version: 66.04
glider: 105
mission: 6
dive: 263
start: 8 11 109 8 35 16
data:
$ID,105
$MISSION,6
$DIVE,263
$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,-1632730.9
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,082936,6151.375,-938.873,40,0.9,40,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-60.0
$GPS2,083456,6151.365,-939.076,13,1.0,13,-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,158.8,67671,-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,-146.6,0.0,0.0,0,105,0.00,0.00,-80.72,0.000,6,0.000,0.000,391,2235,3432
$GC,108,-0.96,-146.6,6.1,-6.1,5,131,11.65,2.50,0.00,0.000,4,0.132,0.039,2584,839,3433
$GC,155,-0.96,-146.6,21.1,-15.6,7,159,0.00,2.47,0.00,0.000,6,0.000,0.034,2584,2256,3433
$GC,481,-0.96,-146.6,53.3,-8.3,23,485,0.00,2.53,0.00,0.000,4,0.000,0.055,2584,3650,3435
$GC,536,-0.96,-146.6,57.4,-7.9,25,543,0.00,2.42,0.00,0.000,6,0.000,0.028,2584,2225,3435
$GC,852,-0.96,-146.6,76.6,-7.3,41,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2225,3435
$GC,1163,-0.96,-146.6,93.2,-5.4,56,1167,0.00,2.58,0.00,0.000,4,0.000,0.051,2584,3650,3436
$GC,1343,-0.96,-146.6,98.3,-4.5,64,1347,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2250,3436
$GC,1665,-0.96,-146.6,119.2,-6.3,80,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2250,3436
$GC,1973,-0.96,-146.6,142.8,-8.3,95,1977,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3650,3436
$GC,2157,-0.96,-146.6,160.3,-10.2,103,2161,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2247,3436
$GC,2475,-0.96,-146.6,189.6,-9.0,118,2479,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3651,3436
$GC,2515,-0.96,-146.6,193.8,-9.9,120,2520,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2247,3435
$GC,2843,-0.96,-146.6,228.2,-11.1,136,2847,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3654,3435
$GC,2922,-0.96,-146.6,237.5,-11.8,139,2928,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2250,3435
$GC,3237,-0.96,-146.6,266.4,-8.3,155,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2250,3435
$GC,3547,-0.96,-146.6,287.6,-5.8,170,3552,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3650,3435
$GC,3642,-0.96,-146.6,293.1,-5.9,174,3647,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2247,3435
$GC,3961,-0.96,-146.6,308.7,-4.9,189,3965,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3657,3435
$GC,4056,-0.96,-146.6,313.6,-4.8,193,4060,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2238,3435
$GC,4372,-0.96,-146.6,326.6,-4.0,208,4376,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3642,3435
$GC,4500,-0.96,-146.6,333.3,-6.2,213,4506,0.00,2.38,0.00,0.000,6,0.000,0.030,2584,2252,3434
$GC,4816,-0.96,-146.6,355.2,-8.8,229,4820,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3651,3434
$GC,4948,-0.96,-146.6,369.5,-11.7,235,4952,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2242,3433
$GC,5276,-0.96,-146.6,409.2,-13.4,251,5280,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3652,3433
$GC,5371,-0.96,-146.6,423.9,-16.0,255,5375,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2249,3433
$GC,5689,-0.96,-146.6,469.2,-13.2,270,5693,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3650,3433
$GC,5773,-0.96,-146.6,479.5,-11.5,274,5777,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2244,3432
$GC,6100,-0.96,-146.6,501.4,-4.7,290,6105,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3645,3432
$GC,6193,-0.96,-146.6,504.9,-3.9,294,6197,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2242,3432
$GC,6520,-0.96,-146.6,514.6,-2.9,310,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2242,3432
$GC,6829,-0.96,-146.6,521.4,-1.3,325,6833,0.00,2.58,0.00,0.000,4,0.000,0.055,2584,3656,3432
$GC,6918,-0.96,-146.6,522.8,-1.2,329,6922,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2236,3432
$GC,7238,-0.96,-146.6,532.9,-6.9,345,7243,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3653,3431
$GC,7349,-0.96,-146.6,548.0,-16.0,350,7354,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2252,3431
$GC,7674,-0.96,-146.6,609.5,-18.1,366,7675,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3431
$GC,7980,-0.96,-146.6,652.3,-11.3,381,7985,0.00,2.45,0.00,0.000,4,0.000,0.043,2584,850,3431
$GC,8088,-0.96,-146.6,662.1,-9.9,386,8093,0.00,2.47,0.00,0.000,6,0.000,0.036,2584,2253,3432
$GC,8420,-0.96,-146.6,683.0,-4.1,402,8425,0.00,2.55,0.00,0.000,4,0.000,0.059,2584,3654,3431
$GC,8592,-0.96,-146.6,683.4,0.2,409,8598,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2237,3431
