version: 66.04
glider: 105
mission: 6
dive: 168
start: 7 18 109 4 25 34
data:
$ID,105
$MISSION,6
$DIVE,168
$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,-1630979.8
$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,23
$R_STBD_OVSHOOT,27
$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
$GPS1,041906,6214.760,-1145.359,40,1.3,46,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-57.3
$GPS2,042514,6214.729,-1145.364,15,1.3,15,-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,15.3,4217,-22.1,-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,12,begin dive
$GC,15,-1.63,-43.4,0.0,0.0,0,64,0.00,0.00,-47.15,0.000,6,0.000,0.000,384,2251,3009
$GC,68,-1.65,-55.0,2.3,-4.9,2,90,10.85,2.60,-1.05,0.000,4,0.129,0.064,2434,3651,3059
$GC,297,-1.65,-55.0,30.4,-10.2,12,301,0.00,2.42,0.00,0.000,6,0.000,0.030,2435,2227,3060
$GC,619,-1.65,-55.0,55.5,-6.8,28,623,0.00,2.55,0.00,0.000,4,0.000,0.048,2435,3653,3060
$GC,944,-1.69,-92.1,65.3,-2.6,42,951,0.00,2.38,-1.08,0.000,6,0.000,0.030,2435,2251,3214
$GC,1260,-1.69,-92.1,83.1,-7.4,58,1265,0.00,2.55,0.00,0.000,4,0.000,0.050,2435,3651,3216
$GC,1500,-1.69,-92.1,107.1,-10.9,68,1506,0.00,2.38,0.00,0.000,6,0.000,0.031,2435,2252,3216
$GC,1817,-1.69,-92.1,141.0,-11.4,84,1821,0.00,2.53,0.00,0.000,4,0.000,0.052,2435,3655,3216
$GC,2024,-1.69,-92.1,167.1,-12.2,93,2029,0.00,2.40,0.00,0.000,6,0.000,0.031,2434,2251,3216
$GC,2340,-1.69,-92.1,204.6,-11.9,108,2344,0.00,2.53,0.00,0.000,4,0.000,0.053,2435,3653,3216
$GC,2491,-1.69,-92.1,223.1,-11.5,115,2496,0.00,2.40,0.00,0.000,6,0.000,0.031,2435,2244,3216
$GC,2819,-1.69,-92.1,256.5,-9.6,131,2823,0.00,2.55,0.00,0.000,4,0.000,0.054,2435,3657,3215
$GC,2970,-1.69,-92.1,272.4,-10.6,138,2975,0.00,2.40,0.00,0.000,6,0.000,0.032,2435,2252,3215
$GC,3297,-1.69,-92.1,304.8,-10.1,154,3301,0.00,2.53,0.00,0.000,4,0.000,0.052,2435,3658,3215
$GC,3477,-1.69,-92.1,324.7,-10.6,162,3486,0.00,2.42,0.00,0.000,6,0.000,0.032,2435,2236,3214
$GC,3808,-1.69,-92.1,358.2,-10.1,178,3812,0.00,2.55,0.00,0.000,4,0.000,0.053,2435,3655,3214
$GC,3997,-1.69,-92.1,379.2,-11.1,186,4004,0.00,2.42,0.00,0.000,6,0.000,0.032,2435,2228,3214
$GC,4313,-1.69,-92.1,410.3,-10.0,202,4317,0.00,2.55,0.00,0.000,4,0.000,0.051,2435,3660,3214
$GC,4459,-1.69,-92.1,425.5,-10.6,208,4465,0.00,2.40,0.00,0.000,6,0.000,0.032,2435,2250,3214
$GC,4774,-1.69,-92.1,456.8,-9.9,224,4778,0.00,2.50,0.00,0.000,4,0.000,0.051,2435,3653,3213
$GC,4897,-1.69,-92.1,470.2,-10.8,229,4903,0.00,2.40,0.00,0.000,6,0.000,0.032,2435,2248,3213
$GC,5212,-1.69,-92.1,502.6,-10.3,245,5217,0.00,2.55,0.00,0.000,4,0.000,0.051,2435,3654,3212
$GC,5348,-1.69,-92.1,517.4,-11.3,251,5353,0.00,2.42,0.00,0.000,6,0.000,0.033,2435,2250,3213
$GC,5680,-1.69,-92.1,551.5,-10.2,267,5685,0.00,2.53,0.00,0.000,4,0.000,0.051,2435,3650,3213
$GC,5899,-1.69,-92.1,576.6,-11.6,276,5905,0.00,2.40,0.00,0.000,6,0.000,0.032,2435,2246,3212
$GC,6216,-1.69,-92.1,609.2,-10.4,292,6220,0.00,2.53,0.00,0.000,4,0.000,0.052,2435,3654,3213
$GC,6401,-1.69,-92.1,629.9,-11.2,300,6406,0.00,2.40,0.00,0.000,6,0.000,0.032,2435,2251,3212
$GC,6717,-1.69,-92.1,662.8,-10.4,315,6721,0.00,2.50,0.00,0.000,4,0.000,0.051,2435,3653,3212
$GC,6881,-1.69,-92.1,680.8,-10.9,322,6886,0.00,2.40,0.00,0.000,6,0.000,0.032,2435,2251,3212
$GC,7198,-1.69,-92.1,711.2,-9.2,337,7202,0.00,2.53,0.00,0.000,4,0.000,0.051,2435,3661,3212
$GC,7304,-1.69,-92.1,722.3,-11.0,342,7308,0.00,2.42,0.00,0.000,6,0.000,0.033,2435,2249,3212
