version: 66.04
glider: 105
mission: 6
dive: 92
start: 6 25 109 3 38 16
data:
$ID,105
$MISSION,6
$DIVE,92
$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,-1629684.8
$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,26
$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
$GPS1,033124,6343.183,-1326.476,37,2.0,38,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-63.2
$GPS2,033758,6343.158,-1326.739,15,2.6,34,-12.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,LW
$TGT_LATLONG,6345.000,-1322.000
$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,61.3,5168,-17.5,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.33,-66.8,0.0,0.0,0,68,0.00,0.00,-50.72,0.000,6,0.000,0.000,381,2251,3107
$GC,72,-1.36,-85.9,2.2,-4.9,2,87,11.23,0.00,-1.62,0.000,6,0.129,0.000,2499,2251,3183
$GC,389,-1.36,-85.9,35.9,-9.1,18,394,0.00,2.53,0.00,0.000,4,0.000,0.054,2499,3648,3185
$GC,730,-1.36,-85.9,70.3,-9.4,33,735,0.00,2.40,0.00,0.000,6,0.000,0.027,2499,2232,3185
$GC,1046,-1.36,-85.9,97.9,-8.8,48,1050,0.00,2.55,0.00,0.000,4,0.000,0.051,2499,3647,3185
$GC,1153,-1.36,-85.9,107.8,-8.8,53,1157,0.00,2.38,0.00,0.000,6,0.000,0.027,2499,2243,3185
$GC,1479,-1.36,-85.9,136.3,-9.4,69,1484,0.00,2.55,0.00,0.000,4,0.000,0.054,2499,3651,3185
$GC,1557,-1.36,-85.9,144.6,-10.8,72,1563,0.00,2.40,0.00,0.000,6,0.000,0.028,2499,2251,3185
$GC,1876,-1.36,-85.9,176.3,-10.3,88,1880,0.00,2.53,0.00,0.000,4,0.000,0.054,2499,3647,3185
$GC,1956,-1.36,-85.9,185.0,-10.2,91,1962,0.00,2.38,0.00,0.000,6,0.000,0.028,2499,2243,3185
$GC,2271,-1.36,-85.9,214.1,-8.6,107,2275,0.00,2.55,0.00,0.000,4,0.000,0.054,2499,3650,3185
$GC,2348,-1.36,-85.9,221.0,-8.6,110,2355,0.00,2.38,0.00,0.000,6,0.000,0.028,2499,2246,3185
$GC,2667,-1.36,-85.9,246.1,-7.8,126,2671,0.00,2.55,0.00,0.000,4,0.000,0.056,2499,3651,3185
$GC,2756,-1.36,-85.9,253.8,-8.4,130,2760,0.00,2.38,0.00,0.000,6,0.000,0.028,2499,2252,3185
$GC,3078,-1.36,-85.9,279.9,-8.5,146,3082,0.00,2.53,0.00,0.000,4,0.000,0.054,2499,3648,3185
$GC,3185,-1.36,-85.9,289.6,-9.0,151,3189,0.00,2.38,0.00,0.000,6,0.000,0.028,2499,2245,3185
$GC,3511,-1.36,-85.9,315.8,-7.6,167,3515,0.00,2.55,0.00,0.000,4,0.000,0.055,2499,3650,3185
$GC,3650,-1.36,-85.9,328.5,-8.7,173,3654,0.00,2.38,0.00,0.000,6,0.000,0.028,2499,2251,3185
$GC,3968,-1.36,-85.9,354.7,-8.6,188,3972,0.00,2.53,0.00,0.000,4,0.000,0.053,2499,3650,3185
$GC,4080,-1.36,-85.9,365.4,-9.3,193,4084,0.00,2.38,0.00,0.000,6,0.000,0.028,2499,2250,3185
$GC,4400,-1.36,-85.9,394.8,-9.6,209,4405,0.00,2.53,0.00,0.000,4,0.000,0.053,2499,3651,3185
$GC,4485,-1.36,-85.9,403.4,-9.9,213,4489,0.00,2.40,0.00,0.000,6,0.000,0.028,2499,2237,3185
$GC,4811,-1.36,-85.9,435.2,-9.8,229,4815,0.00,2.55,0.00,0.000,4,0.000,0.054,2499,3650,3185