$GC,8908,-0.96,-146.6,699.0,-6.5,425,8909,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2237,3431
$GC,9217,-0.96,-146.6,744.8,-17.7,440,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2236,3430
$GC,9526,-0.96,-146.6,780.7,-6.1,455,9530,0.00,2.60,0.00,0.000,4,0.000,0.061,2584,3648,3429
$GC,9583,-0.96,-146.6,783.5,-3.8,457,9589,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2253,3429
$GC,9899,-0.96,-146.6,794.4,-5.2,473,9903,0.00,2.58,0.00,0.000,4,0.000,0.062,2584,3651,3427
$GC,9943,-0.96,-146.6,797.1,-6.2,475,9947,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2250,3426
$GC,10264,-0.96,-146.6,825.4,-12.3,491,10269,0.00,2.58,0.00,0.000,4,0.000,0.062,2584,3650,3425
$GC,10292,-0.96,-146.6,826.6,-3.7,492,10297,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2238,3425
$GC,10608,-0.96,-146.6,841.8,-2.8,507,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2238,3424
$STATE,10708,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10708,begin apogee
$GC,10717,-0.36,0.0,851.7,10.8,512,10852,0.65,0.00,129.27,1.389,6,0.071,0.000,2721,1465,2831
$STATE,10853,end apogee,CONTROL_FINISHED_OK
$STATE,10853,begin climb
$GC,10856,0.96,146.6,855.5,0.0,519,10992,1.33,0.00,131.20,1.341,6,0.055,0.000,3008,1465,2234
$GC,11290,0.96,146.6,844.1,11.0,540,11295,0.00,2.53,0.00,0.000,4,0.000,0.050,3008,2864,2223
$GC,11353,0.96,146.6,838.7,10.2,543,11357,0.00,2.53,0.00,0.000,6,0.000,0.043,3008,1451,2222
$GC,11679,1.00,176.3,824.9,5.2,559,11711,0.00,2.62,26.23,1.309,4,0.000,0.051,3008,2857,2112
$GC,11800,1.00,176.3,811.0,8.6,564,11807,0.00,2.50,0.00,0.000,6,0.000,0.043,3008,1455,2108
$GC,12116,1.00,176.3,762.3,16.5,580,12117,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1455,2106
$GC,12425,1.00,176.3,717.3,11.9,595,12429,0.00,2.20,0.00,0.000,4,0.000,0.067,3008,264,2105
$GC,12458,1.00,176.3,713.5,10.2,596,12462,0.00,2.08,0.00,0.000,6,0.000,0.037,3008,1471,2105
$GC,12781,1.54,613.8,714.1,-6.0,612,13148,0.55,0.00,358.12,1.276,6,0.024,0.000,3158,1471,474
$GC,13460,1.54,613.8,618.6,30.1,645,13465,0.12,2.50,0.00,0.000,4,0.096,0.048,3134,2855,467
$GC,13618,1.54,613.8,577.7,23.7,652,13622,0.00,2.50,0.00,0.000,6,0.000,0.042,3134,1456,466
$GC,13939,1.54,613.8,491.1,25.8,668,13943,0.00,2.47,0.00,0.000,4,0.000,0.041,3134,2853,466
$GC,14118,1.54,613.8,458.1,18.6,676,14123,0.00,2.50,0.00,0.000,6,0.000,0.041,3134,1450,466
$GC,14445,1.54,613.8,402.9,15.5,692,14449,0.00,2.47,0.00,0.000,4,0.000,0.040,3134,2854,466
$GC,14621,1.54,613.8,377.9,14.2,700,14625,0.00,2.47,0.00,0.000,6,0.000,0.041,3134,1453,466
$GC,14950,1.54,613.8,324.6,17.3,716,14954,0.00,2.45,0.00,0.000,4,0.000,0.040,3134,2850,466
$GC,15126,1.54,613.8,295.6,16.1,724,15131,0.00,2.50,0.00,0.000,6,0.000,0.040,3134,1454,466
$GC,15458,1.54,613.8,231.7,19.8,740,15462,0.00,2.47,0.00,0.000,4,0.000,0.039,3134,2852,466
$GC,15639,1.54,613.8,199.2,17.5,748,15643,0.00,2.47,0.00,0.000,6,0.000,0.039,3134,1452,467
$GC,15960,1.54,613.8,139.3,17.1,764,15964,0.00,2.17,0.00,0.000,4,0.000,0.061,3134,256,467
$GC,15983,1.54,613.8,134.9,19.2,765,15987,0.00,2.00,0.00,0.000,6,0.000,0.029,3134,1461,467
$GC,16316,1.54,613.8,78.2,17.9,781,16320,0.00,2.42,0.00,0.000,4,0.000,0.041,3134,2843,467
$GC,16365,1.54,613.8,69.2,16.1,783,16369,0.00,2.45,0.00,0.000,6,0.000,0.038,3134,1450,467
$GC,16681,1.54,613.8,15.5,16.5,798,16685,0.00,2.45,0.00,0.000,4,0.000,0.038,3134,2849,467
$STATE,16764,end climb,SURFACE_DEPTH_REACHED
$STATE,16764,begin surface coast
$FINISH,1.5,1.026652
$STATE,16768,end surface coast,CONTROL_FINISHED_OK
$STATE,16768,begin surface
$SM_CCo,16852,0.00,0.000,0,0,465,580.63
$SM_GC,0.79,11.88,0.00,0.00,0.024,0.000,0.000,395,2224,465,-10.98,-0.74,580.63
$IRIDIUM_FIX,6130.75,-929.24,051198,040453
$TT8_MAMPS,0.026845
$HUMID,1969
$INTERNAL_PRESSURE,8.0309
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.8,85.6
$24V_AH,23.1,56.199
$10V_AH,10.1,33.979
$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,26.175,152.475,644.825,0.000,0.000,30.250,40.650,128.178,6.750,0.000,0.000,13.896,1528.481,12156.203,704.504,2036.703,746.115,0.000,1802.554,0.000,2164.083,0.000,46.047,0.000
$DEVICE_MAMPS,131.924,67.496,1389.037,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,714.753,559.781,479.793,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41067,802
$CAP_FILE_SIZE,128875,0
$CFSIZE,260165632,238899200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,110809,131736,6149.082,-948.108,40,1.2,51,-9.8