054,2579,3653,3432
$GC,6936,-0.96,-146.6,453.1,-5.2,332,6942,0.00,2.40,0.00,0.000,6,0.000,0.031,2579,2250,3432
$GC,7251,-0.96,-146.6,467.2,-4.5,348,7256,0.00,2.55,0.00,0.000,4,0.000,0.054,2579,3658,3432
$GC,7366,-0.96,-146.6,473.2,-5.9,353,7371,0.00,2.42,0.00,0.000,6,0.000,0.031,2579,2249,3432
$GC,7687,-0.96,-146.6,492.8,-6.5,369,7692,0.00,2.58,0.00,0.000,4,0.000,0.056,2579,3647,3432
$GC,7827,-0.96,-146.6,503.6,-7.4,375,7833,0.00,2.42,0.00,0.000,6,0.000,0.031,2579,2253,3432
$GC,8155,-0.96,-146.6,526.8,-7.8,391,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2253,3431
$GC,8463,-0.96,-146.6,550.5,-7.7,406,8468,0.00,2.58,0.00,0.000,4,0.000,0.058,2579,3647,3430
$GC,8571,-0.96,-146.6,557.5,-4.4,410,8578,0.00,2.40,0.00,0.000,6,0.000,0.033,2579,2253,3429
$STATE,8823,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8823,begin apogee
$GC,8831,-0.36,0.0,575.8,7.1,423,8964,0.65,0.00,126.05,1.179,6,0.067,0.000,2719,1458,2832
$STATE,8965,end apogee,CONTROL_FINISHED_OK
$STATE,8965,begin climb
$GC,8968,0.96,146.6,581.1,0.0,430,9103,1.33,2.28,126.88,1.134,4,0.057,0.063,3006,269,2234
$GC,9142,1.16,304.3,576.1,1.7,438,9285,0.20,2.05,135.73,1.120,6,0.035,0.035,3075,1461,1591
$GC,9595,1.16,304.3,539.6,8.6,460,9600,0.12,2.50,0.00,0.000,4,0.078,0.048,3049,2852,1581
$GC,9623,1.16,304.3,537.1,8.8,461,9628,0.00,2.47,0.00,0.000,6,0.000,0.041,3049,1457,1580
$GC,9939,1.16,304.3,512.8,7.4,476,9943,0.00,2.50,0.00,0.000,4,0.000,0.046,3049,2854,1579
$GC,9957,1.16,304.3,511.5,7.9,477,9961,0.00,2.50,0.00,0.000,6,0.000,0.041,3049,1450,1578
$GC,10283,1.16,304.3,484.6,8.4,493,10288,0.00,2.53,0.00,0.000,4,0.000,0.046,3049,2848,1577
$GC,10338,1.16,304.3,479.4,10.0,495,10342,0.00,2.47,0.00,0.000,6,0.000,0.041,3049,1446,1576
$GC,10654,1.16,304.3,443.2,11.8,510,10655,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1446,1576
$GC,10963,1.16,304.3,406.3,11.6,525,10967,0.00,2.47,0.00,0.000,4,0.000,0.043,3049,2854,1576
$GC,10990,1.16,304.3,403.1,11.8,526,10994,0.00,2.47,0.00,0.000,6,0.000,0.039,3049,1452,1575
$GC,11309,1.16,304.3,367.4,11.5,541,11313,0.00,2.47,0.00,0.000,4,0.000,0.043,3049,2854,1575
$GC,11353,1.16,304.3,362.0,11.3,543,11357,0.00,2.47,0.00,0.000,6,0.000,0.038,3049,1448,1575
$GC,11673,1.16,304.3,327.4,10.6,559,11674,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1449,1575
$GC,11985,1.16,304.3,298.2,8.9,574,11987,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1448,1575
$GC,12292,1.16,304.3,272.1,8.1,589,12293,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1448,1575
$GC,12601,1.16,304.3,247.9,7.8,604,12605,0.00,2.47,0.00,0.000,4,0.000,0.041,3049,2857,1575
$GC,12651,1.16,304.3,243.9,7.6,606,12656,0.00,2.47,0.00,0.000,6,0.000,0.037,3049,1462,1575
$GC,12971,1.16,304.3,218.6,8.1,622,12975,0.00,2.15,0.00,0.000,4,0.000,0.056,3049,262,1575
$GC,13010,1.16,304.3,215.0,9.0,623,13016,0.00,2.00,0.00,0.000,6,0.000,0.030,3049,1460,1576
$GC,13326,1.16,304.3,187.9,9.2,639,13327,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1460,1575
$GC,13635,1.16,304.3,158.4,9.7,654,13636,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1460,1576
$GC,13944,1.16,304.3,130.9,8.2,669,13948,0.00,2.17,0.00,0.000,4,0.000,0.055,3049,257,1576
$GC,13996,1.16,304.3,126.6,8.3,671,13999,0.00,2.03,0.00,0.000,6,0.000,0.030,3049,1458,1577
$GC,14323,1.16,304.3,102.2,8.2,687,14328,0.00,2.47,0.00,0.000,4,0.000,0.045,3049,2837,1577
$GC,14369,1.16,304.3,97.9,9.6,689,14373,0.00,2.42,0.00,0.000,6,0.000,0.036,3049,1444,1577
$GC,14697,1.16,304.3,63.3,10.7,705,14701,0.00,2.12,0.00,0.000,4,0.000,0.054,3049,259,1577
$GC,14730,1.16,304.3,59.3,11.3,706,14734,0.00,2.00,0.00,0.000,6,0.000,0.031,3049,1455,1577
$GC,15051,1.16,304.3,27.8,9.1,722,15053,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1455,1577
$GC,15362,1.16,304.3,4.2,7.5,737,15366,0.00,2.45,0.00,0.000,4,0.000,0.040,3049,2853,1577
$STATE,15376,end climb,SURFACE_DEPTH_REACHED
$STATE,15377,begin surface coast
$FINISH,0.9,1.026721
$STATE,15400,end surface coast,CONTROL_FINISHED_OK
$STATE,15400,begin surface
$SM_CCo,15484,0.00,0.000,0,0,1574,308.59
$SM_GC,0.91,11.43,0.00,0.00,0.021,0.000,0.000,387,2227,1574,-11.00,-0.65,308.59
$IRIDIUM_FIX,6148.92,-920.16,031198,101009
$TT8_MAMPS,0.026845
$HUMID,1924
$INTERNAL_PRESSURE,8.14809
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.1,85.7
$24V_AH,23.2,54.738
$10V_AH,10.1,33.219
$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,25.450,150.625,388.650,0.000,0.000,29.309,26.164,135.639,4.000,0.000,0.000,32.958,1404.024,11465.971,483.661,1776.612,682.370,0.000,1433.968,0.000,1877.821,0.000,28.287,0.000
$DEVICE_MAMPS,134.225,62.894,1178.879,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,646.475,508.917,506.345,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37978,739
$CAP_FILE_SIZE,117166,0
$CFSIZE,260165632,239472640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,090809,192506,6212.810,-920.354,39,1.4,39,-9.7