version: 66.04
glider: 105
mission: 6
dive: 172
start: 7 19 109 7 40 40
data:
$ID,105
$MISSION,6
$DIVE,172
$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,-1631060.6
$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,31
$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
$GPS1,073337,6216.954,-1144.522,32,1.0,32,-11.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-54.3
$GPS2,074020,6216.948,-1144.494,17,1.8,17,-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,293.5,447,-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,16,-1.99,-28.8,0.0,0.0,0,63,0.00,0.00,-45.80,0.000,6,0.000,0.000,393,2244,2950
$GC,66,-1.99,-33.6,2.1,-5.3,2,83,10.38,2.53,-0.43,0.000,4,0.128,0.062,2358,3648,2970
$GC,421,-1.99,-33.6,54.3,-10.5,17,425,0.00,2.45,0.00,0.000,6,0.000,0.030,2358,2228,2972
$GC,753,-1.99,-33.6,91.7,-11.5,33,757,0.00,2.55,0.00,0.000,4,0.000,0.048,2358,3651,2972
$GC,1093,-1.99,-33.6,132.0,-11.7,48,1098,0.00,2.40,0.00,0.000,6,0.000,0.030,2357,2259,2972
$GC,1414,-1.99,-33.6,166.1,-10.5,64,1418,0.00,2.50,0.00,0.000,4,0.000,0.051,2358,3649,2973
$GC,1754,-1.99,-33.6,205.4,-11.4,79,1759,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2258,2972
$GC,2075,-1.99,-33.6,240.0,-10.9,95,2079,0.00,2.50,0.00,0.000,4,0.000,0.051,2358,3650,2973
$GC,2416,-1.99,-33.6,279.2,-11.7,110,2421,0.00,2.42,0.00,0.000,6,0.000,0.031,2358,2250,2968
$GC,2737,-1.99,-33.6,313.9,-10.7,126,2741,0.00,2.50,0.00,0.000,4,0.000,0.049,2358,3650,2972
$GC,2959,-1.99,-33.6,338.5,-10.7,136,2963,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2245,2972
$GC,3281,-1.99,-33.6,370.1,-9.7,152,3286,0.00,2.53,0.00,0.000,4,0.000,0.051,2358,3650,2972
$GC,3393,-1.99,-33.6,382.1,-10.8,157,3398,0.00,2.42,0.00,0.000,6,0.000,0.031,2358,2246,2967
$GC,3719,-1.99,-33.6,413.4,-9.4,173,3724,0.00,2.50,0.00,0.000,4,0.000,0.050,2358,3650,2971
$GC,3909,-1.99,-33.6,432.3,-10.4,181,3916,0.00,2.42,0.00,0.000,6,0.000,0.031,2358,2216,2971
$GC,4225,-1.99,-33.6,463.5,-10.0,197,4229,0.00,2.58,0.00,0.000,4,0.000,0.051,2357,3650,2970
$GC,4370,-1.99,-33.6,479.2,-11.1,203,4376,0.00,2.38,0.00,0.000,6,0.000,0.031,2358,2249,2970
$GC,4685,-1.99,-33.6,510.1,-9.7,219,4689,0.00,2.50,0.00,0.000,4,0.000,0.050,2358,3650,2971
$GC,4865,-1.99,-33.6,528.2,-9.7,227,4869,0.00,2.40,0.00,0.000,6,0.000,0.031,2357,2239,2970
$GC,5185,-1.99,-33.6,558.5,-9.6,243,5190,0.00,2.53,0.00,0.000,4,0.000,0.052,2358,3648,2970
$GC,5320,-1.99,-33.6,572.7,-10.4,249,5324,0.00,2.38,0.00,0.000,6,0.000,0.031,2358,2252,2970
$GC,5641,-1.99,-33.6,604.6,-10.1,265,5645,0.00,2.50,0.00,0.000,4,0.000,0.051,2358,3650,2970
$GC,5748,-1.99,-33.6,615.8,-9.9,270,5752,0.00,2.38,0.00,0.000,6,0.000,0.031,2357,2251,2970
