version: 66.04
glider: 105
mission: 6
dive: 275
start: 8 14 109 12 42 16
data:
$ID,105
$MISSION,6
$DIVE,275
$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,-1632912.1
$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,24
$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
$GPS1,123537,6127.828,-921.852,38,1.1,38,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-59.3
$GPS2,124156,6127.854,-921.742,14,1.4,14,-9.4
$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,136.4,24180,-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,16,-0.96,-146.6,0.0,0.0,0,77,0.00,0.00,-58.15,0.000,6,0.000,0.000,387,2244,3431
$GC,81,-0.96,-146.6,5.2,-9.8,3,102,11.73,2.53,0.00,0.000,4,0.134,0.037,2584,831,3433
$GC,135,-0.96,-146.6,20.0,-10.0,5,140,0.00,2.47,0.00,0.000,6,0.000,0.032,2584,2249,3433
$GC,453,-0.96,-146.6,42.9,-7.3,20,457,0.00,2.55,0.00,0.000,4,0.000,0.055,2584,3654,3434
$GC,615,-0.96,-146.6,57.9,-8.6,27,619,0.00,2.42,0.00,0.000,6,0.000,0.030,2584,2232,3434
$GC,932,-0.96,-146.6,83.4,-7.4,42,936,0.00,2.58,0.00,0.000,4,0.000,0.051,2584,3653,3435
$GC,1054,-0.96,-146.6,92.6,-7.6,47,1061,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2249,3435
$GC,1372,-0.96,-146.6,115.5,-8.1,63,1376,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3651,3435
$GC,1421,-0.96,-146.6,120.2,-9.5,65,1425,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2252,3435
$GC,1738,-0.96,-146.6,145.3,-7.5,80,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2252,3435
$GC,2046,-0.96,-146.6,170.0,-8.1,95,2050,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3651,3434
$GC,2163,-0.96,-146.6,180.4,-9.3,100,2167,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2247,3434
$GC,2479,-0.96,-146.6,208.0,-8.8,115,2484,0.00,2.55,0.00,0.000,4,0.000,0.051,2584,3645,3434
$GC,2574,-0.96,-146.6,217.4,-10.3,119,2579,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2247,3434
$GC,2895,-0.96,-146.6,248.9,-10.2,135,2900,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3654,3434
$GC,2962,-0.96,-146.6,256.1,-10.9,138,2967,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2236,3434
$GC,3283,-0.96,-146.6,288.5,-10.0,154,3288,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3657,3433
$GC,3351,-0.96,-146.6,295.5,-10.1,157,3356,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2253,3433
$GC,3673,-0.96,-146.6,324.8,-8.4,173,3679,0.00,2.55,0.00,0.000,4,0.000,0.051,2584,3650,3433
$GC,3723,-0.96,-146.6,329.2,-7.8,175,3727,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2248,3433
$GC,4046,-0.96,-146.6,355.6,-7.8,191,4051,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3653,3433
$GC,4134,-0.96,-146.6,362.6,-8.4,195,4138,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3433
$GC,4463,-0.96,-146.6,387.7,-7.7,211,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2250,3432
$GC,4771,-0.96,-146.6,411.8,-7.8,226,4775,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3653,3433
$GC,4888,-0.96,-146.6,421.6,-8.6,231,4893,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2254,3432
$GC,5208,-0.96,-146.6,445.1,-7.4,247,5213,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3651,3432
$GC,5282,-0.96,-146.6,451.3,-8.2,250,5286,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3432
$GC,5598,-0.96,-146.6,475.8,-8.1,265,5602,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3651,3432
$GC,5648,-0.96,-146.6,480.1,-8.0,267,5653,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2251,3431
$GC,5968,-0.96,-146.6,504.7,-7.5,283,5972,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3651,3431
$GC,6053,-0.96,-146.6,511.5,-8.0,287,6057,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3431
$GC,6379,-0.96,-146.6,537.8,-8.1,303,6384,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3652,3430
$GC,6429,-0.96,-146.6,542.6,-9.6,305,6433,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3431
$GC,6745,-0.96,-146.6,569.4,-8.4,320,6749,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3653,3430
$GC,6788,-0.96,-146.6,573.5,-9.8,322,6793,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3430
$GC,7110,-0.96,-146.6,597.4,-6.9,338,7114,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3653,3430
