version: 66.04
glider: 105
mission: 6
dive: 159
start: 7 15 109 12 5 45
data:
$ID,105
$MISSION,6
$DIVE,159
$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,-1630850.4
$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,36
$R_STBD_OVSHOOT,36
$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
$GPS1,115906,6215.949,-1143.334,31,1.4,31,-11.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-55.4
$GPS2,120525,6215.945,-1143.303,11,1.4,16,-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,334.2,2440,-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,-45.83,0.000,6,0.000,0.000,394,2225,2951
$GC,66,-2.02,-54.8,1.6,-2.4,2,89,10.43,2.60,-2.40,0.000,4,0.131,0.061,2354,3639,3058
$GC,426,-2.02,-54.8,59.1,-13.8,18,431,0.00,2.40,0.00,0.000,6,0.000,0.029,2354,2249,3059
$GC,759,-2.02,-54.8,99.4,-11.9,34,764,0.00,2.53,0.00,0.000,4,0.000,0.048,2354,3636,3060
$GC,1099,-2.02,-54.8,144.6,-12.8,49,1103,0.00,2.38,0.00,0.000,6,0.000,0.031,2354,2249,3060
$GC,1419,-2.02,-54.8,185.1,-12.9,65,1423,0.00,2.50,0.00,0.000,4,0.000,0.049,2354,3643,3060
$GC,1722,-2.02,-54.8,226.0,-13.8,78,1728,0.00,2.40,0.00,0.000,6,0.000,0.031,2354,2241,3060
$GC,2037,-2.02,-54.8,264.8,-12.1,94,2041,0.00,2.55,0.00,0.000,4,0.000,0.052,2354,3651,3060
$GC,2191,-2.02,-54.8,283.8,-12.4,101,2195,0.00,2.40,0.00,0.000,6,0.000,0.031,2354,2246,3060
$GC,2520,-2.02,-54.8,323.5,-12.3,117,2525,0.00,2.53,0.00,0.000,4,0.000,0.051,2355,3651,3060
$GC,2638,-2.02,-54.8,339.5,-12.8,122,2643,0.00,2.42,0.00,0.000,6,0.000,0.031,2354,2251,3059
$GC,2958,-2.02,-54.8,378.7,-11.9,138,2962,0.00,2.50,0.00,0.000,4,0.000,0.051,2354,3644,3059
$GC,3126,-2.02,-54.8,399.3,-12.0,145,3133,0.00,2.38,0.00,0.000,6,0.000,0.031,2354,2243,3059
$GC,3445,-2.02,-54.8,432.3,-10.2,161,3449,0.00,2.53,0.00,0.000,4,0.000,0.053,2355,3643,3059
$GC,3624,-2.02,-54.8,452.9,-11.5,169,3628,0.00,2.38,0.00,0.000,6,0.000,0.031,2354,2251,3058
$GC,3944,-2.02,-54.8,486.9,-11.0,185,3948,0.00,2.50,0.00,0.000,4,0.000,0.050,2354,3647,3058
$GC,4174,-2.02,-54.8,512.9,-10.8,195,4178,0.00,2.38,0.00,0.000,6,0.000,0.031,2354,2252,3058
$GC,4490,-2.02,-54.8,546.0,-10.8,210,4494,0.00,2.50,0.00,0.000,4,0.000,0.050,2354,3647,3057
$GC,4702,-2.02,-54.8,570.3,-11.3,219,4709,0.00,2.40,0.00,0.000,6,0.000,0.031,2354,2238,3057
$GC,5017,-2.02,-54.8,604.7,-10.9,235,5021,0.00,2.53,0.00,0.000,4,0.000,0.052,2354,3644,3057
$GC,5224,-2.02,-54.8,629.9,-12.3,244,5228,0.00,2.38,0.00,0.000,6,0.000,0.031,2354,2253,3057
$GC,5539,-2.02,-54.8,666.6,-11.5,259,5544,0.00,2.53,0.00,0.000,4,0.000,0.051,2354,3642,3057
$GC,5714,-2.02,-54.8,688.0,-11.7,266,5721,0.00,2.38,0.00,0.000,6,0.000,0.032,2354,2249,3057
$GC,6030,-2.02,-54.8,722.3,-10.8,282,6034,0.00,2.50,0.00,0.000,4,0.000,0.051,2354,3643,3057
$GC,6069,-2.02,-54.8,726.8,-11.6,284,6073,0.00,2.40,0.00,0.000,6,0.000,0.032,2354,2239,3056
$GC,6395,-2.02,-54.8,762.6,-11.5,300,6400,0.00,2.53,0.00,0.000,4,0.000,0.053,2354,3643,3056
$GC,6585,-2.02,-54.8,784.1,-11.0,308,6592,0.00,2.42,0.00,0.000,6,0.000,0.033,2354,2251,3056
$GC,6901,-2.02,-54.8,815.1,-9.2,324,6905,0.00,2.50,0.00,0.000,4,0.000,0.052,2354,3644,3056
$GC,7011,-2.02,-54.8,826.3,-10.2,329,7016,0.00,2.40,0.00,0.000,6,0.000,0.033,2354,2249,3056
$GC,7333,-2.02,-54.8,855.2,-8.6,345,7337,0.00,2.53,0.00,0.000,4,0.000,0.053,2354,3650,3056
