version: 66.04
glider: 105
mission: 6
dive: 236
start: 8 5 109 21 2 10
data:
$ID,105
$MISSION,6
$DIVE,236
$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,-1632209.5
$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,26
$R_STBD_OVSHOOT,27
$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
$GPS1,205427,6141.271,-925.394,29,2.6,48,-9.5
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-56.1
$GPS2,210152,6141.230,-925.475,11,2.4,30,-9.5
$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,62.3,11535,-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,13,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,-58.55,0.000,6,0.000,0.000,392,2245,3431
$GC,81,-0.96,-146.6,4.8,-9.7,3,102,11.60,2.60,0.00,0.000,4,0.130,0.052,2584,3654,3433
$GC,439,-0.96,-146.6,44.8,-8.7,19,444,0.00,2.45,0.00,0.000,6,0.000,0.030,2584,2232,3434
$GC,772,-0.96,-146.6,72.4,-7.8,35,776,0.00,2.58,0.00,0.000,4,0.000,0.052,2583,3652,3435
$GC,865,-0.96,-146.6,80.3,-8.2,39,870,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2249,3435
$GC,1182,-0.96,-146.6,101.4,-5.8,54,1187,0.00,2.55,0.00,0.000,4,0.000,0.051,2584,3643,3435
$GC,1282,-0.96,-146.6,108.9,-7.7,58,1286,0.00,2.38,0.00,0.000,6,0.000,0.029,2583,2251,3435
$GC,1599,-0.96,-146.6,130.4,-7.4,73,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3435
$GC,1907,-0.96,-146.6,154.9,-7.6,88,1911,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3660,3435
$GC,2018,-0.96,-146.6,163.9,-8.3,93,2023,0.00,2.42,0.00,0.000,6,0.000,0.030,2584,2255,3435
$GC,2344,-0.96,-146.6,187.0,-7.0,109,2348,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3651,3435
$GC,2422,-0.96,-146.6,193.6,-8.4,112,2428,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3435
$GC,2738,-0.96,-146.6,218.0,-7.5,128,2743,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3652,3435
$GC,2801,-0.96,-146.6,222.9,-8.2,131,2805,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2248,3435
$GC,3127,-0.96,-146.6,244.4,-6.0,147,3132,0.00,2.55,0.00,0.000,4,0.000,0.051,2584,3660,3434
$GC,3205,-0.96,-146.6,249.8,-6.9,150,3213,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2247,3434
$GC,3522,-0.96,-146.6,271.5,-7.3,166,3527,0.00,2.58,0.00,0.000,4,0.000,0.052,2583,3654,3434
$GC,3628,-0.96,-146.6,280.2,-8.9,170,3635,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2236,3434
$GC,3946,-0.96,-146.6,304.1,-7.6,186,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2235,3434
$GC,4254,-0.96,-146.6,327.5,-7.6,201,4258,0.00,2.58,0.00,0.000,4,0.000,0.053,2584,3660,3434
$GC,4320,-0.96,-146.6,332.7,-7.7,204,4325,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2257,3434
$GC,4646,-0.96,-146.6,355.7,-6.8,220,4650,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3654,3433
$GC,4708,-0.96,-146.6,360.2,-7.7,223,4712,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2251,3433
$GC,5035,-0.96,-146.6,383.9,-7.6,239,5039,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3654,3433
$GC,5129,-0.96,-146.6,391.7,-8.2,243,5133,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3433
$GC,5445,-0.96,-146.6,417.3,-8.5,258,5450,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3651,3432
$GC,5501,-0.96,-146.6,422.6,-9.4,260,5507,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2249,3432
$GC,5818,-0.96,-146.6,449.5,-8.3,276,5823,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3652,3432
$GC,5873,-0.96,-146.6,454.6,-9.1,278,5878,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2249,3431
$GC,6190,-0.96,-146.6,481.2,-8.7,293,6194,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3652,3431
$GC,6234,-0.96,-146.6,485.2,-8.7,295,6238,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3431
