version: 66.04
glider: 105
mission: 6
dive: 189
start: 7 24 109 10 1 40
data:
$ID,105
$MISSION,6
$DIVE,189
$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,-1631406.8
$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,25
$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
$GPS1,095501,6217.523,-1149.358,36,1.9,37,-11.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-63.5
$GPS2,100120,6217.581,-1149.300,12,1.8,12,-11.1
$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,117.3,3857,-24.3,-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,-1.78,-36.2,0.0,0.0,0,64,0.00,0.00,-46.88,0.000,6,0.000,0.000,394,2250,2980
$GC,67,-1.78,-41.6,2.2,-5.4,2,84,10.70,2.55,-0.43,0.000,4,0.131,0.064,2402,3657,3002
$GC,421,-1.78,-41.6,49.7,-10.9,17,426,0.00,2.45,0.00,0.000,6,0.000,0.030,2402,2238,3003
$GC,753,-1.78,-41.6,84.9,-10.4,33,758,0.00,2.58,0.00,0.000,4,0.000,0.051,2402,3659,3003
$GC,932,-1.78,-41.6,104.4,-10.9,41,936,0.00,2.40,0.00,0.000,6,0.000,0.030,2402,2253,3004
$GC,1253,-1.78,-41.6,136.6,-10.3,57,1257,0.00,2.53,0.00,0.000,4,0.000,0.049,2402,3657,3004
$GC,1419,-1.78,-41.6,154.7,-10.7,64,1423,0.00,2.42,0.00,0.000,6,0.000,0.031,2402,2242,3004
$GC,1734,-1.78,-41.6,187.6,-10.0,79,1738,0.00,2.55,0.00,0.000,4,0.000,0.052,2402,3656,3004
$GC,1904,-1.78,-41.6,205.2,-10.7,86,1910,0.00,2.40,0.00,0.000,6,0.000,0.031,2402,2251,3004
$GC,2220,-1.78,-41.6,235.8,-9.6,102,2225,0.00,2.55,0.00,0.000,4,0.000,0.051,2402,3664,3004
$GC,2359,-1.78,-41.6,251.0,-10.4,108,2363,0.00,2.42,0.00,0.000,6,0.000,0.031,2402,2248,3004
$GC,2675,-1.78,-41.6,280.1,-9.1,123,2679,0.00,2.55,0.00,0.000,4,0.000,0.051,2402,3664,3004
$GC,2851,-1.78,-41.6,297.4,-10.3,131,2856,0.00,2.42,0.00,0.000,6,0.000,0.031,2402,2251,3004
$GC,3178,-1.78,-41.6,327.6,-9.1,147,3182,0.00,2.53,0.00,0.000,4,0.000,0.051,2402,3661,3004
$GC,3347,-1.78,-41.6,344.3,-9.9,154,3354,0.00,2.42,0.00,0.000,6,0.000,0.032,2402,2250,3003
$GC,3663,-1.78,-41.6,374.4,-9.7,170,3667,0.00,2.53,0.00,0.000,4,0.000,0.050,2402,3660,3004
$GC,3785,-1.78,-41.6,387.2,-10.7,175,3791,0.00,2.42,0.00,0.000,6,0.000,0.031,2402,2246,3003
$GC,4103,-1.78,-41.6,418.6,-10.5,191,4107,0.00,2.53,0.00,0.000,4,0.000,0.051,2402,3655,3003
$GC,4268,-1.78,-41.6,436.9,-11.3,198,4272,0.00,2.42,0.00,0.000,6,0.000,0.031,2402,2236,3003
$GC,4584,-1.78,-41.6,469.0,-9.9,213,4588,0.00,2.55,0.00,0.000,4,0.000,0.051,2402,3655,3003
$GC,4723,-1.78,-41.6,483.9,-9.6,219,4727,0.00,2.40,0.00,0.000,6,0.000,0.031,2402,2253,3002
$GC,5041,-1.78,-41.6,514.3,-9.5,234,5045,0.00,2.53,0.00,0.000,4,0.000,0.050,2401,3661,3002
$GC,5199,-1.78,-41.6,530.1,-10.5,241,5204,0.00,2.45,0.00,0.000,6,0.000,0.031,2402,2250,3002
$GC,5525,-1.78,-41.6,559.5,-9.0,257,5529,0.00,2.53,0.00,0.000,4,0.000,0.051,2402,3661,3001
$GC,5620,-1.78,-41.6,568.7,-9.7,261,5624,0.00,2.42,0.00,0.000,6,0.000,0.031,2402,2249,3001
$GC,5938,-1.78,-41.6,596.1,-8.3,276,5942,0.00,2.53,0.00,0.000,4,0.000,0.051,2402,3655,3001
$GC,6026,-1.78,-41.6,604.0,-8.3,280,6031,0.00,2.42,0.00,0.000,6,0.000,0.031,2402,2237,3001
$GC,6349,-1.78,-41.6,628.7,-7.6,296,6353,0.00,2.55,0.00,0.000,4,0.000,0.052,2402,3654,3001
$GC,6635,-1.78,-41.6,652.4,-7.9,309,6640,0.00,2.40,0.00,0.000,6,0.000,0.032,2402,2253,3001
$GC,6962,-1.78,-41.6,678.0,-8.5,325,6967,0.00,2.55,0.00,0.000,4,0.000,0.051,2402,3654,3001
$GC,7187,-1.78,-41.6,697.9,-8.7,335,7191,0.00,2.42,0.00,0.000,6,0.000,0.033,2402,2241,3001
