version: 66.04
glider: 105
mission: 6
dive: 224
start: 8 3 109 7 5 0
data:
$ID,105
$MISSION,6
$DIVE,224
$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,-1631992.9
$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,22
$R_STBD_OVSHOOT,30
$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
$GPS1,065907,6150.960,-939.262,40,1.4,40,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-60.1
$GPS2,070438,6150.963,-939.421,15,1.5,15,-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,127.0,24088,-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,-146.6,0.0,0.0,0,93,0.00,0.00,-74.03,0.000,6,0.000,0.000,393,2241,3431
$GC,96,-0.96,-146.6,5.0,-5.8,4,117,11.65,2.60,0.00,0.000,4,0.133,0.050,2583,3657,3433
$GC,380,-0.96,-146.6,43.5,-13.1,16,386,0.00,2.45,0.00,0.000,6,0.000,0.029,2583,2226,3434
$GC,696,-0.96,-146.6,75.7,-10.2,32,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2226,3435
$GC,1005,-0.96,-146.6,106.1,-8.1,47,1010,0.00,2.60,0.00,0.000,4,0.000,0.051,2583,3645,3435
$GC,1234,-0.96,-146.6,119.8,-4.5,57,1238,0.00,2.38,0.00,0.000,6,0.000,0.030,2583,2253,3435
$GC,1555,-0.96,-146.6,137.4,-6.3,73,1560,0.00,2.55,0.00,0.000,4,0.000,0.051,2583,3648,3435
$GC,1611,-0.96,-146.6,140.9,-6.2,75,1615,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2245,3435
$GC,1927,-0.96,-146.6,159.5,-5.6,90,1931,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3648,3435
$GC,1999,-0.96,-146.6,163.7,-5.0,93,2003,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3435
$GC,2315,-0.96,-146.6,172.6,-1.8,108,2319,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3649,3435
$GC,2404,-0.96,-146.6,174.2,-2.0,112,2408,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2247,3435
$GC,2724,-0.96,-146.6,189.2,-7.6,128,2729,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3648,3435
$GC,2819,-0.96,-146.6,197.2,-8.2,132,2823,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3434
$GC,3137,-0.96,-146.6,226.5,-9.6,147,3141,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3649,3434
$GC,3231,-0.96,-146.6,235.8,-9.8,151,3235,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3434
$GC,3548,-0.96,-146.6,263.7,-8.1,166,3553,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3648,3434
$GC,3611,-0.96,-146.6,269.2,-9.0,169,3615,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2246,3434
$GC,3937,-0.96,-146.6,297.5,-9.1,185,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2245,3433
$GC,4247,-0.96,-146.6,327.5,-9.6,200,4252,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3642,3433
$GC,4359,-0.96,-146.6,339.1,-10.7,205,4363,0.00,2.38,0.00,0.000,6,0.000,0.031,2583,2250,3433
$GC,4687,-0.96,-146.6,369.1,-8.4,221,4691,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3650,3432
$GC,4737,-0.96,-146.6,373.4,-8.3,223,4741,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3432
$GC,5053,-0.96,-146.6,393.8,-6.0,238,5057,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3656,3432
$GC,5133,-0.96,-146.6,398.9,-6.1,241,5139,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2238,3432
$GC,5448,-0.96,-146.6,417.3,-6.9,257,5452,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3648,3432
