version: 66.04
glider: 105
mission: 6
dive: 223
start: 8 3 109 1 42 15
data:
$ID,105
$MISSION,6
$DIVE,223
$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,-1631976.6
$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,27
$R_STBD_OVSHOOT,28
$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
$GPS1,013606,6154.170,-933.043,33,1.3,33,-9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-60.1
$GPS2,014155,6154.127,-933.128,11,1.4,11,-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,146.5,23200,-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,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,78,0.00,0.00,-59.15,0.000,6,0.000,0.000,395,2252,3432
$GC,81,-0.96,-146.6,4.8,-9.1,3,102,11.62,2.53,0.00,0.000,4,0.133,0.039,2583,842,3433
$GC,439,-0.96,-146.6,43.2,-7.8,19,444,0.00,2.47,0.00,0.000,6,0.000,0.033,2584,2247,3435
$GC,771,-0.96,-146.6,72.9,-10.3,35,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3435
$GC,1081,-0.96,-146.6,98.1,-6.1,50,1086,0.00,2.55,0.00,0.000,4,0.000,0.057,2584,3653,3435
$GC,1170,-0.96,-146.6,104.1,-6.7,54,1174,0.00,2.42,0.00,0.000,6,0.000,0.030,2583,2232,3435
$GC,1492,-0.96,-146.6,127.3,-7.6,70,1496,0.00,2.58,0.00,0.000,4,0.000,0.051,2584,3654,3435
$GC,1554,-0.96,-146.6,132.2,-7.7,73,1558,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2250,3435
$GC,1881,-0.96,-146.6,158.0,-8.0,89,1885,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3659,3435
$GC,1943,-0.96,-146.6,163.1,-8.6,92,1947,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2250,3435
$GC,2269,-0.96,-146.6,189.2,-8.1,108,2273,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3653,3435
$GC,2340,-0.96,-146.6,195.5,-8.8,111,2345,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2245,3435
$GC,2657,-0.96,-146.6,220.4,-8.1,126,2662,0.00,2.58,0.00,0.000,4,0.000,0.052,2583,3651,3435
$GC,2746,-0.96,-146.6,228.0,-8.2,130,2751,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2251,3435
$GC,3079,-0.96,-146.6,255.0,-7.9,146,3083,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3653,3435
$GC,3146,-0.96,-146.6,260.3,-8.2,149,3151,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2247,3434
$GC,3467,-0.96,-146.6,284.2,-7.4,165,3472,0.00,2.55,0.00,0.000,4,0.000,0.051,2583,3661,3435
$GC,3534,-0.96,-146.6,289.4,-7.8,168,3539,0.00,2.42,0.00,0.000,6,0.000,0.030,2583,2243,3435
$GC,3858,-0.96,-146.6,309.8,-6.1,184,3863,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3653,3435
$GC,3944,-0.96,-146.6,315.6,-6.9,188,3948,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2249,3434
$GC,4273,-0.96,-146.6,336.0,-7.3,204,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2249,3434
$GC,4579,-0.96,-146.6,360.3,-7.8,219,4583,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3653,3434
$GC,4696,-0.96,-146.6,370.1,-8.3,224,4701,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2248,3434
$GC,5012,-0.96,-146.6,393.7,-7.6,239,5016,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3653,3434
$GC,5101,-0.96,-146.6,401.1,-8.1,243,5106,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2250,3434
$GC,5427,-0.96,-146.6,427.6,-8.0,259,5431,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3652,3433
$GC,5505,-0.96,-146.6,434.0,-7.8,262,5511,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2248,3433
$GC,5821,-0.96,-146.6,458.5,-8.0,278,5826,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3658,3433
