version: 66.04
glider: 105
mission: 6
dive: 84
start: 6 22 109 18 54 44
data:
$ID,105
$MISSION,6
$DIVE,84
$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,-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,-1629518.5
$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,2350
$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
$GPS1,184537,6256.552,-1326.756,43,1.1,43,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-59.2
$GPS2,185426,6256.574,-1326.659,15,1.3,15,-12.2
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,JW
$TGT_LATLONG,6305.000,-1325.000
$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,17.3,15666,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.17,-146.6,0.0,0.0,0,80,0.00,0.00,-58.30,0.000,6,0.000,0.000,389,2346,3431
$GC,83,-1.17,-146.6,5.0,-9.5,3,103,11.48,2.53,0.00,0.000,4,0.134,0.036,2534,936,3433
$GC,276,-1.17,-146.6,37.5,-13.7,11,282,0.00,2.45,0.00,0.000,6,0.000,0.032,2534,2354,3433
$GC,593,-1.17,-146.6,67.2,-6.2,27,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2354,3434
$GC,901,-1.17,-146.6,95.8,-10.9,42,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2354,3434
$GC,1210,-1.17,-146.6,122.0,-7.9,57,1215,0.00,2.47,0.00,0.000,4,0.000,0.038,2534,939,3434
$GC,1256,-1.17,-146.6,126.0,-9.0,59,1260,0.00,2.45,0.00,0.000,6,0.000,0.034,2534,2349,3434
$GC,1576,-1.17,-146.6,156.9,-9.7,75,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2350,3434
$GC,1888,-1.17,-146.6,187.0,-9.7,90,1892,0.00,2.47,0.00,0.000,4,0.000,0.039,2534,936,3434
$GC,1927,-1.17,-146.6,191.1,-9.8,92,1931,0.00,2.47,0.00,0.000,6,0.000,0.035,2534,2356,3435
$GC,2255,-1.17,-146.6,222.0,-9.3,108,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2357,3434
$GC,2563,-1.17,-146.6,249.7,-8.8,123,2567,0.00,2.47,0.00,0.000,4,0.000,0.039,2534,940,3434
$GC,2612,-1.17,-146.6,254.3,-9.3,125,2616,0.00,2.47,0.00,0.000,6,0.000,0.035,2534,2357,3434
$GC,2933,-1.17,-146.6,280.7,-8.1,141,2937,0.00,2.47,0.00,0.000,4,0.000,0.039,2534,939,3434
$GC,2965,-1.17,-146.6,283.4,-7.7,142,2971,0.00,2.45,0.00,0.000,6,0.000,0.035,2534,2351,3434
$GC,3281,-1.17,-146.6,307.6,-7.7,158,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2350,3434
$GC,3591,-1.17,-146.6,332.5,-8.6,173,3595,0.00,2.47,0.00,0.000,4,0.000,0.040,2534,938,3433
$GC,3634,-1.17,-146.6,336.4,-8.4,175,3639,0.00,2.47,0.00,0.000,6,0.000,0.035,2534,2358,3433
$GC,3957,-1.17,-146.6,364.4,-9.1,191,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2358,3433
$GC,4265,-1.17,-146.6,392.8,-9.4,206,4269,0.00,2.50,0.00,0.000,4,0.000,0.040,2534,929,3433
$GC,4320,-1.17,-146.6,398.3,-10.2,208,4327,0.00,2.47,0.00,0.000,6,0.000,0.037,2534,2354,3433
$GC,4636,-1.17,-146.6,427.0,-8.7,224,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2354,3433
