version: 66.04
glider: 105
mission: 6
dive: 258
start: 8 10 109 11 37 58
data:
$ID,105
$MISSION,6
$DIVE,258
$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,-1632654.2
$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,23
$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
$GPS1,113207,6206.734,-914.943,23,1.9,23,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-63.0
$GPS2,113738,6206.738,-914.937,17,1.6,17,-9.6
$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,180.9,87570,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-57.72,0.000,6,0.000,0.000,389,2236,3430
$GC,82,-0.96,-146.6,5.9,-12.0,3,104,11.70,2.60,0.00,0.000,4,0.133,0.052,2586,3651,3431
$GC,442,-0.96,-146.6,40.5,-4.9,19,447,0.00,2.45,0.00,0.000,6,0.000,0.029,2586,2230,3432
$GC,774,-0.96,-146.6,59.5,-6.3,35,778,0.00,2.58,0.00,0.000,4,0.000,0.050,2585,3654,3433
$GC,952,-0.96,-146.6,73.8,-8.7,43,956,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2249,3434
$GC,1273,-0.96,-146.6,100.8,-8.4,59,1277,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3651,3434
$GC,1389,-0.96,-146.6,112.0,-9.6,64,1394,0.00,2.42,0.00,0.000,6,0.000,0.030,2586,2250,3434
$GC,1711,-0.96,-146.6,137.2,-7.0,80,1715,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3652,3434
$GC,1760,-0.96,-146.6,140.9,-7.1,82,1765,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2249,3434
$GC,2077,-0.96,-146.6,159.4,-5.8,97,2082,0.00,2.55,0.00,0.000,4,0.000,0.052,2586,3645,3434
$GC,2132,-0.96,-146.6,163.2,-6.9,99,2136,0.00,2.38,0.00,0.000,6,0.000,0.030,2586,2250,3434
$GC,2448,-0.96,-146.6,185.5,-7.5,114,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2250,3434
$GC,2757,-0.96,-146.6,209.2,-8.0,129,2761,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3651,3434
$GC,2857,-0.96,-146.6,218.2,-9.2,133,2863,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2249,3434
$GC,3173,-0.96,-146.6,245.6,-8.8,149,3178,0.00,2.55,0.00,0.000,4,0.000,0.053,2586,3657,3433
$GC,3236,-0.96,-146.6,251.4,-9.5,152,3241,0.00,2.45,0.00,0.000,6,0.000,0.031,2585,2249,3433
$GC,3567,-0.96,-146.6,280.3,-8.4,168,3572,0.00,2.55,0.00,0.000,4,0.000,0.053,2586,3657,3433
$GC,3645,-0.96,-146.6,287.6,-9.4,171,3651,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2241,3433
$GC,3963,-0.96,-146.6,313.3,-7.9,187,3967,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3651,3432
$GC,4049,-0.96,-146.6,320.8,-9.0,191,4053,0.00,2.40,0.00,0.000,6,0.000,0.032,2586,2253,3432
$GC,4375,-0.96,-146.6,344.7,-7.1,207,4380,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3647,3432
$GC,4436,-0.96,-146.6,349.6,-8.1,209,4443,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2247,3431
$GC,4752,-0.96,-146.6,372.8,-7.4,225,4756,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3657,3431