$GC,7182,-0.96,-146.6,602.9,-8.0,341,7187,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2255,3430
$GC,7503,-0.96,-146.6,624.7,-6.9,357,7507,0.00,2.53,0.00,0.000,4,0.000,0.055,2584,3651,3429
$GC,7845,-0.96,-146.6,629.1,0.3,372,7849,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2252,3429
$STATE,7910,end dive,NO_VERTICAL_VELOCITY
$STATE,7911,begin apogee
$GC,7919,-0.36,0.0,629.1,0.0,375,8048,0.62,0.00,126.25,1.179,6,0.054,0.000,2722,1461,2832
$STATE,8049,end apogee,CONTROL_FINISHED_OK
$STATE,8049,begin climb
$GC,8052,0.96,146.6,629.0,0.0,381,8186,1.30,2.25,126.62,1.138,4,0.051,0.059,3010,273,2234
$GC,8211,1.03,196.5,624.1,4.6,388,8264,0.00,2.05,44.30,1.105,6,0.000,0.033,3009,1471,2029
$GC,8577,1.11,267.5,605.7,4.1,406,8648,0.15,2.55,62.88,1.118,4,0.039,0.044,3070,2844,1740
$GC,8723,1.24,367.3,600.3,3.3,412,8820,0.00,2.47,89.45,1.111,6,0.000,0.038,3069,1447,1333
$GC,9143,1.24,367.3,564.0,11.2,433,9147,0.00,2.15,0.00,0.000,4,0.000,0.059,3070,268,1324
$GC,9204,1.24,367.3,555.7,14.2,435,9210,0.00,2.03,0.00,0.000,6,0.000,0.032,3070,1444,1323
$GC,9520,1.24,367.3,507.2,16.0,451,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1444,1322
$GC,9829,1.24,367.3,458.8,15.6,466,9830,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1444,1322
$GC,10138,1.24,367.3,418.2,11.8,481,10139,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1444,1321
$GC,10450,1.24,367.3,384.3,10.5,496,10454,0.00,2.15,0.00,0.000,4,0.000,0.059,3070,264,1321
$GC,10485,1.24,367.3,380.4,10.9,497,10488,0.00,2.00,0.00,0.000,6,0.000,0.032,3070,1454,1320
$GC,10806,1.24,367.3,349.4,9.8,513,10807,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1455,1320
$GC,11115,1.24,367.3,324.0,8.2,528,11116,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1455,1321
$GC,11424,1.24,367.3,296.4,8.8,543,11429,0.00,2.17,0.00,0.000,4,0.000,0.058,3070,274,1320
$GC,11452,1.24,367.3,293.5,10.8,544,11456,0.00,2.03,0.00,0.000,6,0.000,0.032,3070,1458,1320
$GC,11778,1.24,367.3,263.9,9.2,560,11782,0.00,2.17,0.00,0.000,4,0.000,0.059,3070,264,1320
$GC,11806,1.24,367.3,261.2,10.0,561,11810,0.00,2.03,0.00,0.000,6,0.000,0.033,3070,1456,1320
$GC,12133,1.24,367.3,231.2,8.9,577,12134,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1456,1320
$GC,12444,1.24,367.3,203.6,9.2,592,12448,0.00,2.17,0.00,0.000,4,0.000,0.058,3069,260,1320
$GC,12494,1.24,367.3,198.8,8.9,594,12498,0.00,2.05,0.00,0.000,6,0.000,0.032,3070,1460,1319
$GC,12821,1.24,367.3,168.6,9.2,610,12822,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1464,1319
$GC,13131,1.24,367.3,140.2,8.9,625,13134,0.00,2.17,0.00,0.000,4,0.000,0.058,3070,264,1320
$GC,13178,1.24,367.3,136.1,9.1,627,13182,0.00,2.03,0.00,0.000,6,0.000,0.032,3069,1458,1319
$GC,13512,1.24,367.3,103.7,11.2,643,13513,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1458,1319
$GC,13820,1.24,367.3,64.7,12.6,658,13823,0.00,2.15,0.00,0.000,4,0.000,0.056,3069,266,1319
$GC,13853,1.24,367.3,60.1,14.1,659,13856,0.00,2.03,0.00,0.000,6,0.000,0.032,3069,1453,1319
$GC,14176,1.24,367.3,23.2,11.4,675,14180,0.00,2.15,0.00,0.000,4,0.000,0.055,3069,262,1319
$GC,14293,1.24,367.3,9.4,11.3,680,14296,0.00,2.03,0.00,0.000,6,0.000,0.031,3070,1457,1320
$STATE,14371,end climb,SURFACE_DEPTH_REACHED
$STATE,14371,begin surface coast
$FINISH,0.3,1.013334
$STATE,14392,end surface coast,CONTROL_FINISHED_OK
$STATE,14392,begin surface
$SM_CCo,14476,0.00,0.000,0,0,1317,371.63
$SM_GC,0.95,11.50,0.00,0.00,0.021,0.000,0.000,381,2243,1317,-10.99,-0.20,371.63
$IRIDIUM_FIX,6103.81,-929.96,081198,050559
$TT8_MAMPS,0.026845
$HUMID,1937
$INTERNAL_PRESSURE,8.13832
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.3,93.3
$24V_AH,23.2,58.297
$10V_AH,10.1,35.250
$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,25.300,134.650,449.500,0.000,0.000,30.213,27.038,178.953,4.500,0.000,0.000,14.110,1308.350,10635.689,489.485,1686.569,721.922,0.000,1408.912,0.000,1802.470,0.000,31.535,0.000
$DEVICE_MAMPS,134.225,59.059,1178.879,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,548.385,518.630,445.143,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34899,685
$CAP_FILE_SIZE,110956,0
$CFSIZE,260165632,238010368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140809,164437,6126.616,-917.163,28,1.2,28,-9.3