$GC,4947,-1.17,-146.6,453.2,-8.2,239,4952,0.00,2.47,0.00,0.000,4,0.000,0.041,2534,939,3433
$GC,5003,-1.17,-146.6,458.1,-8.2,241,5009,0.00,2.47,0.00,0.000,6,0.000,0.036,2534,2360,3433
$GC,5319,-1.17,-146.6,483.1,-8.0,257,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2360,3432
$GC,5628,-1.17,-146.6,508.4,-7.8,272,5632,0.00,2.50,0.00,0.000,4,0.000,0.041,2534,935,3432
$GC,5667,-1.17,-146.6,511.4,-7.7,274,5671,0.00,2.47,0.00,0.000,6,0.000,0.036,2534,2358,3432
$GC,5993,-1.17,-146.6,535.7,-8.0,290,5997,0.00,2.47,0.00,0.000,4,0.000,0.040,2534,939,3432
$GC,6032,-1.17,-146.6,539.0,-8.4,292,6036,0.00,2.45,0.00,0.000,6,0.000,0.036,2534,2352,3432
$GC,6358,-1.17,-146.6,569.2,-9.7,308,6359,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2352,3432
$GC,6667,-1.17,-146.6,598.3,-9.6,323,6671,0.00,2.47,0.00,0.000,4,0.000,0.040,2534,936,3432
$GC,6716,-1.17,-146.6,603.3,-10.3,325,6721,0.00,2.47,0.00,0.000,6,0.000,0.036,2534,2342,3432
$GC,7037,-1.17,-146.6,629.8,-7.7,341,7039,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2342,3432
$GC,7350,-1.17,-146.6,651.1,-6.8,356,7351,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2342,3431
$GC,7657,-1.17,-146.6,672.6,-7.2,371,7661,0.00,2.47,0.00,0.000,4,0.000,0.041,2534,930,3431
$GC,7712,-1.17,-146.6,677.1,-8.7,373,7719,0.00,2.50,0.00,0.000,6,0.000,0.037,2534,2351,3431
$GC,8027,-1.17,-146.6,703.2,-9.2,389,8028,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2351,3431
$GC,8337,-1.17,-146.6,729.7,-7.8,404,8341,0.00,2.47,0.00,0.000,4,0.000,0.041,2534,938,3431
$GC,8387,-1.17,-146.6,733.0,-7.0,406,8392,0.00,2.47,0.00,0.000,6,0.000,0.036,2534,2344,3431
$GC,8708,-1.17,-146.6,752.9,-6.5,422,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2344,3431
$GC,9017,-1.17,-146.6,778.1,-7.9,437,9022,0.00,2.50,0.00,0.000,4,0.000,0.041,2534,938,3431
$GC,9055,-1.17,-146.6,780.9,-7.7,438,9061,0.00,2.45,0.00,0.000,6,0.000,0.037,2534,2351,3431
$GC,9371,-1.17,-146.6,801.4,-5.5,454,9372,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2351,3431
$GC,9681,-1.17,-146.6,825.4,-9.1,469,9685,0.00,2.47,0.00,0.000,4,0.000,0.042,2534,941,3430
$GC,9747,-1.17,-146.6,832.2,-9.6,472,9752,0.00,2.45,0.00,0.000,6,0.000,0.037,2534,2354,3430
$GC,10069,-1.17,-146.6,855.5,-6.1,488,10074,0.00,2.53,0.00,0.000,4,0.000,0.043,2534,938,3430
$GC,10124,-1.17,-146.6,858.9,-6.6,490,10129,0.00,2.47,0.00,0.000,6,0.000,0.038,2534,2354,3429
$GC,10440,-1.17,-146.6,880.7,-7.8,505,10444,0.00,2.50,0.00,0.000,4,0.000,0.044,2534,940,3429
$GC,10484,-1.17,-146.6,884.6,-8.3,507,10489,0.00,2.50,0.00,0.000,6,0.000,0.040,2534,2347,3429
$GC,10810,-1.17,-146.6,906.9,-6.3,523,10815,0.00,2.50,0.00,0.000,4,0.000,0.044,2534,933,3429