$GC,4824,-0.96,-146.6,378.6,-7.9,228,4828,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2242,3431
$GC,5145,-0.96,-146.6,400.7,-7.1,243,5149,0.00,2.58,0.00,0.000,4,0.000,0.057,2586,3656,3431
$GC,5223,-0.96,-146.6,406.8,-7.6,246,5229,0.00,2.42,0.00,0.000,6,0.000,0.032,2586,2244,3430
$GC,5539,-0.96,-146.6,428.6,-7.0,262,5543,0.00,2.55,0.00,0.000,4,0.000,0.055,2586,3653,3430
$GC,5651,-0.96,-146.6,437.1,-7.5,267,5655,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2236,3430
$GC,5972,-0.96,-146.6,459.1,-6.9,283,5976,0.00,2.58,0.00,0.000,4,0.000,0.054,2586,3660,3430
$GC,6072,-0.96,-146.6,466.8,-8.0,287,6078,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2247,3430
$GC,6390,-0.96,-146.6,489.3,-6.8,303,6394,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3657,3429
$STATE,6437,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6437,begin apogee
$GC,6447,-0.36,0.0,492.7,6.1,305,6579,0.60,0.00,124.72,1.087,6,0.064,0.000,2720,1463,2831
$STATE,6580,end apogee,CONTROL_FINISHED_OK
$STATE,6580,begin climb
$GC,6583,0.96,146.6,497.0,0.0,312,6717,1.33,2.28,124.85,1.053,4,0.054,0.058,3010,268,2232
$GC,6809,0.96,146.6,489.0,6.4,322,6813,0.00,2.05,0.00,0.000,6,0.000,0.033,3010,1476,2228
$GC,7131,1.00,176.8,471.4,5.2,338,7162,0.00,2.50,26.17,1.011,4,0.000,0.045,3010,2854,2110
$GC,7237,1.02,193.8,465.6,5.5,343,7258,0.00,2.47,16.25,0.969,6,0.000,0.038,3010,1454,2041
$GC,7570,1.03,203.0,447.1,5.7,359,7584,0.00,2.55,8.88,0.892,4,0.000,0.044,3010,2864,2004
$GC,7632,1.04,207.4,443.2,5.9,361,7643,0.00,2.50,5.55,0.771,6,0.000,0.038,3010,1450,1986
$GC,7964,1.04,207.4,419.9,7.3,378,7968,0.00,2.50,0.00,0.000,4,0.000,0.042,3010,2850,1984
$GC,8013,1.04,207.4,415.9,7.9,380,8017,0.00,2.45,0.00,0.000,6,0.000,0.038,3010,1447,1983
$GC,8329,1.04,207.4,391.1,7.8,395,8333,0.00,2.50,0.00,0.000,4,0.000,0.044,3010,2851,1981
$GC,8373,1.04,207.4,387.7,8.1,397,8378,0.00,2.47,0.00,0.000,6,0.000,0.038,3010,1459,1982
$GC,8699,1.04,207.4,363.6,7.3,413,8703,0.00,2.45,0.00,0.000,4,0.000,0.043,3010,2852,1982
$GC,8763,1.04,207.4,359.2,7.1,416,8767,0.00,2.47,0.00,0.000,6,0.000,0.038,3009,1444,1981
$GC,9089,1.04,207.4,337.6,6.4,432,9094,0.00,2.53,0.00,0.000,4,0.000,0.042,3010,2850,1981
$GC,9134,1.04,207.4,334.6,6.8,434,9139,0.00,2.47,0.00,0.000,6,0.000,0.038,3010,1457,1981
$GC,9466,1.04,207.4,313.7,6.1,450,9470,0.00,2.47,0.00,0.000,4,0.000,0.043,3010,2855,1981
$GC,9522,1.04,207.4,310.0,6.4,452,9528,0.00,2.47,0.00,0.000,6,0.000,0.038,3010,1443,1981
$GC,9837,1.04,207.4,289.0,6.9,468,9842,0.00,2.50,0.00,0.000,4,0.000,0.042,3010,2855,1981
$GC,9904,1.04,207.4,284.2,7.7,471,9908,0.00,2.45,0.00,0.000,6,0.000,0.037,3010,1453,1981
$GC,10224,1.04,207.4,261.0,7.2,487,10229,0.00,2.50,0.00,0.000,4,0.000,0.041,3010,2848,1980