$GC,5548,-0.96,-146.6,424.5,-7.6,261,5555,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2227,3432
$GC,5864,-0.96,-146.6,448.4,-7.9,277,5868,0.00,2.58,0.00,0.000,4,0.000,0.052,2583,3654,3432
$GC,5948,-0.96,-146.6,455.3,-8.0,281,5953,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3432
$GC,6275,-0.96,-146.6,479.3,-7.5,297,6279,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3650,3432
$GC,6343,-0.96,-146.6,484.6,-7.9,300,6347,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3432
$GC,6666,-0.96,-146.6,508.4,-6.5,316,6671,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3650,3432
$GC,6733,-0.96,-146.6,513.6,-7.7,319,6737,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3431
$GC,7055,-0.96,-146.6,538.1,-8.1,335,7059,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3654,3432
$GC,7132,-0.96,-146.6,545.1,-8.7,338,7138,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3431
$GC,7448,-0.96,-146.6,570.2,-6.8,354,7453,0.00,2.55,0.00,0.000,4,0.000,0.052,2583,3645,3431
$GC,7494,-0.96,-146.6,574.0,-8.6,356,7499,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2247,3431
$GC,7821,-0.96,-146.6,589.0,-4.1,372,7826,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3642,3431
$GC,7890,-0.96,-146.6,591.8,-3.7,375,7894,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2243,3431
$GC,8217,-0.96,-146.6,602.7,-2.8,391,8221,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3651,3431
$GC,8376,-0.96,-146.6,608.5,-4.7,398,8380,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2252,3431
$GC,8696,-0.96,-146.6,628.8,-6.8,414,8700,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3650,3432
$GC,8780,-0.96,-146.6,634.1,-6.5,418,8784,0.00,2.40,0.00,0.000,6,0.000,0.032,2582,2250,3431
$GC,9108,-0.96,-146.6,647.1,-2.5,434,9109,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2250,3431
$GC,9416,-0.96,-146.6,651.5,-0.7,449,9420,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3653,3431
$GC,9576,-0.96,-146.6,651.6,0.2,456,9580,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2236,3431
$STATE,9750,end dive,NO_VERTICAL_VELOCITY
$STATE,9750,begin apogee
$GC,9758,-0.36,0.0,651.1,0.0,465,9892,0.65,0.00,127.15,1.182,6,0.066,0.000,2722,1464,2831
$STATE,9893,end apogee,CONTROL_FINISHED_OK
$STATE,9893,begin climb
$GC,9896,0.96,146.6,647.6,0.0,472,10031,1.30,2.22,127.57,1.147,4,0.054,0.058,3007,268,2233
$GC,10078,0.96,146.6,633.9,9.4,480,10086,0.00,2.05,0.00,0.000,6,0.000,0.032,3006,1456,2229
$GC,10394,0.96,146.6,606.0,9.3,496,10398,0.00,2.47,0.00,0.000,4,0.000,0.044,3007,2847,2225
$GC,10466,0.96,146.6,599.3,8.9,499,10471,0.00,2.47,0.00,0.000,6,0.000,0.038,3006,1450,2225
$GC,10787,0.96,146.6,571.9,8.0,515,10791,0.00,2.47,0.00,0.000,4,0.000,0.044,3007,2848,2223
$GC,10842,0.96,146.6,567.3,8.0,517,10848,0.00,2.45,0.00,0.000,6,0.000,0.038,3007,1454,2223
$GC,11160,0.96,146.6,541.6,8.5,533,11164,0.00,2.47,0.00,0.000,4,0.000,0.043,3006,2856,2222
$GC,11226,0.96,146.6,535.7,8.3,536,11230,0.00,2.47,0.00,0.000,6,0.000,0.037,3007,1445,2222
$GC,11548,0.96,146.6,510.9,6.8,552,11553,0.00,2.47,0.00,0.000,4,0.000,0.042,3007,2849,2222
$GC,11598,0.96,146.6,507.8,6.0,554,11602,0.00,2.42,0.00,0.000,6,0.000,0.038,3007,1453,2221
