version: 66.04
glider: 105
mission: 6
dive: 246
start: 8 8 109 7 11 40
data:
$ID,105
$MISSION,6
$DIVE,246
$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,-1632412.9
$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,27
$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
$GPS1,070537,6158.143,-940.339,43,0.9,43,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-62.2
$GPS2,071120,6158.222,-940.314,14,1.3,14,-9.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$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,162.9,79333,-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,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,77,0.00,0.00,-57.97,0.000,6,0.000,0.000,389,2247,3432
$GC,80,-0.96,-146.6,4.9,-9.0,3,102,11.75,2.58,0.00,0.000,4,0.135,0.051,2583,3649,3433
$GC,225,-0.96,-146.6,25.7,-7.9,9,230,0.00,2.42,0.00,0.000,6,0.000,0.029,2584,2231,3433
$GC,541,-0.96,-146.6,53.3,-9.5,24,545,0.00,2.40,0.00,0.000,4,0.000,0.041,2583,854,3434
$GC,573,-0.96,-146.6,56.2,-8.4,25,580,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2254,3434
$GC,891,-0.96,-146.6,78.1,-6.8,41,895,0.00,2.53,0.00,0.000,4,0.000,0.055,2583,3648,3435
$GC,998,-0.96,-146.6,84.9,-5.7,46,1003,0.00,2.38,0.00,0.000,6,0.000,0.029,2583,2253,3435
$GC,1326,-0.96,-146.6,104.0,-6.0,62,1331,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3652,3435
$GC,1382,-0.96,-146.6,107.9,-6.4,64,1389,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2241,3435
$GC,1698,-0.96,-146.6,126.6,-5.3,80,1703,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3651,3435
$GC,1798,-0.96,-146.6,133.1,-6.7,84,1805,0.00,2.38,0.00,0.000,6,0.000,0.030,2583,2253,3435
$GC,2114,-0.96,-146.6,151.3,-6.1,100,2118,0.00,2.53,0.00,0.000,4,0.000,0.050,2583,3653,3436
$GC,2208,-0.96,-146.6,157.4,-7.0,104,2212,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2247,3436
$GC,2526,-0.96,-146.6,179.6,-7.7,119,2531,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3648,3436
$GC,2621,-0.96,-146.6,188.3,-8.9,123,2625,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2245,3436
$GC,2939,-0.96,-146.6,214.2,-8.2,138,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2245,3436
$GC,3245,-0.96,-146.6,238.9,-7.8,153,3250,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3647,3435
$GC,3312,-0.96,-146.6,245.0,-9.3,156,3316,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2246,3435
$GC,3633,-0.96,-146.6,265.9,-6.0,172,3638,0.00,2.55,0.00,0.000,4,0.000,0.052,2583,3638,3435
$GC,3768,-0.96,-146.6,274.4,-5.9,178,3772,0.00,2.38,0.00,0.000,6,0.000,0.031,2583,2250,3435
$GC,4094,-0.96,-146.6,294.8,-6.3,194,4098,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3654,3435
$GC,4206,-0.96,-146.6,302.3,-6.7,199,4210,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3435
$GC,4527,-0.96,-146.6,322.9,-7.2,215,4532,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3653,3435
$GC,4612,-0.96,-146.6,329.5,-8.0,219,4617,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3435
$GC,4939,-0.96,-146.6,354.4,-7.1,235,4943,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3652,3434
$GC,5011,-0.96,-146.6,359.8,-7.2,238,5015,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2251,3434
$GC,5330,-0.96,-146.6,378.5,-5.4,253,5334,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3653,3434
