version: 66.04
glider: 105
mission: 6
dive: 158
start: 7 15 109 5 16 4
data:
$ID,105
$MISSION,6
$DIVE,158
$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,-1630833.4
$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,25
$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
$GPS1,050937,6216.894,-1141.435,41,1.0,41,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-55.3
$GPS2,051544,6216.844,-1141.400,16,1.0,16,-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,286.3,3115,-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,-28.8,0.0,0.0,0,63,0.00,0.00,-46.03,0.000,6,0.000,0.000,394,2250,2951
$GC,67,-2.00,-37.8,2.0,-4.8,2,83,10.43,2.53,-0.77,0.000,4,0.130,0.062,2358,3652,2987
$GC,420,-2.00,-37.8,52.4,-11.6,17,425,0.00,2.45,0.00,0.000,6,0.000,0.029,2358,2228,2988
$GC,753,-2.00,-37.8,88.1,-10.5,33,757,0.00,2.58,0.00,0.000,4,0.000,0.048,2358,3645,2989
$GC,1093,-2.00,-37.8,126.6,-11.9,48,1098,0.00,2.38,0.00,0.000,6,0.000,0.030,2357,2253,2989
$GC,1414,-2.00,-37.8,161.1,-11.0,64,1418,0.00,2.53,0.00,0.000,4,0.000,0.049,2358,3658,2989
$GC,1754,-2.00,-37.8,201.5,-11.8,79,1759,0.00,2.42,0.00,0.000,6,0.000,0.031,2358,2257,2989
$GC,2075,-2.00,-37.8,237.1,-11.1,95,2080,0.00,2.53,0.00,0.000,4,0.000,0.051,2358,3658,2989
$GC,2245,-2.00,-37.8,257.4,-12.1,102,2251,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2252,2989
$GC,2561,-2.00,-37.8,293.0,-11.1,118,2565,0.00,2.53,0.00,0.000,4,0.000,0.051,2358,3657,2989
$GC,2634,-2.00,-37.8,301.5,-11.3,121,2638,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2249,2989
$GC,2949,-2.00,-37.8,335.7,-10.8,136,2954,0.00,2.53,0.00,0.000,4,0.000,0.050,2358,3654,2988
$GC,3022,-2.00,-37.8,344.3,-11.7,139,3026,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2249,2988
$GC,3338,-2.00,-37.8,378.1,-10.6,154,3342,0.00,2.53,0.00,0.000,4,0.000,0.050,2358,3658,2987
$GC,3472,-2.00,-37.8,393.0,-10.9,160,3476,0.00,2.42,0.00,0.000,6,0.000,0.031,2358,2240,2987
$GC,3794,-2.00,-37.8,424.3,-9.5,176,3798,0.00,2.55,0.00,0.000,4,0.000,0.052,2358,3658,2987
$GC,3906,-2.00,-37.8,435.6,-9.9,181,3910,0.00,2.42,0.00,0.000,6,0.000,0.031,2358,2238,2987
$GC,4226,-2.00,-37.8,464.5,-8.8,197,4231,0.00,2.58,0.00,0.000,4,0.000,0.052,2358,3652,2986
$GC,4326,-2.00,-37.8,474.3,-9.6,201,4331,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2245,2987
$GC,4642,-2.00,-37.8,502.4,-9.0,216,4647,0.00,2.55,0.00,0.000,4,0.000,0.051,2358,3650,2987
$GC,4737,-2.00,-37.8,511.6,-9.8,220,4742,0.00,2.42,0.00,0.000,6,0.000,0.031,2358,2249,2987
$GC,5063,-2.00,-37.8,541.6,-9.3,236,5068,0.00,2.55,0.00,0.000,4,0.000,0.051,2358,3652,2986
$GC,5192,-2.00,-37.8,554.9,-10.5,241,5198,0.00,2.40,0.00,0.000,6,0.000,0.032,2358,2250,2986
$GC,5507,-2.00,-37.8,585.1,-9.6,257,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2249,2986
$GC,5816,-2.00,-37.8,615.8,-9.8,272,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2249,2986
$GC,6126,-2.00,-37.8,646.8,-9.9,287,6130,0.00,2.53,0.00,0.000,4,0.000,0.052,2357,3660,2986
$GC,6221,-2.00,-37.8,656.8,-10.4,291,6226,0.00,2.42,0.00,0.000,6,0.000,0.032,2358,2246,2986
$GC,6538,-2.00,-37.8,688.6,-10.0,306,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2246,2985
$GC,6847,-2.00,-37.8,719.8,-10.0,321,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2245,2985
$GC,7156,-2.00,-37.8,748.4,-9.2,336,7160,0.00,2.47,0.00,0.000,4,0.000,0.046,2358,854,2985
$GC,7201,-2.00,-37.8,752.6,-9.6,338,7206,0.00,2.45,0.00,0.000,6,0.000,0.038,2358,2262,2985
