version: 66.04
glider: 105
mission: 6
dive: 261
start: 8 10 109 23 37 3
data:
$ID,105
$MISSION,6
$DIVE,261
$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,-1632700.4
$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,32
$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
$GPS1,233137,6158.106,-922.683,38,1.0,38,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-61.9
$GPS2,233643,6158.158,-922.647,10,1.6,15,-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,173.7,73477,-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,-57.58,0.000,6,0.000,0.000,386,2242,3430
$GC,82,-0.96,-146.6,5.8,-11.8,3,103,11.65,2.58,0.00,0.000,4,0.131,0.051,2585,3648,3431
$GC,411,-0.96,-146.6,40.5,-5.8,17,417,0.00,2.42,0.00,0.000,6,0.000,0.028,2585,2226,3432
$GC,726,-0.96,-146.6,60.0,-6.7,33,731,0.00,2.40,0.00,0.000,4,0.000,0.040,2585,850,3433
$GC,799,-0.96,-146.6,65.1,-6.8,36,804,0.00,2.42,0.00,0.000,6,0.000,0.032,2585,2249,3433
$GC,1116,-0.96,-146.6,88.2,-7.4,51,1120,0.00,2.53,0.00,0.000,4,0.000,0.055,2585,3650,3434
$GC,1239,-0.96,-146.6,97.7,-6.9,56,1246,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2246,3434
$GC,1557,-0.96,-146.6,119.2,-7.4,72,1561,0.00,2.55,0.00,0.000,4,0.000,0.052,2585,3651,3434
$GC,1620,-0.96,-146.6,124.4,-8.6,75,1624,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2250,3434
$GC,1947,-0.96,-146.6,148.4,-7.1,91,1952,0.00,2.55,0.00,0.000,4,0.000,0.052,2585,3648,3434
$GC,2092,-0.96,-146.6,159.1,-7.2,97,2096,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2247,3434
$GC,2407,-0.96,-146.6,179.7,-7.0,112,2412,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3656,3434
$GC,2447,-0.96,-146.6,182.7,-7.8,114,2452,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3434
$GC,2774,-0.96,-146.6,206.2,-6.9,130,2778,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3650,3434
$GC,2836,-0.96,-146.6,210.8,-7.1,133,2841,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2248,3434
$GC,3164,-0.96,-146.6,231.1,-5.8,149,3169,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3649,3433
$GC,3254,-0.96,-146.6,236.6,-5.8,153,3258,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2249,3433
$GC,3578,-0.96,-146.6,254.1,-5.9,169,3582,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3650,3433
$GC,3627,-0.96,-146.6,257.7,-7.2,171,3631,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2251,3433
$GC,3946,-0.96,-146.6,280.1,-7.5,186,3950,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3653,3433
$GC,4031,-0.96,-146.6,287.3,-8.6,190,4035,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2253,3432
$GC,4363,-0.96,-146.6,312.3,-7.3,206,4368,0.00,2.55,0.00,0.000,4,0.000,0.052,2585,3647,3432
$GC,4440,-0.96,-146.6,318.1,-7.5,209,4445,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2247,3432
$GC,4757,-0.96,-146.6,339.4,-7.1,224,4761,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3650,3431
$GC,4801,-0.96,-146.6,343.0,-7.7,226,4805,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2248,3430
$GC,5123,-0.96,-146.6,364.2,-5.9,242,5127,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3650,3431