$GC,6075,-1.99,-33.6,646.6,-9.1,286,6079,0.00,2.50,0.00,0.000,4,0.000,0.051,2358,3649,2970
$GC,6251,-1.99,-33.6,662.8,-9.5,294,6255,0.00,2.38,0.00,0.000,6,0.000,0.031,2357,2252,2969
$GC,6578,-1.99,-33.6,691.1,-8.6,310,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2252,2969
$GC,6886,-1.99,-33.6,717.6,-8.4,325,6890,0.00,2.45,0.00,0.000,4,0.000,0.044,2358,850,2969
$GC,6926,-1.99,-33.6,720.9,-8.0,327,6930,0.00,2.42,0.00,0.000,6,0.000,0.035,2358,2259,2963
$GC,7252,-1.99,-33.6,747.0,-8.2,343,7256,0.00,2.47,0.00,0.000,4,0.000,0.054,2358,3647,2969
$GC,7381,-1.99,-33.6,758.2,-9.0,349,7385,0.00,2.40,0.00,0.000,6,0.000,0.033,2358,2243,2969
$GC,7707,-1.99,-33.6,784.0,-7.8,365,7712,0.00,2.53,0.00,0.000,4,0.000,0.054,2358,3647,2969
$GC,8049,-1.99,-33.6,811.5,-8.4,380,8053,0.00,2.40,0.00,0.000,6,0.000,0.032,2358,2246,2968
$GC,8365,-1.99,-33.6,835.8,-7.2,395,8369,0.00,2.53,0.00,0.000,4,0.000,0.054,2357,3648,2968
$GC,8420,-1.99,-33.6,839.8,-7.4,397,8426,0.00,2.40,0.00,0.000,6,0.000,0.034,2358,2251,2969
$GC,8736,-1.99,-33.6,858.1,-6.3,413,8740,0.00,2.53,0.00,0.000,4,0.000,0.054,2357,3652,2967
$GC,8976,-1.99,-33.6,875.8,-8.0,424,8981,0.00,2.42,0.00,0.000,6,0.000,0.035,2358,2246,2967
$GC,9307,-1.99,-33.6,900.1,-7.4,440,9311,0.00,2.55,0.00,0.000,4,0.000,0.058,2358,3648,2966
$GC,9648,-1.99,-33.6,926.3,-7.4,455,9653,0.00,2.42,0.00,0.000,6,0.000,0.035,2357,2247,2965
$STATE,9964,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9964,begin apogee
$GC,9972,-0.36,0.0,950.0,7.1,470,10007,1.75,0.00,30.62,1.380,6,0.088,0.000,2717,1466,2832
$STATE,10008,end apogee,CONTROL_FINISHED_OK
$STATE,10008,begin climb
$GC,10011,1.99,33.6,951.8,0.0,472,10052,2.33,0.00,32.22,1.355,6,0.044,0.000,3231,1466,2694
$GC,10364,2.00,43.2,936.6,4.7,489,10378,0.00,2.25,9.68,1.213,4,0.000,0.064,3231,264,2656
$GC,10547,2.00,43.2,924.6,7.0,497,10550,0.00,2.05,0.00,0.000,6,0.000,0.036,3231,1456,2655
$GC,10874,2.02,53.7,906.8,4.5,513,10891,0.00,2.58,11.15,1.250,4,0.000,0.050,3231,2859,2612
$GC,11033,2.02,53.7,897.2,6.7,519,11037,0.00,2.53,0.00,0.000,6,0.000,0.043,3231,1447,2611
$GC,11354,2.02,53.7,876.3,6.5,535,11355,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1447,2610
$GC,11663,2.02,60.1,858.6,5.1,550,11676,0.00,2.60,6.93,1.124,4,0.000,0.049,3231,2859,2587
$GC,12014,2.03,61.1,837.4,5.9,565,12022,0.00,2.53,0.00,0.000,6,0.000,0.044,3231,1454,2586
$GC,12331,2.03,61.1,814.1,8.2,581,12335,0.00,2.50,0.00,0.000,4,0.000,0.050,3231,2856,2585
$GC,12672,2.04,73.6,794.3,4.3,596,12693,0.00,2.50,13.60,1.254,6,0.000,0.043,3231,1445,2530
$GC,13014,2.04,75.8,775.8,5.7,613,13019,0.00,2.53,0.00,0.000,4,0.000,0.048,3231,2862,2529
