version: 66.04
glider: 105
mission: 6
dive: 222
start: 8 2 109 20 44 10
data:
$ID,105
$MISSION,6
$DIVE,222
$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,-1631962.2
$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,24
$R_STBD_OVSHOOT,31
$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
$GPS1,203736,6157.653,-932.331,42,1.2,47,-9.7
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-62.4
$GPS2,204350,6157.636,-932.278,14,1.3,14,-9.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$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,156.8,27876,-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,-59.30,0.000,6,0.000,0.000,383,2249,3431
$GC,81,-0.96,-146.6,5.0,-9.9,3,102,11.70,2.58,0.00,0.000,4,0.133,0.050,2586,3652,3433
$GC,439,-0.96,-146.6,55.5,-10.7,19,444,0.00,2.45,0.00,0.000,6,0.000,0.030,2587,2233,3434
$GC,772,-0.96,-146.6,61.7,2.7,35,777,0.00,2.58,0.00,0.000,4,0.000,0.051,2586,3638,3435
$GC,1074,-0.96,-146.6,68.4,-4.6,48,1079,0.00,2.38,0.00,0.000,6,0.000,0.029,2586,2248,3435
$GC,1390,-0.96,-146.6,86.0,-6.3,63,1394,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3648,3435
$GC,1439,-0.96,-146.6,89.8,-7.4,65,1444,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2239,3435
$GC,1756,-0.96,-146.6,118.8,-10.8,80,1760,0.00,2.55,0.00,0.000,4,0.000,0.052,2586,3649,3435
$GC,1822,-0.96,-146.6,126.4,-10.9,83,1826,0.00,2.38,0.00,0.000,6,0.000,0.029,2586,2251,3435
$GC,2143,-0.96,-146.6,147.3,-3.8,99,2147,0.00,2.53,0.00,0.000,4,0.000,0.050,2586,3656,3435
$GC,2255,-0.96,-146.6,152.9,-5.6,104,2259,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2248,3435
$GC,2576,-0.96,-146.6,171.6,-6.6,120,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2248,3435
$GC,2885,-0.96,-146.6,195.2,-8.1,135,2889,0.00,2.53,0.00,0.000,4,0.000,0.050,2586,3652,3434
$GC,2957,-0.96,-146.6,201.7,-8.5,138,2961,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2247,3435
$GC,3272,-0.96,-146.6,224.3,-6.5,153,3277,0.00,2.55,0.00,0.000,4,0.000,0.051,2587,3647,3435
$GC,3327,-0.96,-146.6,228.0,-6.8,155,3332,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2237,3435
$GC,3643,-0.96,-146.6,246.6,-5.8,170,3648,0.00,2.55,0.00,0.000,4,0.000,0.052,2586,3650,3434
$GC,3693,-0.96,-146.6,249.7,-6.2,172,3698,0.00,2.42,0.00,0.000,6,0.000,0.030,2586,2250,3434
$GC,4014,-0.96,-146.6,267.2,-5.5,188,4018,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3653,3434
$GC,4081,-0.96,-146.6,271.1,-5.7,191,4086,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3434
$GC,4402,-0.96,-146.6,290.5,-6.6,207,4407,0.00,2.55,0.00,0.000,4,0.000,0.052,2586,3648,3434
$GC,4470,-0.96,-146.6,295.5,-7.7,210,4474,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2236,3433
$GC,4797,-0.96,-146.6,318.3,-7.1,226,4801,0.00,2.55,0.00,0.000,4,0.000,0.053,2586,3648,3433
$GC,4852,-0.96,-146.6,322.8,-8.2,228,4858,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2246,3434
$GC,5168,-0.96,-146.6,343.2,-6.4,244,5172,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3648,3433
$GC,5257,-0.96,-146.6,349.4,-6.9,248,5261,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2240,3433
$GC,5580,-0.96,-146.6,373.3,-8.4,264,5584,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3651,3433
$GC,5652,-0.96,-146.6,379.9,-8.9,267,5656,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2249,3432
