version: 66.04
glider: 105
mission: 6
dive: 171
start: 7 19 109 0 47 15
data:
$ID,105
$MISSION,6
$DIVE,171
$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,-1631042.9
$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,27
$R_STBD_OVSHOOT,27
$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
$GPS1,004037,6217.305,-1146.275,28,2.0,28,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-58.1
$GPS2,004656,6217.280,-1146.359,15,1.8,33,-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,124.9,1280,-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,-45.08,0.000,6,0.000,0.000,391,2241,2951
$GC,65,-1.99,-30.4,2.3,-5.8,2,81,10.48,2.47,0.00,0.000,4,0.131,0.040,2360,840,2952
$GC,311,-1.99,-30.4,35.7,-10.2,12,315,0.00,2.45,0.00,0.000,6,0.000,0.034,2360,2257,2953
$GC,632,-1.99,-30.4,70.9,-13.0,28,637,0.00,2.53,0.00,0.000,4,0.000,0.051,2360,3650,2954
$GC,726,-1.99,-30.4,84.9,-14.6,32,731,0.00,2.42,0.00,0.000,6,0.000,0.031,2360,2229,2953
$GC,1048,-1.99,-30.4,121.5,-9.4,48,1052,0.00,2.55,0.00,0.000,4,0.000,0.048,2360,3653,2955
$GC,1187,-1.99,-30.4,134.7,-9.3,54,1191,0.00,2.40,0.00,0.000,6,0.000,0.031,2360,2248,2954
$GC,1502,-1.99,-30.4,162.1,-9.5,69,1506,0.00,2.50,0.00,0.000,4,0.000,0.048,2360,3649,2954
$GC,1641,-1.99,-30.4,177.0,-10.0,75,1646,0.00,2.40,0.00,0.000,6,0.000,0.031,2360,2246,2954
$GC,1957,-1.99,-30.4,209.6,-10.2,90,1962,0.00,2.53,0.00,0.000,4,0.000,0.051,2360,3653,2954
$GC,2069,-1.99,-30.4,221.7,-10.6,95,2073,0.00,2.40,0.00,0.000,6,0.000,0.031,2359,2252,2954
$GC,2391,-1.99,-30.4,254.8,-10.5,111,2395,0.00,2.50,0.00,0.000,4,0.000,0.050,2360,3650,2954
$GC,2587,-1.99,-30.4,276.7,-11.5,120,2591,0.00,2.42,0.00,0.000,6,0.000,0.031,2360,2249,2954
$GC,2920,-1.99,-30.4,310.5,-9.8,136,2924,0.00,2.50,0.00,0.000,4,0.000,0.050,2360,3651,2954
$GC,3079,-1.99,-30.4,326.8,-10.1,143,3083,0.00,2.40,0.00,0.000,6,0.000,0.031,2360,2248,2953
$GC,3400,-1.99,-30.4,357.1,-9.4,159,3404,0.00,2.53,0.00,0.000,4,0.000,0.051,2360,3655,2954
$GC,3506,-1.99,-30.4,367.8,-9.7,164,3511,0.00,2.40,0.00,0.000,6,0.000,0.032,2360,2249,2953
$GC,3833,-1.99,-30.4,398.0,-8.9,180,3837,0.00,2.50,0.00,0.000,4,0.000,0.050,2360,3650,2953
$GC,3956,-1.99,-30.4,409.8,-9.3,185,3962,0.00,2.40,0.00,0.000,6,0.000,0.031,2360,2246,2953
$GC,4273,-1.99,-30.4,438.4,-9.1,201,4277,0.00,2.53,0.00,0.000,4,0.000,0.050,2360,3655,2953
$GC,4340,-1.99,-30.4,445.1,-10.3,204,4345,0.00,2.40,0.00,0.000,6,0.000,0.031,2360,2247,2953
$GC,4662,-1.99,-30.4,475.7,-9.6,220,4666,0.00,2.50,0.00,0.000,4,0.000,0.050,2360,3651,2952
$GC,4762,-1.99,-30.4,486.3,-10.9,224,4769,0.00,2.38,0.00,0.000,6,0.000,0.031,2360,2250,2952
$GC,5077,-1.99,-30.4,515.2,-8.8,240,5082,0.00,2.50,0.00,0.000,4,0.000,0.050,2360,3654,2952
$GC,5230,-1.99,-30.4,528.9,-9.0,247,5234,0.00,2.40,0.00,0.000,6,0.000,0.031,2360,2247,2952
$GC,5559,-1.99,-30.4,555.0,-7.8,263,5563,0.00,2.50,0.00,0.000,4,0.000,0.050,2360,3650,2951
$GC,5614,-1.99,-30.4,559.9,-8.3,265,5620,0.00,2.40,0.00,0.000,6,0.000,0.031,2360,2241,2952
$GC,5931,-1.99,-30.4,583.5,-7.5,281,5935,0.00,2.53,0.00,0.000,4,0.000,0.052,2360,3653,2951
$GC,6150,-1.99,-30.4,601.6,-8.1,291,6155,0.00,2.42,0.00,0.000,6,0.000,0.033,2360,2252,2951
$GC,6482,-1.99,-30.4,627.0,-7.6,307,6486,0.00,2.50,0.00,0.000,4,0.000,0.050,2360,3654,2951
$GC,6644,-1.99,-30.4,640.7,-8.8,314,6649,0.00,2.42,0.00,0.000,6,0.000,0.032,2360,2251,2951
$GC,6964,-1.99,-30.4,668.1,-9.2,330,6969,0.00,2.50,0.00,0.000,4,0.000,0.051,2360,3648,2951
