version: 66.04
glider: 105
mission: 6
dive: 55
start: 6 15 109 9 9 41
data:
$ID,105
$MISSION,6
$DIVE,55
$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,440
$T_MISSION,480
$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,270
$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,-1629030.2
$T_RSLEEP,2
$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,2476
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,32
$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
$GPS1,090355,6205.768,-953.717,38,2.0,38,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-63.4
$GPS2,090920,6205.760,-953.707,13,1.1,13,-9.9
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6205.760,-1016.783
$TGT_RADIUS,1852.000
$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,279.9,20000,-13.9,-7.500
$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,-1.17,-146.6,0.0,0.0,0,78,0.00,0.00,-58.97,0.000,6,0.000,0.000,396,2464,3432
$GC,80,-1.17,-146.6,5.0,-9.9,3,101,11.40,2.45,0.00,0.000,4,0.133,0.052,2534,3822,3433
$GC,438,-1.17,-146.6,50.0,-9.3,19,443,0.00,2.33,0.00,0.000,6,0.000,0.026,2534,2455,3433
$GC,770,-1.17,-146.6,79.9,-9.6,35,774,0.00,2.47,0.00,0.000,4,0.000,0.053,2534,3826,3434
$GC,1011,-1.17,-146.6,104.5,-10.0,46,1016,0.00,2.28,0.00,0.000,6,0.000,0.027,2534,2470,3434
$GC,1340,-1.17,-146.6,133.5,-8.9,62,1344,0.00,2.40,0.00,0.000,4,0.000,0.038,2534,1084,3434
$GC,1379,-1.17,-146.6,137.1,-9.2,64,1384,0.00,2.40,0.00,0.000,6,0.000,0.033,2534,2472,3434
$GC,1706,-1.17,-146.6,166.1,-9.0,80,1710,0.00,2.42,0.00,0.000,4,0.000,0.037,2534,1079,3434
$GC,1755,-1.17,-146.6,170.7,-9.7,82,1760,0.00,2.45,0.00,0.000,6,0.000,0.034,2534,2473,3434
$GC,2076,-1.17,-146.6,200.8,-9.6,98,2081,0.00,2.42,0.00,0.000,4,0.000,0.038,2534,1081,3434
$GC,2116,-1.17,-146.6,204.5,-9.1,100,2120,0.00,2.42,0.00,0.000,6,0.000,0.035,2534,2483,3434
$GC,2443,-1.17,-146.6,234.1,-9.0,116,2447,0.00,2.45,0.00,0.000,4,0.000,0.038,2534,1077,3434
$GC,2487,-1.17,-146.6,238.4,-9.4,118,2491,0.00,2.45,0.00,0.000,6,0.000,0.036,2534,2482,3434
$GC,2807,-1.17,-146.6,267.5,-8.8,134,2811,0.00,2.45,0.00,0.000,4,0.000,0.038,2534,1078,3434
$GC,2869,-1.17,-146.6,273.2,-8.7,137,2874,0.00,2.47,0.00,0.000,6,0.000,0.038,2534,2475,3434
$GC,3201,-1.17,-146.6,302.4,-8.9,153,3206,0.00,2.45,0.00,0.000,4,0.000,0.039,2534,1087,3434
$GC,3257,-1.17,-146.6,307.3,-8.2,155,3262,0.00,2.42,0.00,0.000,6,0.000,0.038,2534,2477,3433
$GC,3573,-1.17,-146.6,334.9,-9.0,170,3577,0.00,2.42,0.00,0.000,4,0.000,0.040,2534,1086,3433
$GC,3629,-1.17,-146.6,340.0,-9.1,172,3635,0.00,2.42,0.00,0.000,6,0.000,0.038,2534,2478,3433
$GC,3944,-1.17,-146.6,368.1,-9.0,188,3948,0.00,2.42,0.00,0.000,4,0.000,0.040,2534,1087,3433
$GC,3988,-1.17,-146.6,372.2,-8.9,190,3992,0.00,2.45,0.00,0.000,6,0.000,0.038,2534,2485,3433
$GC,4310,-1.17,-146.6,400.1,-8.6,206,4314,0.00,2.45,0.00,0.000,4,0.000,0.040,2534,1084,3433
$GC,4354,-1.17,-146.6,404.2,-8.8,208,4358,0.00,2.45,0.00,0.000,6,0.000,0.038,2534,2484,3433
$GC,4674,-1.17,-146.6,431.0,-8.4,224,4679,0.00,2.45,0.00,0.000,4,0.000,0.040,2534,1082,3433
$GC,4719,-1.17,-146.6,434.8,-8.8,226,4723,0.00,2.45,0.00,0.000,6,0.000,0.038,2534,2486,3433
$GC,5040,-1.17,-146.6,461.3,-8.6,242,5044,0.00,2.45,0.00,0.000,4,0.000,0.040,2534,1084,3433
$GC,5089,-1.17,-146.6,465.7,-9.1,244,5093,0.00,2.42,0.00,0.000,6,0.000,0.037,2534,2475,3433
$GC,5407,-1.17,-146.6,491.2,-7.7,259,5411,0.00,2.42,0.00,0.000,4,0.000,0.040,2534,1085,3433
