version: 66.04
glider: 105
mission: 6
dive: 193
start: 7 25 109 13 15 34
data:
$ID,105
$MISSION,6
$DIVE,193
$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,-1631463
$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,26
$R_STBD_OVSHOOT,25
$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
$GPS1,130907,6217.183,-1146.771,41,1.0,41,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-59.9
$GPS2,131514,6217.217,-1146.674,11,1.6,11,-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,116.6,1497,-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,-28.8,0.0,0.0,0,63,0.00,0.00,-45.85,0.000,6,0.000,0.000,393,2249,2951
$GC,66,-1.99,-31.3,2.2,-5.7,2,82,10.45,2.55,0.00,0.000,4,0.130,0.051,2359,3654,2952
$GC,419,-1.99,-31.3,45.1,-9.5,17,424,0.00,2.45,0.00,0.000,6,0.000,0.031,2359,2235,2954
$GC,752,-1.99,-31.3,79.4,-10.3,33,757,0.00,2.60,0.00,0.000,4,0.000,0.051,2359,3659,2954
$GC,1092,-1.99,-31.3,115.2,-10.9,48,1096,0.00,2.42,0.00,0.000,6,0.000,0.032,2359,2247,2955
$GC,1414,-1.99,-31.3,148.8,-10.4,64,1418,0.00,2.53,0.00,0.000,4,0.000,0.050,2359,3657,2954
$GC,1577,-1.99,-31.3,167.8,-12.0,71,1581,0.00,2.42,0.00,0.000,6,0.000,0.031,2359,2244,2954
$GC,1896,-1.99,-31.3,201.6,-10.5,86,1901,0.00,2.55,0.00,0.000,4,0.000,0.052,2359,3656,2954
$GC,2059,-1.99,-31.3,219.4,-10.7,93,2063,0.00,2.42,0.00,0.000,6,0.000,0.032,2359,2242,2954
$GC,2375,-1.99,-31.3,248.0,-8.9,108,2379,0.00,2.55,0.00,0.000,4,0.000,0.053,2359,3657,2954
$GC,2486,-1.99,-31.3,258.9,-9.8,113,2490,0.00,2.45,0.00,0.000,6,0.000,0.033,2359,2250,2954
$GC,2812,-1.99,-31.3,289.4,-9.7,129,2816,0.00,2.53,0.00,0.000,4,0.000,0.051,2359,3658,2954
$GC,2956,-1.99,-31.3,305.3,-11.0,135,2963,0.00,2.40,0.00,0.000,6,0.000,0.033,2359,2251,2954
$GC,3272,-1.99,-31.3,338.9,-10.9,151,3277,0.00,2.55,0.00,0.000,4,0.000,0.052,2359,3656,2953
$GC,3423,-1.99,-31.3,356.2,-11.2,157,3429,0.00,2.42,0.00,0.000,6,0.000,0.033,2360,2243,2953
$GC,3738,-1.99,-31.3,389.1,-10.4,173,3742,0.00,2.55,0.00,0.000,4,0.000,0.052,2359,3656,2953
$GC,3867,-1.99,-31.3,402.8,-10.7,179,3872,0.00,2.42,0.00,0.000,6,0.000,0.033,2359,2243,2953
$GC,4194,-1.99,-31.3,435.2,-10.0,195,4198,0.00,2.55,0.00,0.000,4,0.000,0.053,2359,3655,2953
$GC,4333,-1.99,-31.3,449.7,-10.4,201,4342,0.00,2.42,0.00,0.000,6,0.000,0.033,2359,2241,2953
$GC,4657,-1.99,-31.3,481.2,-9.8,217,4662,0.00,2.55,0.00,0.000,4,0.000,0.052,2359,3661,2953
$GC,4810,-1.99,-31.3,496.9,-10.1,224,4814,0.00,2.42,0.00,0.000,6,0.000,0.032,2359,2245,2953
$GC,5136,-1.99,-31.3,528.9,-10.0,240,5140,0.00,2.53,0.00,0.000,4,0.000,0.051,2359,3655,2953
$GC,5236,-1.99,-31.3,539.6,-11.1,244,5243,0.00,2.40,0.00,0.000,6,0.000,0.032,2359,2244,2952