$GC,5195,-0.96,-146.6,368.9,-6.2,245,5199,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2251,3431
$GC,5511,-0.96,-146.6,387.0,-6.7,260,5515,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3652,3430
$GC,5560,-0.96,-146.6,390.8,-7.4,262,5564,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3430
$GC,5877,-0.96,-146.6,413.7,-6.2,277,5881,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3652,3429
$GC,5983,-0.96,-146.6,419.9,-5.3,282,5987,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3430
$GC,6310,-0.96,-146.6,438.7,-6.9,298,6314,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3652,3429
$GC,6349,-0.96,-146.6,441.7,-7.7,300,6353,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3430
$GC,6677,-0.96,-146.6,463.5,-6.3,316,6681,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3650,3430
$GC,6771,-0.96,-146.6,469.8,-7.2,320,6775,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3430
$GC,7087,-0.96,-146.6,494.6,-8.7,335,7091,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3650,3430
$GC,7373,-0.96,-146.6,521.7,-9.4,348,7377,0.00,2.40,0.00,0.000,6,0.000,0.032,2585,2251,3430
$GC,7701,-0.96,-146.6,541.2,-4.2,364,7705,0.00,2.47,0.00,0.000,4,0.000,0.046,2585,847,3430
$GC,7790,-0.96,-146.6,545.9,-5.6,368,7795,0.00,2.45,0.00,0.000,6,0.000,0.038,2585,2247,3429
$GC,8111,-0.96,-146.6,565.5,-6.4,384,8116,0.00,2.58,0.00,0.000,4,0.000,0.060,2585,3648,3429
$STATE,8180,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8180,begin apogee
$GC,8191,-0.36,0.0,569.9,6.7,387,8320,0.60,0.00,125.25,1.163,6,0.064,0.000,2718,1459,2832
$STATE,8320,end apogee,CONTROL_FINISHED_OK
$STATE,8320,begin climb
$GC,8323,0.96,146.6,574.1,0.0,393,8454,1.33,0.00,125.93,1.124,6,0.054,0.000,3007,1459,2234
$GC,8763,0.96,146.6,550.4,6.2,415,8767,0.00,2.53,0.00,0.000,4,0.000,0.048,3007,2862,2225
$GC,8919,0.96,146.6,538.8,7.6,422,8923,0.00,2.53,0.00,0.000,6,0.000,0.041,3007,1445,2223
$GC,9240,1.04,207.1,520.1,4.3,438,9295,0.00,0.00,52.35,1.131,6,0.000,0.000,3007,1445,1987
$GC,9613,1.04,207.1,501.5,6.5,456,9617,0.00,2.55,0.00,0.000,4,0.000,0.048,3007,2863,1979
$GC,9904,1.04,207.1,478.4,8.2,469,9909,0.00,2.50,0.00,0.000,6,0.000,0.040,3007,1451,1976
$GC,10225,1.04,207.1,451.4,8.9,485,10230,0.00,2.50,0.00,0.000,4,0.000,0.043,3007,2862,1975
$GC,10310,1.04,207.1,444.3,8.3,489,10314,0.00,2.47,0.00,0.000,6,0.000,0.038,3007,1453,1975
$GC,10637,1.04,207.1,418.3,7.3,505,10641,0.00,2.50,0.00,0.000,4,0.000,0.042,3007,2871,1974
$GC,10698,1.04,207.2,414.3,6.0,508,10703,0.00,2.53,0.00,0.000,6,0.000,0.038,3007,1455,1974
$GC,11031,1.04,209.7,396.1,5.9,524,11035,0.00,2.50,0.00,0.000,4,0.000,0.041,3007,2863,1974
$GC,11075,1.04,209.7,393.1,7.0,526,11079,0.00,2.47,0.00,0.000,6,0.000,0.038,3007,1450,1974
$GC,11396,1.04,209.7,369.9,6.8,542,11400,0.00,2.53,0.00,0.000,4,0.000,0.041,3007,2872,1974
$GC,11452,1.05,218.4,366.5,5.8,544,11468,0.10,2.47,9.32,0.923,6,0.048,0.037,3062,1456,1940
$GC,11792,1.05,218.4,344.8,6.8,561,11797,0.17,2.50,0.00,0.000,4,0.070,0.040,3021,2864,1939
$GC,11825,1.05,218.4,342.6,6.0,562,11831,0.00,2.47,0.00,0.000,6,0.000,0.037,3021,1452,1939
