version: 66.04
glider: 105
mission: 6
dive: 85
start: 6 23 109 0 48 4
data:
$ID,105
$MISSION,6
$DIVE,85
$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,-1629534
$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,2350
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,35
$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
$GPS1,004156,6302.203,-1325.628,39,2.0,58,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-58.2
$GPS2,004744,6302.213,-1325.645,14,1.9,14,-12.3
$SPEED_LIMITS,0.104,0.221
$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,18.3,5189,-17.4,-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,13,begin dive
$GC,15,-1.33,-67.4,0.0,0.0,0,68,0.00,0.00,-50.47,0.000,6,0.000,0.000,394,2341,3108
$GC,71,-1.34,-76.9,2.3,-5.4,2,93,11.15,2.45,-0.75,0.000,4,0.130,0.047,2501,927,3147
$GC,328,-1.34,-76.9,32.3,-8.8,13,332,0.00,2.47,0.00,0.000,6,0.000,0.033,2502,2349,3147
$GC,644,-1.34,-76.9,56.4,-8.5,28,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2349,3147
$GC,953,-1.34,-76.9,87.4,-10.5,43,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2350,3148
$GC,1263,-1.34,-76.9,119.7,-10.4,58,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2350,3148
$GC,1571,-1.34,-76.9,148.6,-9.0,73,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2350,3148
$GC,1884,-1.34,-76.9,175.5,-8.4,88,1885,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2350,3148
$GC,2190,-1.34,-76.9,201.4,-8.3,103,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2351,3148
$GC,2499,-1.34,-76.9,227.2,-8.5,118,2504,0.00,2.50,0.00,0.000,4,0.000,0.039,2502,939,3148
$GC,2531,-1.34,-76.9,230.0,-8.4,119,2536,0.00,2.45,0.00,0.000,6,0.000,0.035,2501,2347,3148
$GC,2848,-1.34,-76.9,256.1,-8.6,134,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2347,3147
$GC,3156,-1.34,-76.9,283.4,-8.4,149,3160,0.00,2.58,0.00,0.000,4,0.000,0.061,2501,3760,3147
$GC,3214,-1.34,-76.9,288.5,-9.4,151,3220,0.00,2.42,0.00,0.000,6,0.000,0.027,2501,2323,3147
$GC,3529,-1.34,-76.9,314.4,-8.4,167,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2321,3147
$GC,3839,-1.34,-76.9,340.0,-8.2,182,3843,0.00,2.60,0.00,0.000,4,0.000,0.055,2501,3757,3147
$GC,3911,-1.34,-76.9,346.9,-10.1,185,3915,0.00,2.38,0.00,0.000,6,0.000,0.028,2501,2351,3146
$GC,4228,-1.34,-76.9,375.1,-9.1,200,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2350,3147
$GC,4535,-1.34,-76.9,401.9,-8.4,215,4539,0.00,2.55,0.00,0.000,4,0.000,0.055,2502,3761,3147
$GC,4580,-1.34,-76.9,406.0,-9.4,217,4585,0.00,2.42,0.00,0.000,6,0.000,0.028,2502,2349,3146
$GC,4906,-1.34,-76.9,431.4,-7.7,233,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2349,3146
$GC,5218,-1.34,-76.9,453.5,-7.0,248,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2347,3146
$GC,5525,-1.34,-76.9,478.7,-8.7,263,5526,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2347,3146
$GC,5834,-1.34,-76.9,508.0,-9.7,278,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2347,3146
$GC,6143,-1.34,-76.9,538.3,-9.7,293,6144,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2347,3146
$GC,6452,-1.34,-76.9,568.4,-9.8,308,6453,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2347,3146
$GC,6764,-1.34,-76.9,594.7,-7.3,323,6765,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2347,3146
$GC,7071,-1.34,-76.9,618.2,-8.2,338,7075,0.00,2.42,0.00,0.000,4,0.000,0.040,2501,953,3145
$GC,7155,-1.34,-76.9,625.9,-9.1,342,7159,0.00,2.42,0.00,0.000,6,0.000,0.035,2501,2354,3145
$GC,7481,-1.34,-76.9,657.9,-9.7,358,7485,0.00,2.45,0.00,0.000,4,0.000,0.039,2502,948,3146
$GC,7520,-1.34,-76.9,661.8,-9.9,360,7524,0.00,2.42,0.00,0.000,6,0.000,0.035,2501,2351,3145