$GC,13273,2.04,75.8,760.7,6.1,624,13279,0.00,2.50,0.00,0.000,6,0.000,0.041,3231,1448,2528
$GC,13590,2.04,75.8,741.0,6.7,640,13594,0.00,2.15,0.00,0.000,4,0.000,0.061,3231,261,2529
$GC,13646,2.04,75.8,736.6,7.7,642,13650,0.00,2.03,0.00,0.000,6,0.000,0.034,3231,1457,2528
$GC,13970,2.04,75.8,711.2,8.1,658,13973,0.00,2.15,0.00,0.000,4,0.000,0.057,3231,262,2528
$GC,14048,2.04,75.8,704.2,8.1,661,14053,0.00,2.08,0.00,0.000,6,0.000,0.034,3231,1456,2529
$GC,14368,2.04,75.8,679.7,7.4,677,14372,0.00,2.15,0.00,0.000,4,0.000,0.056,3231,262,2529
$GC,14620,2.04,75.8,659.9,7.9,688,14624,0.00,2.00,0.00,0.000,6,0.000,0.033,3231,1456,2529
$GC,14948,2.04,75.8,639.0,6.2,704,14952,0.00,2.45,0.00,0.000,4,0.000,0.045,3231,2847,2529
$GC,15148,2.04,75.8,625.6,6.8,713,15153,0.00,2.45,0.00,0.000,6,0.000,0.039,3231,1447,2530
$GC,15471,2.04,75.8,603.8,6.6,729,15472,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1447,2530
$GC,15779,2.04,75.8,584.4,6.3,744,15780,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1447,2531
$GC,16088,2.04,75.8,565.4,6.4,759,16092,0.00,2.47,0.00,0.000,4,0.000,0.043,3231,2849,2531
$GC,16160,2.04,75.8,560.9,6.7,762,16164,0.00,2.42,0.00,0.000,6,0.000,0.038,3231,1454,2531
$GC,16476,2.04,75.8,541.3,6.1,777,16486,0.00,2.17,3.92,0.708,4,0.000,0.058,3231,268,2523
$GC,16536,2.04,75.8,537.2,7.4,779,16543,0.00,2.03,0.00,0.000,6,0.000,0.031,3231,1458,2523
$GC,16852,2.04,75.8,517.8,6.2,795,16853,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1457,2524
$GC,17161,2.04,75.8,498.0,6.5,810,17162,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1458,2524
$GC,17470,2.04,75.8,477.1,6.7,825,17471,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1458,2524
$GC,17780,2.04,75.8,456.1,6.7,840,17781,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1458,2525
$GC,18091,2.04,75.8,434.2,7.2,855,18092,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1458,2525
$GC,18398,2.04,75.8,412.5,7.2,870,18402,0.00,2.12,0.00,0.000,4,0.000,0.055,3231,265,2525
$GC,18477,2.04,75.8,406.4,7.7,873,18480,0.00,2.03,0.00,0.000,6,0.000,0.032,3231,1459,2525
$GC,18798,2.04,75.8,382.9,7.4,889,18799,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1459,2526
$GC,19107,2.04,75.8,359.3,7.7,904,19108,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1459,2526
$GC,19416,2.04,75.8,335.5,7.7,919,19418,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1459,2526
$GC,19728,2.04,75.8,312.4,7.3,934,19729,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1459,2526
$GC,20035,2.04,75.8,289.7,7.3,949,20036,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1459,2526
$GC,20344,2.04,75.8,267.1,7.2,964,20345,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1459,2527