$GC,5917,-0.96,-146.6,466.2,-7.5,282,5921,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2238,3432
$GC,6235,-0.96,-146.6,490.1,-7.9,297,6239,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3652,3433
$GC,6379,-0.96,-146.6,502.8,-8.8,303,6385,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3433
$GC,6697,-0.96,-146.6,528.9,-8.4,319,6701,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3653,3432
$GC,6804,-0.96,-146.6,538.9,-9.4,324,6808,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3432
$GC,7131,-0.96,-146.6,563.6,-6.7,340,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2250,3431
$GC,7440,-0.96,-146.6,583.6,-4.7,355,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2250,3432
$GC,7749,-0.96,-146.6,599.5,-3.4,370,7753,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3657,3431
$GC,7851,-0.96,-146.6,601.4,-2.9,374,7857,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2239,3431
$GC,8167,-0.96,-146.6,617.5,-6.9,390,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2236,3431
$GC,8477,-0.96,-146.6,630.0,-4.2,405,8481,0.00,2.58,0.00,0.000,4,0.000,0.053,2584,3661,3431
$GC,8741,-0.96,-146.6,638.1,-3.0,417,8745,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2251,3431
$GC,9067,-0.96,-146.6,643.7,-1.3,433,9072,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3645,3430
$GC,9151,-0.96,-146.6,644.4,-0.6,436,9158,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2249,3430
$GC,9467,-0.96,-146.6,648.0,-2.6,452,9471,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3652,3430
$GC,9570,-0.96,-146.6,652.4,-4.5,456,9576,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2251,3430
$GC,9886,-0.96,-146.6,673.2,-6.8,472,9890,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3660,3430
$GC,9927,-0.96,-146.6,675.9,-7.2,474,9931,0.00,2.42,0.00,0.000,6,0.000,0.033,2584,2253,3429
$GC,10253,-0.96,-146.6,688.7,-2.7,490,10255,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2248,3429
$GC,10562,-0.96,-146.6,706.5,-7.1,505,10567,0.00,2.55,0.00,0.000,4,0.000,0.057,2584,3652,3428
$GC,10596,-0.96,-146.6,709.2,-8.6,506,10602,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2237,3427
$GC,10914,-0.96,-146.6,726.4,-3.8,522,10918,0.00,2.60,0.00,0.000,4,0.000,0.062,2584,3652,3427
$GC,10954,-0.96,-146.6,728.9,-5.1,524,10959,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2253,3427
$STATE,11197,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11197,begin apogee
$GC,11206,-0.36,0.0,741.1,6.7,536,11339,0.65,0.00,128.40,1.297,6,0.065,0.000,2723,1461,2832
$STATE,11339,end apogee,CONTROL_FINISHED_OK
$STATE,11339,begin climb
$GC,11342,0.96,146.6,743.0,0.0,543,11481,1.30,2.30,129.98,1.255,4,0.054,0.064,3007,264,2233
$GC,11612,0.96,146.6,733.6,7.2,555,11616,0.00,2.05,0.00,0.000,6,0.000,0.035,3007,1467,2226
$GC,11936,1.22,351.0,718.7,0.4,571,12128,0.22,2.30,181.98,1.253,4,0.033,0.064,3084,268,1399
$GC,12191,1.22,351.0,693.2,11.5,583,12195,0.00,2.05,0.00,0.000,6,0.000,0.038,3084,1454,1392
$GC,12526,1.22,351.0,662.4,9.5,599,12530,0.00,2.20,0.00,0.000,4,0.000,0.064,3083,257,1386
$GC,12542,1.22,351.0,661.0,7.5,599,12548,0.00,2.05,0.00,0.000,6,0.000,0.036,3084,1454,1386
$GC,12859,1.28,400.5,643.3,4.6,615,12905,0.00,0.00,44.62,1.217,6,0.000,0.000,3084,1454,1199
$GC,13210,1.28,400.5,618.4,10.5,632,13214,0.00,2.17,0.00,0.000,4,0.000,0.061,3084,259,1190
$GC,13278,1.28,400.5,609.5,12.6,635,13282,0.00,2.05,0.00,0.000,6,0.000,0.033,3084,1458,1190