$GC,7847,-1.34,-76.9,692.9,-10.4,376,7851,0.00,2.53,0.00,0.000,4,0.000,0.056,2501,3754,3145
$GC,7969,-1.34,-76.9,704.9,-9.0,381,7975,0.00,2.38,0.00,0.000,6,0.000,0.028,2501,2350,3145
$GC,8284,-1.34,-76.9,733.4,-7.0,397,8289,0.00,2.55,0.00,0.000,4,0.000,0.054,2502,3748,3145
$GC,8362,-1.34,-76.9,738.3,-6.1,400,8366,0.00,2.38,0.00,0.000,6,0.000,0.029,2501,2348,3145
$GC,8681,-1.43,-146.6,750.0,-1.8,415,8685,0.00,2.42,0.00,0.000,4,0.000,0.039,2502,947,3145
$GC,8743,-1.43,-146.6,751.2,-1.9,418,8747,0.00,2.42,0.00,0.000,6,0.000,0.035,2501,2351,3145
$GC,9070,-1.43,-146.6,767.3,-6.8,434,9074,0.00,2.53,0.00,0.000,4,0.000,0.057,2502,3753,3145
$GC,9137,-1.43,-146.6,772.8,-8.5,437,9141,0.00,2.38,0.00,0.000,6,0.000,0.030,2501,2351,3145
$GC,9460,-1.43,-146.6,803.7,-10.5,453,9461,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2351,3145
$GC,9767,-1.43,-146.6,835.1,-9.3,468,9771,0.00,2.42,0.00,0.000,4,0.000,0.041,2502,955,3144
$GC,9816,-1.43,-146.6,839.5,-8.4,470,9820,0.00,2.42,0.00,0.000,6,0.000,0.037,2501,2350,3144
$GC,10132,-1.43,-146.6,860.6,-5.4,485,10133,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2350,3144
$GC,10441,-1.43,-146.6,876.9,-5.9,500,10445,0.00,2.45,0.00,0.000,4,0.000,0.043,2501,958,3143
$GC,10474,-1.43,-146.6,879.2,-6.6,501,10480,0.00,2.42,0.00,0.000,6,0.000,0.038,2502,2349,3144
$GC,10791,-1.43,-146.6,906.8,-9.5,517,10793,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2349,3143
$GC,11098,-1.43,-146.6,932.5,-7.4,532,11102,0.00,2.47,0.00,0.000,4,0.000,0.045,2501,952,3142
$GC,11165,-1.43,-146.6,937.5,-7.1,535,11169,0.00,2.45,0.00,0.000,6,0.000,0.040,2501,2353,3143
$STATE,11465,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11465,begin apogee
$GC,11473,-0.36,0.0,954.2,5.1,550,11546,1.05,0.00,69.07,1.378,6,0.075,0.000,2722,1470,2832
$STATE,11547,end apogee,CONTROL_FINISHED_OK
$STATE,11547,begin climb
$GC,11550,1.43,146.6,956.4,0.0,554,11695,1.77,2.60,133.60,1.351,4,0.052,0.051,3111,2855,2232
$GC,11826,1.43,146.6,940.2,8.5,566,11832,0.00,2.47,0.00,0.000,6,0.000,0.037,3111,1447,2227
$GC,12141,1.43,146.6,910.0,9.4,582,12146,0.00,2.20,0.00,0.000,4,0.000,0.062,3111,265,2225
$GC,12323,1.43,146.6,892.9,9.4,590,12327,0.00,2.05,0.00,0.000,6,0.000,0.035,3111,1466,2223
$GC,12655,1.43,146.6,868.0,7.4,606,12659,0.00,2.47,0.00,0.000,4,0.000,0.051,3111,2848,2221
$GC,12811,1.43,146.6,855.7,9.0,613,12816,0.00,2.47,0.00,0.000,6,0.000,0.041,3111,1462,2221
$GC,13138,1.43,146.6,818.3,13.9,629,13141,0.00,2.17,0.00,0.000,4,0.000,0.059,3111,261,2219
$GC,13320,1.43,146.6,792.8,14.0,637,13324,0.00,2.05,0.00,0.000,6,0.000,0.034,3111,1462,2219
$GC,13653,1.43,146.6,753.2,11.2,653,13657,0.00,2.50,0.00,0.000,4,0.000,0.049,3111,2855,2218
$GC,13703,1.43,146.6,747.7,10.1,655,13707,0.00,2.45,0.00,0.000,6,0.000,0.038,3111,1449,2217
$GC,14018,1.43,146.6,721.8,7.2,670,14022,0.00,2.15,0.00,0.000,4,0.000,0.057,3112,258,2217
$GC,14141,1.43,146.6,711.7,7.5,675,14145,0.00,2.05,0.00,0.000,6,0.000,0.032,3111,1458,2217
$GC,14465,1.43,146.6,688.5,7.5,691,14469,0.00,2.47,0.00,0.000,4,0.000,0.046,3111,2846,2217
$GC,14514,1.43,146.6,683.7,8.5,693,14518,0.00,2.42,0.00,0.000,6,0.000,0.036,3111,1449,2217
$GC,14830,1.43,146.6,653.5,9.5,708,14831,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1449,2217
$GC,15139,1.43,146.6,628.4,7.2,723,15144,0.00,2.15,0.00,0.000,4,0.000,0.055,3111,264,2217
$GC,15235,1.43,146.6,621.2,7.7,727,15239,0.00,2.00,0.00,0.000,6,0.000,0.031,3112,1457,2218
$GC,15562,1.43,146.6,599.5,6.7,743,15563,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1457,2218
$GC,15871,1.43,146.6,576.9,7.5,758,15876,0.00,2.17,0.00,0.000,4,0.000,0.054,3111,264,2218
$GC,15932,1.43,146.6,572.1,8.5,760,15938,0.00,2.03,0.00,0.000,6,0.000,0.032,3111,1455,2218
