version: 66.04
glider: 105
mission: 6
dive: 218
start: 8 1 109 22 54 40
data:
$ID,105
$MISSION,6
$DIVE,218
$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,-1631878.6
$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,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
$GPS1,224406,6203.508,-1000.211,34,1.3,34,-10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-64.0
$GPS2,225420,6203.418,-1000.074,15,1.3,15,-10.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,CE
$TGT_LATLONG,6205.000,-950.000
$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,81.5,9213,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-58.97,0.000,6,0.000,0.000,383,2246,3431
$GC,81,-0.96,-146.6,5.0,-10.2,3,98,11.80,0.00,0.00,0.000,6,0.130,0.000,2584,2245,3433
$GC,409,-0.96,-146.6,42.4,-8.2,19,413,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3654,3434
$GC,486,-0.96,-146.6,48.6,-7.8,22,493,0.00,2.45,0.00,0.000,6,0.000,0.029,2583,2225,3435
$GC,803,-0.96,-146.6,71.2,-7.7,38,807,0.00,2.58,0.00,0.000,4,0.000,0.051,2584,3648,3435
$GC,904,-0.96,-146.6,80.4,-9.8,42,910,0.00,2.38,0.00,0.000,6,0.000,0.029,2583,2247,3435
$GC,1220,-0.96,-146.6,107.6,-8.6,58,1224,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3648,3436
$GC,1336,-0.96,-146.6,117.6,-8.7,63,1341,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2257,3436
$GC,1657,-0.96,-146.6,143.1,-7.8,79,1661,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3648,3436
$GC,1751,-0.96,-146.6,150.7,-7.8,83,1755,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2243,3436
$GC,2067,-0.96,-146.6,171.9,-6.6,98,2071,0.00,2.58,0.00,0.000,4,0.000,0.052,2584,3649,3436
$GC,2134,-0.96,-146.6,176.5,-7.1,101,2139,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2245,3435
$GC,2462,-0.96,-146.6,196.5,-6.3,117,2466,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3649,3435
$GC,2568,-0.96,-146.6,203.8,-6.8,122,2572,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2242,3434
$GC,2895,-0.96,-146.6,223.0,-5.7,138,2899,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3650,3434
$GC,2972,-0.96,-146.6,227.7,-6.1,141,2978,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2247,3434
$GC,3288,-0.96,-146.6,246.9,-6.7,157,3292,0.00,2.55,0.00,0.000,4,0.000,0.051,2584,3645,3434
$GC,3371,-0.96,-146.6,253.4,-7.5,160,3379,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2249,3433
$GC,3688,-0.96,-146.6,278.2,-8.1,176,3692,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3651,3433
$GC,3776,-0.96,-146.6,286.0,-8.6,180,3780,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3433
$GC,4098,-0.96,-146.6,309.9,-6.8,196,4102,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3652,3433
$GC,4165,-0.96,-146.6,314.7,-6.9,199,4170,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2251,3433
$GC,4492,-0.96,-146.6,334.3,-6.0,215,4496,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3654,3433
$GC,4564,-0.96,-146.6,339.2,-6.9,218,4568,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3433
$GC,4882,-0.96,-146.6,360.4,-7.5,233,4886,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3653,3433
$GC,4954,-0.96,-146.6,366.8,-9.2,236,4959,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2250,3433
$GC,5275,-0.96,-146.6,392.2,-7.9,252,5279,0.00,2.50,0.00,0.000,4,0.000,0.052,2584,3648,3433
$GC,5364,-0.96,-146.6,399.4,-7.7,256,5368,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2238,3432
$GC,5685,-0.96,-146.6,418.6,-5.6,272,5689,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3649,3432
$GC,5780,-0.96,-146.6,423.9,-5.4,276,5784,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2246,3432
$GC,6097,-0.96,-146.6,443.1,-7.6,291,6101,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3651,3432
$GC,6208,-0.96,-146.6,454.1,-10.3,296,6213,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2252,3432
$GC,6534,-0.96,-146.6,485.5,-9.1,312,6538,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3651,3432
$GC,6606,-0.96,-146.6,492.1,-9.2,315,6610,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3432
$GC,6922,-0.96,-146.6,511.5,-5.4,330,6926,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3650,3431
$GC,6984,-0.96,-146.6,515.5,-7.0,333,6988,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3431
$GC,7312,-0.96,-146.6,539.2,-7.8,349,7317,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3649,3431
$GC,7375,-0.96,-146.6,543.7,-7.1,352,7379,0.00,2.40,0.00,0.000,6,0.000,0.032,2583,2250,3431
$GC,7702,-0.96,-146.6,558.3,-3.7,368,7706,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3653,3430
$GC,7796,-0.96,-146.6,563.5,-6.3,372,7800,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2235,3430