$GC,7515,-1.78,-41.6,725.6,-8.6,351,7520,0.00,2.58,0.00,0.000,4,0.000,0.054,2402,3651,3001
$GC,7650,-1.78,-41.6,737.9,-9.2,357,7654,0.00,2.40,0.00,0.000,6,0.000,0.033,2402,2253,3001
$GC,7976,-1.78,-41.6,765.0,-7.9,373,7977,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2253,3001
$GC,8286,-1.78,-41.6,788.1,-7.3,388,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2252,3000
$GC,8595,-1.78,-41.6,811.3,-8.1,403,8599,0.00,2.53,0.00,0.000,4,0.000,0.053,2402,3654,3000
$GC,8869,-1.78,-41.6,834.4,-8.7,415,8873,0.00,2.42,0.00,0.000,6,0.000,0.034,2402,2251,2999
$GC,9185,-1.78,-41.6,861.3,-8.0,430,9189,0.00,2.55,0.00,0.000,4,0.000,0.054,2402,3663,2999
$GC,9526,-1.78,-41.6,889.0,-8.5,445,9530,0.00,2.45,0.00,0.000,6,0.000,0.035,2402,2249,2999
$GC,9841,-1.78,-41.6,911.5,-7.0,460,9846,0.00,2.55,0.00,0.000,4,0.000,0.057,2402,3654,2998
$GC,10183,-1.78,-41.6,938.3,-7.6,475,10188,0.00,2.45,0.00,0.000,6,0.000,0.036,2402,2239,2997
$STATE,10249,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10249,begin apogee
$GC,10257,-0.36,0.0,943.0,7.1,478,10299,1.55,0.00,37.97,1.384,6,0.086,0.000,2721,1461,2832
$STATE,10300,end apogee,CONTROL_FINISHED_OK
$STATE,10300,begin climb
$GC,10303,1.78,41.6,944.5,0.0,480,10350,2.12,2.25,39.17,1.355,4,0.049,0.064,3188,264,2662
$GC,10564,1.78,41.6,930.1,7.0,492,10568,0.00,2.08,0.00,0.000,6,0.000,0.038,3188,1459,2660
$GC,10899,1.79,48.5,912.9,5.2,508,10913,0.00,2.60,7.32,1.129,4,0.000,0.050,3188,2856,2633
$GC,11045,1.80,51.8,905.0,5.6,514,11056,0.00,2.50,4.68,0.934,6,0.000,0.043,3188,1455,2620
$GC,11368,1.80,54.0,886.0,5.8,530,11369,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1455,2619
$GC,11675,1.82,69.7,870.1,4.3,545,11698,0.00,2.58,17.52,1.305,4,0.000,0.050,3188,2857,2546
$GC,11771,1.82,71.3,865.3,5.8,549,11776,0.00,2.53,0.00,0.000,6,0.000,0.042,3188,1449,2545
$GC,12092,1.85,92.0,848.9,3.7,565,12120,0.00,2.62,21.35,1.314,4,0.000,0.048,3188,2857,2457
$GC,12156,1.86,100.1,846.2,5.1,568,12171,0.00,2.53,9.48,1.174,6,0.000,0.041,3188,1452,2423
$GC,12488,1.86,100.1,823.0,7.6,584,12492,0.00,2.53,0.00,0.000,4,0.000,0.048,3188,2861,2421
$GC,12527,1.86,100.1,819.7,8.2,586,12532,0.00,2.50,0.00,0.000,6,0.000,0.041,3188,1452,2420
$GC,12856,1.86,100.1,788.2,10.3,602,12860,0.00,2.53,0.00,0.000,4,0.000,0.047,3188,2863,2419
$GC,13062,1.86,100.1,766.7,10.5,611,13066,0.00,2.50,0.00,0.000,6,0.000,0.040,3188,1453,2419
$GC,13380,1.86,100.1,735.6,9.8,626,13384,0.00,2.17,0.00,0.000,4,0.000,0.062,3188,257,2418
$GC,13425,1.86,100.1,730.6,9.8,628,13429,0.00,2.05,0.00,0.000,6,0.000,0.032,3188,1463,2418
$GC,13758,1.86,100.1,700.8,8.4,644,13759,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1466,2418
$GC,14069,1.86,100.1,676.7,7.6,659,14070,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1465,2418
$GC,14376,1.86,100.1,652.6,8.3,674,14377,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1466,2418
$GC,14686,1.86,100.1,625.6,9.0,689,14687,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1466,2418
$GC,14995,1.86,100.1,598.1,8.8,704,14996,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1465,2419
$GC,15304,1.86,100.1,571.8,8.3,719,15309,0.00,2.47,0.00,0.000,4,0.000,0.046,3188,2841,2419
$GC,15364,1.86,100.1,566.8,8.4,721,15371,0.00,2.45,0.00,0.000,6,0.000,0.038,3188,1446,2419
$GC,15680,1.86,100.1,541.0,8.2,737,15681,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1446,2420