$GC,10888,-1.17,-146.6,913.5,-7.6,526,10894,0.00,2.50,0.00,0.000,6,0.000,0.041,2534,2352,3428
$STATE,11160,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11160,begin apogee
$GC,11168,-0.36,0.0,936.2,6.3,540,11304,0.88,0.00,130.80,1.362,6,0.071,0.000,2719,1451,2832
$STATE,11304,end apogee,CONTROL_FINISHED_OK
$STATE,11304,begin climb
$GC,11307,1.17,146.6,938.4,0.0,547,11452,1.50,2.67,132.25,1.325,4,0.042,0.051,3058,2864,2231
$GC,11567,1.17,146.6,925.1,9.3,559,11571,0.00,2.50,0.00,0.000,6,0.000,0.041,3058,1458,2226
$GC,11893,1.17,146.6,893.5,9.0,575,11896,0.00,2.20,0.00,0.000,4,0.000,0.061,3058,258,2223
$GC,12066,1.17,146.6,879.7,7.6,582,12072,0.00,2.08,0.00,0.000,6,0.000,0.035,3058,1474,2222
$GC,12382,1.17,146.6,852.8,9.2,598,12387,0.00,2.25,0.00,0.000,4,0.000,0.060,3058,265,2221
$GC,12450,1.17,146.6,847.1,8.0,601,12453,0.00,2.03,0.00,0.000,6,0.000,0.036,3058,1453,2220
$GC,12783,1.25,211.6,827.2,5.3,617,12846,0.00,2.62,58.08,1.302,4,0.000,0.050,3058,2844,1969
$GC,12898,1.27,220.4,819.1,7.2,622,12915,0.00,2.47,9.38,1.106,6,0.000,0.039,3058,1446,1932
$GC,13226,1.27,220.4,789.9,8.1,638,13230,0.00,2.53,0.00,0.000,4,0.000,0.046,3058,2851,1928
$GC,13266,1.27,220.4,786.5,8.0,640,13270,0.00,2.45,0.00,0.000,6,0.000,0.039,3058,1455,1927
$GC,13595,1.27,220.4,758.4,9.7,656,13598,0.00,2.15,0.00,0.000,4,0.000,0.058,3058,265,1926
$GC,13644,1.27,220.4,752.7,11.1,658,13648,0.00,2.03,0.00,0.000,6,0.000,0.031,3058,1461,1925
$GC,13971,1.27,220.4,717.6,11.2,674,13976,0.00,2.50,0.00,0.000,4,0.000,0.048,3058,2842,1925
$GC,14009,1.27,220.4,713.6,10.4,675,14017,0.00,2.45,0.00,0.000,6,0.000,0.037,3058,1453,1924
$GC,14326,1.27,221.2,685.7,7.5,691,14330,0.00,2.15,0.00,0.000,4,0.000,0.056,3058,258,1924
$GC,14365,1.29,241.4,682.8,6.8,692,14393,0.10,2.03,19.23,1.162,6,0.048,0.031,3095,1458,1847
$GC,14704,1.29,241.4,646.9,11.3,709,14705,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1458,1844
$GC,15010,1.29,241.4,605.7,14.3,724,15011,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1458,1843
$GC,15320,1.29,241.4,559.9,14.3,739,15323,0.00,2.15,0.00,0.000,4,0.000,0.054,3095,262,1844
$GC,15365,1.29,241.4,553.3,15.6,741,15369,0.00,2.03,0.00,0.000,6,0.000,0.031,3095,1461,1844
$GC,15698,1.29,241.4,509.4,12.2,757,15702,0.00,2.47,0.00,0.000,4,0.000,0.046,3095,2854,1844
$GC,15741,1.29,241.4,504.7,10.0,759,15746,0.00,2.42,0.00,0.000,6,0.000,0.036,3095,1452,1843
$GC,16062,1.29,241.4,474.6,9.7,775,16066,0.00,2.12,0.00,0.000,4,0.000,0.055,3095,264,1843
$GC,16130,1.29,241.4,467.5,11.0,778,16134,0.00,2.00,0.00,0.000,6,0.000,0.031,3095,1457,1844
$GC,16465,1.29,241.4,434.8,10.0,794,16466,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1457,1843
$GC,16771,1.29,241.4,402.9,10.5,809,16776,0.00,2.45,0.00,0.000,4,0.000,0.044,3095,2849,1844
