version: 66.04
glider: 105
mission: 6
dive: 198
start: 7 27 109 1 0 20
data:
$ID,105
$MISSION,6
$DIVE,198
$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,-1631559.5
$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,29
$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
$GPS1,005324,6218.234,-1145.664,43,1.8,62,-11.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-51.0
$GPS2,010000,6218.271,-1145.580,10,1.5,14,-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,179.0,2406,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.99,-28.8,0.0,0.0,0,68,0.00,0.00,-46.72,0.000,6,0.000,0.000,394,2244,2949
$GC,72,-2.01,-49.3,2.5,-3.2,3,94,10.38,2.55,-1.95,0.000,4,0.129,0.053,2354,837,3035
$GC,324,-2.01,-49.3,43.7,-15.4,14,329,0.00,2.47,0.00,0.000,6,0.000,0.034,2354,2258,3036
$GC,646,-2.01,-49.3,80.2,-11.4,30,651,0.00,2.53,0.00,0.000,4,0.000,0.051,2354,3648,3037
$GC,938,-2.01,-49.3,116.9,-12.3,43,943,0.00,2.45,0.00,0.000,6,0.000,0.031,2354,2231,3037
$GC,1270,-2.01,-49.3,157.8,-12.5,59,1274,0.00,2.55,0.00,0.000,4,0.000,0.050,2354,3649,3037
$GC,1528,-2.01,-49.3,190.8,-12.7,70,1534,0.00,2.40,0.00,0.000,6,0.000,0.030,2354,2248,3037
$GC,1846,-2.01,-49.3,228.6,-12.1,86,1850,0.00,2.53,0.00,0.000,4,0.000,0.051,2354,3648,3037
$GC,2055,-2.01,-49.3,254.7,-12.5,95,2059,0.00,2.40,0.00,0.000,6,0.000,0.031,2354,2246,3037
$GC,2371,-2.01,-49.3,290.8,-11.5,110,2375,0.00,2.53,0.00,0.000,4,0.000,0.050,2354,3651,3037
$GC,2567,-2.01,-49.3,315.6,-12.8,119,2571,0.00,2.40,0.00,0.000,6,0.000,0.031,2354,2249,3036
$GC,2893,-2.01,-49.3,354.6,-11.8,135,2897,0.00,2.50,0.00,0.000,4,0.000,0.050,2355,3648,3036
$GC,3077,-2.01,-49.3,378.1,-12.9,143,3082,0.00,2.40,0.00,0.000,6,0.000,0.031,2354,2248,3036
$GC,3393,-2.01,-49.3,415.3,-11.7,158,3397,0.00,2.53,0.00,0.000,4,0.000,0.050,2355,3655,3036
$GC,3527,-2.01,-49.3,431.9,-11.8,164,3531,0.00,2.40,0.00,0.000,6,0.000,0.031,2354,2250,3036
$GC,3851,-2.01,-49.3,470.0,-11.9,180,3855,0.00,2.50,0.00,0.000,4,0.000,0.050,2354,3648,3035
$GC,3984,-2.01,-49.3,487.1,-12.5,186,3988,0.00,2.40,0.00,0.000,6,0.000,0.031,2354,2249,3035
$GC,4306,-2.01,-49.3,524.1,-11.3,202,4311,0.00,2.50,0.00,0.000,4,0.000,0.050,2354,3646,3035
$GC,4496,-2.01,-49.3,547.0,-11.7,210,4503,0.00,2.40,0.00,0.000,6,0.000,0.031,2354,2247,3035
$GC,4814,-2.01,-49.3,581.4,-10.9,226,4818,0.00,2.53,0.00,0.000,4,0.000,0.051,2354,3654,3034
$GC,4997,-2.01,-49.3,602.7,-11.2,234,5001,0.00,2.40,0.00,0.000,6,0.000,0.032,2354,2249,3034
$GC,5313,-2.01,-49.3,635.0,-10.1,249,5317,0.00,2.50,0.00,0.000,4,0.000,0.051,2354,3647,3035
$GC,5442,-2.01,-49.3,649.1,-11.4,255,5446,0.00,2.40,0.00,0.000,6,0.000,0.032,2354,2247,3034
$GC,5769,-2.01,-49.3,683.5,-10.9,271,5773,0.00,2.53,0.00,0.000,4,0.000,0.051,2354,3653,3035
$GC,5932,-2.01,-49.3,702.2,-10.9,278,5936,0.00,2.42,0.00,0.000,6,0.000,0.033,2354,2241,3034
$GC,6247,-2.01,-49.3,735.2,-10.0,293,6252,0.00,2.58,0.00,0.000,4,0.000,0.054,2354,3648,3034
$GC,6338,-2.01,-49.3,744.3,-10.2,297,6343,0.00,2.42,0.00,0.000,6,0.000,0.033,2354,2251,3034
$GC,6673,-2.01,-49.3,775.3,-8.9,313,6677,0.00,2.53,0.00,0.000,4,0.000,0.051,2354,3654,3034
$GC,6874,-2.01,-49.3,797.4,-12.0,322,6878,0.00,2.42,0.00,0.000,6,0.000,0.033,2354,2247,3034
$GC,7194,-2.01,-49.3,830.7,-10.6,338,7199,0.00,2.53,0.00,0.000,4,0.000,0.053,2354,3650,3033
