version: 66.04
glider: 105
mission: 6
dive: 59
start: 6 16 109 7 33 33
data:
$ID,105
$MISSION,6
$DIVE,59
$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,-1629086.6
$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,26
$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
$GPS1,072430,6206.716,-1017.603,39,1.9,44,-10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-60.0
$GPS2,073314,6206.716,-1017.731,10,1.8,10,-10.1
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6206.716,-1040.818
$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,280.1,20000,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-59.33,0.000,6,0.000,0.000,392,2452,3431
$GC,81,-1.17,-146.6,4.8,-9.4,3,102,11.48,2.47,0.00,0.000,4,0.135,0.034,2544,1052,3432
$GC,275,-1.17,-146.6,30.9,-7.5,11,281,0.00,2.47,0.00,0.000,6,0.000,0.033,2544,2483,3432
$GC,593,-1.17,-146.6,52.2,-6.3,27,597,0.00,2.47,0.00,0.000,4,0.000,0.035,2544,1057,3433
$GC,700,-1.17,-146.6,59.5,-6.6,32,704,0.00,2.47,0.00,0.000,6,0.000,0.034,2544,2482,3433
$GC,1028,-1.17,-146.6,86.9,-9.1,48,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2481,3433
$GC,1336,-1.17,-146.6,115.4,-9.2,63,1340,0.00,2.47,0.00,0.000,4,0.000,0.037,2544,1059,3433
$GC,1391,-1.17,-146.6,120.6,-9.1,65,1397,0.00,2.47,0.00,0.000,6,0.000,0.035,2544,2477,3433
$GC,1707,-1.17,-146.6,148.6,-8.8,81,1711,0.00,2.47,0.00,0.000,4,0.000,0.037,2544,1055,3433
$GC,1769,-1.17,-146.6,154.0,-8.7,84,1773,0.00,2.47,0.00,0.000,6,0.000,0.035,2545,2484,3433
$GC,2096,-1.17,-146.6,182.3,-8.5,100,2100,0.00,2.47,0.00,0.000,4,0.000,0.038,2544,1061,3433
$GC,2151,-1.17,-146.6,187.0,-8.3,102,2157,0.00,2.47,0.00,0.000,6,0.000,0.036,2544,2474,3433
$GC,2467,-1.17,-146.6,210.5,-7.2,118,2471,0.00,2.47,0.00,0.000,4,0.000,0.038,2544,1055,3433
$GC,2517,-1.17,-146.6,214.3,-7.4,120,2521,0.00,2.47,0.00,0.000,6,0.000,0.036,2544,2475,3433
$GC,2834,-1.17,-146.6,239.0,-8.1,135,2839,0.00,2.47,0.00,0.000,4,0.000,0.038,2544,1058,3433
$GC,2868,-1.17,-146.6,242.1,-8.1,136,2874,0.00,2.47,0.00,0.000,6,0.000,0.038,2544,2475,3433
$GC,3183,-1.17,-146.6,267.8,-8.3,152,3188,0.00,2.50,0.00,0.000,4,0.000,0.039,2544,1062,3432
$GC,3239,-1.17,-146.6,272.4,-8.3,154,3243,0.00,2.47,0.00,0.000,6,0.000,0.038,2544,2475,3433
$GC,3555,-1.17,-146.6,297.7,-7.8,169,3559,0.00,2.47,0.00,0.000,4,0.000,0.039,2544,1058,3432
$GC,3610,-1.17,-146.6,302.3,-8.1,171,3616,0.00,2.47,0.00,0.000,6,0.000,0.038,2544,2475,3432
$GC,3926,-1.17,-146.6,326.7,-7.8,187,3930,0.00,2.50,0.00,0.000,4,0.000,0.039,2544,1062,3432
$GC,3978,-1.17,-146.6,330.7,-7.8,189,3982,0.00,2.47,0.00,0.000,6,0.000,0.038,2544,2476,3432
$GC,4299,-1.17,-146.6,355.7,-7.8,205,4303,0.00,2.47,0.00,0.000,4,0.000,0.040,2544,1055,3432
$GC,4355,-1.17,-146.6,360.3,-8.5,207,4361,0.00,2.47,0.00,0.000,6,0.000,0.038,2544,2476,3432
$GC,4671,-1.17,-146.6,386.0,-8.2,223,4675,0.00,2.47,0.00,0.000,4,0.000,0.041,2544,1059,3432
$GC,4714,-1.17,-146.6,389.6,-8.0,225,4719,0.00,2.47,0.00,0.000,6,0.000,0.038,2545,2475,3432
$GC,5036,-1.17,-146.6,415.7,-8.3,241,5040,0.00,2.47,0.00,0.000,4,0.000,0.040,2544,1062,3432
$GC,5085,-1.17,-146.6,420.1,-8.4,243,5090,0.00,2.47,0.00,0.000,6,0.000,0.038,2544,2477,3432
$GC,5401,-1.17,-146.6,447.7,-9.0,258,5406,0.00,2.47,0.00,0.000,4,0.000,0.040,2544,1060,3431
$GC,5456,-1.17,-146.6,452.9,-9.1,260,5463,0.00,2.47,0.00,0.000,6,0.000,0.038,2544,2476,3431
