version: 66.04
glider: 105
mission: 6
dive: 230
start: 8 4 109 13 44 9
data:
$ID,105
$MISSION,6
$DIVE,230
$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,-1632103.5
$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,33
$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
$GPS1,133836,6155.770,-923.605,39,1.8,39,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-59.0
$GPS2,134349,6155.808,-923.656,12,1.9,17,-9.6
$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,168.8,21405,-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,-146.6,0.0,0.0,0,80,0.00,0.00,-59.08,0.000,6,0.000,0.000,386,2253,3430
$GC,83,-0.96,-146.6,5.0,-10.0,3,104,11.70,2.53,0.00,0.000,4,0.134,0.036,2583,831,3433
$GC,224,-0.96,-146.6,24.9,-7.0,9,228,0.00,2.47,0.00,0.000,6,0.000,0.032,2583,2255,3433
$GC,545,-0.96,-146.6,46.4,-6.4,25,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2255,3434
$GC,855,-0.96,-146.6,68.4,-6.4,40,860,0.00,2.55,0.00,0.000,4,0.000,0.058,2583,3654,3434
$GC,956,-0.96,-146.6,75.8,-7.2,44,963,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2234,3434
$GC,1272,-0.96,-146.6,95.9,-6.5,60,1276,0.00,2.58,0.00,0.000,4,0.000,0.053,2583,3651,3435
$GC,1349,-0.96,-146.6,101.4,-7.1,63,1356,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2250,3434
$GC,1665,-0.96,-146.6,123.3,-6.9,79,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2250,3435
$GC,1974,-0.96,-146.6,145.3,-7.2,94,1978,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3651,3434
$GC,2069,-0.96,-146.6,152.5,-7.8,98,2073,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2248,3434
$GC,2385,-0.96,-146.6,175.0,-7.3,113,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2248,3434
$GC,2696,-0.96,-146.6,198.8,-7.8,128,2700,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3650,3434
$GC,2808,-0.96,-146.6,208.5,-8.4,133,2813,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2247,3434
$GC,3129,-0.96,-146.6,231.6,-7.0,149,3133,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3657,3434
$GC,3197,-0.96,-146.6,236.7,-7.2,152,3201,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2240,3434
$GC,3518,-0.96,-146.6,259.8,-7.2,168,3522,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3652,3434
$GC,3573,-0.96,-146.6,264.2,-8.2,170,3579,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2250,3434
$GC,3889,-0.96,-146.6,288.2,-7.6,186,3893,0.00,2.55,0.00,0.000,4,0.000,0.051,2583,3648,3434
$GC,3940,-0.96,-146.6,292.4,-8.4,188,3944,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2244,3434
$GC,4260,-0.96,-146.6,317.4,-7.6,204,4265,0.00,2.55,0.00,0.000,4,0.000,0.051,2583,3644,3433
$GC,4315,-0.96,-146.6,322.0,-8.4,206,4320,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2245,3433
$GC,4632,-0.96,-146.6,346.5,-8.1,221,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2244,3433
$GC,4942,-0.96,-146.6,370.9,-8.0,236,4946,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3649,3433
$GC,5014,-0.96,-146.6,377.3,-8.2,239,5019,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2250,3433
$GC,5335,-0.96,-146.6,400.3,-6.7,255,5340,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3651,3432
$GC,5393,-0.96,-146.6,404.5,-7.6,257,5400,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3433
$GC,5710,-0.96,-146.6,425.5,-6.4,273,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2248,3433
$GC,6018,-0.96,-146.6,446.1,-6.9,288,6023,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3647,3433
$GC,6104,-0.96,-146.6,452.3,-7.5,291,6110,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2245,3432
$GC,6420,-0.96,-146.6,476.1,-7.7,307,6424,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3650,3432
$GC,6464,-0.96,-146.6,480.0,-8.8,309,6468,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3432
$GC,6784,-0.96,-146.6,506.1,-8.1,325,6789,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3651,3432
$GC,6879,-0.96,-146.6,513.4,-7.4,329,6883,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3432
$GC,7195,-0.96,-146.6,530.4,-4.0,344,7199,0.00,2.45,0.00,0.000,4,0.000,0.044,2583,849,3432
$GC,7217,-0.96,-146.6,531.2,-3.7,345,7222,0.00,2.45,0.00,0.000,6,0.000,0.034,2583,2246,3432
$GC,7545,-0.96,-146.6,541.7,-3.3,361,7549,0.00,2.55,0.00,0.000,4,0.000,0.057,2583,3657,3431