$GC,7631,-1.69,-92.1,752.7,-8.9,358,7635,0.00,2.53,0.00,0.000,4,0.000,0.051,2435,3658,3211
$GC,7807,-1.69,-92.1,768.2,-8.7,366,7811,0.00,2.42,0.00,0.000,6,0.000,0.034,2435,2247,3212
$GC,8133,-1.69,-92.1,794.7,-9.0,382,8138,0.00,2.53,0.00,0.000,4,0.000,0.052,2435,3654,3212
$GC,8353,-1.69,-92.1,817.7,-10.1,392,8357,0.00,2.42,0.00,0.000,6,0.000,0.034,2435,2241,3211
$GC,8679,-1.69,-92.1,853.1,-11.1,408,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2241,3211
$GC,8988,-1.69,-92.1,883.4,-10.0,423,8989,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2240,3211
$GC,9297,-1.69,-92.1,910.5,-8.0,438,9302,0.00,2.58,0.00,0.000,4,0.000,0.058,2435,3660,3211
$GC,9387,-1.69,-92.1,918.2,-8.9,442,9391,0.00,2.45,0.00,0.000,6,0.000,0.036,2435,2247,3211
$GC,9707,-1.69,-92.1,942.9,-8.1,458,9712,0.00,2.55,0.00,0.000,4,0.000,0.058,2435,3651,3210
$GC,9780,-1.69,-92.1,949.8,-9.5,461,9784,0.00,2.42,0.00,0.000,6,0.000,0.037,2435,2252,3209
$STATE,10073,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10073,begin apogee
$GC,10081,-0.36,0.0,977.3,9.7,475,10169,1.38,0.00,84.12,1.417,6,0.081,0.000,2720,1461,2832
$STATE,10170,end apogee,CONTROL_FINISHED_OK
$STATE,10170,begin climb
$GC,10173,1.69,92.1,979.2,0.0,479,10266,2.03,2.28,85.12,1.381,4,0.048,0.066,3167,258,2455
$GC,10378,1.69,92.1,962.7,10.8,488,10385,0.00,2.08,0.00,0.000,6,0.000,0.037,3166,1459,2450
$GC,10693,1.69,92.1,933.2,9.5,504,10697,0.00,2.20,0.00,0.000,4,0.000,0.061,3166,262,2446
$GC,10817,1.69,92.1,920.8,10.1,509,10820,0.00,2.08,0.00,0.000,6,0.000,0.038,3166,1461,2445
$GC,11138,1.69,92.1,891.1,8.9,525,11141,0.00,2.20,0.00,0.000,4,0.000,0.062,3166,263,2444
$GC,11228,1.69,92.1,882.4,9.0,529,11231,0.00,2.05,0.00,0.000,6,0.000,0.038,3166,1456,2443
$GC,11560,1.69,92.1,854.7,8.3,545,11564,0.00,2.20,0.00,0.000,4,0.000,0.061,3166,258,2443
$GC,11902,1.69,92.1,827.3,6.5,560,11906,0.00,2.05,0.00,0.000,6,0.000,0.036,3166,1457,2441
$GC,12230,1.69,93.2,807.2,5.9,576,12234,0.00,2.17,0.00,0.000,4,0.000,0.059,3166,262,2441
$GC,12465,1.69,93.2,790.6,6.7,586,12470,0.00,2.05,0.00,0.000,6,0.000,0.036,3166,1452,2440
$GC,12786,1.69,93.2,770.2,6.1,602,12790,0.00,2.47,0.00,0.000,4,0.000,0.048,3166,2844,2440
$GC,12916,1.69,93.2,762.5,6.1,608,12920,0.00,2.45,0.00,0.000,6,0.000,0.040,3166,1448,2440
$GC,13242,1.69,93.2,741.9,6.6,624,13243,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1448,2440
$GC,13554,1.69,93.2,720.4,7.4,639,13557,0.00,2.12,0.00,0.000,4,0.000,0.058,3166,265,2439
$GC,13783,1.69,93.2,700.5,8.8,649,13788,0.00,2.03,0.00,0.000,6,0.000,0.033,3167,1456,2440
$GC,14109,1.69,93.2,675.4,7.5,665,14110,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1456,2440
$GC,14419,1.69,93.2,652.1,7.5,680,14422,0.00,2.15,0.00,0.000,4,0.000,0.056,3167,259,2440
$GC,14509,1.69,93.2,645.2,7.6,684,14513,0.00,2.03,0.00,0.000,6,0.000,0.035,3167,1455,2440
$GC,14841,1.69,93.2,621.4,7.1,700,14842,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1455,2441
$GC,15151,1.69,93.2,598.8,7.4,715,15152,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1455,2441
$GC,15460,1.69,93.2,575.5,7.6,730,15461,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1455,2441
$GC,15769,1.69,93.2,551.1,8.0,745,15770,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1454,2442
$GC,16081,1.69,93.2,526.4,8.0,760,16085,0.00,2.15,0.00,0.000,4,0.000,0.056,3166,260,2442
$GC,16187,1.69,93.2,517.4,8.1,764,16193,0.00,2.03,0.00,0.000,6,0.000,0.035,3167,1455,2442
$GC,16505,1.69,93.2,494.8,7.0,780,16506,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1455,2443