$GC,5968,-0.96,-146.6,408.3,-9.6,282,5972,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3651,3432
$GC,6032,-0.96,-146.6,414.7,-10.6,285,6036,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2248,3432
$GC,6360,-0.96,-146.6,447.6,-9.9,301,6364,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3652,3432
$GC,6466,-0.96,-146.6,458.1,-9.6,306,6471,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3432
$GC,6793,-0.96,-146.6,485.9,-8.3,322,6798,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3650,3432
$GC,6901,-0.96,-146.6,495.6,-9.3,327,6905,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2251,3431
$GC,7233,-0.96,-146.6,523.0,-8.3,343,7238,0.00,2.55,0.00,0.000,4,0.000,0.053,2586,3651,3431
$GC,7300,-0.96,-146.6,528.8,-8.9,346,7305,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3431
$GC,7627,-0.96,-146.6,554.3,-7.5,362,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2250,3431
$GC,7942,-0.96,-146.6,576.2,-6.5,377,7946,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3654,3431
$GC,8004,-0.96,-146.6,580.7,-6.7,380,8008,0.00,2.40,0.00,0.000,6,0.000,0.032,2586,2251,3431
$GC,8332,-0.96,-146.6,599.5,-6.0,396,8336,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3656,3430
$GC,8403,-0.96,-146.6,604.9,-7.9,399,8408,0.00,2.45,0.00,0.000,6,0.000,0.032,2587,2248,3431
$GC,8724,-0.96,-146.6,627.4,-6.8,415,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2248,3430
$STATE,8825,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8825,begin apogee
$GC,8833,-0.36,0.0,633.6,6.0,420,8968,0.62,0.00,126.93,1.177,6,0.054,0.000,2725,1464,2832
$STATE,8969,end apogee,CONTROL_FINISHED_OK
$STATE,8969,begin climb
$GC,8971,0.96,146.6,633.5,0.0,427,9106,1.30,2.22,127.53,1.142,4,0.048,0.058,3011,265,2233
$GC,9178,0.96,146.6,628.2,6.4,436,9182,0.00,2.03,0.00,0.000,6,0.000,0.032,3011,1459,2228
$GC,9507,0.98,158.7,611.5,5.7,452,9519,0.00,0.00,10.93,1.002,6,0.000,0.000,3010,1459,2183
$GC,9817,1.04,208.1,595.4,4.6,467,9868,0.00,2.55,44.92,1.123,4,0.000,0.044,3011,2841,1982
$GC,9892,1.06,220.4,590.8,5.7,470,9911,0.00,2.47,12.30,1.005,6,0.000,0.038,3011,1448,1933
$GC,10229,1.06,220.4,566.9,7.4,487,10233,0.00,2.53,0.00,0.000,4,0.000,0.044,3011,2860,1927
$GC,10284,1.06,220.4,562.8,6.7,489,10290,0.00,2.47,0.00,0.000,6,0.000,0.037,3011,1452,1927
$GC,10603,1.06,220.4,542.1,6.1,505,10604,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1453,1927
$GC,10909,1.06,222.4,524.0,5.9,520,10913,0.00,2.50,0.00,0.000,4,0.000,0.043,3010,2855,1925
$GC,10994,1.06,222.4,518.8,6.3,524,10998,0.00,2.47,0.00,0.000,6,0.000,0.038,3011,1448,1925
$GC,11321,1.07,230.0,499.5,5.8,540,11335,0.00,2.55,8.70,0.949,4,0.000,0.041,3011,2853,1893
$GC,11388,1.08,241.8,495.6,5.7,543,11410,0.10,2.47,12.20,0.999,6,0.047,0.037,3064,1446,1846
$GC,11722,1.08,241.8,468.6,8.4,559,11726,0.15,2.53,0.00,0.000,4,0.072,0.041,3032,2860,1843
$GC,11765,1.08,241.8,464.9,7.1,561,11770,0.00,2.47,0.00,0.000,6,0.000,0.038,3032,1452,1843
$GC,12089,1.08,241.8,441.0,8.0,577,12093,0.00,2.47,0.00,0.000,4,0.000,0.041,3032,2853,1842
$GC,12133,1.08,241.8,436.9,8.6,579,12137,0.00,2.45,0.00,0.000,6,0.000,0.037,3032,1452,1842
$GC,12454,1.08,241.8,405.2,10.1,595,12458,0.00,2.47,0.00,0.000,4,0.000,0.041,3032,2854,1842
$GC,12481,1.08,241.8,402.3,10.5,596,12485,0.00,2.45,0.00,0.000,6,0.000,0.037,3032,1454,1842
