version: 66.04
glider: 105
mission: 6
dive: 153
start: 7 13 109 17 16 10
data:
$ID,105
$MISSION,6
$DIVE,153
$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,-1630728.2
$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,46
$R_STBD_OVSHOOT,38
$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
$GPS1,170937,6217.190,-1145.883,31,1.1,31,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-56.2
$GPS2,171550,6217.198,-1145.944,12,1.9,12,-11.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,EE
$TGT_LATLONG,6217.000,-1145.000
$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,125.3,892,-27.3,-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,15,-1.99,-28.8,0.0,0.0,0,62,0.00,0.00,-45.20,0.000,6,0.000,0.000,394,2221,2950
$GC,66,-1.99,-32.7,2.3,-5.5,2,82,10.40,2.40,-0.35,0.000,4,0.129,0.051,2358,849,2967
$GC,255,-1.99,-32.7,31.8,-14.7,9,261,0.00,2.42,0.00,0.000,6,0.000,0.033,2358,2246,2968
$GC,572,-1.99,-32.7,64.5,-9.5,25,577,0.00,2.53,0.00,0.000,4,0.000,0.049,2358,3657,2969
$GC,667,-1.99,-32.7,74.8,-10.6,29,672,0.00,2.42,0.00,0.000,6,0.000,0.030,2358,2253,2969
$GC,988,-1.99,-32.7,106.8,-9.8,45,992,0.00,2.53,0.00,0.000,4,0.000,0.048,2358,3661,2970
$GC,1179,-1.99,-32.7,127.1,-10.6,53,1186,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2252,2970
$GC,1495,-1.99,-32.7,160.5,-10.5,69,1499,0.00,2.53,0.00,0.000,4,0.000,0.048,2358,3659,2970
$GC,1640,-1.99,-32.7,177.2,-11.7,75,1647,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2247,2970
$GC,1956,-1.99,-32.7,210.9,-10.5,91,1960,0.00,2.53,0.00,0.000,4,0.000,0.050,2358,3651,2970
$GC,2175,-1.99,-32.7,236.3,-11.4,101,2179,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2248,2969
$GC,2501,-1.99,-32.7,272.0,-10.7,117,2506,0.00,2.53,0.00,0.000,4,0.000,0.051,2358,3652,2969
$GC,2636,-1.99,-32.7,287.7,-11.3,123,2640,0.00,2.40,0.00,0.000,6,0.000,0.031,2357,2249,2969
$GC,2957,-1.99,-32.7,321.2,-10.2,139,2962,0.00,2.53,0.00,0.000,4,0.000,0.050,2358,3658,2969
$GC,3115,-1.99,-32.7,338.0,-10.5,146,3120,0.00,2.42,0.00,0.000,6,0.000,0.031,2358,2253,2969
$GC,3442,-1.99,-32.7,370.0,-9.7,162,3446,0.00,2.50,0.00,0.000,4,0.000,0.050,2358,3651,2968
$GC,3601,-1.99,-32.7,386.2,-9.9,169,3606,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2246,2968
$GC,3922,-1.99,-32.7,417.5,-9.7,185,3927,0.00,2.53,0.00,0.000,4,0.000,0.051,2358,3651,2968
$GC,4099,-1.99,-32.7,435.6,-10.6,193,4103,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2242,2968
$GC,4425,-1.99,-32.7,467.7,-9.8,209,4429,0.00,2.53,0.00,0.000,4,0.000,0.051,2358,3651,2968
$GC,4542,-1.99,-32.7,479.9,-10.6,214,4546,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2240,2968
$GC,4858,-1.99,-32.7,510.9,-10.0,229,4862,0.00,2.55,0.00,0.000,4,0.000,0.051,2358,3643,2967
$GC,5015,-1.99,-32.7,527.4,-10.6,236,5020,0.00,2.38,0.00,0.000,6,0.000,0.031,2358,2250,2967
$GC,5342,-1.99,-32.7,559.9,-10.1,252,5346,0.00,2.50,0.00,0.000,4,0.000,0.051,2358,3651,2967
$GC,5599,-1.99,-32.7,587.2,-10.5,263,5606,0.00,2.42,0.00,0.000,6,0.000,0.032,2358,2227,2967
$GC,5915,-1.99,-32.7,616.7,-9.2,279,5919,0.00,2.55,0.00,0.000,4,0.000,0.050,2358,3651,2966
$GC,6078,-1.99,-32.7,632.7,-10.0,286,6083,0.00,2.40,0.00,0.000,6,0.000,0.032,2358,2249,2966
$GC,6397,-1.99,-32.7,661.8,-8.8,301,6401,0.00,2.53,0.00,0.000,4,0.000,0.051,2358,3657,2966
$GC,6504,-1.99,-32.7,672.1,-9.2,306,6509,0.00,2.42,0.00,0.000,6,0.000,0.033,2358,2238,2966
$GC,6831,-1.99,-32.7,698.1,-7.9,322,6835,0.00,2.55,0.00,0.000,4,0.000,0.053,2358,3651,2966
$GC,6938,-1.99,-32.7,707.3,-9.0,327,6943,0.00,2.42,0.00,0.000,6,0.000,0.034,2358,2254,2966
$GC,7270,-1.99,-32.7,739.5,-10.3,343,7274,0.00,2.50,0.00,0.000,4,0.000,0.051,2358,3651,2965