$GC,6556,-0.96,-146.6,512.0,-8.6,311,6561,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3652,3431
$GC,6651,-0.96,-146.6,520.7,-9.4,315,6655,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2251,3431
$GC,6967,-0.96,-146.6,547.5,-8.4,330,6971,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3652,3431
$GC,7012,-0.96,-146.6,551.4,-8.9,332,7016,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3431
$GC,7333,-0.96,-146.6,575.3,-6.9,348,7337,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3651,3431
$GC,7397,-0.96,-146.6,579.8,-7.6,351,7401,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2252,3431
$GC,7723,-0.96,-146.6,602.1,-6.7,367,7728,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3648,3431
$GC,7778,-0.96,-146.6,606.1,-7.7,369,7782,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2244,3431
$GC,8094,-0.96,-146.6,626.6,-5.9,384,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2244,3430
$GC,8403,-0.96,-146.6,646.0,-6.2,399,8408,0.00,2.47,0.00,0.000,4,0.000,0.046,2583,852,3430
$GC,8493,-0.96,-146.6,651.8,-6.6,403,8497,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2254,3430
$GC,8819,-0.96,-146.6,669.8,-5.4,419,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2254,3430
$GC,9129,-0.96,-146.6,681.9,-4.6,434,9133,0.00,2.47,0.00,0.000,4,0.000,0.045,2584,852,3430
$GC,9208,-0.96,-146.6,686.5,-5.8,437,9214,0.00,2.45,0.00,0.000,6,0.000,0.037,2583,2257,3430
$GC,9524,-0.96,-146.6,706.7,-7.5,453,9528,0.00,2.53,0.00,0.000,4,0.000,0.057,2583,3651,3430
$GC,9563,-0.96,-146.6,709.9,-8.8,455,9567,0.00,2.40,0.00,0.000,6,0.000,0.033,2584,2254,3430
$GC,9890,-0.96,-146.6,736.5,-9.2,471,9894,0.00,2.47,0.00,0.000,4,0.000,0.046,2584,848,3430
$GC,10006,-0.96,-146.6,748.6,-10.6,476,10011,0.00,2.45,0.00,0.000,6,0.000,0.038,2584,2245,3430
$GC,10322,-0.96,-146.6,784.5,-12.0,491,10324,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2245,3429
$GC,10632,-0.96,-146.6,807.2,-9.3,506,10636,0.00,2.50,0.00,0.000,4,0.000,0.051,2583,850,3428
$GC,10659,-0.96,-146.6,810.2,-10.0,507,10663,0.00,2.45,0.00,0.000,6,0.000,0.040,2583,2255,3428
$GC,10975,-0.96,-146.6,844.3,-12.2,522,10980,0.00,2.58,0.00,0.000,4,0.000,0.064,2583,3644,3426
$GC,11026,-0.96,-146.6,848.0,-5.1,524,11030,0.00,2.42,0.00,0.000,6,0.000,0.036,2583,2252,3426
$GC,11347,-0.96,-146.6,863.5,3.2,540,11348,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2248,3424
$GC,11656,-0.96,-146.6,889.4,-15.3,555,11660,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,844,3423
$GC,11700,-0.96,-146.6,895.4,-11.7,557,11705,0.00,2.50,0.00,0.000,6,0.000,0.042,2583,2246,3423
$STATE,11838,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11838,begin apogee
$GC,11846,-0.36,0.0,903.5,6.4,564,11982,0.65,0.00,129.98,1.434,6,0.062,0.000,2723,1463,2832
$STATE,11983,end apogee,CONTROL_FINISHED_OK
$STATE,11983,begin climb
$GC,11986,0.96,146.6,908.2,0.0,571,12126,1.33,2.30,132.27,1.387,4,0.058,0.067,3008,259,2233
$GC,12202,0.96,146.6,899.7,10.8,581,12206,0.00,2.10,0.00,0.000,6,0.000,0.037,3008,1475,2227
$GC,12534,0.96,146.6,878.1,6.4,597,12538,0.00,2.47,0.00,0.000,4,0.000,0.051,3008,2851,2220
$GC,12686,1.11,266.4,872.3,2.7,604,12801,0.15,2.50,107.97,1.389,6,0.040,0.046,3063,1454,1745
$GC,13123,1.11,266.4,833.6,8.5,625,13124,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1454,1733
$GC,13432,1.11,266.4,805.4,13.4,640,13433,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1454,1731
$GC,13741,1.11,266.4,771.9,9.4,655,13743,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1454,1729
$GC,14051,1.22,358.3,754.9,3.5,670,14142,0.00,2.33,83.95,1.374,4,0.000,0.070,3063,264,1369
