version: 66.04
glider: 105
mission: 6
dive: 154
start: 7 14 109 0 27 45
data:
$ID,105
$MISSION,6
$DIVE,154
$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,-1630745.9
$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,28
$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
$GPS1,002107,6216.079,-1146.642,35,1.2,35,-11.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-56.0
$GPS2,002725,6216.059,-1146.711,11,1.3,16,-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,51.2,2283,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.99,-28.8,0.0,0.0,0,63,0.00,0.00,-45.60,0.000,6,0.000,0.000,392,2242,2951
$GC,67,-2.00,-37.0,2.1,-4.9,2,83,10.43,2.53,-0.70,0.000,4,0.130,0.059,2358,3651,2984
$GC,340,-2.00,-37.0,43.3,-13.4,13,344,0.00,2.42,0.00,0.000,6,0.000,0.029,2358,2226,2985
$GC,657,-2.00,-37.0,79.8,-11.4,28,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2226,2986
$GC,965,-2.00,-37.0,114.3,-11.0,43,970,0.00,2.55,0.00,0.000,4,0.000,0.047,2358,3653,2986
$GC,1236,-2.00,-37.0,145.9,-11.7,55,1240,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2243,2986
$GC,1557,-2.00,-37.0,181.1,-11.1,71,1561,0.00,2.55,0.00,0.000,4,0.000,0.051,2358,3660,2986
$GC,1719,-2.00,-37.0,199.9,-11.5,78,1725,0.00,2.42,0.00,0.000,6,0.000,0.031,2358,2255,2986
$GC,2040,-2.00,-37.0,233.3,-10.3,94,2044,0.00,2.50,0.00,0.000,4,0.000,0.048,2358,3654,2986
$GC,2163,-2.00,-37.0,246.6,-11.1,99,2169,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2245,2986
$GC,2479,-2.00,-37.0,278.5,-10.1,115,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2244,2986
$GC,2789,-2.00,-37.0,310.1,-10.2,130,2793,0.00,2.55,0.00,0.000,4,0.000,0.052,2358,3659,2985
$GC,2940,-2.00,-37.0,326.6,-10.9,137,2944,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2252,2985
$GC,3266,-2.00,-37.0,359.2,-9.8,153,3270,0.00,2.53,0.00,0.000,4,0.000,0.049,2358,3661,2985
$GC,3360,-2.00,-37.0,369.2,-10.9,157,3364,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2251,2985
$GC,3676,-2.00,-37.0,399.9,-9.8,172,3681,0.00,2.53,0.00,0.000,4,0.000,0.049,2359,3663,2984
$GC,3804,-2.00,-37.0,413.6,-10.3,177,3810,0.00,2.42,0.00,0.000,6,0.000,0.031,2358,2243,2984
$GC,4123,-2.00,-37.0,444.2,-9.8,193,4127,0.00,2.53,0.00,0.000,4,0.000,0.051,2358,3653,2984
$GC,4292,-2.00,-37.0,461.8,-10.9,200,4299,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2248,2984
$GC,4608,-2.00,-37.0,492.0,-9.3,216,4613,0.00,2.55,0.00,0.000,4,0.000,0.050,2358,3654,2984
$GC,4753,-2.00,-37.0,506.9,-10.6,222,4757,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2249,2983
$GC,5068,-2.00,-37.0,537.8,-9.8,237,5073,0.00,2.53,0.00,0.000,4,0.000,0.050,2359,3661,2983
$GC,5322,-2.00,-37.0,564.8,-10.6,248,5326,0.00,2.42,0.00,0.000,6,0.000,0.031,2358,2240,2983
$GC,5637,-2.00,-37.0,595.8,-10.2,263,5641,0.00,2.53,0.00,0.000,4,0.000,0.052,2359,3652,2983
$GC,5715,-2.00,-37.0,603.9,-10.1,266,5721,0.00,2.40,0.00,0.000,6,0.000,0.032,2359,2249,2983
$GC,6031,-2.00,-37.0,634.8,-9.6,282,6035,0.00,2.50,0.00,0.000,4,0.000,0.051,2359,3653,2983
$GC,6242,-2.00,-37.0,655.9,-9.7,291,6248,0.00,2.40,0.00,0.000,6,0.000,0.032,2358,2250,2982
$GC,6559,-2.00,-37.0,684.7,-9.0,307,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2249,2983
$GC,6868,-2.00,-37.0,712.4,-8.4,322,6872,0.00,2.53,0.00,0.000,4,0.000,0.051,2359,3661,2982
$GC,7209,-2.00,-37.0,741.7,-8.6,337,7213,0.00,2.42,0.00,0.000,6,0.000,0.033,2358,2248,2982
$GC,7525,-2.00,-37.0,767.1,-8.3,352,7530,0.00,2.53,0.00,0.000,4,0.000,0.052,2359,3653,2982
$GC,7677,-2.00,-37.0,780.2,-8.3,359,7681,0.00,2.40,0.00,0.000,6,0.000,0.034,2359,2249,2981