$GC,5473,-1.17,-146.6,496.6,-7.6,262,5477,0.00,2.42,0.00,0.000,6,0.000,0.037,2534,2483,3433
$GC,5795,-1.17,-146.6,519.2,-6.4,278,5799,0.00,2.45,0.00,0.000,4,0.000,0.040,2534,1078,3433
$GC,5845,-1.17,-146.6,522.5,-6.5,280,5849,0.00,2.42,0.00,0.000,6,0.000,0.036,2534,2473,3433
$GC,6163,-1.17,-146.6,545.8,-8.4,295,6167,0.00,2.42,0.00,0.000,4,0.000,0.041,2534,1087,3433
$GC,6225,-1.17,-146.6,551.7,-9.2,298,6230,0.00,2.45,0.00,0.000,6,0.000,0.038,2534,2475,3433
$GC,6556,-1.17,-146.6,583.1,-9.5,314,6560,0.00,2.42,0.00,0.000,4,0.000,0.040,2534,1088,3432
$GC,6613,-1.17,-146.6,588.8,-10.3,316,6619,0.00,2.42,0.00,0.000,6,0.000,0.038,2534,2477,3432
$GC,6928,-1.17,-146.6,618.7,-8.9,332,6933,0.00,2.42,0.00,0.000,4,0.000,0.041,2534,1086,3432
$GC,6973,-1.17,-146.6,622.6,-8.6,334,6977,0.00,2.42,0.00,0.000,6,0.000,0.038,2534,2477,3432
$GC,7295,-1.17,-146.6,650.3,-9.2,350,7299,0.00,2.45,0.00,0.000,4,0.000,0.041,2534,1078,3432
$GC,7357,-1.17,-146.6,656.2,-9.2,353,7362,0.00,2.42,0.00,0.000,6,0.000,0.038,2534,2477,3432
$GC,7685,-1.17,-146.6,684.6,-8.3,369,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2477,3432
$GC,7994,-1.17,-146.6,707.8,-7.2,384,7998,0.00,2.45,0.00,0.000,4,0.000,0.042,2534,1080,3432
$GC,8043,-1.17,-146.6,711.5,-7.6,386,8047,0.00,2.45,0.00,0.000,6,0.000,0.041,2534,2475,3432
$GC,8362,-1.17,-146.6,733.8,-7.4,401,8366,0.00,2.45,0.00,0.000,4,0.000,0.043,2534,1083,3431
$GC,8428,-1.17,-146.6,737.9,-5.9,404,8433,0.00,2.45,0.00,0.000,6,0.000,0.041,2534,2474,3431
$STATE,8685,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8685,begin apogee
$GC,8693,-0.36,0.0,756.8,7.8,417,8828,0.88,0.00,129.25,1.241,6,0.071,0.000,2720,1476,2831
$STATE,8829,end apogee,CONTROL_FINISHED_OK
$STATE,8829,begin climb
$GC,8832,1.17,146.6,759.7,0.0,424,8971,1.52,2.33,129.88,1.202,4,0.051,0.065,3056,269,2234
$GC,9208,1.17,146.6,731.2,9.8,441,9213,0.00,2.08,0.00,0.000,6,0.000,0.035,3055,1467,2226
$GC,9534,1.17,146.6,703.1,7.9,457,9539,0.00,2.47,0.00,0.000,4,0.000,0.049,3055,2846,2223
$GC,9579,1.17,146.6,699.5,8.0,459,9583,0.00,2.45,0.00,0.000,6,0.000,0.041,3055,1455,2223
$GC,9901,1.21,174.2,676.8,6.6,475,9932,0.00,2.60,24.25,1.158,4,0.000,0.047,3055,2846,2120
$GC,10040,1.21,174.2,666.8,7.5,481,10045,0.00,2.45,0.00,0.000,6,0.000,0.040,3055,1455,2118
$GC,10361,1.21,174.2,639.5,8.5,497,10362,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1454,2115
$GC,10670,1.21,174.2,615.5,7.6,512,10674,0.00,2.50,0.00,0.000,4,0.000,0.044,3056,2856,2115
$GC,10737,1.21,174.2,610.4,7.9,515,10742,0.00,2.47,0.00,0.000,6,0.000,0.038,3055,1448,2114
$GC,11058,1.21,174.2,586.1,7.8,531,11059,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1448,2114
$GC,11370,1.21,174.2,561.2,7.9,546,11374,0.00,2.50,0.00,0.000,4,0.000,0.042,3055,2858,2114
$GC,11442,1.23,192.2,555.4,6.9,549,11463,0.00,2.45,16.35,1.075,6,0.000,0.036,3055,1454,2048
$GC,11779,1.23,192.2,529.5,7.7,566,11780,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1453,2046
$GC,12088,1.24,197.8,507.0,7.3,581,12103,0.00,2.53,6.50,0.885,4,0.000,0.041,3056,2851,2024
$GC,12132,1.25,208.7,503.8,7.1,583,12148,0.00,2.45,11.30,0.987,6,0.000,0.035,3055,1445,1981
$GC,12460,1.25,208.7,478.8,7.7,598,12464,0.00,2.47,0.00,0.000,4,0.000,0.039,3056,2852,1979
$GC,12487,1.25,208.7,476.4,7.5,599,12492,0.00,2.47,0.00,0.000,6,0.000,0.035,3055,1451,1979
$GC,12807,1.25,208.7,452.0,7.9,615,12809,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1451,1978