$GC,7143,-1.99,-30.4,687.1,-11.0,338,7147,0.00,2.40,0.00,0.000,6,0.000,0.032,2360,2246,2951
$GC,7463,-1.99,-30.4,719.6,-10.2,354,7468,0.00,2.53,0.00,0.000,4,0.000,0.052,2360,3652,2950
$GC,7573,-1.99,-30.4,730.6,-10.8,359,7577,0.00,2.40,0.00,0.000,6,0.000,0.033,2360,2250,2950
$GC,7899,-1.99,-30.4,758.7,-7.7,375,7903,0.00,2.50,0.00,0.000,4,0.000,0.051,2360,3648,2950
$GC,8202,-1.99,-30.4,782.2,-7.8,388,8208,0.00,2.40,0.00,0.000,6,0.000,0.033,2360,2246,2950
$GC,8517,-1.99,-30.4,805.5,-8.6,404,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2246,2950
$GC,8829,-1.99,-30.4,831.5,-8.0,419,8833,0.00,2.53,0.00,0.000,4,0.000,0.054,2360,3652,2949
$GC,9171,-1.99,-30.4,861.6,-8.7,434,9175,0.00,2.42,0.00,0.000,6,0.000,0.035,2360,2248,2949
$GC,9486,-1.99,-30.4,885.9,-7.6,449,9490,0.00,2.53,0.00,0.000,4,0.000,0.056,2360,3647,2949
$GC,9827,-1.99,-30.4,911.3,-6.8,464,9831,0.00,2.42,0.00,0.000,6,0.000,0.036,2360,2248,2948
$GC,10142,-1.99,-30.4,932.1,-6.8,479,10147,0.00,2.55,0.00,0.000,4,0.000,0.058,2360,3638,2948
$GC,10484,-1.99,-30.4,959.5,-7.9,494,10489,0.00,2.45,0.00,0.000,6,0.000,0.038,2360,2249,2947
$STATE,10492,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10492,begin apogee
$GC,10500,-0.36,0.0,960.2,6.8,494,10531,1.70,0.00,26.85,1.372,6,0.089,0.000,2718,1461,2832
$STATE,10531,end apogee,CONTROL_FINISHED_OK
$STATE,10532,begin climb
$GC,10534,1.99,30.4,961.1,0.0,496,10571,2.35,2.25,29.23,1.353,4,0.047,0.064,3234,261,2706
$GC,10912,2.00,39.6,942.2,4.7,512,10926,0.00,2.05,9.48,1.212,6,0.000,0.038,3235,1455,2670
$GC,11244,2.01,47.0,926.8,5.0,528,11258,0.00,2.22,8.15,1.176,4,0.000,0.060,3235,270,2640
$GC,11312,2.01,47.0,923.0,6.2,531,11316,0.00,2.05,0.00,0.000,6,0.000,0.036,3235,1456,2640
$GC,11644,2.01,47.0,903.9,6.5,547,11645,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2638
$GC,11956,2.01,47.0,881.3,7.1,562,11960,0.00,2.50,0.00,0.000,4,0.000,0.051,3235,2853,2638
$GC,12213,2.02,53.1,864.8,5.2,573,12224,0.00,2.50,6.43,1.097,6,0.000,0.044,3235,1448,2616
$GC,12546,2.02,54.8,844.3,5.8,590,12550,0.00,2.53,0.00,0.000,4,0.000,0.051,3235,2856,2614
$GC,12887,2.04,71.9,828.1,3.6,605,12913,0.00,2.50,18.42,1.302,6,0.000,0.043,3235,1448,2538
$GC,13231,2.04,71.9,805.1,8.4,622,13235,0.00,2.53,0.00,0.000,4,0.000,0.050,3235,2857,2536
$GC,13572,2.04,71.9,772.1,9.0,637,13576,0.00,2.50,0.00,0.000,6,0.000,0.042,3235,1448,2535
$GC,13887,2.04,72.5,750.0,5.9,652,13892,0.00,2.50,0.00,0.000,4,0.000,0.047,3235,2856,2535
$GC,14042,2.05,80.3,742.0,4.9,659,14056,0.00,2.50,8.77,1.135,6,0.000,0.041,3235,1457,2504
$GC,14373,2.05,80.3,720.6,7.0,675,14374,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2503
$GC,14682,2.05,80.3,697.0,8.3,690,14686,0.00,2.15,0.00,0.000,4,0.000,0.061,3235,264,2503
$GC,14889,2.05,80.3,677.6,9.6,699,14892,0.00,2.03,0.00,0.000,6,0.000,0.034,3234,1457,2503
$GC,15215,2.05,80.3,649.3,8.7,715,15216,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2503
$GC,15525,2.05,80.3,622.8,8.4,730,15526,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2504
$GC,15834,2.05,80.3,596.9,8.2,745,15835,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2505
$GC,16143,2.05,80.3,571.4,8.6,760,16144,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2505
$GC,16455,2.05,80.3,545.0,8.6,775,16456,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2505
$GC,16762,2.05,80.3,518.0,8.8,790,16763,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1457,2506
$GC,17071,2.05,80.3,491.1,8.7,805,17072,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2507
