version: 66.04
glider: 105
mission: 6
dive: 225
start: 8 3 109 11 49 39
data:
$ID,105
$MISSION,6
$DIVE,225
$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,-1632007.9
$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,25
$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
$GPS1,114400,6146.132,-943.258,37,1.5,37,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-60.8
$GPS2,114919,6146.083,-943.309,9,1.5,14,-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,104.3,24896,-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,-146.6,0.0,0.0,0,100,0.00,0.00,-78.03,0.000,6,0.000,0.000,386,2237,3429
$GC,103,-0.96,-146.6,5.4,-7.1,4,124,11.73,2.55,0.00,0.000,4,0.133,0.051,2582,3654,3431
$GC,364,-0.96,-146.6,45.3,-14.4,15,371,0.00,2.42,0.00,0.000,6,0.000,0.029,2582,2229,3432
$GC,680,-0.96,-146.6,76.5,-8.2,31,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2228,3431
$GC,992,-0.96,-146.6,93.4,-4.1,46,996,0.00,2.58,0.00,0.000,4,0.000,0.051,2582,3654,3432
$GC,1226,-0.96,-146.6,108.5,-5.9,56,1234,0.00,2.42,0.00,0.000,6,0.000,0.030,2582,2251,3432
$GC,1543,-0.96,-146.6,119.9,-2.9,72,1547,0.00,2.53,0.00,0.000,4,0.000,0.049,2582,3655,3432
$GC,1883,-0.96,-146.6,138.7,-10.7,87,1888,0.00,2.42,0.00,0.000,6,0.000,0.030,2582,2254,3432
$GC,2205,-0.96,-146.6,177.0,-13.7,103,2209,0.00,2.53,0.00,0.000,4,0.000,0.049,2582,3657,3433
$GC,2491,-0.96,-146.6,215.5,-11.3,116,2495,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2251,3432
$GC,2817,-0.96,-146.6,245.7,-8.2,132,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2251,3432
$GC,3126,-0.96,-146.6,272.5,-10.2,147,3131,0.00,2.53,0.00,0.000,4,0.000,0.052,2582,3653,3432
$GC,3183,-0.96,-146.6,277.9,-9.9,149,3189,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2251,3432
$GC,3499,-0.96,-146.6,306.8,-8.5,165,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2251,3432
$GC,3811,-0.96,-146.6,336.6,-10.0,180,3815,0.00,2.53,0.00,0.000,4,0.000,0.051,2582,3656,3431
$GC,3962,-0.96,-146.6,352.4,-9.7,187,3967,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2253,3431
$GC,4289,-0.96,-146.6,383.3,-8.9,203,4293,0.00,2.53,0.00,0.000,4,0.000,0.051,2582,3654,3431
$GC,4383,-0.96,-146.6,391.8,-9.3,207,4387,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2248,3431
$GC,4699,-0.96,-146.6,415.2,-6.7,222,4703,0.00,2.55,0.00,0.000,4,0.000,0.052,2582,3661,3431
$GC,4810,-0.96,-146.6,423.6,-7.7,227,4814,0.00,2.42,0.00,0.000,6,0.000,0.031,2582,2248,3431
$GC,5130,-0.96,-146.6,448.2,-8.0,243,5134,0.00,2.53,0.00,0.000,4,0.000,0.052,2582,3654,3431
$GC,5194,-0.96,-146.6,453.5,-9.0,246,5198,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2252,3431
$GC,5520,-0.96,-146.6,477.9,-6.2,262,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2251,3431
$GC,5830,-0.96,-146.6,507.2,-10.9,277,5834,0.00,2.53,0.00,0.000,4,0.000,0.051,2582,3654,3431
$GC,5941,-0.96,-146.6,519.8,-11.6,282,5945,0.00,2.42,0.00,0.000,6,0.000,0.031,2582,2235,3430
$GC,6262,-0.96,-146.6,552.1,-8.4,298,6266,0.00,2.58,0.00,0.000,4,0.000,0.054,2582,3660,3430
$GC,6339,-0.96,-146.6,559.5,-9.1,301,6345,0.00,2.42,0.00,0.000,6,0.000,0.031,2582,2247,3430
$GC,6657,-0.96,-146.6,586.2,-8.6,317,6661,0.00,2.55,0.00,0.000,4,0.000,0.054,2582,3658,3430
$GC,6743,-0.96,-146.6,592.9,-6.9,321,6747,0.00,2.42,0.00,0.000,6,0.000,0.031,2582,2240,3430
$GC,7069,-0.96,-146.6,614.2,-6.2,337,7074,0.00,2.45,0.00,0.000,4,0.000,0.044,2582,855,3429
$GC,7120,-0.96,-146.6,617.5,-5.8,339,7125,0.00,2.42,0.00,0.000,6,0.000,0.035,2582,2256,3429
$GC,7442,-0.96,-146.6,634.2,-4.7,355,7446,0.00,2.50,0.00,0.000,4,0.000,0.054,2582,3648,3429
$GC,7508,-0.96,-146.6,637.6,-5.6,358,7512,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2253,3429
$GC,7832,-0.96,-146.6,651.3,-4.2,374,7836,0.00,2.53,0.00,0.000,4,0.000,0.053,2582,3650,3429
$GC,7898,-0.96,-146.6,654.9,-5.4,377,7903,0.00,2.42,0.00,0.000,6,0.000,0.031,2582,2254,3429