$GC,7406,-2.02,-54.8,862.3,-9.8,348,7410,0.00,2.40,0.00,0.000,6,0.000,0.034,2354,2250,3056
$GC,7721,-2.02,-54.8,893.5,-9.1,363,7725,0.00,2.53,0.00,0.000,4,0.000,0.054,2354,3650,3056
$GC,7784,-2.02,-54.8,899.6,-10.5,366,7789,0.00,2.42,0.00,0.000,6,0.000,0.035,2354,2237,3056
$GC,8111,-2.02,-54.8,929.7,-9.0,382,8115,0.00,2.45,0.00,0.000,4,0.000,0.049,2354,850,3055
$GC,8241,-2.02,-54.8,942.5,-9.7,388,8245,0.00,2.42,0.00,0.000,6,0.000,0.038,2354,2241,3054
$STATE,8380,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8380,begin apogee
$GC,8388,-0.36,0.0,955.6,9.0,395,8442,1.75,0.00,50.22,1.389,6,0.083,0.000,2717,1469,2832
$STATE,8443,end apogee,CONTROL_FINISHED_OK
$STATE,8443,begin climb
$GC,8446,2.02,54.8,957.6,0.0,398,8509,2.35,2.30,51.03,1.361,4,0.046,0.064,3237,268,2607
$GC,8683,2.02,54.8,941.8,7.9,408,8689,0.00,2.05,0.00,0.000,6,0.000,0.034,3237,1470,2604
$GC,8998,2.02,54.8,919.2,6.8,424,9003,0.00,2.25,0.00,0.000,4,0.000,0.061,3237,262,2601
$GC,9342,2.02,54.8,893.2,7.2,439,9345,0.00,2.05,0.00,0.000,6,0.000,0.038,3237,1452,2601
$GC,9668,2.02,54.8,868.9,7.2,455,9672,0.00,2.53,0.00,0.000,4,0.000,0.051,3237,2846,2599
$GC,9802,2.02,54.8,858.9,7.5,461,9806,0.00,2.47,0.00,0.000,6,0.000,0.041,3237,1453,2598
$GC,10123,2.02,54.8,836.6,6.4,477,10127,0.00,2.17,0.00,0.000,4,0.000,0.061,3237,258,2598
$GC,10465,2.02,54.8,812.3,7.1,492,10469,0.00,2.05,0.00,0.000,6,0.000,0.035,3237,1457,2597
$GC,10795,2.03,61.8,794.0,5.0,508,10805,0.00,2.20,5.85,1.031,4,0.000,0.058,3237,261,2578
$GC,11114,2.03,61.8,776.0,6.5,522,11117,0.00,2.05,0.00,0.000,6,0.000,0.035,3237,1458,2578
$GC,11435,2.03,66.4,760.1,5.4,538,11443,0.00,0.00,5.53,0.989,6,0.000,0.000,3237,1458,2561
$GC,11746,2.03,66.4,741.5,6.8,553,11750,0.00,2.17,0.00,0.000,4,0.000,0.057,3237,258,2561
$GC,12055,2.03,66.4,718.4,7.9,566,12061,0.00,2.05,0.00,0.000,6,0.000,0.034,3237,1458,2562
$GC,12373,2.03,66.4,697.5,6.4,582,12377,0.00,2.47,0.00,0.000,4,0.000,0.047,3237,2853,2561
$GC,12584,2.03,66.4,685.0,6.1,591,12591,0.00,2.45,0.00,0.000,6,0.000,0.038,3237,1452,2561
$GC,12903,2.04,73.0,667.7,5.1,607,12912,0.00,0.00,7.80,1.040,6,0.000,0.000,3237,1452,2534
$GC,13229,2.04,75.0,650.0,5.7,623,13230,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1452,2534
$GC,13538,2.04,75.0,631.8,6.4,638,13539,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1452,2534
$GC,13847,2.04,75.0,609.9,7.3,653,13852,0.00,0.00,3.80,0.711,6,0.000,0.000,3237,1452,2526
$GC,14158,2.04,75.0,585.4,8.0,668,14160,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1452,2527
$GC,14466,2.04,75.0,560.4,8.0,683,14470,0.00,2.47,0.00,0.000,4,0.000,0.044,3237,2856,2526
$GC,14550,2.04,75.0,553.5,7.9,687,14554,0.00,2.45,0.00,0.000,6,0.000,0.037,3237,1450,2527
$GC,14876,2.04,75.0,527.5,8.0,703,14878,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1450,2527
$GC,15188,2.04,75.0,502.9,7.8,718,15189,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1450,2528
$GC,15495,2.04,75.0,480.1,7.1,733,15496,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1450,2528
$GC,15804,2.04,75.0,457.1,7.5,748,15805,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1450,2529
$GC,16113,2.04,75.0,434.2,7.5,763,16117,0.00,2.12,0.00,0.000,4,0.000,0.057,3237,260,2529
