version: 66.04
glider: 105
mission: 6
dive: 77
start: 6 20 109 22 37 58
data:
$ID,105
$MISSION,6
$DIVE,77
$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,-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,-1629396.1
$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,2350
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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
$GPS1,222824,6234.227,-1250.734,36,1.5,36,-11.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-59.6
$GPS2,223738,6234.235,-1250.748,13,1.6,13,-11.7
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,IW
$TGT_LATLONG,6245.000,-1320.000
$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,320.5,31825,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.17,-146.6,0.0,0.0,0,78,0.00,0.00,-58.92,0.000,6,0.000,0.000,388,2338,3431
$GC,81,-1.17,-146.6,4.9,-9.8,3,101,11.48,2.42,0.00,0.000,4,0.133,0.033,2536,937,3433
$GC,185,-1.17,-146.6,23.7,-10.0,7,191,0.00,2.45,0.00,0.000,6,0.000,0.033,2536,2349,3433
$GC,501,-1.17,-146.6,54.1,-11.0,23,505,0.00,2.47,0.00,0.000,4,0.000,0.036,2536,929,3434
$GC,533,-1.17,-146.6,57.9,-11.6,24,541,0.00,2.50,0.00,0.000,6,0.000,0.034,2536,2349,3434
$GC,849,-1.17,-146.6,89.8,-9.8,40,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2349,3434
$GC,1158,-1.17,-146.6,117.2,-8.3,55,1162,0.00,2.47,0.00,0.000,4,0.000,0.038,2536,935,3434
$GC,1198,-1.17,-146.6,120.6,-8.6,57,1203,0.00,2.47,0.00,0.000,6,0.000,0.034,2536,2341,3434
$GC,1534,-1.17,-146.6,151.3,-9.8,73,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2341,3434
$GC,1840,-1.17,-146.6,175.9,-7.9,88,1844,0.00,2.45,0.00,0.000,4,0.000,0.040,2536,941,3434
$GC,1873,-1.17,-146.6,178.7,-8.0,89,1879,0.00,2.45,0.00,0.000,6,0.000,0.035,2536,2350,3434
$GC,2189,-1.17,-146.6,205.8,-8.9,105,2194,0.00,2.50,0.00,0.000,4,0.000,0.040,2536,941,3434
$GC,2216,-1.17,-146.6,208.4,-9.6,106,2220,0.00,2.45,0.00,0.000,6,0.000,0.035,2536,2349,3434
$GC,2537,-1.17,-146.6,236.5,-8.7,122,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2349,3433
$GC,2846,-1.17,-146.6,263.0,-8.6,137,2850,0.00,2.47,0.00,0.000,4,0.000,0.041,2536,935,3433
$GC,2896,-1.17,-146.6,267.6,-8.6,139,2900,0.00,2.47,0.00,0.000,6,0.000,0.035,2536,2353,3433
$GC,3212,-1.17,-146.6,295.4,-8.8,154,3216,0.00,2.47,0.00,0.000,4,0.000,0.041,2536,939,3433
$GC,3240,-1.17,-146.6,298.0,-9.1,155,3244,0.00,2.45,0.00,0.000,6,0.000,0.035,2536,2351,3433
$GC,3556,-1.17,-146.6,325.8,-8.6,170,3561,0.00,2.47,0.00,0.000,4,0.000,0.041,2536,938,3433
$GC,3589,-1.17,-146.6,329.0,-8.6,171,3596,0.00,2.47,0.00,0.000,6,0.000,0.035,2536,2358,3433
$GC,3906,-1.17,-146.6,356.3,-8.6,187,3910,0.00,2.47,0.00,0.000,4,0.000,0.040,2536,942,3433