$GC,5385,-0.96,-146.6,382.2,-6.5,255,5391,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2236,3433
$GC,5702,-0.96,-146.6,402.7,-7.2,271,5706,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3648,3433
$GC,5789,-0.96,-146.6,409.0,-7.0,275,5794,0.00,2.38,0.00,0.000,6,0.000,0.031,2583,2254,3433
$GC,6119,-0.96,-146.6,429.5,-6.1,291,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2254,3432
$GC,6428,-0.96,-146.6,448.3,-5.7,306,6432,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3654,3432
$GC,6586,-0.96,-146.6,458.9,-7.2,313,6590,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3431
$GC,6907,-0.96,-146.6,479.7,-6.3,329,6911,0.00,2.45,0.00,0.000,4,0.000,0.044,2583,849,3431
$GC,6962,-0.96,-146.6,483.3,-6.5,331,6969,0.00,2.42,0.00,0.000,6,0.000,0.035,2583,2254,3432
$GC,7277,-0.96,-146.6,505.3,-7.1,347,7282,0.00,2.53,0.00,0.000,4,0.000,0.057,2583,3649,3431
$GC,7356,-0.96,-146.6,511.1,-7.6,350,7362,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2253,3431
$GC,7674,-0.96,-146.6,532.1,-6.9,366,7675,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2253,3431
$GC,7981,-0.96,-146.6,552.7,-6.6,381,7985,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3652,3430
$GC,8043,-0.96,-146.6,557.2,-7.6,384,8048,0.00,2.45,0.00,0.000,6,0.000,0.033,2584,2252,3430
$GC,8375,-0.96,-146.6,576.4,-4.9,400,8379,0.00,2.53,0.00,0.000,4,0.000,0.055,2584,3648,3430
$GC,8407,-0.96,-146.6,578.4,-6.4,401,8414,0.00,2.42,0.00,0.000,6,0.000,0.034,2583,2239,3430
$GC,8726,-0.96,-146.6,595.0,-4.9,417,8731,0.00,2.58,0.00,0.000,4,0.000,0.059,2583,3647,3429
$GC,8776,-0.96,-146.6,597.6,-4.3,419,8781,0.00,2.42,0.00,0.000,6,0.000,0.034,2583,2247,3428
$GC,9092,-0.96,-146.6,608.7,-4.8,434,9097,0.00,2.60,0.00,0.000,4,0.000,0.062,2583,3642,3428
$GC,9362,-0.96,-146.6,629.1,-7.2,446,9367,0.00,2.45,0.00,0.000,6,0.000,0.036,2583,2253,3427
$GC,9694,-0.96,-146.6,655.9,-9.0,462,9696,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2253,3426
$GC,10006,-0.96,-146.6,685.2,-8.4,477,10010,0.00,2.55,0.00,0.000,4,0.000,0.062,2583,3645,3424
$GC,10146,-0.96,-146.6,697.9,-7.2,483,10150,0.00,2.42,0.00,0.000,6,0.000,0.036,2583,2252,3424
$STATE,10171,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10171,begin apogee
$GC,10179,-0.36,0.0,700.0,8.0,484,10314,0.65,0.00,127.78,1.281,6,0.067,0.000,2721,1462,2831
$STATE,10314,end apogee,CONTROL_FINISHED_OK
$STATE,10314,begin climb
$GC,10317,0.96,146.6,706.1,0.0,491,10454,1.30,2.25,129.15,1.240,4,0.047,0.062,3011,264,2233
$GC,10793,0.96,146.6,676.1,6.5,512,10799,0.00,2.05,0.00,0.000,6,0.000,0.038,3011,1455,2223
$GC,11111,1.20,336.1,664.9,0.8,528,11288,0.17,2.25,167.55,1.234,4,0.038,0.065,3080,264,1460
$GC,11348,1.20,336.1,647.3,9.1,539,11352,0.00,2.10,0.00,0.000,6,0.000,0.038,3080,1468,1453
$GC,11680,1.20,336.1,605.4,13.8,555,11684,0.00,2.25,0.00,0.000,4,0.000,0.064,3079,262,1447
$GC,11696,1.20,336.1,603.3,12.3,555,11703,0.00,2.08,0.00,0.000,6,0.000,0.038,3080,1449,1447
$GC,12012,1.20,336.1,571.8,8.4,571,12017,0.00,2.55,0.00,0.000,4,0.000,0.051,3080,2837,1444
$GC,12051,1.20,336.1,568.5,7.7,572,12058,0.00,2.47,0.00,0.000,6,0.000,0.044,3080,1454,1444
$GC,12367,1.20,336.1,541.0,9.6,588,12371,0.00,2.50,0.00,0.000,4,0.000,0.048,3080,2846,1443
