version: 66.04
glider: 105
mission: 6
dive: 170
start: 7 18 109 18 6 34
data:
$ID,105
$MISSION,6
$DIVE,170
$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,-1631008.6
$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,30
$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
$GPS1,180006,6216.205,-1145.765,28,1.8,28,-11.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-58.6
$GPS2,180614,6216.194,-1145.785,15,1.9,15,-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,35.4,1639,-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,-45.00,0.000,6,0.000,0.000,390,2253,2950
$GC,65,-1.99,-30.2,2.4,-5.8,2,78,10.50,0.00,0.00,0.000,6,0.129,0.000,2361,2253,2951
$GC,388,-1.99,-30.2,53.3,-19.0,18,392,0.00,2.50,0.00,0.000,4,0.000,0.051,2361,3651,2953
$GC,730,-2.01,-47.0,94.8,-3.7,33,735,0.00,2.42,-0.47,0.000,6,0.000,0.030,2361,2226,3033
$GC,1047,-2.01,-47.0,112.2,-6.9,48,1051,0.00,2.55,0.00,0.000,4,0.000,0.048,2361,3654,3035
$GC,1176,-2.01,-47.0,123.5,-9.4,54,1181,0.00,2.42,0.00,0.000,6,0.000,0.031,2361,2251,3035
$GC,1508,-2.01,-47.0,154.9,-9.9,70,1512,0.00,2.50,0.00,0.000,4,0.000,0.048,2361,3651,3035
$GC,1689,-2.01,-47.0,175.8,-12.8,78,1693,0.00,2.40,0.00,0.000,6,0.000,0.031,2361,2248,3035
$GC,2009,-2.01,-47.0,212.9,-11.9,94,2013,0.00,2.53,0.00,0.000,4,0.000,0.050,2361,3657,3035
$GC,2199,-2.01,-47.0,236.4,-12.3,102,2205,0.00,2.42,0.00,0.000,6,0.000,0.031,2361,2240,3035
$GC,2515,-2.01,-47.0,273.5,-11.7,118,2519,0.00,2.55,0.00,0.000,4,0.000,0.051,2361,3657,3034
$GC,2667,-2.01,-47.0,292.7,-12.5,125,2671,0.00,2.40,0.00,0.000,6,0.000,0.031,2361,2250,3034
$GC,2995,-2.01,-47.0,331.1,-11.8,141,3000,0.00,2.53,0.00,0.000,4,0.000,0.050,2362,3645,3034
$GC,3140,-2.01,-47.0,349.1,-12.2,147,3144,0.00,2.42,0.00,0.000,6,0.000,0.031,2361,2249,3034
$GC,3460,-2.01,-47.0,384.6,-11.0,163,3465,0.00,2.53,0.00,0.000,4,0.000,0.050,2361,3660,3034
$GC,3583,-2.01,-47.0,398.9,-12.3,168,3589,0.00,2.42,0.00,0.000,6,0.000,0.031,2361,2243,3034
$GC,3901,-2.01,-47.0,432.2,-10.5,184,3905,0.00,2.53,0.00,0.000,4,0.000,0.052,2361,3651,3033
$GC,4013,-2.01,-47.0,445.0,-10.7,189,4017,0.00,2.40,0.00,0.000,6,0.000,0.031,2361,2248,3033
$GC,4334,-2.01,-47.0,477.9,-10.1,205,4338,0.00,2.53,0.00,0.000,4,0.000,0.050,2361,3658,3033
$GC,4463,-2.01,-47.0,492.0,-10.7,211,4467,0.00,2.40,0.00,0.000,6,0.000,0.032,2361,2249,3033
$GC,4791,-2.01,-47.0,525.3,-10.1,227,4795,0.00,2.50,0.00,0.000,4,0.000,0.050,2361,3651,3033
$GC,4920,-2.01,-47.0,539.9,-11.6,233,4924,0.00,2.40,0.00,0.000,6,0.000,0.031,2361,2246,3032
$GC,5246,-2.01,-47.0,574.2,-10.3,249,5250,0.00,2.53,0.00,0.000,4,0.000,0.051,2361,3657,3032
$GC,5426,-2.01,-47.0,594.7,-11.9,257,5430,0.00,2.40,0.00,0.000,6,0.000,0.032,2360,2250,3032
$GC,5747,-2.01,-47.0,629.9,-10.8,273,5751,0.00,2.50,0.00,0.000,4,0.000,0.051,2361,3652,3031
$GC,5876,-2.01,-47.0,644.5,-10.9,279,5880,0.00,2.40,0.00,0.000,6,0.000,0.032,2361,2248,3031
$GC,6202,-2.01,-47.0,677.2,-10.4,295,6207,0.00,2.53,0.00,0.000,4,0.000,0.051,2361,3653,3031
$GC,6302,-2.01,-47.0,688.2,-10.9,299,6308,0.00,2.40,0.00,0.000,6,0.000,0.033,2361,2251,3031
$GC,6619,-2.01,-47.0,721.6,-10.9,315,6623,0.00,2.50,0.00,0.000,4,0.000,0.051,2361,3651,3031
$GC,6770,-2.01,-47.0,739.1,-11.4,322,6774,0.00,2.40,0.00,0.000,6,0.000,0.033,2361,2250,3031
$GC,7097,-2.01,-47.0,773.9,-10.1,338,7101,0.00,2.50,0.00,0.000,4,0.000,0.051,2361,3651,3031
$GC,7248,-2.01,-47.0,788.4,-8.4,345,7252,0.00,2.40,0.00,0.000,6,0.000,0.033,2361,2250,3031
