version: 66.04
glider: 105
mission: 6
dive: 239
start: 8 6 109 15 34 35
data:
$ID,105
$MISSION,6
$DIVE,239
$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,-1632250.2
$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,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
$GPS1,152837,6139.380,-913.722,32,1.0,32,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-57.8
$GPS2,153414,6139.417,-913.546,11,1.0,11,-9.4
$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,2.4,10417,-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,-146.6,0.0,0.0,0,80,0.00,0.00,-63.12,0.000,6,0.000,0.000,392,2233,3430
$GC,83,-0.96,-146.6,4.0,-7.0,3,104,11.62,2.60,0.00,0.000,4,0.132,0.051,2583,3652,3432
$GC,441,-0.96,-146.6,42.8,-7.8,19,446,0.00,2.45,0.00,0.000,6,0.000,0.028,2583,2230,3433
$GC,773,-0.96,-146.6,67.4,-8.5,35,778,0.00,2.60,0.00,0.000,4,0.000,0.052,2584,3651,3434
$GC,1114,-0.96,-146.6,93.4,-6.6,50,1118,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2251,3434
$GC,1435,-0.96,-146.6,116.9,-7.8,66,1440,0.00,2.55,0.00,0.000,4,0.000,0.052,2583,3648,3435
$GC,1593,-0.96,-146.6,128.5,-6.9,73,1597,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2249,3435
$GC,1919,-0.96,-146.6,152.1,-8.1,89,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2248,3434
$GC,2229,-0.96,-146.6,175.4,-7.2,104,2233,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3651,3435
$GC,2296,-0.96,-146.6,180.5,-7.2,107,2300,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2251,3435
$GC,2619,-0.96,-146.6,202.3,-7.3,123,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2250,3435
$GC,2926,-0.96,-146.6,230.3,-10.2,138,2930,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3653,3435
$GC,3055,-0.96,-146.6,242.9,-9.7,144,3059,0.00,2.40,0.00,0.000,6,0.000,0.028,2584,2237,3434
$GC,3384,-0.96,-146.6,268.4,-6.5,160,3388,0.00,2.55,0.00,0.000,4,0.000,0.051,2584,3651,3434
$GC,3518,-0.96,-146.6,276.9,-5.9,166,3522,0.00,2.38,0.00,0.000,6,0.000,0.029,2584,2254,3434
$GC,3842,-0.96,-146.6,292.6,-4.7,182,3846,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3653,3434
$GC,3930,-0.96,-146.6,297.3,-5.1,186,3934,0.00,2.40,0.00,0.000,6,0.000,0.028,2583,2243,3434
$GC,4252,-0.96,-146.6,314.5,-6.1,202,4257,0.00,2.58,0.00,0.000,4,0.000,0.052,2583,3652,3434
$GC,4302,-0.96,-146.6,317.8,-6.8,204,4307,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2244,3433
$GC,4624,-0.96,-146.6,335.9,-4.5,220,4628,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3658,3433
$GC,4724,-0.96,-146.6,340.9,-5.0,224,4731,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2242,3433
$GC,5040,-0.96,-146.6,359.6,-7.5,240,5044,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3655,3432
$GC,5134,-0.96,-146.6,368.0,-8.7,244,5138,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2251,3432
$GC,5450,-0.96,-146.6,394.1,-8.0,259,5454,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3652,3432
$GC,5499,-0.96,-146.6,398.5,-8.9,261,5503,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2242,3431
$GC,5816,-0.96,-146.6,422.8,-7.1,276,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2241,3431
$GC,6125,-0.96,-146.6,436.1,-3.0,291,6129,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3651,3431
$GC,6287,-0.96,-146.6,445.4,-7.6,298,6292,0.00,2.42,0.00,0.000,6,0.000,0.030,2583,2253,3431
$GC,6608,-0.96,-146.6,467.0,-6.3,314,6612,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3655,3430
$GC,6665,-0.96,-146.6,470.3,-6.2,316,6671,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2248,3431
$GC,6980,-0.96,-146.6,490.0,-7.1,332,6985,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3660,3431