$GC,7530,-2.00,-37.8,780.0,-8.1,354,7535,0.00,2.47,0.00,0.000,4,0.000,0.053,2358,3650,2985
$GC,7738,-2.00,-37.8,798.1,-8.8,363,7742,0.00,2.40,0.00,0.000,6,0.000,0.033,2358,2250,2985
$GC,8054,-2.00,-37.8,824.0,-8.5,378,8058,0.00,2.50,0.00,0.000,4,0.000,0.052,2358,3650,2985
$GC,8232,-2.00,-37.8,839.6,-9.5,386,8236,0.00,2.40,0.00,0.000,6,0.000,0.033,2357,2249,2984
$GC,8561,-2.00,-37.8,864.7,-7.6,402,8565,0.00,2.53,0.00,0.000,4,0.000,0.054,2358,3654,2984
$GC,8836,-2.00,-37.8,885.0,-7.5,414,8841,0.00,2.45,0.00,0.000,6,0.000,0.035,2358,2251,2984
$GC,9156,-2.00,-37.8,909.1,-8.4,430,9158,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2251,2984
$GC,9465,-2.00,-37.8,936.1,-8.6,445,9470,0.00,2.53,0.00,0.000,4,0.000,0.056,2358,3649,2983
$STATE,9738,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9738,begin apogee
$GC,9748,-0.36,0.0,960.0,9.9,457,9787,1.73,0.00,34.60,1.378,6,0.088,0.000,2714,1469,2832
$STATE,9788,end apogee,CONTROL_FINISHED_OK
$STATE,9788,begin climb
$GC,9791,2.00,37.8,961.4,0.0,459,9834,2.38,2.33,35.40,1.351,4,0.047,0.065,3237,263,2678
$GC,10015,2.00,37.8,950.6,6.0,469,10018,0.00,2.08,0.00,0.000,6,0.000,0.038,3237,1458,2677
$GC,10347,2.01,47.8,933.8,4.6,485,10362,0.00,2.58,10.27,1.220,4,0.000,0.050,3237,2859,2636
$GC,10543,2.02,60.9,924.2,4.2,493,10565,0.00,2.53,13.43,1.272,6,0.000,0.042,3237,1447,2582
$GC,10876,2.03,65.2,906.7,5.4,509,10887,0.00,2.58,5.30,1.005,4,0.000,0.050,3237,2854,2565
$GC,10943,2.03,68.4,902.8,5.5,512,10952,0.00,2.53,4.53,0.917,6,0.000,0.044,3237,1447,2553
$GC,11266,2.03,68.4,881.1,7.4,527,11267,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1448,2552
$GC,11573,2.03,68.4,857.9,7.2,542,11577,0.00,2.53,0.00,0.000,4,0.000,0.048,3237,2856,2551
$GC,11914,2.03,68.6,834.0,6.0,557,11918,0.00,2.50,0.00,0.000,6,0.000,0.042,3237,1449,2550
$GC,12229,2.03,68.6,812.7,7.3,572,12234,0.00,2.53,0.00,0.000,4,0.000,0.048,3237,2852,2550
$GC,12573,2.03,68.6,787.7,7.5,587,12577,0.00,2.47,0.00,0.000,6,0.000,0.041,3237,1450,2549
$GC,12894,2.04,74.5,769.5,5.2,603,12907,0.00,2.55,6.75,1.068,4,0.000,0.045,3237,2863,2527
$GC,13244,2.04,74.5,743.8,8.4,618,13250,0.00,2.50,0.00,0.000,6,0.000,0.040,3237,1448,2527
$GC,13562,2.04,74.5,717.4,8.2,634,13566,0.00,2.12,0.00,0.000,4,0.000,0.059,3237,264,2527
$GC,13653,2.04,74.5,709.5,8.8,638,13656,0.00,2.03,0.00,0.000,6,0.000,0.034,3237,1459,2527
$GC,13985,2.04,74.5,686.2,6.9,654,13990,0.00,2.17,0.00,0.000,4,0.000,0.056,3237,267,2527
$GC,14326,2.04,74.5,661.0,7.2,669,14331,0.00,2.05,0.00,0.000,6,0.000,0.033,3237,1454,2527
$GC,14652,2.04,74.5,637.8,7.6,685,14653,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1454,2528
$GC,14962,2.04,74.5,613.8,7.7,700,14965,0.00,2.15,0.00,0.000,4,0.000,0.055,3237,257,2527
$GC,15197,2.04,74.5,593.8,8.8,710,15201,0.00,2.05,0.00,0.000,6,0.000,0.033,3237,1457,2528
$GC,15520,2.04,74.5,569.1,7.4,726,15524,0.00,2.45,0.00,0.000,4,0.000,0.046,3238,2849,2529
$GC,15676,2.04,74.5,557.0,7.6,733,15681,0.00,2.45,0.00,0.000,6,0.000,0.038,3237,1447,2529
$GC,16000,2.04,74.5,532.6,7.5,749,16001,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1447,2529
$GC,16306,2.04,74.5,509.6,7.4,764,16308,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1447,2530
$GC,16616,2.04,74.5,486.8,7.5,779,16617,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1447,2530
$GC,16925,2.04,74.5,464.2,7.2,794,16929,0.00,2.10,0.00,0.000,4,0.000,0.058,3237,267,2531
$GC,17016,2.04,74.5,457.1,7.5,798,17019,0.00,2.00,0.00,0.000,6,0.000,0.034,3237,1455,2531