$GC,7372,-2.01,-49.3,848.3,-9.3,346,7376,0.00,2.40,0.00,0.000,6,0.000,0.034,2354,2250,3033
$GC,7701,-2.01,-49.3,875.1,-8.7,362,7706,0.00,2.53,0.00,0.000,4,0.000,0.054,2354,3650,3033
$GC,8043,-2.01,-49.3,909.8,-9.7,377,8047,0.00,2.42,0.00,0.000,6,0.000,0.035,2354,2248,3032
$GC,8361,-2.01,-49.3,936.6,-8.8,392,8365,0.00,2.53,0.00,0.000,4,0.000,0.057,2354,3647,3032
$STATE,8394,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8394,begin apogee
$GC,8404,-0.36,0.0,939.8,9.4,393,8454,1.73,0.00,45.33,1.378,6,0.084,0.000,2720,1467,2832
$STATE,8454,end apogee,CONTROL_FINISHED_OK
$STATE,8454,begin climb
$GC,8457,2.01,49.3,941.9,0.0,396,8514,2.35,2.30,45.90,1.347,4,0.046,0.063,3239,261,2631
$GC,8755,2.01,49.3,921.2,7.0,409,8759,0.00,2.05,0.00,0.000,6,0.000,0.036,3239,1455,2628
$GC,9077,2.01,49.3,899.8,6.6,425,9081,0.00,2.53,0.00,0.000,4,0.000,0.051,3239,2859,2627
$GC,9233,2.01,49.3,890.8,6.0,432,9237,0.00,2.50,0.00,0.000,6,0.000,0.041,3239,1451,2626
$GC,9554,2.01,49.3,870.1,7.1,448,9558,0.00,2.50,0.00,0.000,4,0.000,0.048,3239,2854,2625
$GC,9895,2.01,49.3,845.0,6.8,463,9899,0.00,2.50,0.00,0.000,6,0.000,0.042,3239,1448,2624
$GC,10210,2.01,49.3,823.7,7.1,478,10215,0.00,2.50,0.00,0.000,4,0.000,0.048,3239,2855,2623
$GC,10452,2.01,49.3,805.9,6.7,489,10457,0.00,2.47,0.00,0.000,6,0.000,0.042,3239,1454,2622
$GC,10780,2.01,52.2,786.9,5.6,505,10784,0.00,2.47,0.00,0.000,4,0.000,0.047,3239,2856,2622
$GC,11099,2.04,69.5,772.6,3.6,519,11123,0.00,2.50,17.67,1.256,6,0.000,0.040,3239,1453,2548
$GC,11442,2.04,73.1,753.6,5.5,536,11451,0.00,2.53,4.82,0.917,4,0.000,0.046,3239,2860,2534
$GC,11788,2.04,73.1,733.2,6.2,551,11794,0.00,2.50,0.00,0.000,6,0.000,0.040,3239,1448,2533
$GC,12103,2.04,73.1,712.9,6.9,567,12107,0.00,2.15,0.00,0.000,4,0.000,0.060,3239,258,2534
$GC,12338,2.04,73.1,695.1,6.9,577,12342,0.00,2.05,0.00,0.000,6,0.000,0.031,3239,1458,2534
$GC,12659,2.04,73.1,671.6,7.4,593,12661,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1458,2534
$GC,12971,2.04,73.1,649.6,6.9,608,12975,0.00,2.15,0.00,0.000,4,0.000,0.054,3239,262,2534
$GC,13040,2.04,73.1,644.1,7.7,611,13044,0.00,2.03,0.00,0.000,6,0.000,0.033,3239,1458,2534
$GC,13372,2.04,73.1,620.4,6.8,627,13373,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1458,2535
$GC,13681,2.04,73.1,600.7,6.7,642,13682,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1458,2535
$GC,13991,2.04,73.1,579.7,7.0,657,13992,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1458,2536
$GC,14300,2.04,73.1,558.1,7.0,672,14301,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1458,2536
$GC,14612,2.04,73.1,536.5,7.1,687,14613,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1458,2536
$GC,14919,2.04,73.1,515.5,6.7,702,14920,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1458,2536
$GC,15227,2.04,73.1,495.5,6.3,717,15229,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1458,2536
$GC,15537,2.04,73.1,476.0,6.4,732,15541,0.00,2.45,0.00,0.000,4,0.000,0.044,3239,2854,2537
$GC,15601,2.04,73.1,471.9,6.2,735,15606,0.00,2.45,0.00,0.000,6,0.000,0.037,3239,1445,2537
$GC,15931,2.04,73.1,449.6,7.0,751,15932,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1445,2537
$GC,16239,2.04,73.1,428.6,6.8,766,16240,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1445,2537
$GC,16547,2.04,73.1,407.2,7.0,781,16549,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1445,2537
