version: 66.04
glider: 105
mission: 6
dive: 174
start: 7 19 109 21 52 46
data:
$ID,105
$MISSION,6
$DIVE,174
$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,-1631103.9
$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,26
$R_STBD_OVSHOOT,35
$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
$GPS1,214554,6217.224,-1146.073,25,1.3,43,-11.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-55.1
$GPS2,215226,6217.241,-1146.116,11,2.0,11,-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,125.9,1060,-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,-28.8,0.0,0.0,0,64,0.00,0.00,-46.50,0.000,6,0.000,0.000,394,2256,2951
$GC,67,-2.00,-44.3,1.9,-3.9,2,89,10.40,2.55,-1.45,0.000,4,0.130,0.051,2354,838,3015
$GC,279,-2.00,-44.3,38.1,-17.3,11,284,0.00,2.45,0.00,0.000,6,0.000,0.031,2355,2244,3016
$GC,600,-2.00,-44.3,76.3,-10.5,27,604,0.00,2.50,0.00,0.000,4,0.000,0.048,2355,3652,3016
$GC,940,-2.00,-44.3,120.3,-12.8,42,945,0.00,2.45,0.00,0.000,6,0.000,0.029,2354,2232,3017
$GC,1261,-2.00,-44.3,156.4,-10.9,58,1265,0.00,2.55,0.00,0.000,4,0.000,0.048,2355,3651,3017
$GC,1556,-2.00,-44.3,191.2,-11.3,71,1561,0.00,2.42,0.00,0.000,6,0.000,0.030,2354,2250,3017
$GC,1878,-2.00,-44.3,225.4,-10.8,87,1882,0.00,2.53,0.00,0.000,4,0.000,0.049,2354,3654,3017
$GC,1995,-2.00,-44.3,239.1,-11.3,92,1999,0.00,2.40,0.00,0.000,6,0.000,0.030,2354,2248,3017
$GC,2310,-2.00,-44.3,273.2,-10.8,107,2315,0.00,2.53,0.00,0.000,4,0.000,0.051,2355,3653,3017
$GC,2440,-2.00,-44.3,287.8,-11.4,113,2444,0.00,2.40,0.00,0.000,6,0.000,0.030,2354,2246,3016
$GC,2766,-2.00,-44.3,323.0,-10.9,129,2771,0.00,2.53,0.00,0.000,4,0.000,0.051,2355,3651,3016
$GC,2912,-2.00,-44.3,339.6,-11.5,135,2919,0.00,2.42,0.00,0.000,6,0.000,0.031,2355,2251,3016
$GC,3228,-2.00,-44.3,373.1,-10.7,151,3232,0.00,2.53,0.00,0.000,4,0.000,0.050,2355,3660,3016
$GC,3316,-2.00,-44.3,383.4,-11.4,155,3321,0.00,2.42,0.00,0.000,6,0.000,0.031,2355,2236,3015
$GC,3638,-2.00,-44.3,417.3,-10.4,171,3642,0.00,2.53,0.00,0.000,4,0.000,0.051,2355,3651,3016
$GC,3803,-2.00,-44.3,435.6,-11.5,178,3807,0.00,2.40,0.00,0.000,6,0.000,0.030,2354,2241,3015
$GC,4118,-2.00,-44.3,468.6,-10.4,193,4122,0.00,2.53,0.00,0.000,4,0.000,0.051,2355,3651,3015
$GC,4295,-2.00,-44.3,487.9,-11.1,201,4299,0.00,2.38,0.00,0.000,6,0.000,0.031,2355,2252,3015
$GC,4621,-2.00,-44.3,522.4,-10.8,217,4625,0.00,2.50,0.00,0.000,4,0.000,0.051,2355,3651,3015
$GC,4744,-2.00,-44.3,536.3,-11.2,222,4750,0.00,2.40,0.00,0.000,6,0.000,0.031,2355,2243,3015
$GC,5059,-2.00,-44.3,568.8,-10.5,238,5063,0.00,2.53,0.00,0.000,4,0.000,0.051,2354,3651,3014
$GC,5181,-2.00,-44.3,582.6,-11.4,243,5187,0.00,2.40,0.00,0.000,6,0.000,0.031,2355,2246,3014
$GC,5497,-2.00,-44.3,615.2,-10.1,259,5501,0.00,2.53,0.00,0.000,4,0.000,0.051,2355,3652,3014
$GC,5649,-2.00,-44.3,631.8,-11.2,266,5653,0.00,2.40,0.00,0.000,6,0.000,0.031,2354,2243,3014
$GC,5975,-2.00,-44.3,666.2,-10.5,282,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2242,3014
$GC,6284,-2.00,-44.3,697.7,-10.1,297,6288,0.00,2.53,0.00,0.000,4,0.000,0.053,2355,3651,3015
$GC,6626,-2.00,-44.3,734.5,-11.1,312,6631,0.00,2.42,0.00,0.000,6,0.000,0.031,2354,2251,3013
$GC,6946,-2.00,-44.3,767.4,-9.9,328,6950,0.00,2.53,0.00,0.000,4,0.000,0.052,2355,3654,3014
$GC,7288,-2.00,-44.3,799.8,-9.0,343,7294,0.00,2.45,0.00,0.000,6,0.000,0.033,2355,2250,3013
$GC,7610,-2.00,-44.3,829.6,-9.7,359,7614,0.00,2.53,0.00,0.000,4,0.000,0.054,2354,3657,3013