$GC,7448,-1.99,-32.7,759.1,-10.5,351,7452,0.00,2.40,0.00,0.000,6,0.000,0.034,2358,2251,2965
$GC,7769,-1.99,-32.7,788.9,-8.8,367,7773,0.00,2.50,0.00,0.000,4,0.000,0.052,2358,3651,2965
$GC,8111,-1.99,-32.7,817.1,-7.3,382,8115,0.00,2.40,0.00,0.000,6,0.000,0.034,2358,2252,2964
$GC,8427,-1.99,-32.7,839.7,-7.7,397,8431,0.00,2.53,0.00,0.000,4,0.000,0.052,2358,3660,2964
$GC,8677,-1.99,-32.7,861.7,-8.4,408,8682,0.00,2.42,0.00,0.000,6,0.000,0.035,2358,2251,2964
$GC,8994,-1.99,-32.7,886.5,-7.7,423,8998,0.00,2.53,0.00,0.000,4,0.000,0.053,2358,3653,2964
$GC,9337,-1.99,-32.7,914.7,-7.6,438,9341,0.00,2.42,0.00,0.000,6,0.000,0.035,2358,2246,2963
$GC,9652,-1.99,-32.7,935.8,-7.0,453,9657,0.00,2.47,0.00,0.000,4,0.000,0.048,2358,848,2963
$GC,9994,-1.99,-32.7,960.8,-8.2,468,9999,0.00,2.45,0.00,0.000,6,0.000,0.039,2358,2247,2963
$STATE,10080,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10080,begin apogee
$GC,10088,-0.36,0.0,967.6,7.6,472,10123,1.75,0.00,30.20,1.368,6,0.083,0.000,2721,1468,2832
$STATE,10124,end apogee,CONTROL_FINISHED_OK
$STATE,10124,begin climb
$GC,10127,1.99,32.7,969.5,0.0,474,10170,2.33,2.58,30.90,1.343,4,0.046,0.049,3235,2854,2698
$GC,10510,1.99,32.7,950.8,7.0,491,10515,0.00,2.53,0.00,0.000,6,0.000,0.044,3235,1461,2696
$GC,10842,2.01,44.8,935.4,4.3,507,10863,0.00,2.30,11.88,1.256,4,0.000,0.065,3235,262,2649
$GC,11184,2.03,62.4,917.8,3.6,522,11206,0.00,2.08,17.27,1.315,6,0.000,0.038,3235,1463,2577
$GC,11527,2.03,62.4,898.8,6.4,539,11531,0.00,2.50,0.00,0.000,4,0.000,0.051,3235,2854,2575
$GC,11800,2.03,62.4,879.6,7.8,551,11805,0.00,2.50,0.00,0.000,6,0.000,0.042,3235,1446,2574
$GC,12116,2.03,62.4,856.5,6.8,566,12117,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1447,2573
$GC,12426,2.03,62.4,835.6,6.9,581,12427,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1447,2572
$GC,12737,2.03,62.4,814.4,6.6,596,12742,0.00,2.50,0.00,0.000,4,0.000,0.046,3234,2855,2572
$GC,13079,2.03,66.0,792.9,5.5,611,13090,0.00,2.47,3.95,0.818,6,0.000,0.040,3235,1449,2562
$GC,13402,2.03,68.9,774.6,5.6,627,13408,0.00,0.00,4.38,0.870,6,0.000,0.000,3235,1449,2551
$GC,13712,2.03,68.9,754.9,6.7,642,13713,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1449,2551
$GC,14018,2.03,68.9,734.8,6.6,657,14022,0.00,2.12,0.00,0.000,4,0.000,0.059,3235,264,2551
$GC,14068,2.03,68.9,731.2,7.9,659,14072,0.00,2.03,0.00,0.000,6,0.000,0.035,3235,1457,2551
$GC,14398,2.03,68.9,709.3,6.5,675,14401,0.00,2.15,0.00,0.000,4,0.000,0.056,3235,262,2552
$GC,14555,2.03,68.9,697.9,6.7,682,14558,0.00,2.03,0.00,0.000,6,0.000,0.035,3235,1458,2551
$GC,14887,2.03,68.9,675.6,6.8,698,14892,0.00,2.45,0.00,0.000,4,0.000,0.046,3235,2853,2551
$GC,15072,2.03,68.9,662.5,6.2,706,15076,0.00,2.45,0.00,0.000,6,0.000,0.039,3235,1452,2551
$GC,15388,2.03,68.9,640.1,7.1,721,15389,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1452,2552
$GC,15697,2.03,68.9,618.1,7.0,736,15698,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1452,2552
$GC,16009,2.03,68.9,597.5,6.7,751,16010,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1452,2552
$GC,16317,2.03,68.9,577.3,6.4,766,16318,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1452,2553
$GC,16625,2.03,68.9,556.3,7.1,781,16630,0.00,2.47,0.00,0.000,4,0.000,0.045,3235,2856,2553
$GC,16737,2.03,68.9,548.3,6.9,786,16742,0.00,2.47,0.00,0.000,6,0.000,0.038,3235,1455,2553
$GC,17063,2.03,68.9,524.7,7.5,802,17067,0.00,2.12,0.00,0.000,4,0.000,0.058,3235,264,2553
$GC,17199,2.03,68.9,514.1,8.2,808,17203,0.00,2.03,0.00,0.000,6,0.000,0.033,3235,1467,2553
$GC,17533,2.03,68.9,490.7,6.9,824,17535,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1470,2554
