version: 66.04
glider: 105
mission: 6
dive: 262
start: 8 11 109 4 21 59
data:
$ID,105
$MISSION,6
$DIVE,262
$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,-1632716.4
$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,34
$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
$GPS1,041607,6155.284,-927.691,37,1.2,37,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-63.4
$GPS2,042137,6155.215,-927.868,10,1.4,15,-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,168.8,69760,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-57.92,0.000,6,0.000,0.000,395,2260,3430
$GC,80,-0.96,-146.6,5.6,-11.3,3,101,11.62,2.55,0.00,0.000,4,0.132,0.051,2584,3647,3429
$GC,282,-0.96,-146.6,33.2,-9.6,12,286,0.00,2.42,0.00,0.000,6,0.000,0.029,2584,2229,3428
$GC,608,-0.96,-146.6,67.6,-11.8,28,613,0.00,2.58,0.00,0.000,4,0.000,0.051,2584,3653,3434
$GC,681,-0.96,-146.6,76.7,-12.0,31,685,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2247,3434
$GC,998,-0.96,-146.6,106.6,-7.4,46,1002,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3645,3434
$GC,1075,-0.96,-146.6,111.4,-5.7,49,1081,0.00,2.38,0.00,0.000,6,0.000,0.029,2583,2249,3435
$GC,1393,-0.96,-146.6,125.5,-5.4,65,1397,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3647,3434
$GC,1515,-0.96,-146.6,134.4,-7.9,70,1521,0.00,2.38,0.00,0.000,6,0.000,0.030,2584,2250,3434
$GC,1831,-0.96,-146.6,165.8,-11.3,86,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2250,3434
$GC,2141,-0.96,-146.6,196.3,-9.0,101,2145,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3650,3434
$GC,2271,-0.96,-146.6,208.2,-9.0,107,2275,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2242,3434
$GC,2600,-0.96,-146.6,238.5,-9.6,123,2604,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3645,3434
$GC,2689,-0.96,-146.6,247.1,-9.2,127,2693,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2247,3434
$GC,3012,-0.96,-146.6,270.0,-6.4,143,3017,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3651,3431
$GC,3097,-0.96,-146.6,276.0,-6.8,147,3101,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2247,3433
$GC,3425,-0.96,-146.6,296.9,-6.5,163,3430,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3652,3433
$GC,3504,-0.96,-146.6,302.7,-7.1,166,3510,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3433
$GC,3819,-0.96,-146.6,322.4,-5.4,182,3824,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3648,3433
$GC,3905,-0.96,-146.6,327.4,-6.2,186,3909,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2242,3433
$GC,4232,-0.96,-146.6,346.7,-7.0,202,4236,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3650,3433
$GC,4331,-0.96,-146.6,354.8,-7.7,206,4337,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2247,3432
$GC,4648,-0.96,-146.6,378.6,-7.3,222,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2247,3432
$GC,4957,-0.96,-146.6,398.0,-5.9,237,4961,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3645,3432
$GC,5051,-0.96,-146.6,404.4,-6.9,241,5056,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2239,3432
$GC,5371,-0.96,-146.6,425.3,-7.4,256,5375,0.00,2.55,0.00,0.000,4,0.000,0.055,2584,3647,3432
$GC,5461,-0.96,-146.6,433.3,-9.1,260,5465,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2240,3431
$GC,5784,-0.96,-146.6,466.8,-11.1,276,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2240,3431
$GC,6092,-0.96,-146.6,503.4,-12.0,291,6096,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3648,3431
$GC,6237,-0.96,-146.6,519.2,-9.4,297,6243,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3430
$GC,6553,-0.96,-146.6,542.8,-6.4,313,6557,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3651,3430
$GC,6810,-0.96,-146.6,555.4,-3.7,324,6817,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2241,3430
$GC,7126,-0.96,-146.6,569.4,-5.3,340,7130,0.00,2.45,0.00,0.000,4,0.000,0.048,2583,852,3430
$GC,7159,-0.96,-146.6,571.6,-6.5,341,7165,0.00,2.40,0.00,0.000,6,0.000,0.036,2583,2243,3430
$GC,7475,-0.96,-146.6,596.1,-9.7,357,7479,0.00,2.55,0.00,0.000,4,0.000,0.058,2583,3651,3429