$GC,5774,-1.17,-146.6,481.3,-9.2,276,5778,0.00,2.47,0.00,0.000,4,0.000,0.041,2544,1058,3431
$GC,5846,-1.17,-146.6,488.1,-9.5,279,5850,0.00,2.47,0.00,0.000,6,0.000,0.038,2544,2477,3431
$GC,6162,-1.17,-146.6,515.8,-8.8,294,6166,0.00,2.47,0.00,0.000,4,0.000,0.040,2544,1061,3431
$GC,6217,-1.17,-146.6,520.8,-8.7,296,6223,0.00,2.47,0.00,0.000,6,0.000,0.038,2544,2477,3431
$GC,6534,-1.17,-146.6,550.9,-10.5,312,6538,0.00,2.47,0.00,0.000,4,0.000,0.040,2544,1060,3431
$GC,6578,-1.17,-146.6,555.9,-11.4,314,6582,0.00,2.47,0.00,0.000,6,0.000,0.038,2544,2478,3431
$GC,6901,-1.17,-146.6,595.1,-13.3,330,6905,0.00,2.47,0.00,0.000,4,0.000,0.040,2544,1061,3431
$GC,6967,-1.17,-146.6,604.3,-13.4,333,6972,0.00,2.50,0.00,0.000,6,0.000,0.038,2544,2472,3431
$GC,7293,-1.17,-146.6,640.2,-9.5,349,7297,0.00,2.47,0.00,0.000,4,0.000,0.041,2544,1058,3431
$GC,7343,-1.17,-146.6,644.7,-8.5,351,7348,0.00,2.50,0.00,0.000,6,0.000,0.038,2544,2474,3431
$GC,7664,-1.17,-146.6,663.2,-5.0,367,7668,0.00,2.47,0.00,0.000,4,0.000,0.040,2544,1059,3431
$GC,7726,-1.17,-146.6,666.6,-5.8,370,7731,0.00,2.50,0.00,0.000,6,0.000,0.038,2544,2472,3431
$GC,8060,-1.17,-146.6,693.4,-8.7,386,8065,0.00,2.47,0.00,0.000,4,0.000,0.041,2544,1060,3430
$GC,8110,-1.17,-146.6,697.7,-7.5,388,8115,0.00,2.47,0.00,0.000,6,0.000,0.038,2544,2477,3431
$GC,8426,-1.17,-146.6,716.7,-7.9,403,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2477,3430
$GC,8735,-1.17,-146.6,744.6,-6.9,418,8740,0.00,2.47,0.00,0.000,4,0.000,0.041,2545,1064,3431
$GC,8830,-1.17,-146.6,752.0,-8.1,422,8835,0.00,2.50,0.00,0.000,6,0.000,0.039,2544,2472,3430
$GC,9151,-1.17,-146.6,782.6,-10.1,438,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2472,3430
$GC,9461,-1.17,-146.6,807.6,-5.4,453,9465,0.00,2.47,0.00,0.000,4,0.000,0.043,2544,1066,3429
$GC,9525,-1.17,-146.6,810.4,-4.4,456,9529,0.00,2.47,0.00,0.000,6,0.000,0.041,2544,2475,3430
$GC,9851,-1.17,-146.6,826.4,-6.7,472,9856,0.00,2.53,0.00,0.000,4,0.000,0.044,2544,1061,3429
$GC,10019,-1.17,-146.6,836.7,-7.9,479,10024,0.00,2.53,0.00,0.000,6,0.000,0.046,2544,2476,3429
$STATE,10044,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10044,begin apogee
$GC,10052,-0.36,0.0,839.5,10.5,480,10187,0.82,0.00,129.30,1.294,6,0.069,0.000,2720,1457,2832
$STATE,10188,end apogee,CONTROL_FINISHED_OK
$STATE,10188,begin climb
$GC,10191,1.17,146.6,846.9,0.0,487,10330,1.52,2.30,130.30,1.257,4,0.049,0.067,3058,265,2234
$GC,10489,1.17,146.6,830.7,7.7,500,10496,0.00,2.10,0.00,0.000,6,0.000,0.037,3058,1467,2226
$GC,10805,1.27,225.1,812.1,4.8,516,10881,0.00,2.58,70.32,1.258,4,0.000,0.053,3058,2851,1913
$GC,10946,1.34,282.6,804.6,5.5,522,11007,0.15,2.50,52.67,1.246,6,0.040,0.042,3113,1451,1680
$GC,11329,1.34,282.6,765.5,10.7,541,11334,0.00,2.55,0.00,0.000,4,0.000,0.048,3113,2860,1669
$GC,11385,1.34,282.6,759.3,11.3,543,11392,0.12,2.50,0.00,0.000,6,0.085,0.041,3088,1454,1668
$GC,11700,1.34,282.6,729.9,9.6,559,11704,0.00,2.17,0.00,0.000,4,0.000,0.059,3089,258,1667
$GC,11829,1.34,282.6,714.4,11.7,564,11835,0.00,2.05,0.00,0.000,6,0.000,0.031,3088,1461,1666
$GC,12144,1.34,282.6,674.7,12.4,580,12145,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1461,1665
$GC,12454,1.34,282.6,641.3,10.4,595,12455,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1461,1665
$GC,12765,1.34,282.6,604.7,12.0,610,12767,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1461,1665
$GC,13072,1.34,282.6,567.0,12.0,625,13076,0.00,2.17,0.00,0.000,4,0.000,0.054,3088,258,1665