$GC,12430,1.20,336.1,534.2,11.7,591,12435,0.00,2.50,0.00,0.000,6,0.000,0.044,3080,1448,1443
$GC,12757,1.20,336.1,497.2,11.7,607,12762,0.00,2.20,0.00,0.000,4,0.000,0.064,3079,264,1442
$GC,12818,1.20,336.1,489.3,12.1,609,12824,0.00,2.03,0.00,0.000,6,0.000,0.034,3080,1455,1442
$GC,13134,1.20,336.1,450.1,12.6,625,13138,0.00,2.50,0.00,0.000,4,0.000,0.046,3080,2850,1441
$GC,13178,1.20,336.1,444.6,12.2,627,13183,0.00,2.50,0.00,0.000,6,0.000,0.041,3080,1450,1441
$GC,13504,1.20,336.1,406.0,11.8,643,13508,0.00,2.15,0.00,0.000,4,0.000,0.060,3080,264,1441
$GC,13553,1.20,336.1,399.3,13.5,645,13557,0.00,2.03,0.00,0.000,6,0.000,0.031,3080,1457,1441
$GC,13881,1.20,336.1,356.1,13.5,661,13885,0.00,2.17,0.00,0.000,4,0.000,0.058,3080,262,1440
$GC,13908,1.20,336.1,351.7,14.5,662,13912,0.00,2.05,0.00,0.000,6,0.000,0.032,3080,1458,1441
$GC,14235,1.20,336.1,307.7,13.2,678,14236,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1458,1441
$GC,14547,1.20,336.1,269.4,12.4,693,14549,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1458,1442
$GC,14854,1.20,336.1,233.0,10.7,708,14855,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1458,1442
$GC,15163,1.20,336.1,198.4,10.9,723,15167,0.00,2.17,0.00,0.000,4,0.000,0.057,3080,257,1442
$GC,15233,1.20,336.1,190.5,11.6,726,15237,0.00,2.05,0.00,0.000,6,0.000,0.031,3080,1459,1442
$GC,15565,1.20,336.1,158.2,9.2,742,15570,0.00,2.50,0.00,0.000,4,0.000,0.046,3080,2854,1442
$GC,15616,1.20,336.1,153.5,9.9,744,15620,0.00,2.45,0.00,0.000,6,0.000,0.037,3080,1450,1442
$GC,15937,1.20,336.1,119.0,10.9,760,15941,0.00,2.12,0.00,0.000,4,0.000,0.056,3080,267,1443
$GC,15964,1.20,336.1,115.7,11.8,761,15968,0.00,2.00,0.00,0.000,6,0.000,0.031,3080,1458,1443
$GC,16292,1.20,336.1,81.2,10.2,777,16294,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1458,1443
$GC,16601,1.20,336.1,48.6,9.7,792,16604,0.00,2.15,0.00,0.000,4,0.000,0.054,3080,261,1443
$GC,16693,1.20,336.1,39.4,10.7,796,16696,0.00,2.03,0.00,0.000,6,0.000,0.031,3080,1459,1444
$GC,17027,1.20,336.1,8.0,9.9,812,17031,0.00,2.45,0.00,0.000,4,0.000,0.042,3080,2854,1444
$GC,17055,1.20,336.1,5.1,10.0,813,17060,0.00,2.42,0.00,0.000,6,0.000,0.035,3079,1454,1444
$STATE,17080,end climb,SURFACE_DEPTH_REACHED
$STATE,17080,begin surface coast
$FINISH,0.2,1.026740
$STATE,17103,end surface coast,CONTROL_FINISHED_OK
$STATE,17103,begin surface
$SM_CCo,17187,0.00,0.000,0,0,1441,341.21
$SM_GC,0.95,11.65,0.00,0.00,0.025,0.000,0.000,391,2249,1441,-10.99,-0.03,341.21
$IRIDIUM_FIX,6135.28,-934.51,021198,010113
$TT8_MAMPS,0.026845
$HUMID,1900
$INTERNAL_PRESSURE,8.13832
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.6,58.4
$24V_AH,23.1,53.597
$10V_AH,10.1,32.654
$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,25.525,174.400,424.475,0.000,0.000,30.564,30.754,153.648,5.500,0.000,0.000,14.584,1573.755,12591.782,506.583,2071.734,781.554,0.000,1610.334,0.000,2211.711,0.000,37.901,0.000
$DEVICE_MAMPS,134.992,65.195,1280.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,704.947,563.869,516.840,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41122,815
$CAP_FILE_SIZE,133642,0
$CFSIZE,260165632,239874048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,080809,115925,6201.722,-935.927,41,1.2,41,-9.7