$GC,17840,2.03,68.9,469.2,6.9,839,17842,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1470,2554
$GC,18149,2.03,68.9,448.2,6.6,854,18153,0.00,2.15,0.00,0.000,4,0.000,0.056,3235,265,2554
$GC,18250,2.03,68.9,441.1,7.4,858,18254,0.00,2.03,0.00,0.000,6,0.000,0.033,3235,1458,2555
$GC,18572,2.03,68.9,421.0,6.2,874,18573,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2555
$GC,18880,2.04,69.6,402.5,5.9,889,18882,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2555
$GC,19190,2.04,69.6,382.9,6.3,904,19191,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2555
$GC,19499,2.04,69.6,362.7,6.7,919,19503,0.00,2.45,0.00,0.000,4,0.000,0.044,3235,2853,2555
$GC,19599,2.04,69.6,355.9,6.1,923,19606,0.00,2.47,0.00,0.000,6,0.000,0.038,3235,1428,2555
$GC,19914,2.04,69.6,334.3,6.8,939,19916,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1427,2556
$GC,20224,2.04,69.6,313.0,6.7,954,20225,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1427,2556
$GC,20533,2.04,69.6,291.4,7.0,969,20534,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1428,2556
$GC,20842,2.04,69.6,270.7,6.8,984,20847,0.00,2.55,0.00,0.000,4,0.000,0.044,3235,2856,2556
$GC,20948,2.04,73.5,263.9,5.5,988,20960,0.00,2.42,6.75,0.788,6,0.000,0.038,3235,1454,2532
$GC,21281,2.04,73.5,241.1,6.7,1005,21282,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1454,2532
$GC,21591,2.04,73.5,221.1,6.5,1020,21592,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1454,2532
$GC,21900,2.04,74.0,202.1,5.9,1035,21901,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1454,2532
$GC,22209,2.04,76.6,183.6,5.6,1050,22216,0.00,0.00,4.80,0.657,6,0.000,0.000,3235,1453,2518
$GC,22521,2.04,76.6,164.4,6.1,1065,22522,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1454,2519
$GC,22828,2.04,76.6,145.3,6.2,1080,22829,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1454,2519
$GC,23139,2.04,76.6,126.1,6.4,1095,23142,0.00,2.12,0.00,0.000,4,0.000,0.055,3235,260,2519
$GC,23391,2.04,76.6,108.0,7.5,1106,23395,0.00,2.03,0.00,0.000,6,0.000,0.032,3235,1457,2519
$GC,23718,2.04,76.6,86.3,6.5,1122,23720,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2519
$GC,24029,2.04,76.6,66.4,6.7,1137,24030,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2519
$GC,24337,2.04,76.6,47.0,6.1,1152,24338,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2519
$GC,24646,2.07,97.2,33.8,3.1,1167,24669,0.00,2.20,18.12,0.775,4,0.000,0.053,3235,265,2435
$GC,25008,2.07,97.2,11.4,7.0,1183,25012,0.00,2.03,0.00,0.000,6,0.000,0.032,3235,1457,2434
$STATE,25216,end climb,SURFACE_DEPTH_REACHED
$STATE,25216,begin surface coast
$FINISH,1.0,1.026785
$STATE,25257,end surface coast,CONTROL_FINISHED_OK
$STATE,25257,begin surface
$SM_CCo,25283,138.55,0.757,0,0,1609,300.00
$SM_GC,1.00,0.00,0.00,138.55,0.000,0.000,0.757,393,2240,1609,-11.07,-0.28,300.00
$IRIDIUM_FIX,6148.92,-1146.66,071098,101051
$TT8_MAMPS,0.026845
$HUMID,1816
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,925.7,51.7
$24V_AH,23.2,40.998
$10V_AH,10.1,22.371
$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,27.350,165.550,128.250,138.550,0.000,29.287,26.163,183.418,8.500,0.000,0.000,12.341,2337.250,18726.301,418.378,3312.944,994.386,0.000,1975.349,0.000,3490.313,0.000,58.566,0.000
$DEVICE_MAMPS,128.856,65.195,1367.561,757.029,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,889.701,986.185,674.052,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60023,1195
$CAP_FILE_SIZE,182931,0
$CFSIZE,260165632,247037952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,140709,002107,6216.079,-1146.642,35,1.2,35,-11.0