$GC,7594,-0.96,-146.6,544.0,-5.6,363,7599,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2245,3431
$GC,7912,-0.96,-146.6,566.5,-8.6,378,7917,0.00,2.55,0.00,0.000,4,0.000,0.056,2583,3650,3431
$GC,8095,-0.96,-146.6,577.4,-6.9,386,8099,0.00,2.40,0.00,0.000,6,0.000,0.032,2583,2253,3431
$STATE,8330,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8330,begin apogee
$GC,8338,-0.36,0.0,597.2,9.7,398,8473,0.62,0.00,126.88,1.164,6,0.059,0.000,2719,1458,2831
$STATE,8474,end apogee,CONTROL_FINISHED_OK
$STATE,8474,begin climb
$GC,8477,0.96,146.6,602.5,0.0,405,8612,1.33,2.28,126.03,1.141,4,0.058,0.062,3007,264,2234
$GC,8948,0.96,146.6,572.7,9.0,426,8953,0.00,2.10,0.00,0.000,6,0.000,0.035,3007,1462,2225
$GC,9269,0.96,146.6,556.8,6.1,442,9273,0.00,2.47,0.00,0.000,4,0.000,0.048,3007,2853,2223
$GC,9308,0.96,146.6,553.7,7.2,444,9313,0.00,2.50,0.00,0.000,6,0.000,0.041,3007,1446,2223
$GC,9637,0.96,146.6,529.2,6.8,460,9642,0.00,2.50,0.00,0.000,4,0.000,0.045,3007,2854,2221
$GC,9789,1.17,313.8,524.9,1.4,467,9943,0.20,2.47,145.52,1.133,6,0.032,0.041,3078,1454,1552
$GC,10267,1.17,313.8,477.3,12.4,490,10269,0.12,0.00,0.00,0.000,6,0.077,0.000,3051,1454,1540
$GC,10576,1.17,313.8,441.7,11.1,505,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1454,1538
$GC,10885,1.17,313.8,412.4,8.9,520,10887,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1454,1537
$GC,11195,1.17,313.8,386.3,8.5,535,11196,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1454,1536
$GC,11507,1.17,313.8,359.9,8.7,550,11510,0.00,2.15,0.00,0.000,4,0.000,0.061,3051,264,1536
$GC,11535,1.17,313.8,356.9,9.8,551,11539,0.00,2.03,0.00,0.000,6,0.000,0.033,3051,1458,1536
$GC,11862,1.17,313.8,327.5,9.1,567,11863,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1458,1536
$GC,12171,1.17,313.8,299.6,9.0,582,12176,0.00,2.20,0.00,0.000,4,0.000,0.059,3051,267,1535
$GC,12210,1.17,313.8,295.8,10.0,583,12216,0.00,2.05,0.00,0.000,6,0.000,0.033,3050,1455,1535
$GC,12525,1.17,313.8,266.5,9.3,599,12526,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1455,1535
$GC,12834,1.17,313.8,237.9,9.0,614,12838,0.00,2.17,0.00,0.000,4,0.000,0.058,3051,258,1535
$GC,12852,1.17,313.8,236.3,9.0,614,12858,0.00,2.05,0.00,0.000,6,0.000,0.032,3051,1457,1535
$GC,13167,1.17,313.8,208.9,8.5,630,13168,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1457,1536
$GC,13477,1.17,313.8,180.6,9.7,645,13478,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1457,1535
$GC,13786,1.17,313.8,149.4,10.1,660,13787,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1457,1535
$GC,14097,1.17,313.8,119.4,9.6,675,14101,0.00,2.47,0.00,0.000,4,0.000,0.045,3051,2852,1535
$GC,14125,1.17,313.8,116.7,9.8,676,14129,0.00,2.45,0.00,0.000,6,0.000,0.038,3051,1452,1535
$GC,14441,1.17,313.8,88.4,8.9,691,14442,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1452,1535
$GC,14750,1.17,313.8,61.2,8.8,706,14755,0.00,2.15,0.00,0.000,4,0.000,0.058,3051,271,1535
$GC,14777,1.17,313.8,58.5,9.5,707,14782,0.00,2.03,0.00,0.000,6,0.000,0.033,3051,1455,1535
$GC,15104,1.17,313.8,30.9,7.7,723,15105,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1455,1535
$GC,15414,1.17,313.8,4.1,8.9,738,15418,0.00,2.45,0.00,0.000,4,0.000,0.041,3051,2850,1534
$STATE,15421,end climb,SURFACE_DEPTH_REACHED
$STATE,15422,begin surface coast
$FINISH,0.6,1.026791
$STATE,15445,end surface coast,CONTROL_FINISHED_OK
$STATE,15445,begin surface
$SM_CCo,15529,0.00,0.000,0,0,1531,319.14
$SM_GC,0.88,11.50,0.00,0.00,0.025,0.000,0.000,391,2228,1531,-10.99,-0.62,319.14
$IRIDIUM_FIX,6130.75,-928.49,291098,090928
$TT8_MAMPS,0.026845
$HUMID,1923
$INTERNAL_PRESSURE,8.13832
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,526.1,80.3
$24V_AH,23.2,50.982
$10V_AH,10.1,31.133
$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,25.475,125.125,398.425,0.000,0.000,29.450,25.622,134.587,4.250,0.000,0.000,17.207,1376.372,11616.899,465.850,1716.552,665.327,0.000,1384.268,0.000,1842.072,0.000,29.877,0.000
$DEVICE_MAMPS,134.225,62.127,1164.306,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,607.756,549.697,502.231,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38074,739
$CAP_FILE_SIZE,110453,0
$CFSIZE,260165632,240975872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,040809,180407,6155.085,-922.657,32,0.9,32,-9.6