$GC,20653,2.04,75.8,245.1,6.7,979,20655,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1459,2527
$GC,20962,2.04,75.8,224.9,6.2,994,20964,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1459,2527
$GC,21275,2.04,76.4,206.3,5.9,1009,21276,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1459,2527
$GC,21582,2.04,76.5,188.2,6.0,1024,21586,0.00,2.45,0.00,0.000,4,0.000,0.044,3231,2853,2527
$GC,21693,2.04,76.5,181.2,6.4,1029,21698,0.00,2.45,0.00,0.000,6,0.000,0.038,3231,1461,2527
$GC,22020,2.04,76.5,159.7,6.6,1045,22021,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1461,2527
$GC,22329,2.04,76.5,138.2,7.0,1060,22330,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1461,2527
$GC,22640,2.04,76.5,116.0,7.3,1075,22644,0.00,2.45,0.00,0.000,4,0.000,0.041,3231,2860,2527
$GC,22792,2.04,76.5,105.6,6.2,1082,22796,0.00,2.45,0.00,0.000,6,0.000,0.037,3231,1444,2527
$GC,23118,2.04,76.5,84.3,6.2,1098,23122,0.00,2.10,0.00,0.000,4,0.000,0.057,3231,261,2528
$GC,23170,2.04,76.5,81.2,6.1,1100,23173,0.00,2.00,0.00,0.000,6,0.000,0.033,3231,1457,2528
$GC,23497,2.05,85.1,64.1,4.8,1116,23513,0.00,2.47,10.62,0.758,4,0.000,0.044,3231,2850,2484
$GC,23726,2.06,85.4,51.6,6.0,1125,23730,0.00,2.45,0.00,0.000,6,0.000,0.038,3231,1446,2483
$GC,24043,2.09,115.3,41.8,1.9,1140,24075,0.10,2.53,26.00,0.793,4,0.051,0.042,3273,2855,2361
$GC,24088,2.12,139.6,40.8,2.6,1142,24115,0.00,2.47,22.05,0.765,6,0.000,0.037,3273,1452,2262
$GC,24437,2.12,139.6,7.8,12.1,1159,24441,0.00,2.47,0.00,0.000,4,0.000,0.041,3273,2853,2258
$GC,24464,2.12,139.6,5.4,7.3,1160,24468,0.00,2.45,0.00,0.000,6,0.000,0.036,3273,1454,2257
$STATE,24509,end climb,SURFACE_DEPTH_REACHED
$STATE,24509,begin surface coast
$FINISH,0.1,1.026893
$STATE,24534,end surface coast,CONTROL_FINISHED_OK
$STATE,24534,begin surface
$SM_CCo,24559,108.45,0.758,0,0,1609,300.00
$SM_GC,0.76,0.00,0.00,108.45,0.000,0.000,0.758,392,2246,1609,-11.08,-0.11,300.00
$IRIDIUM_FIX,6153.50,-1147.61,131098,000027
$TT8_MAMPS,0.027612
$HUMID,1829
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,900.1,58.5
$24V_AH,23.2,43.015
$10V_AH,10.1,24.610
$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,27.225,175.350,166.800,108.450,0.000,27.962,36.511,199.216,8.250,0.000,0.000,17.164,2283.511,18146.480,419.434,3217.503,998.625,0.000,1956.265,0.000,3386.444,0.000,57.021,0.000
$DEVICE_MAMPS,128.089,64.428,1379.833,757.796,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,908.351,941.025,642.505,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59906,1163
$CAP_FILE_SIZE,181708,0
$CFSIZE,260165632,245473280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,190709,143306,6216.748,-1150.991,38,2.0,38,-11.1