version: 66.04
glider: 105
mission: 6
dive: 190
start: 7 24 109 16 26 5
data:
$ID,105
$MISSION,6
$DIVE,190
$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,-1631420.2
$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,24
$R_STBD_OVSHOOT,28
$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
$GPS1,162007,6216.855,-1147.463,35,1.0,35,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-63.0
$GPS2,162544,6216.836,-1147.507,11,1.8,11,-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,93.0,2181,-27.3,-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,-1.99,-28.8,0.0,0.0,0,62,0.00,0.00,-45.95,0.000,6,0.000,0.000,388,2245,2951
$GC,66,-1.99,-32.7,2.1,-5.5,2,82,10.50,2.55,-0.30,0.000,4,0.132,0.065,2357,3651,2966
$GC,419,-1.99,-32.7,52.8,-13.3,17,424,0.00,2.45,0.00,0.000,6,0.000,0.030,2358,2231,2967
$GC,752,-1.99,-32.7,94.2,-12.4,33,756,0.00,2.60,0.00,0.000,4,0.000,0.051,2357,3651,2968
$GC,1092,-1.99,-32.7,134.6,-11.0,48,1097,0.00,2.40,0.00,0.000,6,0.000,0.031,2357,2249,2968
$GC,1415,-1.99,-32.7,165.5,-9.4,64,1419,0.00,2.53,0.00,0.000,4,0.000,0.050,2357,3651,2968
$GC,1667,-1.99,-32.7,191.1,-9.9,75,1671,0.00,2.40,0.00,0.000,6,0.000,0.031,2357,2247,2968
$GC,1983,-1.99,-32.7,221.0,-9.5,90,1987,0.00,2.53,0.00,0.000,4,0.000,0.051,2357,3653,2968
$GC,2159,-1.99,-32.7,239.0,-10.7,98,2163,0.00,2.40,0.00,0.000,6,0.000,0.031,2357,2250,2968
$GC,2486,-1.99,-32.7,271.2,-9.9,114,2490,0.00,2.53,0.00,0.000,4,0.000,0.051,2357,3657,2967
$GC,2670,-1.99,-32.7,291.0,-10.7,122,2674,0.00,2.40,0.00,0.000,6,0.000,0.031,2357,2252,2968
$GC,2986,-1.99,-32.7,323.8,-10.8,137,2990,0.00,2.53,0.00,0.000,4,0.000,0.051,2357,3659,2967
$GC,3149,-1.99,-32.7,343.4,-12.1,144,3154,0.00,2.45,0.00,0.000,6,0.000,0.031,2357,2249,2967
$GC,3470,-1.99,-32.7,379.6,-11.3,160,3474,0.00,2.53,0.00,0.000,4,0.000,0.051,2357,3657,2967
$GC,3628,-1.99,-32.7,398.1,-11.4,167,3632,0.00,2.42,0.00,0.000,6,0.000,0.031,2358,2241,2967
$GC,3951,-1.99,-32.7,432.5,-10.4,183,3956,0.00,2.55,0.00,0.000,4,0.000,0.053,2357,3655,2967
$GC,4074,-1.99,-32.7,446.3,-10.7,188,4081,0.00,2.40,0.00,0.000,6,0.000,0.032,2357,2250,2967
$GC,4390,-1.99,-32.7,478.0,-9.4,204,4394,0.00,2.50,0.00,0.000,4,0.000,0.051,2357,3652,2967
$GC,4552,-1.99,-32.7,494.2,-10.2,211,4556,0.00,2.40,0.00,0.000,6,0.000,0.031,2357,2250,2966
$GC,4868,-1.99,-32.7,522.0,-8.9,226,4872,0.00,2.53,0.00,0.000,4,0.000,0.051,2357,3663,2966
$GC,4990,-1.99,-32.7,533.7,-9.9,231,4996,0.00,2.42,0.00,0.000,6,0.000,0.032,2357,2247,2966
$GC,5308,-1.99,-32.7,563.8,-10.0,247,5312,0.00,2.53,0.00,0.000,4,0.000,0.051,2357,3655,2966
$GC,5471,-1.99,-32.7,582.0,-11.1,254,5475,0.00,2.40,0.00,0.000,6,0.000,0.032,2357,2251,2966
$GC,5787,-1.99,-32.7,614.4,-9.8,269,5791,0.00,2.53,0.00,0.000,4,0.000,0.051,2357,3657,2965
$GC,5939,-1.99,-32.7,629.9,-9.9,276,5944,0.00,2.45,0.00,0.000,6,0.000,0.033,2357,2250,2965
$GC,6271,-1.99,-32.7,659.3,-9.0,292,6275,0.00,2.53,0.00,0.000,4,0.000,0.051,2357,3657,2965
$GC,6371,-1.99,-32.7,670.0,-12.5,296,6377,0.00,2.42,0.00,0.000,6,0.000,0.033,2358,2247,2965
$GC,6686,-1.99,-32.7,704.0,-10.4,312,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2246,2965
$GC,6995,-1.99,-32.7,733.8,-9.4,327,7000,0.00,2.55,0.00,0.000,4,0.000,0.053,2357,3644,2965
$GC,7158,-1.99,-32.7,750.2,-9.5,334,7162,0.00,2.40,0.00,0.000,6,0.000,0.033,2357,2248,2964
$GC,7480,-1.99,-32.7,779.1,-9.2,350,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2248,2964
