version: 66.04
glider: 105
mission: 6
dive: 175
start: 7 20 109 4 53 52
data:
$ID,105
$MISSION,6
$DIVE,175
$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,-1631117.9
$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,24
$R_STBD_OVSHOOT,26
$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
$GPS1,044254,6216.543,-1146.404,43,1.0,43,-11.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-51.8
$GPS2,045332,6216.561,-1146.475,13,1.1,13,-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,68.4,1509,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.99,-28.8,0.0,0.0,0,65,0.00,0.00,-45.92,0.000,6,0.000,0.000,392,2243,2950
$GC,69,-2.01,-46.6,2.3,-3.5,3,91,10.48,2.55,-1.67,0.000,4,0.133,0.051,2356,829,3024
$GC,244,-2.01,-46.6,29.9,-16.5,10,251,0.00,2.50,0.00,0.000,6,0.000,0.035,2356,2263,3025
$GC,560,-2.01,-46.6,64.6,-8.0,26,565,0.00,2.50,0.00,0.000,4,0.000,0.050,2356,3642,3026
$GC,901,-2.01,-46.6,108.5,-13.5,41,905,0.00,2.42,0.00,0.000,6,0.000,0.031,2356,2225,3027
$GC,1222,-2.01,-46.6,144.9,-11.3,57,1227,0.00,2.58,0.00,0.000,4,0.000,0.049,2356,3643,3027
$GC,1411,-2.01,-46.6,167.5,-11.2,65,1415,0.00,2.40,0.00,0.000,6,0.000,0.031,2356,2242,3026
$GC,1727,-2.01,-46.6,202.7,-11.4,80,1731,0.00,2.55,0.00,0.000,4,0.000,0.052,2357,3654,3027
$GC,1804,-2.01,-46.6,212.1,-12.7,83,1810,0.00,2.40,0.00,0.000,6,0.000,0.031,2356,2252,3026
$GC,2119,-2.01,-46.6,247.8,-11.4,99,2124,0.00,2.53,0.00,0.000,4,0.000,0.051,2357,3640,3026
$GC,2248,-2.01,-46.6,263.6,-12.8,104,2254,0.00,2.38,0.00,0.000,6,0.000,0.031,2357,2246,3026
$GC,2563,-2.01,-46.6,299.6,-11.6,120,2568,0.00,2.53,0.00,0.000,4,0.000,0.051,2356,3650,3026
$GC,2669,-2.01,-46.6,312.8,-12.3,124,2675,0.00,2.40,0.00,0.000,6,0.000,0.031,2356,2247,3026
$GC,2984,-2.01,-46.6,349.8,-11.7,140,2989,0.00,2.53,0.00,0.000,4,0.000,0.051,2356,3653,3026
$GC,3112,-2.01,-46.6,365.5,-11.8,145,3119,0.00,2.40,0.00,0.000,6,0.000,0.031,2356,2250,3025
$GC,3431,-2.01,-46.6,400.5,-11.2,161,3435,0.00,2.50,0.00,0.000,4,0.000,0.050,2357,3650,3025
$GC,3582,-2.01,-46.6,418.5,-11.8,168,3586,0.00,2.40,0.00,0.000,6,0.000,0.031,2356,2244,3025
$GC,3909,-2.01,-46.6,454.9,-11.2,184,3913,0.00,2.53,0.00,0.000,4,0.000,0.052,2356,3650,3024
$GC,4042,-2.01,-46.6,470.9,-11.8,190,4046,0.00,2.40,0.00,0.000,6,0.000,0.031,2356,2247,3024
$GC,4364,-2.01,-46.6,505.4,-10.7,206,4368,0.00,2.53,0.00,0.000,4,0.000,0.051,2356,3652,3024
$GC,4503,-2.01,-46.6,521.4,-10.9,212,4507,0.00,2.40,0.00,0.000,6,0.000,0.031,2356,2249,3024
$GC,4819,-2.01,-46.6,554.9,-10.6,227,4823,0.00,2.53,0.00,0.000,4,0.000,0.051,2356,3655,3024
$GC,4944,-2.01,-46.6,568.6,-10.9,232,4950,0.00,2.40,0.00,0.000,6,0.000,0.032,2356,2251,3024
$GC,5260,-2.01,-46.6,601.4,-10.5,248,5265,0.00,2.53,0.00,0.000,4,0.000,0.051,2356,3645,3023
$GC,5400,-2.01,-46.6,617.6,-11.1,254,5404,0.00,2.42,0.00,0.000,6,0.000,0.032,2356,2248,3023
$GC,5726,-2.01,-46.6,652.9,-10.8,270,5730,0.00,2.53,0.00,0.000,4,0.000,0.051,2356,3655,3023
$GC,5912,-2.01,-46.6,673.3,-10.5,278,5916,0.00,2.42,0.00,0.000,6,0.000,0.032,2356,2237,3022
$GC,6227,-2.01,-46.6,703.8,-9.3,293,6232,0.00,2.55,0.00,0.000,4,0.000,0.053,2356,3651,3022
$GC,6312,-2.01,-46.6,712.5,-10.7,297,6316,0.00,2.40,0.00,0.000,6,0.000,0.033,2356,2251,3022
$GC,6641,-2.01,-46.6,744.4,-10.0,313,6645,0.00,2.50,0.00,0.000,4,0.000,0.052,2357,3650,3022
$GC,6983,-2.01,-46.6,777.6,-8.5,328,6987,0.00,2.40,0.00,0.000,6,0.000,0.034,2357,2251,3021