$GC,12800,1.08,241.8,372.3,8.9,611,12804,0.00,2.45,0.00,0.000,4,0.000,0.041,3032,2854,1842
$GC,12832,1.08,241.8,369.1,8.6,612,12839,0.00,2.42,0.00,0.000,6,0.000,0.037,3032,1455,1842
$GC,13148,1.08,241.8,342.2,8.8,628,13152,0.00,2.45,0.00,0.000,4,0.000,0.042,3032,2854,1842
$GC,13181,1.08,241.8,339.2,8.7,629,13187,0.00,2.45,0.00,0.000,6,0.000,0.037,3032,1452,1842
$GC,13496,1.08,241.8,310.8,8.8,645,13500,0.00,2.50,0.00,0.000,4,0.000,0.042,3032,2861,1842
$GC,13535,1.08,241.8,307.5,8.9,647,13539,0.00,2.45,0.00,0.000,6,0.000,0.038,3033,1457,1842
$GC,13861,1.08,241.8,280.7,8.2,663,13866,0.00,2.45,0.00,0.000,4,0.000,0.042,3032,2854,1842
$GC,13889,1.08,241.8,278.3,8.3,664,13893,0.00,2.45,0.00,0.000,6,0.000,0.038,3032,1453,1842
$GC,14204,1.08,241.8,255.8,6.3,679,14209,0.00,2.47,0.00,0.000,4,0.000,0.041,3032,2854,1842
$GC,14245,1.08,241.8,253.2,7.2,681,14249,0.00,2.45,0.00,0.000,6,0.000,0.038,3032,1453,1841
$GC,14571,1.08,241.8,229.4,8.2,697,14575,0.00,2.47,0.00,0.000,4,0.000,0.041,3032,2853,1842
$GC,14599,1.08,241.8,227.0,8.4,698,14603,0.00,2.45,0.00,0.000,6,0.000,0.037,3032,1453,1842
$GC,14915,1.08,241.8,199.7,8.2,713,14919,0.00,2.47,0.00,0.000,4,0.000,0.041,3032,2857,1842
$GC,14936,1.08,241.8,197.7,8.0,714,14940,0.00,2.45,0.00,0.000,6,0.000,0.037,3032,1454,1842
$GC,15257,1.10,253.7,176.1,5.7,730,15273,0.00,2.50,11.27,0.826,4,0.000,0.040,3032,2855,1797
$GC,15301,1.10,253.7,173.6,6.2,731,15305,0.00,2.47,0.00,0.000,6,0.000,0.037,3032,1450,1796
$GC,15622,1.10,253.7,145.7,9.8,747,15626,0.00,2.47,0.00,0.000,4,0.000,0.040,3032,2854,1795
$GC,15661,1.10,253.7,142.0,9.6,749,15666,0.00,2.45,0.00,0.000,6,0.000,0.036,3032,1449,1795
$GC,15988,1.10,253.7,114.4,8.3,765,15989,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1449,1795
$GC,16297,1.10,253.7,91.3,7.1,780,16301,0.00,2.47,0.00,0.000,4,0.000,0.041,3032,2854,1795
$GC,16352,1.10,253.7,86.9,7.4,782,16358,0.00,2.45,0.00,0.000,6,0.000,0.036,3032,1452,1794
$GC,16668,1.10,253.7,62.9,7.4,798,16673,0.00,2.50,0.00,0.000,4,0.000,0.041,3032,2853,1795
$GC,16714,1.10,253.7,59.1,9.4,800,16718,0.00,2.45,0.00,0.000,6,0.000,0.036,3032,1445,1794
$GC,17042,1.10,253.7,22.4,10.4,816,17046,0.00,2.47,0.00,0.000,4,0.000,0.039,3032,2855,1795
$GC,17081,1.10,253.7,19.5,7.8,818,17086,0.00,2.45,0.00,0.000,6,0.000,0.035,3032,1445,1794
$STATE,17344,end climb,SURFACE_DEPTH_REACHED
$STATE,17344,begin surface coast
$FINISH,0.3,1.010896
$STATE,17388,end surface coast,CONTROL_FINISHED_OK
$STATE,17388,begin surface
$SM_CCo,17412,29.80,0.769,0,0,1609,300.00
$SM_GC,1.11,0.00,0.00,29.80,0.000,0.000,0.769,395,2252,1609,-11.06,0.06,300.00
$IRIDIUM_FIX,6135.28,-935.27,271098,151527
$TT8_MAMPS,0.027612
$HUMID,1869
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,576.2,66.9
$24V_AH,23.3,49.557
$10V_AH,10.1,30.425
$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,25.275,195.000,354.775,29.800,0.000,29.897,31.086,186.901,5.000,0.000,0.000,14.580,1612.141,12858.826,521.305,2008.441,815.287,0.000,1581.620,0.000,2157.913,0.000,35.991,0.000
$DEVICE_MAMPS,132.691,58.292,1176.578,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,664.921,655.142,554.424,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41256,833
$CAP_FILE_SIZE,138773,0
$CFSIZE,260165632,241455104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,030809,013606,6154.170,-933.043,33,1.3,33,-9.7