$GC,3945,-1.17,-146.6,359.8,-8.9,189,3949,0.00,2.45,0.00,0.000,6,0.000,0.036,2536,2352,3432
$GC,4273,-1.17,-146.6,387.5,-8.3,205,4278,0.00,2.47,0.00,0.000,4,0.000,0.041,2536,939,3433
$GC,4306,-1.17,-146.6,390.4,-8.3,206,4313,0.00,2.45,0.00,0.000,6,0.000,0.036,2536,2352,3432
$GC,4625,-1.17,-146.6,414.2,-7.4,222,4629,0.00,2.47,0.00,0.000,4,0.000,0.041,2536,938,3432
$GC,4651,-1.17,-146.6,416.6,-7.8,223,4657,0.00,2.47,0.00,0.000,6,0.000,0.035,2536,2345,3432
$GC,4972,-1.17,-146.6,440.9,-7.9,239,4977,0.00,2.45,0.00,0.000,4,0.000,0.041,2536,942,3432
$GC,5012,-1.17,-146.6,444.0,-8.0,241,5017,0.00,2.45,0.00,0.000,6,0.000,0.036,2536,2352,3432
$GC,5339,-1.17,-146.6,470.7,-8.6,257,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2352,3432
$GC,5648,-1.17,-146.6,498.9,-9.2,272,5653,0.00,2.47,0.00,0.000,4,0.000,0.041,2536,939,3432
$GC,5688,-1.17,-146.6,502.7,-9.7,274,5692,0.00,2.45,0.00,0.000,6,0.000,0.036,2536,2351,3432
$GC,6014,-1.17,-146.6,533.0,-9.7,290,6018,0.00,2.47,0.00,0.000,4,0.000,0.041,2536,939,3432
$GC,6041,-1.17,-146.6,535.6,-10.0,291,6045,0.00,2.45,0.00,0.000,6,0.000,0.036,2536,2351,3432
$GC,6358,-1.17,-146.6,565.9,-9.5,306,6362,0.00,2.47,0.00,0.000,4,0.000,0.041,2536,939,3431
$GC,6399,-1.17,-146.6,569.9,-9.8,308,6403,0.00,2.45,0.00,0.000,6,0.000,0.036,2536,2352,3432
$GC,6725,-1.17,-146.6,603.0,-9.6,324,6729,0.00,2.47,0.00,0.000,4,0.000,0.041,2536,938,3431
$GC,6746,-1.17,-146.6,605.1,-9.8,325,6751,0.00,2.47,0.00,0.000,6,0.000,0.036,2536,2346,3431
$GC,7073,-1.17,-146.6,635.0,-9.4,341,7077,0.00,2.50,0.00,0.000,4,0.000,0.041,2536,937,3431
$GC,7095,-1.17,-146.6,637.1,-9.1,342,7099,0.00,2.45,0.00,0.000,6,0.000,0.036,2536,2349,3431
$GC,7421,-1.17,-146.6,664.9,-8.4,358,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2349,3431
$GC,7731,-1.17,-146.6,689.7,-7.4,373,7732,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2349,3431
$GC,8042,-1.17,-146.6,714.5,-8.5,388,8046,0.00,2.47,0.00,0.000,4,0.000,0.041,2536,938,3431
$GC,8109,-1.17,-146.6,721.1,-10.1,391,8113,0.00,2.45,0.00,0.000,6,0.000,0.037,2536,2349,3431
$GC,8429,-1.17,-146.6,749.1,-9.0,407,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2349,3431
$GC,8740,-1.17,-146.6,775.7,-8.5,422,8741,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2350,3431
$GC,9048,-1.17,-146.6,801.7,-8.6,437,9049,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2349,3430
$GC,9358,-1.17,-146.6,824.9,-6.8,452,9362,0.00,2.47,0.00,0.000,4,0.000,0.043,2536,942,3430
$GC,9426,-1.17,-146.6,829.8,-7.3,455,9430,0.00,2.45,0.00,0.000,6,0.000,0.038,2536,2354,3430
$GC,9753,-1.17,-146.6,852.4,-6.5,471,9757,0.00,2.50,0.00,0.000,4,0.000,0.044,2536,936,3430
$GC,9797,-1.17,-146.6,855.2,-6.0,473,9801,0.00,2.47,0.00,0.000,6,0.000,0.039,2536,2350,3430
