version: 66.04
glider: 105
mission: 6
dive: 257
start: 8 10 109 7 42 57
data:
$ID,105
$MISSION,6
$DIVE,257
$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,-1632636.2
$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,26
$R_STBD_OVSHOOT,30
$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
$GPS1,073736,6207.859,-914.459,37,1.0,37,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-65.4
$GPS2,074237,6207.843,-914.450,14,1.0,14,-9.6
$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,181.4,89531,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-57.97,0.000,6,0.000,0.000,389,2239,3431
$GC,82,-0.96,-146.6,5.3,-10.3,3,103,11.60,2.60,0.00,0.000,4,0.130,0.050,2583,3656,3432
$GC,351,-0.96,-146.6,46.6,-13.2,15,355,0.00,2.42,0.00,0.000,6,0.000,0.029,2583,2231,3433
$GC,677,-0.96,-146.6,83.5,-8.8,31,681,0.00,2.58,0.00,0.000,4,0.000,0.052,2583,3650,3434
$GC,739,-0.96,-146.6,88.7,-8.1,34,744,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2253,3434
$GC,1066,-0.96,-146.6,109.5,-6.5,50,1070,0.00,2.45,0.00,0.000,4,0.000,0.041,2583,853,3435
$GC,1094,-0.96,-146.6,111.4,-6.7,51,1098,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2250,3435
$GC,1410,-0.96,-146.6,132.7,-6.6,66,1415,0.00,2.58,0.00,0.000,4,0.000,0.058,2583,3650,3435
$GC,1504,-0.96,-146.6,139.8,-7.4,70,1509,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2249,3435
$GC,1826,-0.96,-146.6,160.3,-6.2,86,1831,0.00,2.58,0.00,0.000,4,0.000,0.053,2583,3650,3435
$GC,1916,-0.96,-146.6,166.4,-7.3,90,1920,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2247,3434
$GC,2242,-0.96,-146.6,188.0,-6.9,106,2247,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3652,3435
$GC,2356,-0.96,-146.6,196.7,-7.7,111,2360,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3435
$GC,2677,-0.96,-146.6,220.4,-7.5,127,2681,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3644,3434
$GC,2748,-0.96,-146.6,226.2,-8.2,130,2753,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2246,3434
$GC,3071,-0.96,-146.6,249.7,-7.1,146,3075,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3653,3434
$GC,3148,-0.96,-146.6,255.8,-7.9,149,3152,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3434
$GC,3463,-0.96,-146.6,277.8,-7.0,164,3468,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3653,3434
$GC,3553,-0.96,-146.6,285.1,-8.2,168,3557,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3434
$GC,3873,-0.96,-146.6,310.3,-8.1,184,3878,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3650,3434
$GC,3951,-0.96,-146.6,316.8,-8.3,187,3957,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2247,3434
$GC,4267,-0.96,-146.6,341.1,-7.6,203,4272,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3645,3433
$GC,4322,-0.96,-146.6,345.6,-8.3,205,4327,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2242,3433
$GC,4638,-0.96,-146.6,368.4,-7.3,220,4643,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3649,3433
$GC,4761,-0.96,-146.6,378.2,-8.2,225,4768,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3432
$GC,5082,-0.96,-146.6,401.1,-7.3,241,5087,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3650,3432
$GC,5155,-0.96,-146.6,407.0,-7.7,244,5159,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3432
$GC,5471,-0.96,-146.6,427.7,-6.6,259,5475,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3649,3432
$GC,5555,-0.96,-146.6,433.8,-6.9,263,5559,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3431
$GC,5883,-0.96,-146.6,456.8,-7.3,279,5887,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3648,3431
$GC,5962,-0.96,-146.6,462.7,-7.5,282,5968,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3431
$GC,6278,-0.96,-146.6,481.9,-5.9,298,6282,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3650,3431
$GC,6321,-0.96,-146.6,484.6,-6.2,300,6325,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3430
$STATE,6622,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6622,begin apogee
$GC,6630,-0.36,0.0,501.5,5.2,315,6762,0.65,0.00,125.25,1.096,6,0.065,0.000,2723,1463,2831