$GC,15992,1.86,100.1,514.8,8.5,752,15996,0.00,2.47,0.00,0.000,4,0.000,0.044,3188,2851,2420
$GC,16031,1.86,100.1,511.3,7.8,754,16036,0.00,2.45,0.00,0.000,6,0.000,0.038,3188,1451,2420
$GC,16358,1.86,100.1,482.4,8.9,770,16360,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1451,2421
$GC,16670,1.86,100.1,454.0,8.9,785,16671,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1451,2421
$GC,16977,1.86,100.1,427.1,8.3,800,16978,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1450,2421
$GC,17286,1.86,100.1,401.4,8.3,815,17287,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1450,2422
$GC,17595,1.86,100.1,376.5,8.2,830,17596,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1451,2422
$GC,17904,1.86,100.1,351.0,8.2,845,17906,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1450,2422
$GC,18216,1.86,100.1,326.4,7.8,860,18218,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1450,2422
$GC,18523,1.86,100.1,302.3,7.7,875,18524,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1450,2423
$GC,18832,1.86,100.1,278.4,7.9,890,18833,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1451,2423
$GC,19141,1.86,100.1,252.5,8.2,905,19143,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1451,2423
$GC,19451,1.86,100.1,226.0,8.8,920,19452,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1450,2424
$GC,19763,1.86,100.1,198.9,8.2,935,19764,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1450,2424
$GC,20070,1.86,100.1,174.0,8.3,950,20071,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1450,2423
$GC,20378,1.86,100.1,149.6,7.6,965,20380,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1450,2424
$GC,20688,1.86,100.1,125.3,8.1,980,20689,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1450,2424
$GC,20999,1.86,100.1,100.8,7.7,995,21000,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1450,2424
$GC,21307,1.86,100.1,77.4,7.4,1010,21308,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1450,2425
$GC,21616,1.86,100.1,52.7,8.0,1025,21617,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1450,2424
$GC,21927,1.86,100.1,30.4,6.0,1040,21931,0.00,2.12,0.00,0.000,4,0.000,0.056,3188,258,2424
$GC,22268,1.86,100.1,9.5,6.6,1055,22272,0.00,2.03,0.00,0.000,6,0.000,0.032,3188,1457,2425
$STATE,22408,end climb,SURFACE_DEPTH_REACHED
$STATE,22408,begin surface coast
$FINISH,0.1,1.026743
$STATE,22471,end surface coast,CONTROL_FINISHED_OK
$STATE,22471,begin surface
$SM_CCo,22496,135.45,0.766,0,0,1609,300.00
$SM_GC,0.93,0.00,0.00,135.45,0.000,0.000,0.766,388,2244,1609,-11.09,-0.17,300.00
$IRIDIUM_FIX,6153.50,-1147.61,181098,020200
$TT8_MAMPS,0.026845
$HUMID,1833
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,851.2,100.8
$24V_AH,23.1,44.964
$10V_AH,10.1,26.660
$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,26.475,145.100,137.500,135.450,0.000,25.435,26.161,189.615,7.500,0.000,0.000,12.249,2061.370,16872.914,413.591,2740.140,913.019,0.000,1720.001,0.000,2914.750,0.000,50.938,0.000
$DEVICE_MAMPS,131.157,64.428,1384.435,766.233,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,824.722,859.946,601.590,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53682,1065
$CAP_FILE_SIZE,159206,0
$CFSIZE,260165632,244076544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,240709,162007,6216.855,-1147.463,35,1.0,35,-11.0