$GC,4905,-1.36,-85.9,444.9,-10.7,233,4910,0.00,2.38,0.00,0.000,6,0.000,0.028,2499,2252,3185
$GC,5222,-1.36,-85.9,475.0,-9.5,248,5227,0.00,2.50,0.00,0.000,4,0.000,0.053,2499,3647,3184
$GC,5323,-1.36,-85.9,485.6,-10.8,252,5329,0.00,2.38,0.00,0.000,6,0.000,0.028,2499,2248,3184
$GC,5639,-1.36,-85.9,516.6,-10.0,268,5643,0.00,2.53,0.00,0.000,4,0.000,0.054,2499,3648,3184
$GC,5778,-1.36,-85.9,531.6,-10.2,274,5782,0.00,2.38,0.00,0.000,6,0.000,0.028,2499,2248,3184
$GC,6094,-1.36,-85.9,559.4,-8.1,289,6099,0.00,2.55,0.00,0.000,4,0.000,0.054,2499,3644,3184
$GC,6171,-1.36,-85.9,566.0,-8.8,292,6175,0.00,2.38,0.00,0.000,6,0.000,0.028,2499,2240,3184
$GC,6487,-1.36,-85.9,591.0,-8.6,307,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2240,3184
$GC,6796,-1.36,-85.9,619.5,-8.7,322,6800,0.00,2.55,0.00,0.000,4,0.000,0.054,2499,3652,3184
$GC,6976,-1.36,-85.9,636.2,-8.4,330,6980,0.00,2.38,0.00,0.000,6,0.000,0.029,2499,2253,3184
$GC,7297,-1.38,-104.6,656.1,-4.9,346,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2254,3184
$GC,7606,-1.38,-104.6,672.7,-6.4,361,7610,0.00,2.53,0.00,0.000,4,0.000,0.054,2499,3654,3183
$GC,7803,-1.38,-104.6,688.1,-8.4,370,7807,0.00,2.40,0.00,0.000,6,0.000,0.029,2499,2241,3184
$GC,8130,-1.38,-104.6,710.0,-6.7,386,8134,0.00,2.55,0.00,0.000,4,0.000,0.054,2499,3653,3183
$GC,8230,-1.38,-104.6,717.0,-6.6,390,8237,0.00,2.42,0.00,0.000,6,0.000,0.030,2499,2251,3183
$GC,8546,-1.38,-104.6,738.3,-7.4,406,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2251,3183
$GC,8855,-1.38,-104.6,767.1,-9.7,421,8860,0.00,2.55,0.00,0.000,4,0.000,0.056,2499,3642,3183
$GC,8967,-1.38,-104.6,780.2,-12.1,426,8972,0.00,2.38,0.00,0.000,6,0.000,0.031,2499,2251,3183
$GC,9294,-1.38,-104.6,817.5,-10.2,442,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2251,3183
$GC,9603,-1.38,-104.6,848.7,-10.5,457,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2251,3182
$GC,9913,-1.38,-104.6,880.1,-9.8,472,9918,0.00,2.55,0.00,0.000,4,0.000,0.058,2499,3651,3182
$GC,10127,-1.38,-104.6,901.2,-9.0,481,10133,0.00,2.42,0.00,0.000,6,0.000,0.033,2499,2240,3181
$GC,10442,-1.38,-104.6,925.0,-6.6,497,10446,0.00,2.58,0.00,0.000,4,0.000,0.059,2499,3650,3181
$GC,10559,-1.38,-104.6,933.5,-6.3,502,10563,0.00,2.42,0.00,0.000,6,0.000,0.034,2499,2242,3181
$GC,10874,-1.38,-104.6,952.9,-6.1,517,10878,0.00,2.55,0.00,0.000,4,0.000,0.060,2499,3645,3180
$GC,11126,-1.38,-104.6,973.6,-8.1,528,11131,0.00,2.42,0.00,0.000,6,0.000,0.035,2499,2258,3179
$STATE,11176,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11176,begin apogee
$GC,11184,-0.36,0.0,977.6,7.7,531,11265,1.05,0.00,77.32,1.406,6,0.073,0.000,2720,1458,2832
$STATE,11266,end apogee,CONTROL_FINISHED_OK
$STATE,11266,begin climb
$GC,11269,1.38,104.6,980.3,0.0,535,11372,1.73,0.00,96.20,1.371,6,0.050,0.000,3101,1457,2404