$GC,8003,-2.00,-37.0,807.5,-8.4,375,8007,0.00,2.53,0.00,0.000,4,0.000,0.051,2358,3657,2981
$GC,8080,-2.00,-37.0,814.4,-9.9,378,8086,0.00,2.42,0.00,0.000,6,0.000,0.033,2358,2248,2981
$GC,8395,-2.00,-37.0,841.5,-9.0,394,8400,0.00,2.55,0.00,0.000,4,0.000,0.053,2358,3649,2981
$GC,8496,-2.00,-37.0,851.4,-9.3,398,8501,0.00,2.40,0.00,0.000,6,0.000,0.034,2358,2249,2981
$GC,8812,-2.00,-37.0,878.2,-8.2,413,8817,0.00,2.45,0.00,0.000,4,0.000,0.046,2358,851,2980
$GC,9154,-2.00,-37.0,904.3,-6.8,428,9159,0.00,2.45,0.00,0.000,6,0.000,0.038,2358,2260,2980
$GC,9470,-2.00,-37.0,926.2,-7.3,443,9474,0.00,2.50,0.00,0.000,4,0.000,0.048,2359,852,2980
$GC,9811,-2.00,-37.0,952.9,-8.7,458,9815,0.00,2.45,0.00,0.000,6,0.000,0.040,2358,2246,2979
$STATE,9877,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9877,begin apogee
$GC,9885,-0.36,0.0,958.7,8.7,461,9923,1.73,0.00,33.78,1.378,6,0.081,0.000,2718,1466,2832
$STATE,9924,end apogee,CONTROL_FINISHED_OK
$STATE,9924,begin climb
$GC,9927,2.00,37.0,959.9,0.0,463,9970,2.33,2.30,34.65,1.354,4,0.044,0.064,3234,264,2681
$GC,10080,2.00,37.0,953.7,6.0,469,10086,0.00,2.08,0.00,0.000,6,0.000,0.038,3234,1460,2679
$GC,10395,2.01,44.9,937.1,4.9,485,10405,0.00,0.00,8.23,1.167,6,0.000,0.000,3234,1460,2649
$GC,10707,2.01,44.9,918.8,6.2,500,10710,0.00,2.20,0.00,0.000,4,0.000,0.061,3233,261,2648
$GC,11049,2.01,50.7,898.1,5.2,515,11060,0.00,2.08,6.57,1.104,6,0.000,0.038,3234,1457,2625
$GC,11372,2.03,66.9,884.0,3.8,530,11396,0.00,2.22,16.08,1.307,4,0.000,0.061,3234,264,2558
$GC,11520,2.03,66.9,874.9,7.3,536,11524,0.00,2.08,0.00,0.000,6,0.000,0.037,3233,1463,2557
$GC,11841,2.03,66.9,855.8,6.5,552,11846,0.00,2.22,0.00,0.000,4,0.000,0.061,3234,264,2556
$GC,12184,2.03,66.9,827.2,7.7,567,12188,0.00,2.05,0.00,0.000,6,0.000,0.035,3233,1458,2555
$GC,12511,2.03,66.9,802.9,7.3,583,12515,0.00,2.17,0.00,0.000,4,0.000,0.058,3234,261,2554
$GC,12853,2.03,66.9,779.4,6.7,598,12856,0.00,2.05,0.00,0.000,6,0.000,0.035,3233,1461,2555
$GC,13180,2.04,71.9,760.3,5.3,614,13190,0.00,2.20,5.57,0.992,4,0.000,0.057,3234,258,2538
$GC,13527,2.04,71.9,733.9,7.2,629,13534,0.00,2.08,0.00,0.000,6,0.000,0.032,3234,1457,2538
$GC,13842,2.04,71.9,709.7,8.0,645,13846,0.00,2.15,0.00,0.000,4,0.000,0.055,3233,261,2538
$GC,14183,2.04,71.9,682.1,8.1,660,14187,0.00,2.03,0.00,0.000,6,0.000,0.034,3234,1457,2538
$GC,14512,2.04,71.9,658.4,6.9,676,14515,0.00,2.15,0.00,0.000,4,0.000,0.055,3233,261,2538
$GC,14657,2.04,71.9,646.7,8.0,682,14661,0.00,2.03,0.00,0.000,6,0.000,0.033,3233,1458,2539
$GC,14978,2.04,71.9,623.0,7.1,698,14983,0.00,2.47,0.00,0.000,4,0.000,0.047,3234,2862,2539
$GC,15023,2.04,71.9,619.8,7.7,700,15027,0.00,2.45,0.00,0.000,6,0.000,0.038,3233,1449,2539
$GC,15344,2.04,71.9,595.8,7.6,716,15348,0.00,2.10,0.00,0.000,4,0.000,0.056,3234,268,2539
$GC,15613,2.04,71.9,574.2,7.9,728,15618,0.00,2.05,0.00,0.000,6,0.000,0.034,3234,1457,2540
$GC,15945,2.04,71.9,551.3,6.4,744,15949,0.00,2.45,0.00,0.000,4,0.000,0.045,3234,2857,2540
$GC,16052,2.04,71.9,544.2,6.2,749,16057,0.00,2.47,0.00,0.000,6,0.000,0.038,3233,1454,2540
$GC,16384,2.04,72.2,523.9,6.0,765,16385,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1454,2541
$GC,16693,2.04,73.9,505.2,5.8,780,16699,0.00,0.00,4.30,0.739,6,0.000,0.000,3234,1453,2530
$GC,17004,2.04,73.9,485.3,6.7,795,17008,0.00,2.12,0.00,0.000,4,0.000,0.056,3234,263,2530
$GC,17162,2.04,73.9,473.7,6.8,802,17166,0.00,2.03,0.00,0.000,6,0.000,0.033,3234,1460,2530
$GC,17494,2.04,73.9,451.2,6.8,818,17495,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1460,2531