$GC,8112,-0.96,-146.6,596.3,-12.1,387,8116,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3648,3430
$GC,8184,-0.96,-146.6,604.5,-10.4,390,8189,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2253,3430
$GC,8506,-0.96,-146.6,617.1,-0.1,406,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2253,3430
$GC,8815,-0.96,-146.6,622.3,-5.0,421,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2253,3430
$GC,9126,-0.96,-146.6,649.5,-9.8,436,9131,0.00,2.47,0.00,0.000,4,0.000,0.045,2583,846,3429
$GC,9171,-0.96,-146.6,654.6,-10.8,438,9176,0.00,2.42,0.00,0.000,6,0.000,0.035,2583,2246,3429
$GC,9499,-0.96,-146.6,685.0,-8.0,454,9503,0.00,2.53,0.00,0.000,4,0.000,0.056,2583,3653,3429
$GC,9593,-0.96,-146.6,691.4,-5.6,458,9598,0.00,2.42,0.00,0.000,6,0.000,0.033,2583,2244,3429
$GC,9910,-0.96,-146.6,704.3,-4.1,473,9914,0.00,2.47,0.00,0.000,4,0.000,0.049,2584,845,3429
$GC,9973,-0.96,-146.6,707.3,-5.0,476,9977,0.00,2.45,0.00,0.000,6,0.000,0.038,2584,2252,3429
$GC,10301,-0.96,-146.6,722.9,-5.3,492,10302,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2252,3428
$GC,10609,-0.96,-146.6,741.5,-6.2,507,10610,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2252,3428
$GC,10921,-0.96,-146.6,760.5,-6.0,522,10926,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,845,3426
$GC,10962,-0.96,-146.6,763.0,-5.7,524,10967,0.00,2.47,0.00,0.000,6,0.000,0.040,2583,2254,3426
$GC,11289,-0.96,-146.6,779.4,-4.7,540,11291,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2257,3425
$GC,11601,-0.96,-146.6,796.2,-5.8,555,11602,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2257,3424
$STATE,11658,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11658,begin apogee
$GC,11666,-0.36,0.0,799.6,5.5,558,11801,0.62,0.00,129.00,1.330,6,0.048,0.000,2726,1452,2831
$STATE,11802,end apogee,CONTROL_FINISHED_OK
$STATE,11802,begin climb
$GC,11805,0.96,146.6,799.1,0.0,565,11946,1.33,2.60,130.68,1.282,4,0.053,0.048,3013,2864,2233
$GC,11999,0.97,151.3,792.8,5.9,574,12009,0.00,2.58,4.95,0.858,6,0.000,0.044,3012,1458,2215
$GC,12322,1.00,178.1,774.1,5.3,589,12349,0.00,0.00,25.33,1.228,6,0.000,0.000,3013,1458,2106
$GC,12651,1.07,230.3,758.7,4.6,605,12702,0.00,0.00,48.83,1.270,6,0.000,0.000,3013,1458,1893
$GC,12999,1.07,230.3,734.8,8.5,622,13003,0.00,2.53,0.00,0.000,4,0.000,0.048,3012,2861,1886
$GC,13061,1.07,230.3,728.7,10.4,625,13065,0.00,2.53,0.00,0.000,6,0.000,0.043,3013,1448,1885
$GC,13387,1.07,230.3,680.6,17.8,641,13388,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1448,1883
$GC,13696,1.07,230.3,637.3,10.0,656,13701,0.00,2.53,0.00,0.000,4,0.000,0.047,3013,2865,1882
$GC,13764,1.07,230.3,631.9,6.6,659,13769,0.00,2.50,0.00,0.000,6,0.000,0.041,3012,1452,1881
$GC,14086,1.50,581.6,635.2,-3.6,675,14407,0.50,2.28,309.60,1.205,4,0.025,0.064,3140,266,473
$GC,14556,1.50,581.6,546.1,24.7,697,14560,0.00,2.05,0.00,0.000,6,0.000,0.032,3140,1475,468
$GC,14883,1.50,581.6,478.2,20.8,713,14887,0.00,2.25,0.00,0.000,4,0.000,0.061,3140,270,466
$GC,15167,1.50,581.6,411.8,21.4,725,15174,0.00,2.03,0.00,0.000,6,0.000,0.032,3140,1451,465
$GC,15483,1.50,581.6,346.1,20.7,741,15487,0.00,2.17,0.00,0.000,4,0.000,0.061,3140,262,465
$GC,15740,1.50,581.6,285.3,23.5,752,15746,0.00,2.05,0.00,0.000,6,0.000,0.032,3140,1442,465
$GC,16061,1.50,581.6,211.8,23.0,768,16065,0.00,2.15,0.00,0.000,4,0.000,0.061,3140,263,465
$GC,16324,1.50,581.6,154.0,20.3,779,16330,0.00,2.05,0.00,0.000,6,0.000,0.031,3140,1459,465
$GC,16641,1.50,581.6,98.1,18.2,795,16645,0.00,2.17,0.00,0.000,4,0.000,0.059,3140,262,465
$GC,16910,1.50,581.6,35.9,23.2,807,16914,0.00,2.03,0.00,0.000,6,0.000,0.031,3140,1457,465
$STATE,17097,end climb,SURFACE_DEPTH_REACHED
$STATE,17097,begin surface coast
$FINISH,0.1,1.026585
$STATE,17118,end surface coast,CONTROL_FINISHED_OK
$STATE,17118,begin surface
$SM_CCo,17202,0.00,0.000,0,0,464,580.87
$SM_GC,0.63,11.88,0.00,0.00,0.021,0.000,0.000,384,2245,464,-11.00,-0.14,580.87
$IRIDIUM_FIX,6139.81,-1004.74,261098,222224
$TT8_MAMPS,0.026845
$HUMID,1921
$INTERNAL_PRESSURE,8.02113
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.3,84.4
$24V_AH,23.2,48.968
$10V_AH,10.1,30.047
$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,26.125,158.000,648.375,0.000,0.000,62.668,79.707,267.958,6.250,0.000,0.000,15.285,1563.419,12469.613,701.217,2096.088,975.741,0.000,1823.893,0.000,2210.759,0.000,42.833,0.000
$DEVICE_MAMPS,129.623,64.428,1329.978,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,711.392,576.044,453.895,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41047,817
$CAP_FILE_SIZE,135871,0
$CFSIZE,260165632,241729536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,020809,034236,6202.442,-951.837,37,1.2,37,-9.9