$GC,13117,1.25,208.7,428.3,8.0,630,13121,0.00,2.47,0.00,0.000,4,0.000,0.039,3055,2860,1979
$GC,13156,1.25,208.7,424.9,8.4,632,13161,0.00,2.45,0.00,0.000,6,0.000,0.035,3056,1450,1978
$GC,13483,1.25,208.7,397.5,8.4,648,13487,0.00,2.47,0.00,0.000,4,0.000,0.038,3056,2858,1978
$GC,13522,1.25,208.7,394.1,9.0,650,13526,0.00,2.45,0.00,0.000,6,0.000,0.035,3055,1448,1978
$GC,13851,1.25,208.7,366.9,8.3,666,13852,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1448,1979
$GC,14159,1.25,208.7,341.8,7.8,681,14160,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1448,1979
$GC,14468,1.25,211.1,318.3,7.4,696,14472,0.00,2.47,0.00,0.000,4,0.000,0.040,3056,2858,1979
$GC,14512,1.26,212.8,314.8,7.4,698,14522,0.00,2.45,5.38,0.728,6,0.000,0.035,3055,1448,1964
$GC,14835,1.27,224.5,291.4,7.1,713,14852,0.00,0.00,12.00,0.871,6,0.000,0.000,3055,1448,1915
$GC,15164,1.27,224.5,266.8,7.6,729,15168,0.00,2.47,0.00,0.000,4,0.000,0.039,3055,2857,1914
$GC,15208,1.27,224.5,263.0,8.1,731,15212,0.00,2.45,0.00,0.000,6,0.000,0.034,3055,1449,1914
$GC,15531,1.27,224.5,238.4,7.8,747,15535,0.00,2.47,0.00,0.000,4,0.000,0.039,3055,2858,1913
$GC,15558,1.27,224.5,236.1,7.7,748,15563,0.00,2.47,0.00,0.000,6,0.000,0.034,3055,1453,1913
$GC,15878,1.27,224.5,211.1,7.7,764,15879,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1453,1914
$GC,16188,1.27,224.5,187.0,7.9,779,16189,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1453,1914
$GC,16497,1.27,224.5,162.4,8.1,794,16501,0.00,2.45,0.00,0.000,4,0.000,0.039,3055,2852,1914
$GC,16563,1.27,224.5,157.0,8.3,797,16567,0.00,2.42,0.00,0.000,6,0.000,0.035,3055,1454,1913
$GC,16884,1.27,224.5,131.2,7.8,813,16885,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1453,1913
$GC,17193,1.27,224.5,106.5,8.2,828,17197,0.00,2.45,0.00,0.000,4,0.000,0.037,3055,2859,1914
$GC,17238,1.27,224.5,102.9,8.1,830,17242,0.00,2.42,0.00,0.000,6,0.000,0.033,3056,1453,1913
$GC,17559,1.27,224.5,75.7,8.3,846,17564,0.00,2.45,0.00,0.000,4,0.000,0.036,3056,2852,1913
$GC,17582,1.27,224.5,73.6,8.3,847,17586,0.00,2.42,0.00,0.000,6,0.000,0.033,3056,1448,1913
$GC,17908,1.27,224.5,45.2,8.5,863,17912,0.00,2.45,0.00,0.000,4,0.000,0.037,3055,2859,1913
$GC,17940,1.27,224.5,42.4,7.6,864,17947,0.00,2.42,0.00,0.000,6,0.000,0.033,3055,1449,1914
$GC,18258,1.27,224.5,16.8,8.4,880,18259,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1449,1914
$STATE,18439,end climb,SURFACE_DEPTH_REACHED
$STATE,18439,begin surface coast
$FINISH,0.3,1.026944
$STATE,18461,end surface coast,CONTROL_FINISHED_OK
$STATE,18461,begin surface
$SM_CCo,18485,47.05,0.750,0,0,1609,300.00
$SM_GC,0.71,0.00,0.00,47.05,0.000,0.000,0.750,397,2480,1609,-11.05,0.11,300.00
$IRIDIUM_FIX,6144.36,-951.16,090998,040440
$TT8_MAMPS,0.027612
$HUMID,1807
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.1,89.1
$24V_AH,23.3,25.850
$10V_AH,10.1,11.336
$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,25.325,184.100,334.900,47.050,0.000,27.998,28.055,150.422,5.750,0.000,0.000,13.724,1682.128,13888.452,499.465,2038.203,752.401,0.000,1583.771,0.000,2175.513,0.000,39.594,0.000
$DEVICE_MAMPS,132.691,65.195,1241.006,750.126,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,746.305,668.484,535.174,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44281,890
$CAP_FILE_SIZE,139680,0
$CFSIZE,260165632,254816256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,150609,141955,6205.842,-956.934,42,1.0,42,-9.9