$GC,16248,1.43,146.6,549.5,7.2,776,16249,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1455,2218
$GC,16560,1.43,146.6,526.3,7.6,791,16561,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1455,2218
$GC,16867,1.43,146.6,501.7,8.1,806,16871,0.00,2.45,0.00,0.000,4,0.000,0.044,3111,2846,2219
$GC,16916,1.43,146.6,497.6,7.9,808,16920,0.00,2.40,0.00,0.000,6,0.000,0.035,3111,1450,2219
$GC,17234,1.43,146.6,472.4,7.8,823,17235,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1450,2219
$GC,17541,1.43,146.6,447.0,8.6,838,17542,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1450,2220
$GC,17850,1.43,146.6,418.8,9.5,853,17851,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1450,2220
$GC,18159,1.43,146.6,391.4,8.6,868,18161,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1450,2220
$GC,18468,1.43,146.6,365.7,8.2,883,18470,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1450,2220
$GC,18780,1.43,146.6,340.6,8.3,898,18784,0.00,2.45,0.00,0.000,4,0.000,0.043,3111,2847,2220
$GC,18836,1.43,146.6,335.6,8.3,900,18842,0.00,2.42,0.00,0.000,6,0.000,0.035,3111,1449,2220
$GC,19154,1.43,146.6,311.6,7.5,916,19155,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1449,2220
$GC,19462,1.43,146.6,285.6,9.1,931,19463,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1449,2221
$GC,19771,1.43,146.6,257.8,8.7,946,19772,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1449,2221
$GC,20079,1.43,146.6,229.9,9.2,961,20081,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1449,2221
$GC,20389,1.43,146.6,201.0,9.6,976,20390,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1449,2221
$GC,20698,1.43,146.6,175.2,7.1,991,20699,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1449,2221
$GC,21010,1.43,146.6,153.9,7.3,1006,21014,0.00,2.45,0.00,0.000,4,0.000,0.041,3112,2852,2221
$GC,21071,1.43,146.6,148.6,8.7,1009,21076,0.00,2.42,0.00,0.000,6,0.000,0.035,3112,1452,2221
$GC,21399,1.43,146.6,116.1,10.0,1025,21400,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1452,2221
$GC,21708,1.43,146.6,85.0,10.9,1040,21709,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1452,2221
$GC,22018,1.43,146.6,54.5,7.5,1055,22019,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1452,2221
$GC,22327,1.44,159.2,38.2,5.2,1070,22338,0.00,0.00,9.88,0.721,6,0.000,0.000,3111,1452,2182
$GC,22637,1.44,159.2,13.0,8.8,1085,22640,0.00,2.10,0.00,0.000,4,0.000,0.053,3111,269,2181
$GC,22709,1.44,159.2,6.0,9.7,1088,22713,0.00,2.00,0.00,0.000,6,0.000,0.029,3111,1463,2180
$STATE,22765,end climb,SURFACE_DEPTH_REACHED
$STATE,22766,begin surface coast
$FINISH,0.2,1.027112
$STATE,22789,end surface coast,CONTROL_FINISHED_OK
$STATE,22789,begin surface
$SM_CCo,22813,91.55,0.751,0,0,1609,300.00
$SM_GC,0.93,0.00,0.00,91.55,0.000,0.000,0.751,392,2340,1609,-11.08,-0.25,300.00
$IRIDIUM_FIX,6230.49,-1325.52,160998,191922
$TT8_MAMPS,0.027612
$HUMID,1818
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,13.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,851.1,112.1
$24V_AH,23.2,30.450
$10V_AH,10.1,14.334
$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,25.750,131.500,212.550,91.550,0.000,24.933,35.252,164.676,7.500,0.000,0.000,14.821,1971.819,17741.672,430.681,2262.164,845.578,0.000,1563.797,0.000,2448.302,0.000,50.968,0.000
$DEVICE_MAMPS,129.623,62.127,1378.299,750.893,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,878.052,859.936,604.651,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56927,1092
$CAP_FILE_SIZE,145453,0
$CFSIZE,260165632,252669952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,230609,071107,6306.567,-1327.799,38,1.7,38,-12.3