$GC,7070,-0.96,-146.6,496.9,-7.9,336,7074,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2252,3431
$GC,7391,-0.96,-146.6,515.2,-5.6,352,7395,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3652,3431
$GC,7468,-0.96,-146.6,520.7,-7.3,355,7475,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2234,3431
$GC,7785,-0.96,-146.6,541.2,-5.5,371,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2234,3430
$GC,8095,-0.96,-146.6,561.4,-8.3,386,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2233,3429
$GC,8403,-0.96,-146.6,586.3,-7.6,401,8404,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2232,3429
$GC,8715,-0.96,-146.6,601.9,-4.6,416,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2232,3429
$GC,9022,-0.96,-146.6,619.4,-5.9,431,9023,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2232,3428
$GC,9331,-0.96,-146.6,636.2,-5.7,446,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2232,3428
$GC,9641,-0.96,-146.6,658.3,-7.6,461,9642,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2232,3427
$GC,9949,-0.96,-146.6,678.9,-6.2,476,9953,0.00,2.60,0.00,0.000,4,0.000,0.058,2584,3651,3426
$GC,10056,-0.96,-146.6,687.0,-7.0,481,10061,0.00,2.42,0.00,0.000,6,0.000,0.033,2584,2259,3425
$GC,10389,-0.96,-146.6,706.9,-2.8,497,10394,0.00,2.53,0.00,0.000,4,0.000,0.050,2583,855,3424
$GC,10434,-0.96,-146.6,707.9,-2.3,499,10439,0.00,2.47,0.00,0.000,6,0.000,0.040,2583,2245,3424
$GC,10767,-0.96,-146.6,730.9,-8.9,515,10768,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2245,3422
$GC,11075,-0.96,-146.6,750.6,-7.7,530,11079,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,846,3420
$GC,11108,-0.96,-146.6,752.7,-6.2,531,11115,0.00,2.47,0.00,0.000,6,0.000,0.041,2583,2254,3420
$GC,11424,-0.96,-146.6,775.2,-4.9,547,11429,0.00,2.60,0.00,0.000,4,0.000,0.064,2584,3650,3418
$GC,11530,-0.96,-146.6,781.1,-12.7,551,11536,0.00,2.42,0.00,0.000,6,0.000,0.036,2584,2255,3418
$STATE,11843,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11844,begin apogee
$GC,11852,-0.36,0.0,802.1,5.4,567,11987,0.65,0.00,128.43,1.381,6,0.064,0.000,2724,1456,2831
$STATE,11988,end apogee,CONTROL_FINISHED_OK
$STATE,11988,begin climb
$GC,11991,0.96,146.6,804.6,0.0,574,12130,1.33,2.28,131.15,1.328,4,0.054,0.070,3008,263,2233
$GC,12468,1.10,254.6,773.9,3.0,596,12575,0.10,2.10,95.93,1.313,6,0.041,0.038,3044,1459,1792
$GC,12883,1.19,333.4,756.7,3.8,616,12960,0.00,2.58,71.65,1.310,4,0.000,0.052,3044,2853,1471
$GC,13134,1.19,333.4,735.4,10.1,627,13139,0.00,2.53,0.00,0.000,6,0.000,0.045,3044,1453,1462
$GC,13452,1.19,333.4,703.4,9.7,642,13456,0.00,2.22,0.00,0.000,4,0.000,0.070,3043,258,1459
$GC,13524,1.19,333.4,696.9,9.7,645,13528,0.00,2.08,0.00,0.000,6,0.000,0.036,3044,1458,1458
$GC,13852,1.19,333.4,665.0,11.2,661,13856,0.00,2.22,0.00,0.000,4,0.000,0.068,3044,264,1456
$GC,13885,1.19,333.4,661.2,10.8,662,13889,0.00,2.05,0.00,0.000,6,0.000,0.036,3044,1454,1456
$GC,14207,1.19,333.4,630.4,8.7,678,14211,0.00,2.53,0.00,0.000,4,0.000,0.051,3044,2852,1455
$GC,14251,1.19,333.4,626.4,8.9,680,14255,0.00,2.50,0.00,0.000,6,0.000,0.045,3044,1451,1455
$GC,14574,1.19,333.4,600.7,7.5,696,14578,0.00,2.20,0.00,0.000,4,0.000,0.068,3043,264,1454
$GC,14614,1.19,333.4,597.1,8.4,697,14620,0.00,2.05,0.00,0.000,6,0.000,0.036,3044,1457,1454
$GC,14930,1.19,333.4,564.7,10.4,713,14934,0.00,2.50,0.00,0.000,4,0.000,0.048,3044,2851,1454
$GC,14957,1.19,333.4,561.6,11.3,714,14961,0.00,2.47,0.00,0.000,6,0.000,0.044,3044,1454,1453
$GC,15272,1.19,333.4,530.6,11.1,729,15276,0.00,2.47,0.00,0.000,4,0.000,0.046,3044,2853,1453
$GC,15305,1.19,333.4,527.1,10.6,730,15311,0.00,2.47,0.00,0.000,6,0.000,0.042,3044,1450,1453