$GC,11914,1.10,259.7,493.1,2.9,569,12019,0.15,2.58,98.20,1.083,4,0.041,0.043,3075,2846,1771
$GC,12045,1.12,276.6,486.8,5.5,575,12068,0.15,2.47,16.08,0.978,6,0.077,0.039,3044,1447,1703
$GC,12379,1.20,336.2,474.0,4.4,591,12436,0.00,0.00,53.65,1.045,6,0.000,0.000,3044,1447,1461
$GC,12748,1.31,429.3,460.6,3.5,609,12840,0.17,2.60,83.12,1.039,4,0.034,0.041,3113,2849,1080
$GC,12857,1.31,429.3,451.6,11.0,614,12862,0.12,2.47,0.00,0.000,6,0.081,0.040,3086,1456,1078
$GC,13178,1.31,429.3,419.7,10.1,630,13181,0.00,2.17,0.00,0.000,4,0.000,0.059,3086,263,1071
$GC,13256,1.31,429.3,411.6,9.2,633,13260,0.00,2.00,0.00,0.000,6,0.000,0.031,3086,1457,1069
$GC,13579,1.31,429.3,380.8,9.9,649,13583,0.00,2.17,0.00,0.000,4,0.000,0.058,3086,264,1068
$GC,13652,1.31,429.3,372.9,11.1,652,13657,0.00,2.05,0.00,0.000,6,0.000,0.031,3086,1453,1068
$GC,13978,1.31,429.3,342.0,8.9,668,13982,0.00,2.17,0.00,0.000,4,0.000,0.058,3086,259,1067
$GC,14024,1.31,429.3,337.4,9.9,670,14027,0.00,2.03,0.00,0.000,6,0.000,0.031,3086,1455,1067
$GC,14357,1.31,429.3,310.2,10.2,686,14360,0.00,2.17,0.00,0.000,4,0.000,0.057,3086,258,1067
$GC,14406,1.31,429.3,303.8,12.5,688,14410,0.00,2.03,0.00,0.000,6,0.000,0.031,3086,1454,1066
$GC,14733,1.31,429.3,266.1,11.0,704,14737,0.00,2.17,0.00,0.000,4,0.000,0.058,3086,258,1067
$GC,14779,1.31,429.3,261.3,11.0,706,14783,0.00,2.03,0.00,0.000,6,0.000,0.031,3086,1454,1066
$GC,15112,1.31,429.3,227.3,12.4,722,15116,0.00,2.15,0.00,0.000,4,0.000,0.057,3086,263,1066
$GC,15158,1.31,429.3,219.9,16.6,724,15161,0.00,2.03,0.00,0.000,6,0.000,0.031,3086,1456,1066
$GC,15491,1.31,429.3,158.0,19.7,740,15495,0.00,2.15,0.00,0.000,4,0.000,0.056,3086,262,1066
$GC,15518,1.31,429.3,152.4,19.5,741,15522,0.00,2.03,0.00,0.000,6,0.000,0.031,3086,1457,1066
$GC,15845,1.31,429.3,92.5,17.5,757,15846,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1457,1065
$GC,16156,1.31,429.3,45.5,12.7,772,16159,0.00,2.15,0.00,0.000,4,0.000,0.054,3086,262,1066
$GC,16206,1.31,429.3,39.1,12.1,774,16209,0.00,2.00,0.00,0.000,6,0.000,0.031,3086,1455,1065
$GC,16533,1.31,429.3,5.5,9.8,790,16536,0.00,2.15,0.00,0.000,4,0.000,0.054,3086,262,1065
$STATE,16554,end climb,SURFACE_DEPTH_REACHED
$STATE,16554,begin surface coast
$FINISH,0.4,1.014692
$STATE,16580,end surface coast,CONTROL_FINISHED_OK
$STATE,16580,begin surface
$SM_CCo,16666,0.00,0.000,0,0,1063,433.94
$SM_GC,1.04,11.60,0.00,0.00,0.021,0.000,0.000,387,2236,1063,-10.99,-0.40,433.94
$IRIDIUM_FIX,6130.75,-928.49,281098,010155
$TT8_MAMPS,0.026845
$HUMID,1906
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,17.50
$XPDR_PINGS,0
$24V_AH,23.3,49.913
$10V_AH,10.1,30.601
$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,25.800,178.500,505.775,0.000,0.000,28.371,27.423,147.156,5.250,0.000,0.000,15.686,1523.830,12133.559,579.895,2003.964,754.070,0.000,1674.705,0.000,2127.080,0.000,34.932,0.000
$DEVICE_MAMPS,132.691,59.059,1181.947,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,640.998,606.231,463.287,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41130,792
$CAP_FILE_SIZE,132600,0
$CFSIZE,260165632,241328128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,030809,114400,6146.132,-943.258,37,1.5,37,-9.7