version: 66.04
glider: 105
mission: 6
dive: 53
start: 6 14 109 23 4 35
data:
$ID,105
$MISSION,6
$DIVE,53
$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,440
$T_MISSION,480
$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,270
$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,-1629001.5
$T_RSLEEP,2
$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,2476
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,34
$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
$GPS1,225837,6208.233,-951.134,33,1.2,33,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-62.9
$GPS2,230414,6208.220,-951.049,15,1.2,15,-9.9
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6208.220,-1014.156
$TGT_RADIUS,1852.000
$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,279.9,20000,-13.9,-7.500
$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,-1.17,-146.6,0.0,0.0,0,77,0.00,0.00,-59.10,0.000,6,0.000,0.000,396,2464,3432
$GC,80,-1.17,-146.6,4.7,-9.2,3,100,11.43,2.45,0.00,0.000,4,0.133,0.051,2537,3822,3433
$GC,437,-1.17,-146.6,51.6,-10.3,19,442,0.00,2.33,0.00,0.000,6,0.000,0.026,2537,2456,3433
$GC,769,-1.17,-146.6,79.8,-8.4,35,773,0.00,2.47,0.00,0.000,4,0.000,0.053,2537,3825,3434
$GC,997,-1.17,-146.6,101.7,-9.9,45,1002,0.00,2.30,0.00,0.000,6,0.000,0.027,2537,2480,3434
$GC,1318,-1.17,-146.6,130.1,-8.5,61,1322,0.00,2.42,0.00,0.000,4,0.000,0.037,2537,1078,3435
$GC,1364,-1.17,-146.6,134.0,-8.8,63,1368,0.00,2.42,0.00,0.000,6,0.000,0.033,2537,2476,3434
$GC,1684,-1.17,-146.6,162.4,-9.2,79,1688,0.00,2.42,0.00,0.000,4,0.000,0.038,2537,1079,3434
$GC,1734,-1.17,-146.6,167.0,-8.6,81,1739,0.00,2.42,0.00,0.000,6,0.000,0.034,2537,2484,3434
$GC,2051,-1.17,-146.6,195.5,-9.2,96,2056,0.00,2.45,0.00,0.000,4,0.000,0.038,2537,1076,3434
$GC,2114,-1.17,-146.6,201.4,-9.3,99,2118,0.00,2.42,0.00,0.000,6,0.000,0.035,2537,2476,3434
$GC,2440,-1.17,-146.6,230.2,-9.0,115,2444,0.00,2.42,0.00,0.000,4,0.000,0.038,2537,1082,3434
$GC,2490,-1.17,-146.6,235.0,-9.1,117,2494,0.00,2.45,0.00,0.000,6,0.000,0.036,2537,2483,3434
$GC,2806,-1.17,-146.6,263.1,-9.0,132,2810,0.00,2.45,0.00,0.000,4,0.000,0.038,2537,1077,3434
$GC,2861,-1.17,-146.6,268.2,-9.4,134,2867,0.00,2.45,0.00,0.000,6,0.000,0.037,2537,2478,3434
$GC,3179,-1.17,-146.6,295.7,-8.4,150,3183,0.00,2.45,0.00,0.000,4,0.000,0.039,2537,1076,3434
$GC,3241,-1.17,-146.6,301.1,-8.6,153,3246,0.00,2.47,0.00,0.000,6,0.000,0.038,2537,2474,3433
$GC,3572,-1.17,-146.6,328.0,-8.0,169,3577,0.00,2.42,0.00,0.000,4,0.000,0.040,2537,1081,3433
$GC,3639,-1.17,-146.6,333.8,-8.5,172,3643,0.00,2.45,0.00,0.000,6,0.000,0.038,2537,2479,3433
$GC,3961,-1.17,-146.6,359.6,-7.7,188,3965,0.00,2.45,0.00,0.000,4,0.000,0.040,2537,1077,3433
$GC,4016,-1.17,-146.6,364.2,-8.4,190,4022,0.00,2.45,0.00,0.000,6,0.000,0.038,2537,2479,3433
$GC,4333,-1.17,-146.6,389.6,-8.2,206,4337,0.00,2.45,0.00,0.000,4,0.000,0.041,2537,1078,3433
$GC,4388,-1.17,-146.6,394.4,-8.3,208,4394,0.00,2.45,0.00,0.000,6,0.000,0.038,2537,2479,3433
$GC,4706,-1.17,-146.6,418.4,-7.4,224,4711,0.00,2.45,0.00,0.000,4,0.000,0.041,2537,1080,3433
$GC,4762,-1.17,-146.6,422.8,-7.6,226,4768,0.00,2.45,0.00,0.000,6,0.000,0.038,2537,2483,3433
$GC,5078,-1.17,-146.6,446.6,-7.8,242,5082,0.00,2.45,0.00,0.000,4,0.000,0.041,2537,1083,3433
$GC,5134,-1.17,-146.6,451.4,-8.9,244,5140,0.00,2.42,0.00,0.000,6,0.000,0.038,2537,2476,3433