$GC,8225,-0.96,-146.6,672.1,-5.7,393,8229,0.00,2.53,0.00,0.000,4,0.000,0.053,2582,3651,3429
$GC,8283,-0.96,-146.6,675.8,-7.0,395,8289,0.00,2.40,0.00,0.000,6,0.000,0.032,2582,2252,3429
$GC,8599,-0.96,-146.6,695.9,-5.9,411,8603,0.00,2.53,0.00,0.000,4,0.000,0.053,2582,3651,3429
$GC,8663,-0.96,-146.6,699.6,-6.3,414,8668,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2248,3428
$GC,8997,-0.96,-146.6,716.9,-4.8,430,9001,0.00,2.55,0.00,0.000,4,0.000,0.054,2582,3654,3428
$GC,9181,-0.96,-146.6,728.0,-5.8,438,9185,0.00,2.42,0.00,0.000,6,0.000,0.031,2581,2240,3428
$GC,9498,-0.96,-146.6,755.7,-11.6,453,9503,0.00,2.58,0.00,0.000,4,0.000,0.055,2582,3655,3428
$GC,9606,-0.96,-146.6,769.7,-12.6,458,9610,0.00,2.42,0.00,0.000,6,0.000,0.032,2582,2244,3428
$GC,9933,-0.96,-146.6,801.7,-8.8,474,9934,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2240,3428
$GC,10241,-0.96,-146.6,821.6,-3.6,489,10246,0.00,2.58,0.00,0.000,4,0.000,0.057,2582,3655,3428
$GC,10522,-0.96,-146.6,827.5,-1.0,501,10528,0.00,2.42,0.00,0.000,6,0.000,0.032,2582,2247,3427
$GC,10840,-0.96,-146.6,843.6,-10.3,517,10844,0.00,2.55,0.00,0.000,4,0.000,0.055,2582,3652,3427
$GC,10940,-0.96,-146.6,857.7,-15.3,521,10946,0.00,2.42,0.00,0.000,6,0.000,0.032,2582,2239,3427
$GC,11256,-0.96,-146.6,899.3,-7.5,537,11260,0.00,2.58,0.00,0.000,4,0.000,0.057,2582,3651,3426
$GC,11345,-0.96,-146.6,903.3,-3.8,541,11349,0.00,2.40,0.00,0.000,6,0.000,0.033,2582,2256,3426
$GC,11665,-0.96,-146.6,917.3,-6.2,557,11669,0.00,2.55,0.00,0.000,4,0.000,0.058,2582,3651,3426
$GC,11754,-0.96,-146.6,923.2,-6.5,561,11758,0.00,2.42,0.00,0.000,6,0.000,0.035,2582,2253,3426
$STATE,12054,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12054,begin apogee
$GC,12062,-0.36,0.0,956.1,15.7,576,12196,0.65,0.00,130.65,1.418,6,0.065,0.000,2721,1459,2832
$STATE,12197,end apogee,CONTROL_FINISHED_OK
$STATE,12197,begin climb
$GC,12200,0.96,146.6,966.7,0.0,583,12341,1.33,2.60,132.68,1.386,4,0.062,0.048,3003,2859,2232
$GC,12350,2.37,1285.3,982.9,-25.2,589,12748,1.50,2.55,384.17,1.351,6,0.070,0.041,3315,1447,475
$GC,13070,2.37,1285.3,710.5,37.4,624,13074,0.00,2.55,0.00,0.000,4,0.000,0.046,3315,2858,468
$GC,13181,2.37,1285.3,671.4,33.5,629,13186,0.00,2.50,0.00,0.000,6,0.000,0.044,3315,1457,467
$GC,13503,2.37,1285.3,536.2,47.0,645,13507,0.00,2.47,0.00,0.000,4,0.000,0.039,3315,2863,465
$GC,13642,2.37,1285.3,480.9,37.9,651,13646,0.00,2.53,0.00,0.000,6,0.000,0.046,3315,1450,466
$GC,13958,2.37,1285.3,342.0,43.6,666,13962,0.00,2.47,0.00,0.000,4,0.000,0.038,3315,2862,466
$GC,14070,2.37,1285.3,297.7,34.7,671,14075,0.00,2.50,0.00,0.000,6,0.000,0.041,3315,1451,465
$GC,14392,2.37,1285.3,170.5,37.4,687,14396,0.00,2.45,0.00,0.000,4,0.000,0.036,3315,2860,466
$GC,14548,2.37,1285.3,119.4,30.6,694,14552,0.00,2.50,0.00,0.000,6,0.000,0.040,3315,1446,466
$STATE,14825,end climb,SURFACE_DEPTH_REACHED
$STATE,14825,begin surface coast
$FINISH,0.3,1.013550
$STATE,14847,end surface coast,CONTROL_FINISHED_OK
$STATE,14847,begin surface
$SM_CCo,14932,0.00,0.000,0,0,464,580.87
$SM_GC,0.97,12.68,0.00,0.00,0.024,0.000,0.000,393,2257,464,-10.98,0.20,580.87
$IRIDIUM_FIX,6126.23,-936.73,281098,070753
$TT8_MAMPS,0.026845
$HUMID,1966
$INTERNAL_PRESSURE,8.0309
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,875.8,89.6
$24V_AH,23.1,50.173
$10V_AH,10.1,30.680
$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,27.875,141.875,647.500,0.000,0.000,28.202,34.412,136.878,7.750,0.000,0.000,14.378,1386.599,10506.096,651.558,2018.203,686.953,0.000,1749.816,0.000,2110.663,0.000,52.546,0.000
$DEVICE_MAMPS,133.458,58.292,1418.183,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,603.646,511.845,401.665,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34848,709
$CAP_FILE_SIZE,120732,0
$CFSIZE,260165632,241291264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,030809,155937,6142.980,-943.559,29,1.1,29,-9.7