$GC,16182,2.04,75.0,428.9,8.0,766,16185,0.00,2.00,0.00,0.000,6,0.000,0.032,3237,1458,2529
$GC,16517,2.04,75.0,404.3,7.4,782,16518,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1457,2529
$GC,16823,2.04,75.0,381.1,7.3,797,16824,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1458,2529
$GC,17132,2.04,75.0,359.1,6.9,812,17134,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1458,2530
$GC,17442,2.04,75.0,337.5,7.0,827,17443,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1457,2530
$GC,17751,2.04,75.0,315.0,7.5,842,17752,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1458,2530
$GC,18063,2.04,75.0,292.1,7.4,857,18064,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1458,2530
$GC,18369,2.04,75.0,269.6,6.9,872,18371,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1458,2531
$GC,18679,2.04,75.0,246.6,7.6,887,18683,0.00,2.45,0.00,0.000,4,0.000,0.044,3237,2859,2531
$GC,18734,2.04,75.0,242.3,8.0,889,18740,0.00,2.45,0.00,0.000,6,0.000,0.038,3237,1447,2531
$GC,19050,2.04,75.0,219.0,7.2,905,19054,0.00,2.10,0.00,0.000,4,0.000,0.057,3237,266,2531
$GC,19179,2.04,75.0,209.1,7.2,910,19185,0.00,2.05,0.00,0.000,6,0.000,0.033,3237,1455,2531
$GC,19495,2.04,75.0,186.7,7.2,926,19496,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1455,2531
$GC,19804,2.04,75.0,164.2,7.5,941,19805,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1455,2531
$GC,20113,2.04,75.0,141.4,7.4,956,20114,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1455,2531
$GC,20422,2.04,75.0,118.7,7.1,971,20426,0.00,2.12,0.00,0.000,4,0.000,0.054,3237,264,2531
$GC,20653,2.04,75.0,101.4,6.1,981,20656,0.00,2.03,0.00,0.000,6,0.000,0.032,3237,1455,2531
$GC,20980,2.04,75.0,80.8,6.3,997,20981,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1455,2531
$GC,21291,2.04,75.5,62.8,5.9,1012,21294,0.00,2.12,0.00,0.000,4,0.000,0.054,3237,264,2532
$GC,21497,2.04,75.5,50.3,6.3,1021,21506,0.00,2.05,3.55,0.497,6,0.000,0.032,3237,1455,2524
$GC,21824,2.09,111.9,37.4,1.0,1037,21861,0.00,2.53,31.40,0.797,4,0.000,0.047,3237,2853,2374
$GC,22007,2.09,111.9,28.1,7.6,1045,22012,0.00,2.45,0.00,0.000,6,0.000,0.036,3237,1451,2371
$GC,22329,2.09,111.9,4.7,9.2,1061,22330,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1451,2371
$STATE,22347,end climb,SURFACE_DEPTH_REACHED
$STATE,22347,begin surface coast
$FINISH,0.9,1.026834
$STATE,22369,end surface coast,CONTROL_FINISHED_OK
$STATE,22369,begin surface
$SM_CCo,22393,124.72,0.757,0,0,1609,300.00
$SM_GC,0.96,0.00,0.00,124.72,0.000,0.000,0.757,391,2241,1609,-11.08,-0.25,300.00
$IRIDIUM_FIX,6153.50,-1137.62,091098,050535
$TT8_MAMPS,0.027612
$HUMID,1819
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,851.6,112.3
$24V_AH,23.2,41.638
$10V_AH,10.1,23.073
$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,26.850,149.000,159.175,124.725,0.000,30.271,30.751,179.887,7.500,0.000,0.000,16.345,2077.214,16553.123,420.191,2918.988,920.788,0.000,1815.833,0.000,3078.125,0.000,50.978,0.000
$DEVICE_MAMPS,131.157,63.661,1389.037,757.029,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,835.197,850.278,604.163,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53792,1063
$CAP_FILE_SIZE,163128,0
$CFSIZE,260165632,246562816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,150709,182225,6217.517,-1140.617,42,1.3,42,-11.0