$GC,13110,1.34,282.6,562.2,12.8,626,13116,0.00,2.03,0.00,0.000,6,0.000,0.030,3088,1461,1665
$GC,13426,1.34,282.6,530.2,8.9,642,13427,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1461,1665
$GC,13737,1.34,282.6,504.3,8.6,657,13741,0.00,2.17,0.00,0.000,4,0.000,0.053,3089,256,1665
$GC,13783,1.34,282.6,499.7,9.5,659,13786,0.00,2.03,0.00,0.000,6,0.000,0.029,3089,1460,1665
$GC,14115,1.34,282.6,468.8,9.6,675,14116,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1460,1665
$GC,14426,1.34,282.6,435.0,11.6,690,14431,0.00,2.42,0.00,0.000,4,0.000,0.044,3088,2839,1665
$GC,14448,1.34,282.6,432.1,11.4,691,14453,0.00,2.45,0.00,0.000,6,0.000,0.035,3088,1449,1664
$GC,14775,1.34,282.6,391.4,12.7,707,14778,0.00,2.12,0.00,0.000,4,0.000,0.054,3088,261,1665
$GC,14820,1.34,282.6,385.2,14.0,709,14824,0.00,2.00,0.00,0.000,6,0.000,0.030,3089,1459,1665
$GC,15152,1.34,282.6,341.7,13.4,725,15156,0.00,2.15,0.00,0.000,4,0.000,0.053,3088,264,1665
$GC,15184,1.34,282.6,337.4,14.4,726,15188,0.00,2.00,0.00,0.000,6,0.000,0.030,3089,1453,1665
$GC,15506,1.34,282.6,297.1,12.1,742,15507,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1454,1665
$GC,15817,1.34,282.6,262.7,10.5,757,15819,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1455,1665
$GC,16124,1.34,282.6,233.4,8.9,772,16128,0.00,2.15,0.00,0.000,4,0.000,0.054,3088,259,1665
$GC,16157,1.34,282.6,230.2,8.7,773,16161,0.00,2.00,0.00,0.000,6,0.000,0.030,3088,1453,1665
$GC,16479,1.35,286.9,205.6,7.4,789,16480,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1454,1665
$GC,16788,1.35,286.9,179.0,9.7,804,16792,0.00,2.15,0.00,0.000,4,0.000,0.053,3088,271,1665
$GC,16826,1.35,286.9,174.7,10.7,805,16834,0.00,2.00,0.00,0.000,6,0.000,0.029,3089,1455,1666
$GC,17142,1.35,286.9,140.1,11.2,821,17143,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1455,1666
$GC,17452,1.35,286.9,108.5,10.2,836,17454,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1456,1666
$GC,17760,1.35,286.9,75.4,9.7,851,17762,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1456,1666
$GC,18070,1.35,286.9,47.9,8.8,866,18074,0.00,2.42,0.00,0.000,4,0.000,0.041,3089,2846,1666
$GC,18097,1.35,286.9,45.5,9.4,867,18101,0.00,2.42,0.00,0.000,6,0.000,0.034,3088,1445,1665
$GC,18414,1.35,286.9,15.7,9.8,882,18418,0.00,2.10,0.00,0.000,4,0.000,0.054,3088,266,1665
$STATE,18529,end climb,SURFACE_DEPTH_REACHED
$STATE,18529,begin surface coast
$FINISH,0.5,1.027138
$STATE,18555,end surface coast,CONTROL_FINISHED_OK
$STATE,18555,begin surface
$SM_CCo,18581,9.30,0.688,0,0,1609,300.00
$SM_GC,1.48,0.00,0.00,9.30,0.000,0.000,0.688,392,2461,1609,-11.08,-0.45,300.00
$IRIDIUM_FIX,6139.81,-1019.11,100998,070706
$TT8_MAMPS,0.026845
$HUMID,1825
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.2,98.9
$24V_AH,23.2,26.450
$10V_AH,10.1,11.711
$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,25.675,180.300,382.600,9.300,0.000,55.798,130.194,155.452,6.500,0.000,0.000,10.766,1662.766,14002.713,502.332,2036.028,907.887,0.000,1597.147,0.000,2185.903,0.000,44.467,0.000
$DEVICE_MAMPS,134.992,66.729,1293.929,687.999,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,762.984,636.660,525.870,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44347,888
$CAP_FILE_SIZE,139249,0
$CFSIZE,260165632,254550016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,160609,124436,6207.099,-1030.247,32,1.0,32,-10.3