$GC,13611,1.28,400.5,574.4,9.7,651,13612,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1458,1188
$GC,13920,1.28,400.5,546.0,8.9,666,13921,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1458,1188
$GC,14229,1.28,400.5,512.1,12.5,681,14230,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1458,1187
$GC,14541,1.28,400.5,473.0,11.8,696,14545,0.00,2.17,0.00,0.000,4,0.000,0.058,3084,262,1187
$GC,14574,1.28,400.5,468.2,13.7,697,14579,0.00,2.05,0.00,0.000,6,0.000,0.031,3084,1459,1186
$GC,14895,1.28,400.5,424.8,12.8,713,14896,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1459,1187
$GC,15204,1.28,400.5,387.7,11.7,728,15208,0.00,2.17,0.00,0.000,4,0.000,0.058,3084,259,1187
$GC,15249,1.28,400.5,382.2,12.1,730,15253,0.00,2.03,0.00,0.000,6,0.000,0.031,3084,1459,1187
$GC,15582,1.28,400.5,343.3,12.3,746,15586,0.00,2.17,0.00,0.000,4,0.000,0.058,3084,258,1187
$GC,15621,1.28,400.5,338.6,11.2,747,15627,0.00,2.03,0.00,0.000,6,0.000,0.031,3084,1457,1187
$GC,15939,1.28,400.5,305.9,10.7,763,15943,0.00,2.17,0.00,0.000,4,0.000,0.058,3084,258,1187
$GC,15972,1.28,400.5,301.6,12.4,764,15977,0.00,2.03,0.00,0.000,6,0.000,0.031,3084,1447,1187
$GC,16293,1.28,400.5,268.9,9.7,780,16297,0.00,2.15,0.00,0.000,4,0.000,0.057,3084,262,1188
$GC,16320,1.28,400.5,265.8,10.4,781,16324,0.00,2.03,0.00,0.000,6,0.000,0.031,3084,1454,1188
$GC,16647,1.28,400.5,234.4,9.8,797,16648,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1454,1188
$GC,16959,1.28,400.5,203.6,10.2,812,16962,0.00,2.15,0.00,0.000,4,0.000,0.057,3084,262,1188
$GC,17014,1.28,400.5,197.2,10.3,814,17018,0.00,2.00,0.00,0.000,6,0.000,0.030,3084,1456,1188
$GC,17336,1.28,400.5,165.9,10.4,830,17339,0.00,2.17,0.00,0.000,4,0.000,0.057,3084,257,1188
$GC,17363,1.28,400.5,162.6,12.0,831,17367,0.00,2.03,0.00,0.000,6,0.000,0.030,3084,1453,1188
$GC,17690,1.28,400.5,124.1,11.7,847,17694,0.00,2.15,0.00,0.000,4,0.000,0.056,3084,261,1188
$GC,17723,1.28,400.5,120.0,11.4,848,17727,0.00,2.00,0.00,0.000,6,0.000,0.031,3084,1453,1188
$GC,18046,1.28,400.5,84.2,10.0,864,18050,0.00,2.15,0.00,0.000,4,0.000,0.055,3084,259,1189
$GC,18079,1.28,400.5,80.3,9.5,865,18083,0.00,2.03,0.00,0.000,6,0.000,0.031,3084,1456,1188
$GC,18401,1.28,400.5,48.0,8.1,881,18406,0.00,2.17,0.00,0.000,4,0.000,0.056,3084,268,1188
$GC,18428,1.28,400.5,45.5,8.6,882,18433,0.00,2.03,0.00,0.000,6,0.000,0.031,3084,1443,1189
$GC,18755,1.28,400.5,12.9,9.6,898,18759,0.00,2.15,0.00,0.000,4,0.000,0.055,3084,256,1189
$STATE,18836,end climb,SURFACE_DEPTH_REACHED
$STATE,18836,begin surface coast
$FINISH,1.6,1.026849
$STATE,18848,end surface coast,CONTROL_FINISHED_OK
$STATE,18848,begin surface
$SM_CCo,18935,0.00,0.000,0,0,1185,403.76
$SM_GC,0.99,11.68,0.00,0.00,0.025,0.000,0.000,393,2239,1185,-10.99,-0.31,403.76
$IRIDIUM_FIX,6135.28,-902.16,271098,202027
$TT8_MAMPS,0.026845
$HUMID,1910
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.5,74.6
$24V_AH,23.2,49.742
$10V_AH,10.1,30.517
$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,25.475,175.275,484.975,0.000,0.000,30.462,28.837,162.955,6.000,0.000,0.000,13.745,1706.639,14014.942,560.620,2186.563,812.037,0.000,1720.307,0.000,2328.467,0.000,42.498,0.000
$DEVICE_MAMPS,132.691,64.428,1296.997,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,750.562,665.780,522.927,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47347,902
$CAP_FILE_SIZE,140826,0
$CFSIZE,260165632,241385472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,030809,065907,6150.960,-939.262,40,1.4,40,-9.7