$GC,10269,1.04,207.4,257.6,7.3,489,10274,0.00,2.47,0.00,0.000,6,0.000,0.038,3010,1451,1981
$GC,10601,1.04,207.4,231.2,8.4,505,10606,0.00,2.47,0.00,0.000,4,0.000,0.041,3009,2852,1981
$GC,10634,1.04,207.4,228.2,8.2,506,10640,0.00,2.45,0.00,0.000,6,0.000,0.038,3010,1452,1981
$GC,10952,1.04,207.4,201.4,8.5,522,10957,0.00,2.47,0.00,0.000,4,0.000,0.041,3010,2853,1981
$GC,11003,1.04,207.4,197.0,7.9,524,11007,0.00,2.45,0.00,0.000,6,0.000,0.037,3010,1449,1981
$GC,11318,1.04,207.4,171.9,7.7,539,11322,0.00,2.47,0.00,0.000,4,0.000,0.041,3010,2852,1981
$GC,11362,1.04,207.4,168.5,7.9,541,11367,0.00,2.47,0.00,0.000,6,0.000,0.037,3010,1451,1981
$GC,11689,1.04,207.4,144.5,7.2,557,11694,0.00,2.50,0.00,0.000,4,0.000,0.041,3010,2849,1981
$GC,11735,1.04,207.4,141.2,6.7,559,11739,0.00,2.45,0.00,0.000,6,0.000,0.038,3010,1447,1980
$GC,12064,1.04,207.4,119.1,6.8,575,12068,0.00,2.47,0.00,0.000,4,0.000,0.041,3010,2851,1981
$GC,12141,1.04,207.4,113.8,6.2,578,12148,0.00,2.45,0.00,0.000,6,0.000,0.037,3010,1446,1980
$GC,12458,1.04,207.4,92.0,7.3,594,12463,0.00,2.47,0.00,0.000,4,0.000,0.041,3010,2851,1980
$GC,12525,1.04,207.4,86.7,7.4,597,12529,0.00,2.45,0.00,0.000,6,0.000,0.037,3010,1448,1980
$GC,12847,1.04,207.4,64.1,6.1,613,12851,0.00,2.47,0.00,0.000,4,0.000,0.041,3010,2852,1980
$GC,12897,1.06,226.8,61.4,5.5,615,12920,0.00,2.42,17.20,0.793,6,0.000,0.035,3010,1457,1907
$GC,13236,1.13,280.5,46.2,4.5,632,13289,0.15,2.53,46.88,0.804,4,0.040,0.041,3066,2853,1687
$GC,13353,1.13,280.5,37.0,9.0,637,13357,0.00,2.47,0.00,0.000,6,0.000,0.037,3066,1451,1684
$GC,13670,1.13,280.5,11.5,8.1,652,13674,0.00,2.47,0.00,0.000,4,0.000,0.039,3066,2859,1680
$GC,13710,1.13,280.5,7.9,9.5,654,13714,0.00,2.45,0.00,0.000,6,0.000,0.035,3066,1453,1680
$STATE,13786,end climb,SURFACE_DEPTH_REACHED
$STATE,13786,begin surface coast
$FINISH,0.2,1.003156
$STATE,13808,end surface coast,CONTROL_FINISHED_OK
$STATE,13808,begin surface
$SM_CCo,13832,13.05,0.723,0,0,1609,300.00
$SM_GC,1.45,0.00,0.00,13.05,0.000,0.000,0.723,385,2247,1609,-11.11,-0.08,300.00
$IRIDIUM_FIX,6144.36,-918.67,041198,070714
$TT8_MAMPS,0.027612
$HUMID,1919
$INTERNAL_PRESSURE,8.15785
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.7,102.0
$24V_AH,23.3,55.375
$10V_AH,10.1,33.584
$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,25.325,170.925,370.500,13.050,0.000,33.038,44.586,132.624,3.000,0.000,0.000,17.381,1297.460,9978.305,477.544,1739.092,689.406,0.000,1415.468,0.000,1847.294,0.000,21.869,0.000
$DEVICE_MAMPS,132.691,58.292,1086.839,722.514,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,525.302,486.333,502.062,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34854,659
$CAP_FILE_SIZE,114732,0
$CFSIZE,260165632,239206400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,100809,153006,6203.667,-915.526,37,1.2,42,-9.6