$GC,7301,-2.01,-46.6,799.9,-7.3,343,7306,0.00,2.53,0.00,0.000,4,0.000,0.054,2356,3654,3022
$GC,7642,-2.01,-46.6,829.4,-8.5,358,7646,0.00,2.42,0.00,0.000,6,0.000,0.035,2356,2251,3021
$GC,7963,-2.01,-46.6,858.1,-8.6,374,7967,0.00,2.53,0.00,0.000,4,0.000,0.055,2356,3650,3021
$GC,8284,-2.01,-46.6,887.2,-8.9,388,8288,0.00,2.42,0.00,0.000,6,0.000,0.036,2356,2249,3020
$GC,8600,-2.01,-46.6,913.1,-8.6,403,8604,0.00,2.47,0.00,0.000,4,0.000,0.049,2357,851,3020
$GC,8700,-2.01,-46.6,921.5,-9.1,407,8706,0.00,2.45,0.00,0.000,6,0.000,0.041,2356,2243,3019
$GC,9018,-2.01,-46.6,947.9,-8.5,423,9022,0.00,2.58,0.00,0.000,4,0.000,0.061,2356,3663,3017
$STATE,9032,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9032,begin apogee
$GC,9043,-0.36,0.0,949.7,8.7,424,9089,1.77,0.00,42.30,1.395,6,0.088,0.000,2719,1468,2832
$STATE,9090,end apogee,CONTROL_FINISHED_OK
$STATE,9090,begin climb
$GC,9093,2.01,46.6,951.5,0.0,426,9144,2.35,2.28,43.78,1.367,4,0.045,0.064,3239,261,2642
$GC,9302,2.01,46.6,939.5,7.3,435,9309,0.00,2.10,0.00,0.000,6,0.000,0.040,3239,1470,2638
$GC,9618,2.01,48.1,919.9,5.8,451,9622,0.00,2.22,0.00,0.000,4,0.000,0.063,3239,262,2637
$GC,9795,2.01,48.1,908.5,6.4,459,9799,0.00,2.08,0.00,0.000,6,0.000,0.041,3239,1453,2637
$GC,10130,2.02,54.6,891.8,5.1,475,10139,0.00,0.00,7.55,1.162,6,0.000,0.000,3239,1453,2609
$GC,10439,2.02,54.6,873.8,6.3,490,10443,0.00,2.20,0.00,0.000,4,0.000,0.064,3239,260,2608
$GC,10782,2.02,54.6,849.5,7.4,505,10786,0.00,2.08,0.00,0.000,6,0.000,0.039,3239,1455,2607
$GC,11109,2.03,65.6,832.3,4.5,521,11125,0.00,2.58,11.02,1.254,4,0.000,0.051,3239,2856,2563
$GC,11210,2.03,66.3,827.1,5.9,524,11216,0.00,2.53,0.00,0.000,6,0.000,0.044,3239,1450,2563
$GC,11528,2.04,71.6,809.0,5.3,540,11541,0.00,2.62,6.85,1.123,4,0.000,0.050,3239,2860,2539
$GC,11617,2.04,76.7,803.9,5.3,544,11632,0.00,2.53,6.55,1.095,6,0.000,0.044,3239,1448,2519
$GC,11948,2.04,76.7,780.6,7.8,560,11953,0.00,2.55,0.00,0.000,4,0.000,0.052,3239,2862,2518
$GC,12239,2.04,76.7,756.0,8.3,573,12244,0.00,2.50,0.00,0.000,6,0.000,0.043,3239,1455,2517
$GC,12560,2.04,76.7,732.2,6.6,589,12565,0.00,2.20,0.00,0.000,4,0.000,0.062,3239,262,2517
$GC,12719,2.04,76.7,720.4,7.3,596,12723,0.00,2.05,0.00,0.000,6,0.000,0.036,3239,1457,2517
$GC,13053,2.04,76.7,696.1,7.6,612,13058,0.00,2.50,0.00,0.000,4,0.000,0.048,3239,2860,2517
$GC,13148,2.04,76.7,688.5,8.2,616,13152,0.00,2.47,0.00,0.000,6,0.000,0.040,3239,1453,2517
$GC,13464,2.04,76.7,664.7,7.1,631,13465,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1452,2517
$GC,13773,2.04,76.7,643.2,6.7,646,13774,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1453,2517
$GC,14085,2.04,76.7,620.7,7.4,661,14086,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1453,2518
$GC,14392,2.04,76.7,597.0,7.9,676,14393,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1453,2519
$GC,14701,2.04,76.7,571.4,8.0,691,14702,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1453,2520
$GC,15010,2.04,76.7,545.9,8.3,706,15012,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1453,2520
$GC,15319,2.04,76.7,520.3,8.1,721,15321,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1453,2521
$GC,15631,2.04,76.7,495.1,8.1,736,15632,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1453,2522
$GC,15939,2.04,76.7,470.4,7.9,751,15941,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1452,2522
$GC,16247,2.04,76.7,445.7,7.8,766,16252,0.00,2.47,0.00,0.000,4,0.000,0.044,3239,2860,2522