$GC,11685,1.38,104.6,954.0,8.5,555,11689,0.00,2.53,0.00,0.000,4,0.000,0.050,3101,2857,2397
$GC,11769,1.38,104.6,946.2,8.6,559,11773,0.00,2.50,0.00,0.000,6,0.000,0.041,3101,1452,2396
$GC,12095,1.38,104.6,920.4,8.2,575,12096,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1452,2394
$GC,12406,1.38,104.6,899.4,6.8,590,12411,0.00,2.53,0.00,0.000,4,0.000,0.048,3101,2859,2394
$GC,12451,1.38,104.6,896.3,6.5,592,12455,0.00,2.50,0.00,0.000,6,0.000,0.041,3101,1454,2394
$GC,12775,1.38,105.0,876.8,6.0,608,12779,0.00,2.50,0.00,0.000,4,0.000,0.048,3100,2853,2393
$GC,12824,1.38,105.0,873.1,7.2,610,12829,0.00,2.47,0.00,0.000,6,0.000,0.041,3100,1455,2392
$GC,13140,1.38,105.0,849.6,8.4,625,13144,0.00,2.50,0.00,0.000,4,0.000,0.049,3101,2853,2392
$GC,13257,1.38,105.0,837.6,9.2,630,13261,0.00,2.45,0.00,0.000,6,0.000,0.040,3100,1454,2391
$GC,13572,1.38,105.0,811.6,7.8,645,13576,0.00,2.17,0.00,0.000,4,0.000,0.060,3101,258,2392
$GC,13875,1.42,139.9,790.4,3.9,658,13910,0.00,2.08,30.98,1.277,6,0.000,0.034,3101,1460,2261
$GC,14240,1.42,139.9,770.1,6.8,676,14241,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1460,2256
$GC,14547,1.42,139.9,741.9,10.0,691,14552,0.00,2.20,0.00,0.000,4,0.000,0.055,3101,261,2256
$GC,14664,1.42,139.9,728.6,11.4,696,14668,0.00,2.03,0.00,0.000,6,0.000,0.034,3101,1457,2256
$GC,14994,1.42,139.9,693.2,10.3,712,14995,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1457,2255
$GC,15300,1.42,139.9,665.8,8.6,727,15301,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1457,2255
$GC,15610,1.42,139.9,638.1,9.1,742,15613,0.00,2.15,0.00,0.000,4,0.000,0.054,3101,261,2255
$GC,15680,1.42,139.9,631.4,9.6,745,15684,0.00,2.03,0.00,0.000,6,0.000,0.033,3101,1458,2255
$GC,16015,1.42,139.9,600.7,8.5,761,16016,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1458,2255
$GC,16323,1.42,139.9,575.8,7.9,776,16324,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1458,2256
$GC,16631,1.42,139.9,552.1,7.8,791,16633,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1458,2256
$GC,16940,1.42,139.9,527.3,7.7,806,16944,0.00,2.45,0.00,0.000,4,0.000,0.045,3101,2848,2256
$GC,17008,1.42,139.9,522.1,8.2,809,17013,0.00,2.42,0.00,0.000,6,0.000,0.036,3101,1446,2256
$GC,17329,1.42,139.9,496.4,8.2,825,17330,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1446,2256
$GC,17638,1.42,139.9,472.3,7.8,840,17640,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1446,2256
$GC,17950,1.42,139.9,448.2,7.9,855,17954,0.00,2.50,0.00,0.000,4,0.000,0.044,3101,2857,2256
$GC,18005,1.42,139.9,443.5,7.9,857,18011,0.00,2.45,0.00,0.000,6,0.000,0.036,3101,1446,2257
$GC,18323,1.42,139.9,418.7,7.8,873,18324,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1446,2256
$GC,18630,1.42,139.9,396.6,7.1,888,18631,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1446,2257