$GC,15623,1.19,333.4,495.8,8.6,746,15627,0.00,2.17,0.00,0.000,4,0.000,0.062,3044,258,1453
$GC,15673,1.19,333.4,492.1,6.9,748,15677,0.00,2.05,0.00,0.000,6,0.000,0.032,3044,1468,1452
$GC,16000,1.19,333.4,467.3,10.2,764,16005,0.00,2.47,0.00,0.000,4,0.000,0.046,3044,2840,1452
$GC,16047,1.19,333.4,462.4,11.1,766,16052,0.00,2.45,0.00,0.000,6,0.000,0.038,3044,1448,1452
$GC,16373,1.19,333.4,427.4,9.4,782,16378,0.00,2.17,0.00,0.000,4,0.000,0.061,3044,267,1453
$GC,16434,1.19,333.4,420.9,10.8,784,16440,0.00,2.00,0.00,0.000,6,0.000,0.032,3044,1455,1453
$GC,16750,1.19,333.4,390.3,10.2,800,16754,0.00,2.47,0.00,0.000,4,0.000,0.044,3044,2847,1453
$GC,16793,1.19,333.4,385.9,10.4,802,16798,0.00,2.47,0.00,0.000,6,0.000,0.038,3044,1455,1454
$GC,17120,1.19,333.4,355.8,8.8,818,17121,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1455,1454
$GC,17429,1.19,333.4,327.4,10.0,833,17434,0.00,2.45,0.00,0.000,4,0.000,0.041,3044,2846,1454
$GC,17473,1.19,333.4,323.2,9.8,835,17478,0.00,2.45,0.00,0.000,6,0.000,0.038,3044,1447,1454
$GC,17795,1.19,333.4,294.0,8.8,851,17799,0.00,2.12,0.00,0.000,4,0.000,0.058,3044,265,1455
$GC,17851,1.19,333.4,288.6,9.2,853,17855,0.00,2.00,0.00,0.000,6,0.000,0.031,3044,1457,1455
$GC,18173,1.19,333.4,257.0,10.0,869,18177,0.00,2.45,0.00,0.000,4,0.000,0.044,3044,2844,1455
$GC,18239,1.19,333.4,250.5,9.5,872,18244,0.00,2.45,0.00,0.000,6,0.000,0.037,3044,1460,1455
$GC,18566,1.19,333.4,222.0,8.6,888,18567,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1460,1456
$GC,18875,1.19,333.4,195.0,8.6,903,18876,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1460,1456
$GC,19186,1.19,333.4,163.1,11.0,918,19190,0.00,2.15,0.00,0.000,4,0.000,0.056,3044,265,1457
$GC,19242,1.19,333.4,156.3,10.9,920,19246,0.00,1.98,0.00,0.000,6,0.000,0.029,3044,1459,1457
$GC,19564,1.19,333.4,126.0,8.6,936,19568,0.00,2.42,0.00,0.000,4,0.000,0.043,3044,2840,1457
$GC,19642,1.19,333.4,119.5,8.3,939,19648,0.00,2.42,0.00,0.000,6,0.000,0.036,3045,1447,1457
$GC,19958,1.19,333.4,91.3,9.3,955,19963,0.00,2.45,0.00,0.000,4,0.000,0.038,3044,2836,1457
$GC,19999,1.19,333.4,87.5,8.3,956,20005,0.00,2.40,0.00,0.000,6,0.000,0.035,3044,1451,1457
$GC,20314,1.19,333.4,61.5,8.4,972,20319,0.00,2.42,0.00,0.000,4,0.000,0.038,3044,2842,1457
$GC,20370,1.19,333.4,56.7,8.9,974,20377,0.00,2.42,0.00,0.000,6,0.000,0.035,3044,1446,1457
$GC,20686,1.19,333.4,31.0,8.1,990,20687,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1446,1457
$GC,20997,1.19,333.4,9.2,7.0,1005,20998,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1446,1458
$STATE,21075,end climb,SURFACE_DEPTH_REACHED
$STATE,21075,begin surface coast
$FINISH,0.3,1.026839
$STATE,21098,end surface coast,CONTROL_FINISHED_OK
$STATE,21099,begin surface
$SM_CCo,21183,0.00,0.000,0,0,1455,337.53
$SM_GC,0.83,11.48,0.00,0.00,0.025,0.000,0.000,394,2243,1455,-10.98,-0.17,337.53
$IRIDIUM_FIX,6112.75,-914.35,311098,090942
$TT8_MAMPS,0.026845
$HUMID,1874
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.3,86.8
$24V_AH,23.1,52.483
$10V_AH,10.1,31.997
$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,25.175,185.200,427.150,0.000,0.000,28.355,26.345,156.073,6.250,0.000,0.000,11.907,1902.215,15761.104,533.430,2455.834,863.817,0.000,1814.544,0.000,2617.533,0.000,42.834,0.000
$DEVICE_MAMPS,131.924,69.797,1381.367,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,889.090,700.099,596.680,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50596,1010
$CAP_FILE_SIZE,153538,0
$CFSIZE,260165632,240332800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,060809,212907,6145.129,-916.521,52,1.1,52,-9.5