$GC,7789,-1.99,-32.7,806.9,-9.0,365,7793,0.00,2.53,0.00,0.000,4,0.000,0.053,2358,3653,2964
$GC,8130,-1.99,-32.7,839.9,-9.2,380,8135,0.00,2.45,0.00,0.000,6,0.000,0.034,2357,2250,2963
$GC,8451,-1.99,-32.7,866.7,-7.6,396,8456,0.00,2.53,0.00,0.000,4,0.000,0.053,2357,3653,2964
$GC,8793,-1.99,-32.7,892.9,-7.1,411,8798,0.00,2.45,0.00,0.000,6,0.000,0.035,2357,2252,2963
$GC,9114,-1.99,-33.4,910.9,-5.9,427,9118,0.00,2.53,0.00,0.000,4,0.000,0.055,2357,3653,2963
$GC,9456,-1.99,-33.4,934.7,-7.3,442,9460,0.00,2.42,0.00,0.000,6,0.000,0.036,2358,2253,2962
$GC,9771,-1.99,-33.4,961.8,-8.6,457,9775,0.00,2.55,0.00,0.000,4,0.000,0.057,2357,3656,2962
$STATE,9875,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9875,begin apogee
$GC,9886,-0.36,0.0,968.7,6.2,462,9920,1.77,0.00,30.23,1.384,6,0.090,0.000,2719,1455,2832
$STATE,9921,end apogee,CONTROL_FINISHED_OK
$STATE,9921,begin climb
$GC,9924,1.99,33.4,968.7,0.0,464,9965,2.38,2.28,31.90,1.362,4,0.048,0.066,3238,270,2695
$GC,10302,1.99,33.4,949.7,6.1,481,10306,0.00,2.08,0.00,0.000,6,0.000,0.038,3238,1462,2693
$GC,10629,2.02,55.8,937.3,2.9,497,10655,0.00,2.25,21.10,1.350,4,0.000,0.061,3238,264,2603
$GC,10919,2.02,58.4,922.6,5.6,510,10922,0.00,2.08,0.00,0.000,6,0.000,0.040,3238,1455,2602
$GC,11246,2.02,58.4,903.2,6.6,526,11251,0.00,2.55,0.00,0.000,4,0.000,0.051,3238,2853,2601
$GC,11449,2.03,66.8,892.7,4.8,535,11465,0.00,2.50,10.85,1.257,6,0.000,0.044,3238,1453,2559
$GC,11777,2.03,66.8,868.6,7.9,550,11781,0.00,2.17,0.00,0.000,4,0.000,0.063,3238,263,2558
$GC,11883,2.03,66.8,859.1,8.8,554,11890,0.00,2.08,0.00,0.000,6,0.000,0.038,3238,1464,2558
$GC,12202,2.03,66.8,834.5,7.2,570,12203,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1464,2557
$GC,12509,2.04,70.5,817.5,5.5,585,12515,0.00,0.00,4.65,0.941,6,0.000,0.000,3238,1464,2544
$GC,12820,2.04,70.5,798.1,6.4,600,12824,0.00,2.50,0.00,0.000,4,0.000,0.049,3238,2858,2544
$GC,13005,2.04,75.9,785.6,5.3,608,13017,0.00,2.50,6.68,1.081,6,0.000,0.041,3238,1449,2522
$GC,13328,2.04,75.9,758.9,8.6,624,13332,0.00,2.15,0.00,0.000,4,0.000,0.061,3238,264,2521
$GC,13518,2.04,75.9,739.7,11.0,632,13522,0.00,2.05,0.00,0.000,6,0.000,0.035,3238,1462,2521
$GC,13839,2.04,75.9,709.7,8.5,648,13844,0.00,2.50,0.00,0.000,4,0.000,0.048,3238,2849,2521
$GC,14092,2.04,75.9,688.1,8.1,659,14096,0.00,2.47,0.00,0.000,6,0.000,0.040,3238,1448,2521
$GC,14413,2.04,75.9,661.2,8.7,675,14416,0.00,2.15,0.00,0.000,4,0.000,0.059,3238,257,2522
$GC,14754,2.04,75.9,631.4,8.0,690,14758,0.00,2.05,0.00,0.000,6,0.000,0.034,3238,1460,2522
$GC,15082,2.04,75.9,607.7,7.2,706,15083,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1460,2523
$GC,15391,2.04,75.9,586.2,6.5,721,15392,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1460,2523
$GC,15700,2.04,75.9,566.8,6.4,736,15701,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1460,2524
$GC,16012,2.04,75.9,545.4,7.2,751,16013,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1460,2525
$GC,16320,2.04,75.9,523.3,7.0,766,16322,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1460,2525
$GC,16628,2.04,75.9,502.7,6.2,781,16629,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1460,2525
$GC,16937,2.04,75.9,483.6,6.4,796,16942,0.00,2.47,0.00,0.000,4,0.000,0.046,3238,2857,2525
$GC,16993,2.05,78.0,479.9,5.7,798,17004,0.00,2.45,4.47,0.751,6,0.000,0.038,3238,1446,2514
$GC,17332,2.05,78.0,457.7,6.4,815,17333,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1446,2514