$GC,18939,1.42,139.9,372.7,8.0,903,18943,0.00,2.47,0.00,0.000,4,0.000,0.043,3101,2849,2257
$GC,18983,1.42,139.9,369.1,7.3,905,18987,0.00,2.42,0.00,0.000,6,0.000,0.036,3101,1455,2257
$GC,19304,1.42,139.9,343.2,7.7,921,19305,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1455,2258
$GC,19613,1.42,139.9,316.4,9.1,936,19614,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1455,2258
$GC,19922,1.42,139.9,283.1,11.5,951,19923,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1455,2258
$GC,20232,1.42,139.9,245.9,12.3,966,20233,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1455,2257
$GC,20544,1.42,139.9,207.8,12.3,981,20548,0.00,2.47,0.00,0.000,4,0.000,0.044,3101,2857,2258
$GC,20588,1.42,139.9,201.8,12.4,983,20592,0.00,2.42,0.00,0.000,6,0.000,0.035,3101,1454,2258
$GC,20909,1.42,139.9,164.7,11.0,999,20910,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1454,2257
$GC,21220,1.42,139.9,133.8,9.1,1014,21221,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1454,2258
$GC,21528,1.42,139.9,108.7,7.8,1029,21532,0.00,2.45,0.00,0.000,4,0.000,0.041,3101,2854,2258
$GC,21614,1.42,139.9,102.6,7.0,1033,21618,0.00,2.42,0.00,0.000,6,0.000,0.035,3101,1453,2258
$GC,21941,1.45,158.7,83.8,4.9,1049,21961,0.00,0.00,17.20,0.793,6,0.000,0.000,3101,1453,2184
$GC,22271,1.45,158.7,63.0,8.3,1065,22275,0.00,2.12,0.00,0.000,4,0.000,0.054,3101,264,2182
$GC,22343,1.45,158.7,55.1,11.8,1068,22347,0.00,2.00,0.00,0.000,6,0.000,0.031,3101,1460,2181
$GC,22672,1.45,158.7,25.3,8.2,1084,22676,0.00,2.42,0.00,0.000,4,0.000,0.041,3101,2851,2181
$GC,22823,1.45,158.7,12.8,7.0,1091,22828,0.00,2.42,0.00,0.000,6,0.000,0.034,3100,1448,2181
$STATE,22962,end climb,SURFACE_DEPTH_REACHED
$STATE,22962,begin surface coast
$FINISH,0.3,1.016143
$STATE,22984,end surface coast,CONTROL_FINISHED_OK
$STATE,22984,begin surface
$SM_CCo,23008,86.40,0.754,0,0,1608,300.00
$SM_GC,0.92,0.00,0.00,86.40,0.000,0.000,0.754,388,2250,1608,-11.10,-0.03,300.00
$IRIDIUM_FIX,6308.26,-1330.50,180998,191918
$TT8_MAMPS,0.027612
$HUMID,1786
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,900.2,86.9
$24V_AH,23.2,31.573
$10V_AH,10.1,15.150
$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,25.675,172.450,221.700,86.400,0.000,29.259,26.251,180.529,8.000,0.000,0.000,35.879,2073.209,17393.391,466.273,2654.661,890.726,0.000,1755.549,0.000,2810.361,0.000,54.134,0.000
$DEVICE_MAMPS,128.856,59.826,1405.911,753.961,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,886.923,849.115,623.223,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56858,1099
$CAP_FILE_SIZE,161931,0
$CFSIZE,260165632,252088320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,250609,100431,6344.355,-1325.222,40,1.6,40,-12.6