$STATE,6763,end apogee,CONTROL_FINISHED_OK
$STATE,6763,begin climb
$GC,6766,0.96,146.6,503.9,0.0,322,6900,1.30,2.28,124.95,1.062,4,0.054,0.059,3008,268,2233
$GC,6935,1.02,187.8,498.2,4.9,330,6977,0.00,2.05,36.30,1.019,6,0.000,0.033,3008,1470,2066
$GC,7289,1.03,201.1,477.3,5.6,347,7306,0.00,0.00,12.00,0.943,6,0.000,0.000,3008,1470,2011
$GC,7618,1.04,210.9,458.4,5.7,363,7633,0.00,2.50,9.85,0.924,4,0.000,0.044,3008,2855,1971
$GC,7661,1.04,210.9,455.6,6.3,364,7665,0.00,2.47,0.00,0.000,6,0.000,0.038,3008,1456,1970
$GC,7984,1.06,222.8,436.8,5.7,380,8008,0.10,2.55,11.82,0.956,4,0.052,0.043,3051,2847,1922
$GC,8031,1.06,222.8,433.3,7.6,382,8035,0.00,2.45,0.00,0.000,6,0.000,0.038,3051,1453,1922
$GC,8360,1.06,222.8,407.7,8.1,398,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1453,1921
$GC,8666,1.06,222.8,383.6,7.7,413,8671,0.00,2.50,0.00,0.000,4,0.000,0.044,3050,2852,1920
$GC,8695,1.06,222.8,381.3,8.0,414,8700,0.00,2.47,0.00,0.000,6,0.000,0.038,3051,1448,1920
$GC,9011,1.06,222.8,357.3,7.7,429,9015,0.00,2.50,0.00,0.000,4,0.000,0.041,3051,2854,1920
$GC,9043,1.06,222.8,354.7,7.6,430,9050,0.00,2.47,0.00,0.000,6,0.000,0.038,3051,1448,1919
$GC,9362,1.06,222.8,332.5,7.1,446,9363,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1448,1919
$GC,9670,1.06,222.8,311.8,6.5,461,9674,0.00,2.50,0.00,0.000,4,0.000,0.044,3051,2851,1919
$GC,9714,1.06,222.8,308.6,6.5,463,9718,0.00,2.45,0.00,0.000,6,0.000,0.038,3051,1456,1918
$GC,10034,1.06,222.8,285.7,7.4,479,10035,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1456,1919
$GC,10346,1.06,222.8,263.0,7.2,494,10350,0.00,2.47,0.00,0.000,4,0.000,0.041,3051,2852,1918
$GC,10379,1.06,222.8,260.3,6.9,495,10385,0.00,2.45,0.00,0.000,6,0.000,0.038,3051,1453,1918
$GC,10695,1.06,222.8,237.9,7.0,511,10696,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1453,1918
$GC,11004,1.09,245.0,219.1,5.4,526,11029,0.00,2.53,19.95,0.900,4,0.000,0.044,3051,2846,1832
$GC,11058,1.11,268.6,216.1,5.4,528,11085,0.00,2.47,22.35,0.887,6,0.000,0.038,3051,1451,1736
$GC,11396,1.11,268.6,193.3,8.1,545,11397,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1450,1731
$GC,11703,1.11,268.6,163.6,10.0,560,11705,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1450,1731
$GC,12013,1.11,268.6,134.6,9.6,575,12017,0.00,2.47,0.00,0.000,4,0.000,0.041,3051,2847,1730
$GC,12062,1.11,268.6,129.7,10.0,577,12066,0.00,2.45,0.00,0.000,6,0.000,0.038,3051,1452,1730
$GC,12378,1.11,268.6,100.3,9.3,592,12379,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1452,1729
$GC,12687,1.11,268.6,73.0,8.6,607,12691,0.00,2.47,0.00,0.000,4,0.000,0.041,3051,2850,1729
$GC,12743,1.11,268.6,67.7,9.4,609,12749,0.00,2.45,0.00,0.000,6,0.000,0.038,3051,1449,1729
$GC,13059,1.11,268.6,42.6,7.4,625,13060,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1448,1729
$GC,13370,1.11,268.6,17.7,7.3,640,13373,0.00,2.12,0.00,0.000,4,0.000,0.058,3051,264,1729
$GC,13408,1.11,268.6,14.5,7.3,641,13415,0.00,2.03,0.00,0.000,6,0.000,0.030,3051,1458,1729
$STATE,13598,end climb,SURFACE_DEPTH_REACHED
$STATE,13598,begin surface coast
$FINISH,0.3,1.004690
$STATE,13640,end surface coast,CONTROL_FINISHED_OK
$STATE,13640,begin surface
$SM_CCo,13665,21.73,0.760,0,0,1609,300.00
$SM_GC,0.66,0.00,0.00,21.73,0.000,0.000,0.760,389,2235,1609,-11.09,-0.42,300.00
$IRIDIUM_FIX,6144.36,-915.61,041198,040407
$TT8_MAMPS,0.027612
$HUMID,1918
$INTERNAL_PRESSURE,8.16762
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.0,86.3
$24V_AH,23.3,55.255
$10V_AH,10.1,33.509
$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,25.125,135.000,362.475,21.725,0.000,30.517,25.083,127.504,3.500,0.000,0.000,14.012,1241.220,10114.026,477.907,1528.474,631.140,0.000,1306.240,0.000,1637.969,0.000,26.397,0.000
$DEVICE_MAMPS,130.390,59.059,1096.043,760.097,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,531.751,491.812,457.491,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31690,653
$CAP_FILE_SIZE,103871,0
$CFSIZE,260165632,239276032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,100809,113207,6206.734,-914.943,23,1.9,23,-9.6