$GC,12143,1.05,218.4,323.3,6.8,578,12147,0.00,2.50,0.00,0.000,4,0.000,0.041,3021,2870,1939
$GC,12188,1.05,218.4,320.3,6.6,580,12192,0.00,2.47,0.00,0.000,6,0.000,0.038,3021,1449,1939
$GC,12512,1.05,218.4,296.5,7.5,596,12516,0.00,2.53,0.00,0.000,4,0.000,0.041,3021,2871,1939
$GC,12567,1.05,218.4,292.1,7.2,598,12573,0.00,2.47,0.00,0.000,6,0.000,0.037,3021,1456,1939
$GC,12885,1.05,218.4,271.6,6.3,614,12889,0.00,2.47,0.00,0.000,4,0.000,0.041,3021,2865,1939
$GC,12957,1.05,218.4,266.7,7.0,617,12962,0.00,2.50,0.00,0.000,6,0.000,0.037,3021,1454,1939
$GC,13278,1.05,218.4,242.6,8.2,633,13282,0.00,2.50,0.00,0.000,4,0.000,0.041,3021,2865,1939
$GC,13321,1.05,218.4,238.9,8.3,635,13326,0.00,2.47,0.00,0.000,6,0.000,0.037,3021,1449,1939
$GC,13644,1.05,218.4,214.4,7.5,651,13648,0.00,2.50,0.00,0.000,4,0.000,0.041,3021,2865,1939
$GC,13689,1.05,218.4,210.6,7.6,653,13693,0.00,2.47,0.00,0.000,6,0.000,0.036,3021,1449,1939
$GC,14009,1.05,218.4,183.1,8.8,669,14014,0.00,2.53,0.00,0.000,4,0.000,0.041,3021,2861,1940
$GC,14056,1.05,218.4,179.0,8.3,671,14061,0.00,2.45,0.00,0.000,6,0.000,0.037,3021,1456,1939
$GC,14383,1.05,218.4,151.3,8.1,687,14388,0.00,2.50,0.00,0.000,4,0.000,0.041,3021,2859,1940
$GC,14450,1.05,218.4,146.1,7.5,690,14454,0.00,2.45,0.00,0.000,6,0.000,0.036,3021,1452,1940
$GC,14777,1.06,227.9,125.3,5.7,706,14792,0.00,0.00,9.90,0.790,6,0.000,0.000,3021,1452,1902
$GC,15108,1.06,227.9,104.1,7.3,722,15112,0.00,2.50,0.00,0.000,4,0.000,0.041,3021,2862,1901
$GC,15163,1.06,227.9,99.8,8.0,724,15170,0.00,2.47,0.00,0.000,6,0.000,0.036,3021,1447,1901
$GC,15479,1.06,227.9,75.1,8.6,740,15484,0.00,2.53,0.00,0.000,4,0.000,0.041,3021,2859,1901
$GC,15553,1.06,227.9,68.3,9.0,743,15557,0.00,2.45,0.00,0.000,6,0.000,0.035,3021,1454,1901
$GC,15874,1.10,253.8,45.6,5.3,759,15899,0.00,0.00,23.38,0.802,6,0.000,0.000,3021,1454,1797
$GC,16205,1.12,270.1,26.4,5.6,775,16228,0.00,2.55,15.20,0.762,4,0.000,0.040,3021,2855,1730
$GC,16329,1.12,270.1,18.5,7.1,780,16333,0.00,2.45,0.00,0.000,6,0.000,0.035,3021,1455,1728
$STATE,16581,end climb,SURFACE_DEPTH_REACHED
$STATE,16581,begin surface coast
$FINISH,0.1,1.026634
$STATE,16623,end surface coast,CONTROL_FINISHED_OK
$STATE,16623,begin surface
$SM_CCo,16647,19.45,0.752,0,0,1609,300.00
$SM_GC,0.64,0.00,0.00,19.45,0.000,0.000,0.752,395,2261,1609,-11.06,0.31,300.00
$IRIDIUM_FIX,6135.28,-920.97,041198,191916
$TT8_MAMPS,0.027612
$HUMID,1915
$INTERNAL_PRESSURE,8.15785
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,475.4,104.5
$24V_AH,23.2,55.758
$10V_AH,10.1,33.816
$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,25.250,186.400,361.325,19.450,0.000,30.761,25.712,130.613,3.750,0.000,0.000,16.002,1557.464,12113.498,489.428,2065.623,751.380,0.000,1574.063,0.000,2215.381,0.000,26.712,0.000
$DEVICE_MAMPS,131.157,59.826,1162.772,751.660,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,665.127,590.995,556.394,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41003,794
$CAP_FILE_SIZE,133069,0
$CFSIZE,260165632,239017984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,110809,041607,6155.284,-927.691,37,1.2,37,-9.6