$GC,16342,2.04,76.7,438.0,7.9,770,16347,0.00,2.47,0.00,0.000,6,0.000,0.038,3239,1447,2522
$GC,16658,2.04,76.7,413.6,7.6,785,16659,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1447,2523
$GC,16969,2.04,76.7,390.7,7.3,800,16971,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1447,2523
$GC,17276,2.04,76.7,368.6,7.0,815,17280,0.00,2.50,0.00,0.000,4,0.000,0.045,3239,2856,2524
$GC,17326,2.04,76.7,365.1,7.0,817,17331,0.00,2.45,0.00,0.000,6,0.000,0.038,3239,1454,2524
$GC,17644,2.04,76.7,344.5,6.4,832,17645,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1455,2524
$GC,17951,2.04,76.7,324.7,6.4,847,17952,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1455,2524
$GC,18261,2.04,76.7,304.5,6.6,862,18262,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1454,2525
$GC,18569,2.04,76.7,283.9,6.8,877,18571,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1454,2525
$GC,18879,2.04,76.7,263.3,6.6,892,18880,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1454,2525
$GC,19191,2.04,76.7,242.8,6.6,907,19192,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1454,2526
$GC,19497,2.04,76.7,223.0,6.3,922,19498,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1454,2526
$GC,19807,2.04,76.7,204.0,6.2,937,19808,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1454,2526
$GC,20116,2.04,76.7,185.0,6.1,952,20120,0.00,2.47,0.00,0.000,4,0.000,0.044,3239,2859,2526
$GC,20233,2.04,76.7,177.6,6.1,957,20237,0.00,2.45,0.00,0.000,6,0.000,0.038,3239,1454,2526
$GC,20548,2.04,76.7,158.7,6.1,972,20549,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1454,2526
$GC,20858,2.04,76.7,139.7,6.1,987,20859,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1454,2527
$GC,21167,2.04,76.7,118.8,6.8,1002,21171,0.00,2.12,0.00,0.000,4,0.000,0.058,3239,262,2527
$GC,21342,2.04,76.7,106.3,6.8,1009,21348,0.00,2.03,0.00,0.000,6,0.000,0.033,3239,1476,2527
$GC,21660,2.05,84.6,88.6,4.9,1025,21671,0.00,0.00,10.00,0.767,6,0.000,0.000,3239,1476,2486
$GC,21968,2.05,84.6,68.1,7.7,1040,21969,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1476,2486
$GC,22276,2.07,93.5,47.1,4.8,1055,22290,0.00,0.00,8.85,0.729,6,0.000,0.000,3239,1476,2450
$GC,22607,2.08,104.9,34.8,4.4,1071,22623,0.00,2.45,11.23,0.744,4,0.000,0.045,3239,2848,2403
$GC,22942,2.09,113.3,12.3,4.8,1085,22959,0.00,2.45,8.55,0.696,6,0.000,0.038,3239,1449,2369
$STATE,23059,end climb,SURFACE_DEPTH_REACHED
$STATE,23060,begin surface coast
$FINISH,0.3,1.004519
$STATE,23083,end surface coast,CONTROL_FINISHED_OK
$STATE,23083,begin surface
$SM_CCo,23107,112.40,0.759,0,0,1608,300.00
$SM_GC,0.91,0.00,0.00,112.40,0.000,0.000,0.759,387,2238,1608,-11.10,-0.34,300.00
$IRIDIUM_FIX,6153.50,-1147.61,141098,040449
$TT8_MAMPS,0.026845
$HUMID,1821
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,875.2,84.1
$24V_AH,23.2,43.332
$10V_AH,10.1,24.960
$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,27.000,158.175,156.675,112.400,0.000,53.690,56.411,325.743,7.750,0.000,0.000,13.318,2112.269,17321.959,420.255,2863.619,1134.166,0.000,1805.969,0.000,3038.817,0.000,52.549,0.000
$DEVICE_MAMPS,132.691,64.428,1395.173,758.563,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,873.977,867.818,628.891,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56902,1092
$CAP_FILE_SIZE,168898,0
$CFSIZE,260165632,245243904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,200709,112207,6218.394,-1142.472,34,2.0,34,-11.0