$GC,10119,-1.17,-146.6,874.5,-6.2,489,10123,0.00,2.55,0.00,0.000,4,0.000,0.062,2536,3752,3429
$GC,10209,-1.17,-146.6,881.1,-6.8,493,10214,0.00,2.42,0.00,0.000,6,0.000,0.033,2536,2345,3429
$GC,10531,-1.17,-146.6,906.8,-8.0,509,10535,0.00,2.47,0.00,0.000,4,0.000,0.046,2536,938,3429
$GC,10574,-1.17,-146.6,910.4,-7.8,511,10579,0.00,2.50,0.00,0.000,6,0.000,0.041,2536,2341,3428
$GC,10901,-1.17,-146.6,932.7,-7.9,527,10905,0.00,2.47,0.00,0.000,4,0.000,0.048,2536,948,3428
$GC,10934,-1.17,-146.6,934.4,-4.7,528,10940,0.00,2.47,0.00,0.000,6,0.000,0.042,2536,2351,3428
$STATE,11040,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11040,begin apogee
$GC,11048,-0.36,0.0,942.2,7.3,534,11184,0.88,0.00,131.12,1.370,6,0.066,0.000,2724,1456,2832
$STATE,11185,end apogee,CONTROL_FINISHED_OK
$STATE,11185,begin climb
$GC,11188,1.17,146.6,945.7,0.0,541,11325,1.50,0.00,132.18,1.333,6,0.046,0.000,3059,1455,2234
$GC,11623,1.20,166.8,921.2,6.8,562,11649,0.00,2.62,18.25,1.239,4,0.000,0.051,3059,2854,2151
$GC,11689,1.22,186.6,916.8,6.8,565,11714,0.00,2.50,19.52,1.241,6,0.000,0.043,3059,1456,2071
$GC,12042,1.22,186.6,885.6,8.4,582,12045,0.00,2.20,0.00,0.000,4,0.000,0.064,3058,261,2066
$GC,12114,1.24,196.5,879.9,7.2,585,12131,0.00,2.10,9.75,1.147,6,0.000,0.036,3059,1465,2030
$GC,12443,1.36,297.0,866.4,4.1,601,12541,0.17,0.00,94.18,1.322,6,0.032,0.000,3128,1465,1621
$GC,12836,1.36,297.0,821.0,14.3,620,12840,0.17,2.22,0.00,0.000,4,0.084,0.059,3093,257,1610
$GC,13010,1.36,297.0,797.9,11.0,628,13013,0.00,2.08,0.00,0.000,6,0.000,0.034,3094,1458,1609
$GC,13342,1.36,297.0,770.4,8.9,644,13343,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1458,1607
$GC,13654,1.36,297.0,729.2,14.3,659,13657,0.00,2.17,0.00,0.000,4,0.000,0.055,3093,261,1607
$GC,13744,1.36,297.0,715.1,15.3,663,13748,0.00,2.03,0.00,0.000,6,0.000,0.033,3094,1457,1606
$GC,14076,1.36,297.0,670.8,10.5,679,14077,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1457,1606
$GC,14388,1.36,297.0,635.8,12.2,694,14389,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1457,1606
$GC,14695,1.36,297.0,592.6,14.0,709,14698,0.00,2.17,0.00,0.000,4,0.000,0.054,3093,257,1606
$GC,14744,1.36,297.0,585.5,13.9,711,14748,0.00,2.03,0.00,0.000,6,0.000,0.031,3094,1462,1606
$GC,15072,1.36,297.0,543.9,12.6,727,15073,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1464,1606
$GC,15380,1.36,297.0,507.2,11.7,742,15384,0.00,2.17,0.00,0.000,4,0.000,0.054,3093,261,1606
$GC,15436,1.36,297.0,500.0,12.7,744,15440,0.00,2.03,0.00,0.000,6,0.000,0.031,3093,1458,1606
$GC,15760,1.36,297.0,461.9,12.2,760,15761,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1458,1605
$GC,16066,1.36,297.0,426.5,11.2,775,16070,0.00,2.15,0.00,0.000,4,0.000,0.054,3094,261,1606