$GC,17348,2.04,74.5,433.3,7.0,814,17349,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1455,2532
$GC,17657,2.04,74.5,411.8,6.9,829,17658,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1455,2532
$GC,17966,2.04,74.5,391.4,6.4,844,17967,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1455,2532
$GC,18276,2.04,74.5,371.4,6.4,859,18277,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1455,2532
$GC,18587,2.04,74.5,352.0,6.2,874,18588,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1456,2532
$GC,18895,2.04,77.1,333.8,5.6,889,18902,0.00,0.00,5.15,0.739,6,0.000,0.000,3237,1456,2517
$GC,19206,2.04,77.1,314.9,6.0,904,19207,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1455,2517
$GC,19513,2.04,77.1,296.0,6.2,919,19514,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1456,2517
$GC,19822,2.04,77.1,276.9,6.2,934,19825,0.00,2.12,0.00,0.000,4,0.000,0.055,3237,267,2518
$GC,19884,2.04,77.1,272.8,6.5,936,19890,0.00,2.00,0.00,0.000,6,0.000,0.033,3237,1455,2518
$GC,20200,2.04,77.1,253.7,6.0,952,20201,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1455,2517
$GC,20509,2.04,77.1,234.2,6.2,967,20513,0.00,2.12,0.00,0.000,4,0.000,0.055,3237,266,2518
$GC,20587,2.04,77.1,228.9,7.1,970,20591,0.00,2.03,0.00,0.000,6,0.000,0.033,3237,1455,2518
$GC,20911,2.04,77.1,208.2,6.5,986,20913,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1455,2517
$GC,21218,2.04,77.1,187.2,7.1,1001,21222,0.00,2.12,0.00,0.000,4,0.000,0.055,3237,267,2518
$GC,21297,2.04,77.1,180.8,7.7,1004,21300,0.00,2.00,0.00,0.000,6,0.000,0.033,3238,1454,2518
$GC,21618,2.04,77.1,152.6,9.5,1020,21619,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1454,2518
$GC,21927,2.04,77.1,123.9,8.9,1035,21929,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1454,2518
$GC,22238,2.04,77.1,99.2,7.3,1050,22242,0.00,2.12,0.00,0.000,4,0.000,0.054,3237,264,2518
$GC,22517,2.04,77.1,77.6,7.3,1062,22521,0.00,2.03,0.00,0.000,6,0.000,0.032,3237,1459,2518
$GC,22839,2.04,77.1,56.3,6.8,1078,22840,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1459,2518
$GC,23148,2.06,86.5,38.5,4.7,1093,23160,0.00,0.00,9.57,0.733,6,0.000,0.000,3237,1459,2479
$GC,23459,2.09,117.7,32.9,1.7,1108,23488,0.00,0.00,27.10,0.788,6,0.000,0.000,3237,1459,2352
$GC,23788,2.09,117.7,10.5,8.2,1124,23792,0.00,2.47,0.00,0.000,4,0.000,0.047,3237,2853,2349
$STATE,23896,end climb,SURFACE_DEPTH_REACHED
$STATE,23896,begin surface coast
$FINISH,0.3,1.026834
$STATE,23965,end surface coast,CONTROL_FINISHED_OK
$STATE,23965,begin surface
$SM_CCo,23989,120.60,0.757,0,0,1608,300.00
$SM_GC,1.06,0.00,0.00,120.60,0.000,0.000,0.757,394,2226,1608,-11.07,-0.68,300.00
$IRIDIUM_FIX,6153.50,-1147.61,081098,222232
$TT8_MAMPS,0.026845
$HUMID,1822
$INTERNAL_PRESSURE,8.13832
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,875.4,94.2
$24V_AH,23.2,41.542
$10V_AH,10.1,22.962
$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,27.000,156.875,152.100,120.600,0.000,28.149,31.805,166.774,7.750,0.000,0.000,16.737,2214.817,17831.344,409.668,3076.483,937.182,0.000,1870.407,0.000,3235.141,0.000,52.542,0.000
$DEVICE_MAMPS,130.390,65.195,1377.532,757.029,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,871.631,923.478,636.341,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56973,1132
$CAP_FILE_SIZE,172063,0
$CFSIZE,260165632,246632448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,150709,115906,6215.949,-1143.334,31,1.4,31,-11.0