$GC,16812,1.69,93.2,473.1,7.0,795,16813,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1455,2443
$GC,17121,1.69,93.2,452.0,6.8,810,17122,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1455,2443
$GC,17430,1.69,93.2,429.9,7.3,825,17431,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1455,2443
$GC,17740,1.69,93.2,407.9,7.2,840,17741,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1455,2443
$GC,18052,1.69,93.2,386.0,7.1,855,18053,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1455,2444
$GC,18358,1.69,93.2,364.2,7.2,870,18359,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1455,2444
$GC,18667,1.69,93.2,341.2,7.9,885,18669,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1455,2444
$GC,18977,1.69,93.2,317.1,7.7,900,18978,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1455,2444
$GC,19286,1.69,93.2,292.8,7.6,915,19287,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1455,2444
$GC,19598,1.69,93.2,269.2,7.5,930,19599,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1455,2445
$GC,19905,1.69,93.2,247.4,6.9,945,19906,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1455,2445
$GC,20214,1.69,93.2,224.5,7.4,960,20215,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1455,2445
$GC,20523,1.69,93.2,201.9,7.2,975,20524,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1454,2445
$GC,20832,1.69,93.2,178.6,7.8,990,20836,0.00,2.12,0.00,0.000,4,0.000,0.056,3167,264,2445
$GC,20910,1.69,93.2,171.8,8.1,993,20914,0.00,2.03,0.00,0.000,6,0.000,0.034,3167,1456,2445
$GC,21232,1.69,93.2,142.8,9.5,1009,21233,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1456,2445
$GC,21542,1.69,93.2,114.3,8.7,1024,21546,0.00,2.15,0.00,0.000,4,0.000,0.056,3167,268,2446
$GC,21699,1.69,93.2,100.4,7.7,1031,21703,0.00,2.03,0.00,0.000,6,0.000,0.035,3167,1463,2446
$GC,22033,1.69,93.2,77.8,6.2,1047,22034,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1464,2446
$GC,22341,1.70,98.5,60.1,5.5,1062,22348,0.00,0.00,5.12,0.627,6,0.000,0.000,3167,1464,2430
$GC,22652,1.73,122.2,46.6,3.8,1077,22678,0.00,2.20,21.00,0.792,4,0.000,0.056,3166,271,2333
$GC,22811,1.74,133.5,39.1,5.0,1084,22826,0.00,2.03,10.90,0.736,6,0.000,0.035,3167,1456,2287
$GC,23138,1.74,133.5,15.2,7.6,1099,23142,0.00,2.15,0.00,0.000,4,0.000,0.054,3166,257,2285
$GC,23208,1.74,133.5,8.3,10.0,1102,23212,0.00,2.05,0.00,0.000,6,0.000,0.033,3166,1459,2284
$STATE,23270,end climb,SURFACE_DEPTH_REACHED
$STATE,23270,begin surface coast
$FINISH,0.3,1.026900
$STATE,23293,end surface coast,CONTROL_FINISHED_OK
$STATE,23293,begin surface
$SM_CCo,23318,102.50,0.759,0,0,1608,300.00
$SM_GC,1.08,0.00,0.00,102.50,0.000,0.000,0.759,392,2240,1608,-11.08,-0.28,300.00
$IRIDIUM_FIX,6148.92,-1146.66,111098,212106
$TT8_MAMPS,0.027612
$HUMID,1839
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,925.2,61.3
$24V_AH,23.1,42.631
$10V_AH,10.1,24.146
$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,26.350,152.375,206.275,102.500,0.000,31.353,26.666,168.018,8.500,0.000,0.000,15.292,2117.276,17397.520,439.711,2899.572,929.395,0.000,1830.268,0.000,3063.906,0.000,58.627,0.000
$DEVICE_MAMPS,128.856,65.962,1417.416,759.330,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,865.911,864.326,650.627,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56941,1106
$CAP_FILE_SIZE,163243,0
$CFSIZE,260165632,245817344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,180709,105707,6214.945,-1144.112,32,1.4,32,-11.0