$GC,5449,-1.17,-146.6,478.1,-8.6,260,5453,0.00,2.45,0.00,0.000,4,0.000,0.041,2537,1076,3433
$GC,5504,-1.17,-146.6,483.0,-8.8,262,5510,0.00,2.45,0.00,0.000,6,0.000,0.037,2537,2481,3433
$GC,5820,-1.17,-146.6,509.8,-8.5,278,5824,0.00,2.45,0.00,0.000,4,0.000,0.041,2537,1080,3433
$GC,5869,-1.17,-146.6,514.5,-9.2,280,5874,0.00,2.45,0.00,0.000,6,0.000,0.038,2537,2486,3433
$GC,6185,-1.17,-146.6,542.8,-8.6,295,6189,0.00,2.45,0.00,0.000,4,0.000,0.041,2537,1083,3432
$GC,6217,-1.17,-146.6,545.5,-8.0,296,6224,0.00,2.45,0.00,0.000,6,0.000,0.038,2537,2485,3433
$GC,6534,-1.17,-146.6,569.7,-7.1,312,6538,0.00,2.45,0.00,0.000,4,0.000,0.040,2537,1082,3432
$GC,6574,-1.17,-146.6,572.6,-7.2,314,6579,0.00,2.42,0.00,0.000,6,0.000,0.037,2537,2477,3432
$GC,6903,-1.17,-146.6,597.3,-8.0,330,6908,0.00,2.45,0.00,0.000,4,0.000,0.040,2537,1076,3432
$GC,6953,-1.17,-146.6,601.7,-7.8,332,6957,0.00,2.45,0.00,0.000,6,0.000,0.037,2537,2477,3432
$GC,7274,-1.17,-146.6,625.3,-7.6,347,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2477,3432
$GC,7578,-1.17,-146.6,649.4,-8.0,362,7582,0.00,2.45,0.00,0.000,4,0.000,0.041,2537,1078,3432
$GC,7617,-1.17,-146.6,652.6,-8.6,364,7621,0.00,2.42,0.00,0.000,6,0.000,0.038,2537,2476,3432
$GC,7944,-1.17,-146.6,678.2,-7.4,380,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2476,3432
$GC,8255,-1.17,-146.6,702.0,-7.7,395,8259,0.00,2.45,0.00,0.000,4,0.000,0.043,2537,1078,3432
$GC,8298,-1.17,-146.6,705.7,-7.9,397,8303,0.00,2.45,0.00,0.000,6,0.000,0.039,2537,2480,3432
$STATE,8473,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8473,begin apogee
$GC,8482,-0.36,0.0,719.0,7.8,406,8616,0.88,0.00,128.65,1.211,6,0.071,0.000,2723,1468,2831
$STATE,8617,end apogee,CONTROL_FINISHED_OK
$STATE,8617,begin climb
$GC,8620,1.17,146.6,723.4,0.0,413,8758,1.50,2.30,129.20,1.174,4,0.049,0.062,3056,266,2233
$GC,8889,1.17,146.6,709.5,8.5,425,8893,0.00,2.05,0.00,0.000,6,0.000,0.035,3055,1463,2228
$GC,9212,1.19,155.6,686.3,7.2,441,9226,0.00,2.55,7.82,0.974,4,0.000,0.049,3055,2846,2197
$GC,9371,1.19,156.6,675.2,7.5,448,9376,0.00,2.50,0.00,0.000,6,0.000,0.041,3055,1455,2195
$GC,9703,1.22,186.5,652.1,6.5,464,9737,0.00,2.25,28.98,1.157,4,0.000,0.060,3055,266,2070
$GC,9767,1.22,186.5,647.2,7.9,467,9771,0.00,2.05,0.00,0.000,6,0.000,0.033,3056,1458,2069
$GC,10100,1.22,186.5,619.9,7.9,483,10101,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1459,2065
$GC,10409,1.22,186.5,595.4,8.0,498,10413,0.00,2.47,0.00,0.000,4,0.000,0.047,3055,2849,2064
$GC,10497,1.22,186.5,588.1,8.1,502,10502,0.00,2.45,0.00,0.000,6,0.000,0.037,3056,1445,2063
$GC,10819,1.22,186.5,562.5,7.5,518,10820,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1444,2063
$GC,11128,1.22,186.5,538.5,8.0,533,11132,0.00,2.50,0.00,0.000,4,0.000,0.040,3056,2859,2062
$GC,11171,1.22,186.5,534.9,7.9,535,11176,0.00,2.45,0.00,0.000,6,0.000,0.035,3056,1452,2062
$GC,11494,1.22,186.5,508.2,8.3,551,11495,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1452,2062
$GC,11802,1.22,186.5,482.6,8.4,566,11804,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1452,2062
$GC,12112,1.22,186.5,456.5,8.3,581,12113,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1452,2062
$GC,12421,1.22,186.5,430.7,8.1,596,12425,0.00,2.45,0.00,0.000,4,0.000,0.039,3055,2860,2063