$GC,16812,1.29,241.4,398.7,10.9,811,16816,0.00,2.42,0.00,0.000,6,0.000,0.035,3095,1446,1843
$GC,17139,1.29,241.4,362.9,11.9,827,17140,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1446,1844
$GC,17447,1.29,241.4,323.7,12.6,842,17452,0.00,2.47,0.00,0.000,4,0.000,0.042,3095,2845,1844
$GC,17480,1.29,241.4,319.5,11.8,843,17486,0.00,2.42,0.00,0.000,6,0.000,0.036,3095,1454,1844
$GC,17796,1.29,241.4,283.7,10.3,859,17797,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1454,1844
$GC,18105,1.29,241.4,255.6,8.6,874,18110,0.00,2.15,0.00,0.000,4,0.000,0.055,3095,266,1844
$GC,18152,1.29,241.4,251.4,9.1,876,18155,0.00,2.00,0.00,0.000,6,0.000,0.031,3095,1457,1844
$GC,18484,1.29,241.4,219.4,10.4,892,18485,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1457,1844
$GC,18796,1.29,241.4,184.2,11.8,907,18800,0.00,2.45,0.00,0.000,4,0.000,0.044,3095,2847,1844
$GC,18829,1.29,241.4,179.9,12.0,908,18835,0.00,2.40,0.00,0.000,6,0.000,0.035,3095,1451,1845
$GC,19145,1.29,241.4,143.9,11.2,924,19146,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1451,1844
$GC,19454,1.29,241.4,111.9,9.9,939,19458,0.00,2.47,0.00,0.000,4,0.000,0.041,3095,2856,1845
$GC,19486,1.29,241.4,108.6,9.8,940,19494,0.00,2.45,0.00,0.000,6,0.000,0.035,3095,1451,1845
$GC,19802,1.29,241.4,79.5,8.8,956,19803,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1451,1845
$GC,20111,1.29,241.4,55.2,8.9,971,20112,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1451,1845
$GC,20422,1.29,241.4,23.9,10.0,986,20426,0.00,2.10,0.00,0.000,4,0.000,0.053,3095,265,1845
$GC,20460,1.29,241.4,19.4,10.7,987,20467,0.00,2.00,0.00,0.000,6,0.000,0.031,3095,1452,1845
$STATE,20650,end climb,SURFACE_DEPTH_REACHED
$STATE,20650,begin surface coast
$FINISH,0.3,1.027065
$STATE,20673,end surface coast,CONTROL_FINISHED_OK
$STATE,20673,begin surface
$SM_CCo,20697,36.17,0.753,0,0,1608,300.00
$SM_GC,1.03,0.00,0.00,36.17,0.000,0.000,0.753,394,2340,1608,-11.07,-0.25,300.00
$IRIDIUM_FIX,6230.49,-1334.70,160998,181820
$TT8_MAMPS,0.027612
$HUMID,1832
$INTERNAL_PRESSURE,8.10902
$TCM_TEMP,13.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,850.4,95.4
$24V_AH,23.2,30.337
$10V_AH,10.1,14.233
$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,25.650,170.500,349.725,36.175,0.000,56.336,59.052,221.015,7.500,0.000,0.000,15.836,1808.176,15911.498,521.573,2093.134,924.542,0.000,1629.895,0.000,2260.775,0.000,50.933,0.000
$DEVICE_MAMPS,134.225,60.593,1362.192,753.194,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,802.990,762.490,554.819,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50562,998
$CAP_FILE_SIZE,146499,0
$CFSIZE,260165632,252739584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,230609,004156,6302.203,-1325.628,39,2.0,58,-12.3