$GC,17380,2.05,80.3,464.9,8.3,820,17382,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2507
$GC,17689,2.05,80.3,440.1,8.0,835,17691,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2507
$GC,18001,2.05,80.3,415.7,7.8,850,18002,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2508
$GC,18308,2.05,80.3,392.5,7.4,865,18309,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2508
$GC,18617,2.05,80.3,370.8,7.1,880,18618,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2508
$GC,18926,2.05,80.3,349.2,6.8,895,18928,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2509
$GC,19236,2.05,80.3,328.3,7.0,910,19237,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2509
$GC,19548,2.05,80.3,306.4,7.1,925,19549,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2510
$GC,19854,2.05,80.3,284.7,7.0,940,19855,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1457,2510
$GC,20164,2.05,80.3,264.3,6.3,955,20165,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2510
$GC,20473,2.05,80.3,245.0,6.2,970,20474,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1457,2510
$GC,20782,2.05,80.3,225.6,6.4,985,20783,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2510
$GC,21094,2.05,80.3,206.1,6.2,1000,21095,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2510
$GC,21401,2.05,80.3,184.9,7.0,1015,21402,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2510
$GC,21710,2.05,80.3,164.2,6.7,1030,21711,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2510
$GC,22019,2.05,80.3,141.5,7.5,1045,22021,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2511
$GC,22329,2.05,80.3,118.1,7.3,1060,22334,0.00,2.15,0.00,0.000,4,0.000,0.055,3235,270,2511
$GC,22384,2.05,80.3,113.8,7.2,1062,22388,0.00,2.00,0.00,0.000,6,0.000,0.032,3235,1458,2511
$GC,22707,2.05,83.7,94.0,5.5,1078,22715,0.00,0.00,6.18,0.691,6,0.000,0.000,3235,1458,2490
$GC,23017,2.06,85.4,76.1,5.8,1093,23021,0.00,2.45,0.00,0.000,4,0.000,0.046,3235,2857,2490
$GC,23168,2.06,85.4,66.1,7.1,1100,23173,0.00,2.45,0.00,0.000,6,0.000,0.038,3234,1445,2489
$GC,23496,2.07,99.3,48.4,4.1,1116,23518,0.00,2.17,14.07,0.774,4,0.000,0.056,3235,268,2427
$GC,23609,2.07,99.3,42.0,6.2,1121,23613,0.00,2.03,0.00,0.000,6,0.000,0.032,3235,1456,2426
$GC,23943,2.07,99.3,16.9,8.6,1137,23947,0.00,2.45,0.00,0.000,4,0.000,0.042,3236,2852,2426
$GC,24083,2.07,99.3,4.4,8.3,1143,24088,0.00,2.45,0.00,0.000,6,0.000,0.038,3235,1448,2426
$STATE,24108,end climb,SURFACE_DEPTH_REACHED
$STATE,24108,begin surface coast
$FINISH,0.2,1.026905
$STATE,24151,end surface coast,CONTROL_FINISHED_OK
$STATE,24151,begin surface
$SM_CCo,24175,134.57,0.760,0,0,1608,300.00
$SM_GC,0.82,0.00,0.00,134.57,0.000,0.000,0.760,393,2244,1608,-11.07,-0.14,300.00
$IRIDIUM_FIX,6153.50,-1138.55,121098,181802
$TT8_MAMPS,0.027612
$HUMID,1821
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,876.6,93.0
$24V_AH,23.2,42.922
$10V_AH,10.1,24.489
$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,26.875,157.175,127.575,134.575,0.000,24.137,26.968,170.782,7.750,0.000,0.000,33.604,2230.408,18067.504,399.203,3065.359,918.951,0.000,1853.358,0.000,3212.313,0.000,52.535,0.000
$DEVICE_MAMPS,131.157,64.428,1372.163,760.097,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,888.380,933.506,638.319,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60026,1146
$CAP_FILE_SIZE,173355,0
$CFSIZE,260165632,245563392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,190709,073337,6216.954,-1144.522,32,1.0,32,-11.0