$GC,17641,2.05,78.0,437.5,6.4,830,17642,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1446,2514
$GC,17951,2.05,78.0,417.9,6.1,845,17952,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1446,2515
$GC,18260,2.05,78.0,398.2,6.4,860,18264,0.00,2.50,0.00,0.000,4,0.000,0.045,3238,2861,2515
$GC,18369,2.05,78.0,391.4,6.3,865,18373,0.00,2.45,0.00,0.000,6,0.000,0.038,3238,1455,2515
$GC,18697,2.05,78.0,369.6,6.6,881,18698,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1455,2515
$GC,19008,2.05,78.0,348.3,7.0,896,19009,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1455,2516
$GC,19315,2.05,78.0,326.2,7.4,911,19316,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1455,2515
$GC,19624,2.05,78.0,303.8,7.0,926,19625,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1455,2516
$GC,19933,2.05,78.0,281.8,7.3,941,19934,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1455,2516
$GC,20243,2.05,78.0,260.1,7.1,956,20244,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1454,2516
$GC,20555,2.05,78.0,239.0,6.8,971,20556,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1454,2517
$GC,20861,2.05,78.0,218.1,6.8,986,20863,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1454,2517
$GC,21170,2.05,78.0,197.9,6.5,1001,21171,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1454,2517
$GC,21480,2.05,78.0,178.4,6.3,1016,21481,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1454,2517
$GC,21789,2.05,78.0,158.2,6.4,1031,21790,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1454,2517
$GC,22099,2.05,78.0,136.6,7.1,1046,22101,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1454,2517
$GC,22408,2.05,78.0,114.3,7.4,1061,22409,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1454,2518
$GC,22717,2.05,78.0,92.7,6.8,1076,22718,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1454,2517
$GC,23027,2.05,79.0,73.1,5.9,1091,23033,0.00,0.00,3.55,0.506,6,0.000,0.000,3238,1454,2509
$GC,23337,2.05,82.2,55.2,5.6,1106,23346,0.00,2.15,4.38,0.582,4,0.000,0.056,3238,258,2497
$GC,23554,2.05,82.6,40.4,5.9,1115,23560,0.00,2.05,0.00,0.000,6,0.000,0.032,3238,1473,2497
$GC,23872,2.08,109.1,33.4,2.3,1131,23902,0.00,2.53,23.75,0.792,4,0.000,0.045,3238,2845,2386
$GC,24030,2.08,109.1,24.1,6.8,1138,24034,0.00,2.45,0.00,0.000,6,0.000,0.038,3238,1448,2384
$STATE,24313,end climb,SURFACE_DEPTH_REACHED
$STATE,24313,begin surface coast
$FINISH,1.2,1.026912
$STATE,24335,end surface coast,CONTROL_FINISHED_OK
$STATE,24335,begin surface
$SM_CCo,24359,127.30,0.763,0,0,1608,300.00
$SM_GC,0.92,0.00,0.00,127.30,0.000,0.000,0.763,393,2240,1608,-11.07,-0.28,300.00
$IRIDIUM_FIX,6153.50,-1153.08,181098,101056
$TT8_MAMPS,0.027612
$HUMID,1832
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,925.2,53.4
$24V_AH,23.1,45.052
$10V_AH,10.1,26.778
$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,27.075,147.500,141.550,127.300,0.000,30.564,26.945,153.128,8.250,0.000,0.000,12.832,2241.086,18132.631,406.277,3113.676,926.552,0.000,1872.098,0.000,3273.344,0.000,55.660,0.000
$DEVICE_MAMPS,131.924,65.962,1383.668,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,875.286,943.804,646.844,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60027,1153
$CAP_FILE_SIZE,170757,0
$CFSIZE,260165632,243986432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,240709,231531,6216.983,-1146.718,38,1.3,38,-11.0