$GC,16856,2.04,73.1,385.5,6.8,796,16860,0.00,2.47,0.00,0.000,4,0.000,0.043,3239,2858,2537
$GC,16895,2.04,73.1,383.0,6.2,798,16899,0.00,2.45,0.00,0.000,6,0.000,0.037,3239,1450,2537
$GC,17223,2.04,73.1,361.6,6.4,814,17224,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1451,2537
$GC,17531,2.04,74.6,343.0,5.8,829,17537,0.00,0.00,4.03,0.648,6,0.000,0.000,3239,1451,2528
$GC,17843,2.04,74.6,324.0,6.1,844,17847,0.00,2.47,0.00,0.000,4,0.000,0.044,3239,2857,2528
$GC,17876,2.04,74.9,321.8,6.0,845,17883,0.00,2.42,0.00,0.000,6,0.000,0.037,3239,1456,2528
$GC,18192,2.04,75.4,303.1,5.9,861,18193,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1456,2528
$GC,18501,2.04,75.4,284.5,6.2,876,18502,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1456,2529
$GC,18813,2.04,75.4,263.9,7.0,891,18814,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1456,2528
$GC,19120,2.04,75.4,242.3,6.9,906,19121,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1456,2529
$GC,19429,2.04,75.4,221.1,7.0,921,19433,0.00,2.45,0.00,0.000,4,0.000,0.044,3239,2856,2528
$GC,19551,2.04,75.4,212.5,6.8,926,19557,0.00,2.45,0.00,0.000,6,0.000,0.038,3239,1448,2529
$GC,19867,2.04,75.4,190.8,6.7,942,19868,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1448,2529
$GC,20176,2.04,75.4,170.3,6.4,957,20177,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1447,2529
$GC,20488,2.04,75.4,150.7,6.4,972,20489,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1447,2529
$GC,20796,2.04,75.4,131.2,6.2,987,20800,0.00,2.10,0.00,0.000,4,0.000,0.056,3239,264,2529
$GC,20947,2.04,75.4,120.5,7.3,993,20953,0.00,2.03,0.00,0.000,6,0.000,0.032,3239,1466,2529
$GC,21263,2.04,75.4,99.4,6.7,1009,21266,0.00,2.15,0.00,0.000,4,0.000,0.054,3239,262,2530
$GC,21413,2.04,75.4,88.5,7.6,1015,21420,0.00,2.03,0.00,0.000,6,0.000,0.033,3239,1452,2530
$GC,21730,2.05,80.4,70.5,5.3,1031,21743,0.00,2.55,7.00,0.705,4,0.000,0.046,3239,2854,2504
$GC,21779,2.05,80.4,67.6,6.1,1033,21784,0.00,2.45,0.00,0.000,6,0.000,0.036,3240,1452,2504
$GC,22101,2.05,84.6,47.2,5.4,1049,22108,0.00,0.00,5.35,0.634,6,0.000,0.000,3239,1452,2486
$GC,22412,2.06,92.3,32.3,4.9,1064,22426,0.00,2.17,7.90,0.703,4,0.000,0.054,3239,268,2455
$GC,22763,2.06,92.3,10.2,7.1,1079,22769,0.00,2.05,0.00,0.000,6,0.000,0.032,3239,1455,2454
$STATE,22870,end climb,SURFACE_DEPTH_REACHED
$STATE,22870,begin surface coast
$FINISH,0.6,1.027100
$STATE,22892,end surface coast,CONTROL_FINISHED_OK
$STATE,22892,begin surface
$SM_CCo,22916,138.25,0.763,0,0,1609,300.00
$SM_GC,0.78,0.00,0.00,138.25,0.000,0.000,0.763,389,2243,1609,-11.09,-0.20,300.00
$IRIDIUM_FIX,6153.50,-1142.14,201098,171736
$TT8_MAMPS,0.027612
$HUMID,1843
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,875.1,74.4
$24V_AH,23.2,45.846
$10V_AH,10.1,27.723
$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,26.900,161.725,138.000,138.250,0.000,30.242,27.055,200.380,7.750,0.000,0.000,14.234,2144.512,16904.789,430.082,3002.049,961.360,0.000,1858.974,0.000,3150.159,0.000,54.326,0.000
$DEVICE_MAMPS,128.856,62.894,1377.532,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,829.137,884.356,618.183,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56975,1086
$CAP_FILE_SIZE,169053,0
$CFSIZE,260165632,243331072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,270709,072554,6216.774,-1146.267,38,1.2,38,-11.0