$GC,17804,2.04,73.9,430.4,6.6,833,17805,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1460,2531
$GC,18112,2.04,73.9,410.7,6.2,848,18116,0.00,2.15,0.00,0.000,4,0.000,0.055,3234,261,2531
$GC,18203,2.04,73.9,404.6,6.6,852,18206,0.00,2.03,0.00,0.000,6,0.000,0.033,3234,1460,2531
$GC,18535,2.04,73.9,383.8,6.2,868,18536,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1460,2531
$GC,18844,2.04,74.7,364.8,5.9,883,18846,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1460,2531
$GC,19153,2.04,74.7,345.8,6.1,898,19155,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1460,2532
$GC,19463,2.04,74.7,326.8,6.1,913,19464,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1460,2532
$GC,19774,2.04,74.7,307.7,6.4,928,19776,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1460,2532
$GC,20081,2.04,74.7,288.4,6.2,943,20082,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1460,2533
$GC,20391,2.04,74.7,269.4,6.1,958,20392,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1460,2533
$GC,20700,2.04,74.7,251.0,6.1,973,20703,0.00,2.15,0.00,0.000,4,0.000,0.055,3234,258,2533
$GC,20840,2.04,74.7,241.8,7.4,979,20843,0.00,2.03,0.00,0.000,6,0.000,0.032,3234,1457,2533
$GC,21167,2.04,74.7,222.1,6.3,995,21168,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1457,2533
$GC,21475,2.04,74.7,202.9,6.3,1010,21477,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1457,2533
$GC,21785,2.04,74.7,182.2,6.7,1025,21786,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1457,2533
$GC,22094,2.04,74.7,160.8,7.2,1040,22095,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1457,2533
$GC,22405,2.04,74.7,140.0,6.4,1055,22406,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1458,2534
$GC,22713,2.04,74.8,121.1,6.0,1070,22714,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1457,2534
$GC,23023,2.04,74.8,102.2,6.6,1085,23027,0.00,2.15,0.00,0.000,4,0.000,0.054,3233,267,2533
$GC,23235,2.05,77.6,87.9,5.6,1094,23247,0.00,2.00,5.45,0.656,6,0.000,0.031,3234,1457,2516
$GC,23557,2.05,80.5,69.5,5.6,1110,23563,0.00,0.00,4.43,0.585,6,0.000,0.000,3234,1457,2503
$GC,23866,2.05,80.5,49.8,6.4,1125,23867,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1457,2503
$GC,24174,2.07,101.0,32.5,3.2,1140,24195,0.00,0.00,18.40,0.775,6,0.000,0.000,3234,1458,2420
$GC,24505,2.07,101.0,12.4,7.4,1156,24506,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1458,2418
$STATE,24645,end climb,SURFACE_DEPTH_REACHED
$STATE,24645,begin surface coast
$FINISH,0.2,1.026797
$STATE,24668,end surface coast,CONTROL_FINISHED_OK
$STATE,24668,begin surface
$SM_CCo,24692,132.38,0.758,0,0,1608,300.00
$SM_GC,0.93,0.00,0.00,132.38,0.000,0.000,0.758,394,2243,1608,-11.07,-0.23,300.00
$IRIDIUM_FIX,6148.92,-1146.66,071098,171730
$TT8_MAMPS,0.027612
$HUMID,1816
$INTERNAL_PRESSURE,8.13832
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,876.6,90.8
$24V_AH,23.2,41.087
$10V_AH,10.1,22.492
$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,26.650,156.400,137.450,132.375,0.000,26.095,29.646,183.411,7.750,0.000,0.000,17.009,2272.646,18323.670,423.567,3205.193,970.367,0.000,1937.036,0.000,3386.863,0.000,52.549,0.000
$DEVICE_MAMPS,129.623,63.661,1378.299,757.796,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,891.426,950.899,661.114,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59855,1164
$CAP_FILE_SIZE,176887,0
$CFSIZE,260165632,246956032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,140709,072237,6216.571,-1145.278,26,1.2,26,-11.0