$GC,7575,-2.01,-47.0,818.1,-9.7,361,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2251,3030
$GC,7887,-2.01,-47.0,847.2,-9.7,376,7891,0.00,2.45,0.00,0.000,4,0.000,0.045,2361,853,3030
$GC,7958,-2.01,-47.0,854.7,-10.6,379,7963,0.00,2.45,0.00,0.000,6,0.000,0.038,2361,2241,3030
$GC,8281,-2.01,-47.0,884.2,-7.6,395,8286,0.00,2.53,0.00,0.000,4,0.000,0.056,2361,3650,3030
$GC,8625,-2.01,-47.0,914.8,-9.7,410,8630,0.00,2.42,0.00,0.000,6,0.000,0.035,2361,2248,3029
$GC,8943,-2.01,-47.0,942.7,-8.7,425,8945,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2248,3029
$STATE,9083,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9083,begin apogee
$GC,9091,-0.36,0.0,955.9,9.1,432,9139,1.73,0.00,44.60,1.391,6,0.084,0.000,2718,1459,2832
$STATE,9140,end apogee,CONTROL_FINISHED_OK
$STATE,9140,begin climb
$GC,9143,2.01,47.0,957.6,0.0,434,9195,2.35,2.25,44.33,1.361,4,0.047,0.065,3235,265,2639
$GC,9312,2.01,47.0,947.9,7.1,441,9318,0.00,2.05,0.00,0.000,6,0.000,0.035,3235,1458,2637
$GC,9628,2.01,47.0,927.6,6.3,457,9633,0.00,2.22,0.00,0.000,4,0.000,0.061,3235,262,2635
$GC,9971,2.01,47.0,903.5,7.3,472,9976,0.00,2.08,0.00,0.000,6,0.000,0.036,3235,1454,2634
$GC,10297,2.01,47.0,881.9,6.7,488,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1454,2633
$GC,10607,2.01,48.5,861.7,5.8,503,10611,0.00,2.50,0.00,0.000,4,0.000,0.050,3235,2853,2632
$GC,10662,2.02,59.1,858.9,4.5,505,10678,0.00,2.47,10.77,1.229,6,0.000,0.041,3235,1452,2591
$GC,10995,2.03,64.1,841.5,5.3,522,11003,0.00,0.00,6.20,1.068,6,0.000,0.000,3235,1453,2570
$GC,11306,2.03,66.3,824.8,5.7,537,11310,0.00,2.50,0.00,0.000,4,0.000,0.048,3235,2851,2569
$GC,11619,2.03,68.1,807.2,5.8,551,11629,0.00,2.47,5.10,0.977,6,0.000,0.042,3235,1453,2554
$GC,11946,2.03,68.1,783.9,7.9,567,11949,0.00,2.17,0.00,0.000,4,0.000,0.062,3235,258,2553
$GC,12288,2.03,68.1,754.0,7.6,582,12291,0.00,2.03,0.00,0.000,6,0.000,0.035,3235,1456,2553
$GC,12617,2.04,70.6,734.0,5.6,598,12618,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1456,2552
$GC,12924,2.04,70.6,716.7,6.1,613,12925,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1456,2552
$GC,13233,2.04,70.6,697.6,6.3,628,13234,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1456,2552
$GC,13542,2.04,70.6,677.4,6.6,643,13552,0.00,2.20,3.85,0.759,4,0.000,0.056,3235,264,2544
$GC,13767,2.04,70.6,661.2,6.8,653,13770,0.00,2.03,0.00,0.000,6,0.000,0.035,3235,1456,2544
$GC,14099,2.04,70.6,640.0,6.6,669,14104,0.00,2.17,0.00,0.000,4,0.000,0.056,3235,264,2545
$GC,14238,2.04,70.6,629.6,7.7,675,14242,0.00,2.03,0.00,0.000,6,0.000,0.035,3236,1455,2545
$GC,14565,2.04,70.6,606.0,7.2,691,14569,0.00,2.47,0.00,0.000,4,0.000,0.047,3235,2856,2545
$GC,14643,2.04,70.6,600.5,6.5,694,14649,0.00,2.45,0.00,0.000,6,0.000,0.039,3235,1450,2545
$GC,14958,2.04,70.6,578.9,6.6,710,14959,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1450,2545
$GC,15270,2.04,70.6,559.0,6.3,725,15271,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1450,2546
$GC,15577,2.04,70.6,538.1,6.9,740,15578,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1450,2546
$GC,15886,2.04,70.6,516.2,7.0,755,15887,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1451,2547
$GC,16195,2.04,70.6,493.7,7.3,770,16196,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1450,2548
$GC,16504,2.04,70.6,471.7,7.2,785,16505,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1451,2548
$GC,16816,2.04,70.6,450.4,6.7,800,16817,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1450,2548
