version: 66.04
glider: 105
mission: 6
dive: 260
start: 8 10 109 19 29 57
data:
$ID,105
$MISSION,6
$DIVE,260
$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,-1632683.8
$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,28
$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
$GPS1,192437,6159.569,-920.411,37,1.2,37,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-63.7
$GPS2,192937,6159.544,-920.463,12,1.5,12,-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,175.7,75458,-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,-57.72,0.000,6,0.000,0.000,385,2241,3431
$GC,82,-0.96,-146.6,5.7,-11.4,3,104,11.70,2.60,0.00,0.000,4,0.133,0.051,2586,3657,3433
$GC,441,-0.96,-146.6,47.0,-7.6,19,446,0.00,2.45,0.00,0.000,6,0.000,0.031,2586,2238,3433
$GC,774,-0.96,-146.6,69.4,-5.4,35,779,0.00,2.60,0.00,0.000,4,0.000,0.054,2585,3651,3435
$GC,835,-0.96,-146.6,73.5,-7.0,37,842,0.00,2.42,0.00,0.000,6,0.000,0.030,2585,2250,3435
$GC,1151,-0.96,-146.6,99.3,-9.1,53,1155,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3651,3435
$GC,1200,-0.96,-146.6,104.2,-9.7,55,1205,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2246,3435
$GC,1517,-0.96,-146.6,127.2,-5.7,70,1521,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3651,3435
$GC,1611,-0.96,-146.6,132.5,-5.7,74,1615,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3435
$GC,1931,-0.96,-146.6,150.8,-6.7,89,1935,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3651,3435
$GC,2020,-0.96,-146.6,158.2,-7.9,93,2024,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2249,3435
$GC,2341,-0.96,-146.6,182.5,-7.7,109,2346,0.00,2.55,0.00,0.000,4,0.000,0.053,2586,3642,3434
$GC,2401,-0.96,-146.6,187.5,-8.0,111,2407,0.00,2.38,0.00,0.000,6,0.000,0.031,2586,2251,3435
$GC,2719,-0.96,-146.6,213.0,-8.9,127,2723,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3649,3434
$GC,2791,-0.96,-146.6,220.4,-10.1,130,2795,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3434
$GC,3107,-0.96,-146.6,248.1,-8.9,145,3112,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3651,3434
$GC,3170,-0.96,-146.6,253.6,-8.6,148,3174,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2252,3434
$GC,3501,-0.96,-146.6,279.5,-7.4,164,3505,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3651,3434
$GC,3551,-0.96,-146.6,283.3,-7.3,166,3556,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2253,3434
$GC,3872,-0.96,-146.6,305.7,-7.0,182,3876,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3650,3434
$GC,3927,-0.96,-146.6,309.8,-7.6,184,3933,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3433
$GC,4243,-0.96,-146.6,333.3,-7.6,200,4247,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3654,3433
$GC,4292,-0.96,-146.6,337.2,-8.1,202,4297,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2253,3433
$GC,4613,-0.96,-146.6,359.5,-6.9,218,4617,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3651,3433
$GC,4697,-0.96,-146.6,366.1,-8.1,222,4701,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3433
$GC,5023,-0.96,-146.6,390.5,-7.3,238,5027,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3651,3432
$GC,5101,-0.96,-146.6,396.8,-8.0,241,5107,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3432
$GC,5417,-0.96,-146.6,414.3,-4.7,257,5421,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3650,3432
$GC,5468,-0.96,-146.6,416.8,-5.2,259,5472,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3432
$GC,5789,-0.96,-146.6,437.6,-7.8,275,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2249,3431
$GC,6099,-0.96,-146.6,453.9,-3.4,290,6103,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3651,3431
$GC,6216,-0.96,-146.6,459.5,-6.0,295,6220,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2251,3431
$GC,6532,-0.96,-146.6,482.2,-7.0,310,6533,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2250,3431
$GC,6840,-0.96,-146.6,505.3,-7.6,325,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2250,3430
$GC,7150,-0.96,-146.6,528.4,-6.5,340,7154,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3651,3430
$GC,7267,-0.96,-146.6,537.9,-8.0,345,7271,0.00,2.42,0.00,0.000,6,0.000,0.032,2586,2239,3430