$GC,14238,1.36,465.2,750.2,3.1,678,14343,0.10,2.10,97.72,1.322,6,0.044,0.038,3097,1452,934
$GC,14658,1.36,465.2,717.2,10.4,699,14662,0.00,2.22,0.00,0.000,4,0.000,0.064,3098,258,922
$GC,14759,1.36,465.2,705.8,10.5,703,14763,0.00,2.08,0.00,0.000,6,0.000,0.035,3097,1460,920
$GC,15083,1.36,465.2,664.7,13.0,719,15086,0.00,2.20,0.00,0.000,4,0.000,0.061,3098,257,918
$GC,15224,1.36,465.2,643.3,13.0,725,15227,0.00,2.05,0.00,0.000,6,0.000,0.033,3098,1460,917
$GC,15551,1.36,465.2,599.7,14.0,741,15556,0.00,2.22,0.00,0.000,4,0.000,0.060,3097,262,916
$GC,15641,1.36,465.2,586.8,14.0,745,15645,0.00,2.05,0.00,0.000,6,0.000,0.034,3098,1459,916
$GC,15974,1.36,465.2,545.3,11.6,761,15977,0.00,2.17,0.00,0.000,4,0.000,0.059,3097,261,916
$GC,16093,1.36,465.2,531.2,11.4,766,16096,0.00,2.05,0.00,0.000,6,0.000,0.033,3098,1457,915
$GC,16419,1.36,465.2,496.8,10.5,782,16423,0.00,2.17,0.00,0.000,4,0.000,0.059,3097,261,915
$GC,16533,1.36,465.2,483.1,12.8,787,16537,0.00,2.03,0.00,0.000,6,0.000,0.032,3097,1456,915
$GC,16865,1.36,465.2,443.5,12.5,803,16870,0.00,2.20,0.00,0.000,4,0.000,0.059,3097,266,916
$GC,16948,1.36,465.2,431.9,13.0,806,16955,0.00,2.05,0.00,0.000,6,0.000,0.033,3098,1457,916
$GC,17264,1.36,465.2,392.1,12.3,822,17268,0.00,2.17,0.00,0.000,4,0.000,0.058,3098,261,916
$GC,17342,1.36,465.2,381.7,12.9,825,17347,0.00,2.08,0.00,0.000,6,0.000,0.032,3098,1455,915
$GC,17663,1.36,465.2,341.4,12.7,841,17667,0.00,2.17,0.00,0.000,4,0.000,0.059,3098,261,916
$GC,17758,1.36,465.2,327.5,15.3,845,17762,0.00,2.03,0.00,0.000,6,0.000,0.031,3098,1456,916
$GC,18087,1.36,465.2,287.1,11.8,861,18090,0.00,2.17,0.00,0.000,4,0.000,0.059,3098,260,916
$GC,18180,1.36,465.2,275.0,12.3,865,18184,0.00,2.05,0.00,0.000,6,0.000,0.032,3098,1458,916
$GC,18515,1.36,465.2,230.3,14.0,881,18519,0.00,2.17,0.00,0.000,4,0.000,0.059,3097,261,917
$GC,18608,1.36,465.2,217.0,14.7,885,18612,0.00,2.05,0.00,0.000,6,0.000,0.032,3097,1460,916
$GC,18944,1.36,465.2,171.4,14.0,901,18947,0.00,2.20,0.00,0.000,4,0.000,0.058,3097,255,916
$GC,19027,1.36,465.2,159.1,14.6,904,19034,0.00,2.05,0.00,0.000,6,0.000,0.031,3098,1452,916
$GC,19343,1.36,465.2,119.7,13.1,920,19347,0.00,2.15,0.00,0.000,4,0.000,0.056,3098,260,917
$GC,19412,1.36,465.2,109.2,15.9,923,19415,0.00,2.03,0.00,0.000,6,0.000,0.031,3097,1455,917
$GC,19744,1.36,465.2,65.5,12.4,939,19748,0.00,2.17,0.00,0.000,4,0.000,0.055,3097,255,917
$GC,19796,1.36,465.2,58.7,14.7,941,19799,0.00,2.05,0.00,0.000,6,0.000,0.031,3098,1460,917
$GC,20123,1.36,465.2,13.9,14.2,957,20128,0.00,2.20,0.00,0.000,4,0.000,0.056,3098,261,917
$GC,20169,1.36,465.2,7.6,12.8,959,20173,0.00,2.03,0.00,0.000,6,0.000,0.031,3098,1465,916
$STATE,20210,end climb,SURFACE_DEPTH_REACHED
$STATE,20210,begin surface coast
$FINISH,0.2,1.016265
$STATE,20232,end surface coast,CONTROL_FINISHED_OK
$STATE,20232,begin surface
$SM_CCo,20316,0.00,0.000,0,0,916,469.99
$SM_GC,0.83,11.75,0.00,0.00,0.025,0.000,0.000,389,2242,916,-11.00,-0.23,469.99
$IRIDIUM_FIX,6117.23,-924.02,301098,141412
$TT8_MAMPS,0.027612
$HUMID,1918
$INTERNAL_PRESSURE,8.06996
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,801.1,111.4
$24V_AH,23.1,51.955
$10V_AH,10.1,31.684
$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,25.575,199.650,551.900,0.000,0.000,33.008,38.542,225.950,7.000,0.000,0.000,31.025,1835.747,14906.284,589.546,2485.518,938.375,0.000,1922.675,0.000,2597.378,0.000,47.766,0.000
$DEVICE_MAMPS,129.623,69.797,1434.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,815.569,691.335,525.905,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50454,962
$CAP_FILE_SIZE,155820,0
$CFSIZE,260165632,240545792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,060809,024201,6139.029,-926.107,38,1.8,38,-9.5