$GC,7952,-2.00,-44.3,861.8,-8.6,374,7956,0.00,2.45,0.00,0.000,6,0.000,0.035,2355,2253,3012
$GC,8272,-2.00,-44.3,887.7,-8.0,390,8276,0.00,2.53,0.00,0.000,4,0.000,0.055,2355,3650,3012
$GC,8614,-2.00,-44.3,918.4,-9.3,405,8619,0.00,2.45,0.00,0.000,6,0.000,0.035,2355,2252,3011
$GC,8935,-2.00,-44.3,944.4,-8.1,421,8940,0.00,2.55,0.00,0.000,4,0.000,0.058,2354,3653,3010
$GC,9092,-2.00,-44.3,958.3,-8.7,428,9097,0.00,2.45,0.00,0.000,6,0.000,0.037,2354,2258,3009
$STATE,9127,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9127,begin apogee
$GC,9135,-0.36,0.0,961.4,8.4,430,9180,1.77,0.00,40.70,1.402,6,0.086,0.000,2720,1467,2832
$STATE,9181,end apogee,CONTROL_FINISHED_OK
$STATE,9181,begin climb
$GC,9184,2.00,44.3,962.9,0.0,432,9233,2.33,2.33,41.50,1.374,4,0.044,0.065,3235,264,2651
$GC,9295,2.00,44.3,956.7,8.0,437,9301,0.00,2.08,0.00,0.000,6,0.000,0.037,3235,1458,2649
$GC,9610,2.01,46.1,937.5,5.7,453,9612,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2647
$GC,9920,2.01,48.1,919.1,5.7,468,9929,0.00,2.20,4.65,0.950,4,0.000,0.063,3235,264,2634
$GC,9996,2.02,55.3,914.6,5.0,471,10009,0.00,2.08,7.95,1.173,6,0.000,0.038,3235,1459,2606
$GC,10319,2.02,55.3,894.8,6.3,487,10320,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1459,2604
$GC,10627,2.02,57.1,876.5,5.8,502,10631,0.00,2.53,0.00,0.000,4,0.000,0.053,3235,2858,2604
$GC,10796,2.02,57.1,864.9,7.1,509,10803,0.00,2.50,0.00,0.000,6,0.000,0.044,3235,1450,2602
$GC,11112,2.03,61.0,846.6,5.5,525,11123,0.00,2.20,6.18,1.098,4,0.000,0.064,3235,264,2583
$GC,11392,2.03,61.0,828.1,6.4,537,11398,0.00,2.05,0.00,0.000,6,0.000,0.037,3235,1456,2582
$GC,11710,2.03,61.0,809.6,6.5,553,11711,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1456,2581
$GC,12017,2.03,68.8,790.9,4.9,568,12031,0.00,2.58,8.23,1.170,4,0.000,0.050,3235,2848,2551
$GC,12077,2.03,68.8,787.0,6.4,570,12084,0.00,2.53,0.00,0.000,6,0.000,0.042,3235,1453,2551
$GC,12393,2.03,68.8,764.6,7.3,586,12397,0.00,2.50,0.00,0.000,4,0.000,0.048,3235,2854,2551
$GC,12734,2.03,68.8,741.0,6.2,601,12738,0.00,2.50,0.00,0.000,6,0.000,0.042,3235,1446,2550
$GC,13050,2.04,71.1,721.7,5.7,616,13060,0.00,2.55,3.70,0.771,4,0.000,0.045,3235,2856,2542
$GC,13397,2.04,71.1,701.7,6.2,631,13401,0.00,2.47,0.00,0.000,6,0.000,0.040,3235,1452,2542
$GC,13715,2.04,71.1,683.0,6.1,646,13720,0.00,2.47,0.00,0.000,4,0.000,0.044,3235,2859,2543
$GC,13800,2.04,71.1,677.5,6.2,650,13805,0.00,2.50,0.00,0.000,6,0.000,0.039,3235,1456,2543
$GC,14132,2.04,71.1,655.4,6.4,666,14137,0.00,2.17,0.00,0.000,4,0.000,0.059,3235,265,2543
$GC,14272,2.04,71.1,645.5,7.3,672,14277,0.00,2.03,0.00,0.000,6,0.000,0.031,3235,1458,2543
$GC,14598,2.04,71.1,623.8,6.8,688,14600,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2544
$GC,14908,2.04,71.1,602.8,6.7,703,14909,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2545
$GC,15217,2.04,71.1,582.5,6.6,718,15218,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2546
$GC,15529,2.04,71.1,562.2,6.7,733,15530,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2546
$GC,15835,2.04,71.1,541.3,6.8,748,15837,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2547
$GC,16145,2.04,71.1,519.8,7.1,763,16146,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2548
$GC,16454,2.04,71.1,497.7,7.1,778,16455,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2548
$GC,16763,2.04,71.1,476.6,6.7,793,16764,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2548