$STATE,7456,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7456,begin apogee
$GC,7464,-0.36,0.0,551.0,6.1,354,7593,0.62,0.00,125.55,1.134,6,0.065,0.000,2720,1458,2832
$STATE,7593,end apogee,CONTROL_FINISHED_OK
$STATE,7594,begin climb
$GC,7597,0.96,146.6,554.0,0.0,360,7732,1.33,2.58,125.60,1.095,4,0.054,0.044,3010,2853,2233
$GC,7846,0.97,148.3,543.3,6.0,372,7850,0.00,2.50,0.00,0.000,6,0.000,0.039,3010,1446,2228
$GC,8167,0.97,148.3,522.5,7.1,388,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1446,2225
$GC,8478,0.97,148.3,500.6,6.8,403,8483,0.00,2.55,0.00,0.000,4,0.000,0.047,3009,2863,2223
$GC,8551,0.97,148.3,495.4,7.1,406,8556,0.00,2.53,0.00,0.000,6,0.000,0.040,3010,1456,2222
$GC,8872,1.06,221.4,478.7,4.0,422,8942,0.00,2.58,64.80,1.099,4,0.000,0.045,3010,2860,1928
$GC,8958,1.15,295.9,475.0,4.0,426,9033,0.17,2.53,66.72,1.068,6,0.035,0.040,3078,1449,1625
$GC,9341,1.15,295.9,436.9,11.4,445,9345,0.15,2.17,0.00,0.000,4,0.072,0.061,3046,258,1614
$GC,9363,1.15,295.9,434.4,10.7,446,9367,0.00,2.08,0.00,0.000,6,0.000,0.033,3046,1472,1614
$GC,9690,1.15,295.9,404.4,8.8,462,9691,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1473,1612
$GC,9999,1.15,295.9,374.9,10.1,477,10004,0.00,2.45,0.00,0.000,4,0.000,0.046,3046,2837,1611
$GC,10032,1.15,295.9,371.2,10.8,478,10036,0.00,2.45,0.00,0.000,6,0.000,0.039,3046,1447,1610
$GC,10350,1.15,295.9,341.7,8.9,493,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1447,1610
$GC,10657,1.15,295.9,314.6,8.6,508,10661,0.00,2.47,0.00,0.000,4,0.000,0.042,3046,2852,1608
$GC,10689,1.15,295.9,311.7,8.0,509,10695,0.00,2.45,0.00,0.000,6,0.000,0.038,3046,1454,1610
$GC,11005,1.15,295.9,284.8,8.6,525,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1454,1610
$GC,11315,1.15,295.9,258.4,8.5,540,11316,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1454,1610
$GC,11626,1.15,295.9,233.6,8.0,555,11630,0.00,2.45,0.00,0.000,4,0.000,0.041,3046,2849,1610
$GC,11670,1.15,295.9,229.7,8.2,557,11674,0.00,2.45,0.00,0.000,6,0.000,0.038,3046,1451,1609
$GC,11993,1.15,295.9,202.0,8.6,573,11997,0.00,2.15,0.00,0.000,4,0.000,0.058,3046,260,1609
$GC,12033,1.15,295.9,198.1,8.8,574,12039,0.00,2.00,0.00,0.000,6,0.000,0.031,3045,1456,1610
$GC,12348,1.15,295.9,171.7,9.0,590,12349,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1456,1609
$GC,12658,1.15,295.9,140.7,10.5,605,12659,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1456,1610
$GC,12967,1.15,295.9,106.2,10.9,620,12968,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1456,1610
$GC,13278,1.15,295.9,77.0,8.8,635,13282,0.00,2.45,0.00,0.000,4,0.000,0.043,3046,2851,1610
$GC,13341,1.15,295.9,71.7,8.2,638,13345,0.00,2.45,0.00,0.000,6,0.000,0.036,3046,1446,1609
$GC,13668,1.15,295.9,47.1,8.5,654,13673,0.00,2.15,0.00,0.000,4,0.000,0.056,3046,264,1610
$GC,13803,1.15,295.9,34.8,8.1,660,13806,0.00,2.00,0.00,0.000,6,0.000,0.031,3046,1459,1610
$GC,14136,1.15,295.9,13.6,6.3,676,14140,0.00,2.42,0.00,0.000,4,0.000,0.041,3046,2851,1609
$GC,14222,1.15,295.9,7.6,7.0,680,14226,0.00,2.42,0.00,0.000,6,0.000,0.035,3045,1453,1609
$STATE,14301,end climb,SURFACE_DEPTH_REACHED
$STATE,14301,begin surface coast
$FINISH,0.2,1.005156
$STATE,14341,end surface coast,CONTROL_FINISHED_OK
$STATE,14341,begin surface
$SM_CCo,14425,0.00,0.000,0,0,1606,300.49
$SM_GC,1.16,11.48,0.00,0.00,0.025,0.000,0.000,385,2241,1606,-10.99,-0.25,300.49
$IRIDIUM_FIX,6139.81,-917.93,041198,151543
$TT8_MAMPS,0.026845
$HUMID,1927
$INTERNAL_PRESSURE,8.15785
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,476.5,84.3
$24V_AH,23.3,55.631
$10V_AH,10.1,33.729
$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,25.450,134.225,382.675,0.000,0.000,30.050,27.128,126.072,3.750,0.000,0.000,12.963,1300.617,10682.387,461.198,1634.984,647.017,0.000,1338.927,0.000,1756.233,0.000,26.655,0.000
$DEVICE_MAMPS,132.691,60.593,1133.626,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,582.833,502.612,483.889,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34844,686
$CAP_FILE_SIZE,107380,0
$CFSIZE,260165632,239104000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,100809,233137,6158.106,-922.683,38,1.0,38,-9.6