$GC,7533,-0.96,-146.6,601.6,-10.2,359,7539,0.00,2.40,0.00,0.000,6,0.000,0.033,2583,2254,3429
$GC,7849,-0.96,-146.6,637.4,-11.3,375,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2254,3429
$GC,8157,-0.96,-146.6,667.0,-10.4,390,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2249,3428
$STATE,8443,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8444,begin apogee
$GC,8452,-0.36,0.0,684.0,6.9,404,8587,0.62,0.00,127.32,1.256,6,0.062,0.000,2719,1458,2831
$STATE,8588,end apogee,CONTROL_FINISHED_OK
$STATE,8588,begin climb
$GC,8591,0.96,146.6,692.5,0.0,411,8723,1.33,0.00,127.95,1.213,6,0.056,0.000,3007,1457,2234
$GC,9025,1.05,215.2,667.0,4.1,432,9091,0.00,2.60,60.55,1.192,4,0.000,0.051,3007,2862,1953
$GC,9186,1.05,215.2,651.7,11.1,439,9192,0.00,2.53,0.00,0.000,6,0.000,0.041,3007,1447,1948
$GC,9502,1.14,285.3,633.8,4.1,455,9573,0.17,2.28,63.42,1.190,4,0.035,0.064,3078,268,1666
$GC,9646,1.14,285.3,623.7,6.6,461,9653,0.15,2.05,0.00,0.000,6,0.079,0.035,3047,1459,1662
$GC,9965,1.34,452.3,615.7,1.4,477,10124,0.20,2.28,149.90,1.190,4,0.033,0.064,3108,269,986
$GC,10174,1.34,452.3,599.0,13.5,487,10178,0.00,2.08,0.00,0.000,6,0.000,0.037,3108,1460,981
$GC,10507,1.34,452.3,551.3,10.0,503,10508,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1460,976
$GC,10818,1.34,452.3,511.1,13.6,518,10822,0.00,2.20,0.00,0.000,4,0.000,0.061,3108,267,973
$GC,10924,1.34,452.3,494.5,15.8,522,10930,0.00,2.05,0.00,0.000,6,0.000,0.035,3108,1471,972
$GC,11243,1.34,452.3,449.8,14.3,538,11247,0.00,2.20,0.00,0.000,4,0.000,0.060,3108,267,971
$GC,11380,1.34,452.3,429.9,13.5,544,11384,0.00,2.03,0.00,0.000,6,0.000,0.034,3108,1456,970
$GC,11713,1.34,452.3,394.7,9.6,560,11716,0.00,2.17,0.00,0.000,4,0.000,0.059,3108,265,970
$GC,11830,1.34,452.3,381.0,11.7,565,11834,0.00,2.05,0.00,0.000,6,0.000,0.032,3108,1458,969
$GC,12160,1.34,452.3,342.8,12.8,581,12164,0.00,2.17,0.00,0.000,4,0.000,0.059,3108,264,970
$GC,12256,1.34,452.3,328.1,16.2,585,12260,0.00,2.03,0.00,0.000,6,0.000,0.032,3108,1458,969
$GC,12583,1.34,452.3,280.1,15.0,601,12588,0.00,2.20,0.00,0.000,4,0.000,0.059,3108,266,970
$GC,12678,1.34,452.3,264.9,16.3,605,12683,0.00,2.05,0.00,0.000,6,0.000,0.032,3108,1455,970
$GC,13005,1.34,452.3,219.4,13.1,621,13009,0.00,2.17,0.00,0.000,4,0.000,0.058,3108,259,970
$GC,13077,1.34,452.3,208.9,14.0,624,13081,0.00,2.05,0.00,0.000,6,0.000,0.031,3108,1458,970
$GC,13405,1.34,452.3,165.1,13.3,640,13408,0.00,2.17,0.00,0.000,4,0.000,0.057,3108,259,970
$GC,13483,1.34,452.3,154.3,13.5,643,13486,0.00,2.05,0.00,0.000,6,0.000,0.031,3108,1458,970
$GC,13804,1.34,452.3,122.3,7.9,659,13809,0.00,2.20,0.00,0.000,4,0.000,0.057,3108,264,970
$GC,13919,1.34,452.3,113.6,7.6,664,13923,0.00,2.03,0.00,0.000,6,0.000,0.031,3108,1457,970
$GC,14253,1.34,452.3,75.4,16.5,680,14256,0.00,2.15,0.00,0.000,4,0.000,0.051,3108,259,971
$GC,14278,1.34,452.3,71.2,16.1,681,14282,0.00,2.03,0.00,0.000,6,0.000,0.031,3108,1456,970
$GC,14613,1.34,452.3,11.9,17.1,697,14617,0.00,2.15,0.00,0.000,4,0.000,0.054,3108,263,970
$STATE,14671,end climb,SURFACE_DEPTH_REACHED
$STATE,14672,begin surface coast
$FINISH,0.1,1.026648
$STATE,14694,end surface coast,CONTROL_FINISHED_OK
$STATE,14695,begin surface
$SM_CCo,14780,0.00,0.000,0,0,969,456.99
$SM_GC,0.88,11.75,0.00,0.00,0.024,0.000,0.000,391,2235,969,-10.98,-0.42,456.99
$IRIDIUM_FIX,6135.28,-920.97,041198,232316
$TT8_MAMPS,0.026845
$HUMID,1934
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.3,66.2
$24V_AH,23.2,55.950
$10V_AH,10.1,33.893
$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,25.850,137.825,529.150,0.000,0.000,27.836,27.217,145.968,5.750,0.000,0.000,15.433,1355.009,10632.078,590.515,1833.436,697.508,0.000,1564.611,0.000,1936.615,0.000,42.179,0.000
$DEVICE_MAMPS,131.924,64.428,1256.346,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,601.986,494.436,428.701,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34842,700
$CAP_FILE_SIZE,114451,0
$CFSIZE,260165632,238981120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,110809,082936,6151.375,-938.873,40,0.9,40,-9.7