$GC,17075,2.04,71.1,456.4,6.5,808,17077,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2549
$GC,17382,2.04,71.1,436.4,6.3,823,17383,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2549
$GC,17691,2.04,71.1,417.4,6.1,838,17692,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2549
$GC,18000,2.04,71.1,398.6,6.1,853,18001,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2549
$GC,18310,2.04,71.1,380.0,6.1,868,18311,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2550
$GC,18622,2.04,71.6,361.7,5.9,883,18627,0.00,0.00,4.03,0.654,6,0.000,0.000,3235,1458,2541
$GC,18931,2.04,71.7,343.3,6.0,898,18932,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2540
$GC,19237,2.04,71.7,324.0,6.4,913,19239,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2541
$GC,19547,2.04,71.7,303.0,6.9,928,19548,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2540
$GC,19856,2.04,71.7,282.1,6.7,943,19857,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2541
$GC,20165,2.04,71.7,261.8,6.4,958,20167,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2541
$GC,20477,2.04,71.7,242.5,6.1,973,20478,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2541
$GC,20784,2.04,71.7,223.7,6.1,988,20785,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2541
$GC,21093,2.04,71.7,205.0,6.2,1003,21094,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2541
$GC,21402,2.04,71.7,185.9,6.2,1018,21403,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2541
$GC,21712,2.04,73.2,167.7,5.8,1033,21713,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2542
$GC,22024,2.04,75.6,150.5,5.7,1048,22032,0.00,0.00,5.85,0.703,6,0.000,0.000,3235,1458,2523
$GC,22330,2.04,75.6,131.5,6.4,1063,22332,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1458,2522
$GC,22641,2.05,78.8,113.1,5.6,1078,22648,0.00,0.00,4.53,0.612,6,0.000,0.000,3235,1458,2510
$GC,22951,2.05,78.8,92.9,7.3,1093,22954,0.00,2.15,0.00,0.000,4,0.000,0.054,3235,257,2510
$GC,23126,2.05,78.8,79.0,7.6,1100,23132,0.00,2.05,0.00,0.000,6,0.000,0.032,3235,1455,2510
$GC,23442,2.07,96.9,63.3,3.5,1116,23464,0.00,2.47,16.23,0.791,4,0.000,0.045,3235,2844,2436
$GC,23609,2.07,96.9,51.9,7.9,1123,23614,0.00,2.42,0.00,0.000,6,0.000,0.038,3235,1453,2435
$GC,23927,2.07,96.9,31.4,6.7,1138,23928,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1453,2435
$GC,24235,2.07,96.9,7.4,9.3,1153,24238,0.00,2.12,0.00,0.000,4,0.000,0.054,3235,260,2435
$STATE,24316,end climb,SURFACE_DEPTH_REACHED
$STATE,24316,begin surface coast
$FINISH,0.3,1.026911
$STATE,24361,end surface coast,CONTROL_FINISHED_OK
$STATE,24361,begin surface
$SM_CCo,24387,136.12,0.759,0,0,1608,300.00
$SM_GC,0.94,0.00,0.00,136.12,0.000,0.000,0.759,392,2243,1608,-11.08,-0.23,300.00
$IRIDIUM_FIX,6153.50,-1152.13,131098,141423
$TT8_MAMPS,0.026845
$HUMID,1816
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,900.4,70.2
$24V_AH,23.1,43.229
$10V_AH,10.1,24.846
$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,26.900,142.500,143.525,136.125,0.000,28.579,25.865,202.958,8.000,0.000,0.000,11.171,2223.081,18307.947,427.993,2995.627,954.138,0.000,1855.828,0.000,3171.894,0.000,54.103,0.000
$DEVICE_MAMPS,130.390,65.195,1402.076,759.330,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,903.157,921.339,636.900,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59994,1158
$CAP_FILE_SIZE,170099,0
$CFSIZE,260165632,245325824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,200709,044254,6216.543,-1146.404,43,1.0,43,-11.0