$GC,17123,2.04,70.6,430.4,6.4,815,17124,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1451,2548
$GC,17432,2.04,70.6,411.3,6.1,830,17436,0.00,2.47,0.00,0.000,4,0.000,0.044,3235,2857,2549
$GC,17521,2.04,71.1,405.9,5.9,834,17525,0.00,2.45,0.00,0.000,6,0.000,0.038,3235,1446,2549
$GC,17843,2.04,73.0,387.7,5.7,850,17849,0.00,0.00,5.15,0.765,6,0.000,0.000,3235,1446,2534
$GC,18154,2.04,73.0,369.3,6.1,865,18157,0.00,2.10,0.00,0.000,4,0.000,0.058,3235,267,2534
$GC,18244,2.04,73.0,363.4,6.5,869,18248,0.00,2.00,0.00,0.000,6,0.000,0.033,3235,1456,2534
$GC,18576,2.04,75.9,344.3,5.6,885,18583,0.00,0.00,4.50,0.693,6,0.000,0.000,3235,1455,2521
$GC,18888,2.04,76.2,325.7,5.9,900,18893,0.00,2.45,0.00,0.000,4,0.000,0.046,3235,2852,2521
$GC,18989,2.05,82.8,319.4,5.1,904,19004,0.00,2.45,7.50,0.835,6,0.000,0.039,3235,1448,2494
$GC,19326,2.05,82.8,296.1,6.9,921,19327,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1448,2494
$GC,19635,2.05,82.8,274.6,7.0,936,19636,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1448,2494
$GC,19944,2.05,82.8,252.7,7.0,951,19945,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1448,2494
$GC,20256,2.05,82.8,232.0,6.3,966,20260,0.00,2.10,0.00,0.000,4,0.000,0.058,3235,268,2494
$GC,20362,2.05,82.8,224.3,7.0,970,20369,0.00,2.03,0.00,0.000,6,0.000,0.033,3235,1445,2494
$GC,20679,2.05,84.2,206.2,5.8,986,20680,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1445,2494
$GC,20991,2.06,90.2,189.5,5.2,1001,21000,0.00,0.00,7.95,0.784,6,0.000,0.000,3236,1445,2464
$GC,21299,2.06,92.5,172.1,5.7,1016,21304,0.00,0.00,3.62,0.540,6,0.000,0.000,3235,1445,2455
$GC,21608,2.06,92.5,152.2,7.0,1031,21609,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1445,2455
$GC,21916,2.06,92.5,126.5,8.7,1046,21918,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1445,2455
$GC,22224,2.06,92.5,96.5,10.3,1061,22228,0.00,2.12,0.00,0.000,4,0.000,0.055,3235,258,2455
$GC,22398,2.06,92.5,76.7,10.8,1068,22404,0.00,2.03,0.00,0.000,6,0.000,0.034,3235,1452,2455
$GC,22714,2.06,92.5,44.0,10.5,1084,22719,0.00,2.50,0.00,0.000,4,0.000,0.047,3235,2854,2455
$GC,22791,2.06,92.5,37.5,7.2,1087,22796,0.00,2.42,0.00,0.000,6,0.000,0.038,3235,1456,2455
$GC,23108,2.07,96.3,20.5,5.5,1102,23118,0.00,2.47,5.25,0.617,4,0.000,0.040,3235,2859,2439
$GC,23274,2.08,102.4,10.7,5.1,1109,23286,0.00,2.45,6.88,0.667,6,0.000,0.037,3235,1447,2414
$STATE,23379,end climb,SURFACE_DEPTH_REACHED
$STATE,23379,begin surface coast
$FINISH,0.2,1.026852
$STATE,23421,end surface coast,CONTROL_FINISHED_OK
$STATE,23421,begin surface
$SM_CCo,23446,127.93,0.759,0,0,1609,300.00
$SM_GC,1.17,0.00,0.00,127.93,0.000,0.000,0.759,391,2241,1609,-11.08,-0.25,300.00
$IRIDIUM_FIX,6148.92,-1142.14,121098,111126
$TT8_MAMPS,0.027612
$HUMID,1818
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,900.2,64.1
$24V_AH,23.2,42.835
$10V_AH,10.1,24.373
$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,27.025,154.725,155.700,127.925,0.000,25.200,31.445,174.926,8.250,0.000,0.000,15.099,2154.221,17559.525,429.495,2873.803,919.759,0.000,1807.454,0.000,3032.445,0.000,57.003,0.000
$DEVICE_MAMPS,128.856,65.195,1390.571,759.330,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,853.356,906.185,606.621,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56734,1117
$CAP_FILE_SIZE,166575,0
$CFSIZE,260165632,245657600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,190709,004037,6217.305,-1146.275,28,2.0,28,-11.0