$GC,16115,1.36,297.0,420.6,11.8,777,16119,0.00,2.00,0.00,0.000,6,0.000,0.031,3093,1456,1606
$GC,16443,1.36,297.0,386.3,9.8,793,16444,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1456,1606
$GC,16751,1.36,297.0,355.4,9.7,808,16755,0.00,2.15,0.00,0.000,4,0.000,0.054,3093,261,1605
$GC,16790,1.36,297.0,351.3,11.4,809,16796,0.00,2.00,0.00,0.000,6,0.000,0.031,3094,1457,1607
$GC,17106,1.36,297.0,320.0,10.5,825,17107,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1457,1606
$GC,17415,1.36,297.0,284.0,12.0,840,17418,0.00,2.15,0.00,0.000,4,0.000,0.054,3094,260,1606
$GC,17476,1.36,297.0,275.9,13.2,842,17482,0.00,2.03,0.00,0.000,6,0.000,0.031,3093,1456,1607
$GC,17791,1.36,297.0,236.8,12.7,858,17793,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1456,1606
$GC,18100,1.36,297.0,198.9,11.8,873,18105,0.00,2.17,0.00,0.000,4,0.000,0.054,3093,264,1607
$GC,18139,1.36,297.0,194.0,12.2,874,18145,0.00,2.00,0.00,0.000,6,0.000,0.031,3093,1442,1607
$GC,18454,1.36,297.0,160.0,10.9,890,18455,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1444,1607
$GC,18764,1.36,297.0,127.1,10.4,905,18769,0.00,2.50,0.00,0.000,4,0.000,0.044,3093,2843,1607
$GC,18791,1.36,297.0,124.2,10.9,906,18796,0.00,2.42,0.00,0.000,6,0.000,0.035,3093,1453,1606
$GC,19118,1.36,297.0,89.9,10.2,922,19122,0.00,2.12,0.00,0.000,4,0.000,0.054,3093,264,1607
$GC,19165,1.36,297.0,85.0,10.9,924,19169,0.00,2.00,0.00,0.000,6,0.000,0.031,3093,1460,1607
$GC,19499,1.36,297.0,50.2,10.6,940,19500,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1460,1606
$GC,19807,1.36,297.0,16.9,9.9,955,19811,0.00,2.15,0.00,0.000,4,0.000,0.051,3094,259,1607
$STATE,19933,end climb,SURFACE_DEPTH_REACHED
$STATE,19933,begin surface coast
$FINISH,0.5,1.027000
$STATE,19959,end surface coast,CONTROL_FINISHED_OK
$STATE,19959,begin surface
$SM_CCo,20045,0.00,0.000,0,0,1603,301.47
$SM_GC,0.97,11.68,0.00,0.00,0.025,0.000,0.000,396,2341,1603,-10.98,-0.28,301.47
$IRIDIUM_FIX,6211.90,-1247.43,140998,222206
$TT8_MAMPS,0.026845
$HUMID,1832
$INTERNAL_PRESSURE,8.10902
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,900.2,50.9
$24V_AH,23.2,29.283
$10V_AH,10.1,13.524
$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,25.875,173.000,405.000,0.000,0.000,56.930,67.340,238.337,8.500,0.000,0.000,13.816,1764.323,15328.248,505.525,2038.641,956.827,0.000,1606.207,0.000,2189.729,0.000,61.661,0.000
$DEVICE_MAMPS,133.458,64.428,1369.862,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,795.782,730.585,530.588,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47383,961
$CAP_FILE_SIZE,146331,0
$CFSIZE,260165632,253239296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,210609,041306,6235.026,-1300.847,26,1.5,26,-11.8