$GC,12460,1.22,186.5,427.4,8.4,598,12464,0.00,2.45,0.00,0.000,6,0.000,0.034,3056,1448,2063
$GC,12786,1.22,186.5,399.8,8.8,614,12790,0.00,2.45,0.00,0.000,4,0.000,0.038,3056,2858,2063
$GC,12818,1.22,186.5,396.8,8.0,615,12825,0.00,2.45,0.00,0.000,6,0.000,0.034,3056,1446,2063
$GC,13134,1.22,186.5,368.2,9.1,631,13135,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1446,2063
$GC,13446,1.22,186.5,340.6,9.0,646,13447,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1446,2063
$GC,13754,1.22,186.5,312.2,9.3,661,13758,0.00,2.47,0.00,0.000,4,0.000,0.038,3056,2861,2063
$GC,13794,1.22,186.5,308.4,8.9,663,13798,0.00,2.45,0.00,0.000,6,0.000,0.034,3056,1446,2063
$GC,14120,1.22,186.5,278.6,8.9,679,14121,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1446,2063
$GC,14432,1.22,186.5,252.1,8.3,694,14436,0.00,2.45,0.00,0.000,4,0.000,0.038,3056,2858,2063
$GC,14487,1.22,186.5,247.2,9.1,696,14493,0.00,2.42,0.00,0.000,6,0.000,0.034,3055,1455,2063
$GC,14805,1.22,186.5,222.3,7.6,712,14809,0.00,2.42,0.00,0.000,4,0.000,0.039,3056,2856,2063
$GC,14838,1.22,187.1,219.6,7.5,713,14844,0.00,2.42,0.00,0.000,6,0.000,0.034,3056,1454,2063
$GC,15153,1.24,203.2,197.8,7.0,729,15175,0.00,2.20,14.55,0.839,4,0.000,0.055,3056,267,2003
$GC,15203,1.24,203.2,193.8,8.1,731,15207,0.00,2.00,0.00,0.000,6,0.000,0.028,3056,1470,2003
$GC,15531,1.24,203.2,169.3,7.6,747,15532,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1473,2001
$GC,15840,1.24,203.2,144.9,7.7,762,15844,0.00,2.40,0.00,0.000,4,0.000,0.041,3056,2842,2001
$GC,15867,1.24,203.2,142.5,8.4,763,15871,0.00,2.40,0.00,0.000,6,0.000,0.033,3056,1453,2001
$GC,16185,1.26,216.9,118.8,7.0,778,16203,0.00,0.00,13.35,0.786,6,0.000,0.000,3056,1454,1946
$GC,16513,1.26,216.9,93.8,7.8,794,16515,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1453,1945
$GC,16822,1.26,216.9,70.4,7.9,809,16826,0.00,2.42,0.00,0.000,4,0.000,0.038,3056,2842,1945
$GC,16884,1.26,216.9,65.2,9.1,812,16888,0.00,2.40,0.00,0.000,6,0.000,0.033,3056,1453,1945
$GC,17211,1.26,219.6,37.8,7.4,828,17213,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1453,1944
$GC,17521,1.31,252.6,19.2,6.4,843,17555,0.12,0.00,31.52,0.760,6,0.046,0.000,3097,1454,1802
$STATE,17703,end climb,SURFACE_DEPTH_REACHED
$STATE,17704,begin surface coast
$FINISH,0.1,1.002651
$STATE,17727,end surface coast,CONTROL_FINISHED_OK
$STATE,17727,begin surface
$SM_CCo,17750,29.90,0.733,0,0,1609,300.00
$SM_GC,1.22,0.00,0.00,29.90,0.000,0.000,0.733,396,2466,1609,-11.06,-0.31,300.00
$IRIDIUM_FIX,6144.36,-952.74,080998,181813
$TT8_MAMPS,0.027612
$HUMID,1822
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,13.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.3,103.3
$24V_AH,23.3,25.577
$10V_AH,10.1,11.161
$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,25.700,162.950,354.075,29.900,0.000,30.530,38.401,148.485,5.250,0.000,0.000,15.335,1598.179,13337.309,511.073,1925.147,750.117,0.000,1522.501,0.000,2082.650,0.000,36.400,0.000
$DEVICE_MAMPS,133.458,62.127,1211.093,733.252,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,735.372,610.082,532.218,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44286,853
$CAP_FILE_SIZE,130630,0
$CFSIZE,260165632,254959616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,150609,040207,6207.743,-950.841,31,1.1,31,-9.9