$GC,5551,-1.99,-31.3,571.3,-10.1,260,5556,0.00,2.55,0.00,0.000,4,0.000,0.051,2359,3664,2952
$GC,5614,-1.99,-31.3,578.2,-11.1,263,5618,0.00,2.42,0.00,0.000,6,0.000,0.032,2359,2249,2952
$GC,5940,-1.99,-31.3,615.0,-11.7,279,5944,0.00,2.53,0.00,0.000,4,0.000,0.050,2359,3664,2952
$GC,6136,-1.99,-31.3,639.8,-13.0,288,6141,0.00,2.45,0.00,0.000,6,0.000,0.034,2359,2255,2952
$GC,6468,-1.99,-31.3,679.9,-11.2,304,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2255,2952
$GC,6778,-1.99,-31.3,710.5,-8.9,319,6782,0.00,2.53,0.00,0.000,4,0.000,0.051,2359,3661,2952
$GC,6923,-1.99,-31.3,723.1,-7.9,325,6929,0.00,2.42,0.00,0.000,6,0.000,0.033,2359,2248,2951
$GC,7242,-1.99,-31.3,746.6,-6.9,341,7246,0.00,2.53,0.00,0.000,4,0.000,0.051,2359,3657,2951
$GC,7482,-1.99,-31.3,767.3,-9.2,352,7487,0.00,2.42,0.00,0.000,6,0.000,0.034,2359,2248,2951
$GC,7809,-1.99,-31.3,797.8,-9.6,368,7813,0.00,2.53,0.00,0.000,4,0.000,0.051,2359,3655,2951
$GC,7985,-1.99,-31.3,815.3,-9.6,376,7989,0.00,2.42,0.00,0.000,6,0.000,0.034,2359,2244,2951
$GC,8311,-1.99,-31.3,846.4,-8.8,392,8316,0.00,2.55,0.00,0.000,4,0.000,0.052,2359,3664,2950
$GC,8654,-1.99,-31.3,871.2,-7.5,407,8658,0.00,2.45,0.00,0.000,6,0.000,0.035,2359,2249,2950
$GC,8970,-1.99,-31.3,898.1,-9.6,422,8974,0.00,2.53,0.00,0.000,4,0.000,0.053,2359,3655,2950
$GC,9313,-1.99,-33.5,921.4,-5.7,437,9317,0.00,2.45,0.00,0.000,6,0.000,0.035,2359,2237,2949
$GC,9631,-1.99,-33.5,938.5,-7.1,452,9635,0.00,2.45,0.00,0.000,4,0.000,0.048,2359,849,2949
$STATE,9937,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9937,begin apogee
$GC,9945,-0.36,0.0,966.1,8.6,466,9979,1.75,0.00,27.55,1.370,6,0.084,0.000,2720,1460,2831
$STATE,9980,end apogee,CONTROL_FINISHED_OK
$STATE,9980,begin climb
$GC,9983,1.99,33.5,967.6,0.0,468,10025,2.33,2.60,31.55,1.355,4,0.046,0.049,3234,2853,2695
$GC,10366,2.00,39.3,953.7,5.2,485,10379,0.00,2.47,6.70,1.101,6,0.000,0.045,3234,1466,2671
$GC,10697,2.00,39.3,935.3,6.6,501,10701,0.00,2.50,0.00,0.000,4,0.000,0.048,3234,2857,2670
$GC,11039,2.01,47.5,912.5,4.9,516,11054,0.00,2.50,8.80,1.197,6,0.000,0.044,3234,1454,2637
$GC,11382,2.01,51.8,892.4,5.4,533,11393,0.00,2.55,5.53,1.035,4,0.000,0.047,3234,2858,2620
$GC,11729,2.03,65.3,874.6,4.1,548,11749,0.00,2.50,13.57,1.281,6,0.000,0.042,3234,1453,2565
$GC,12067,2.03,65.3,851.2,7.8,565,12068,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1452,2563
$GC,12375,2.04,72.9,833.9,4.9,580,12389,0.00,2.58,8.00,1.157,4,0.000,0.048,3234,2851,2534
$GC,12420,2.05,82.6,831.8,4.7,582,12435,0.00,2.50,10.68,1.210,6,0.000,0.043,3234,1454,2495
$GC,12748,2.05,82.6,810.2,7.1,597,12752,0.00,2.50,0.00,0.000,4,0.000,0.047,3234,2859,2494
$GC,12870,2.05,82.6,801.5,6.6,602,12876,0.00,2.50,0.00,0.000,6,0.000,0.041,3234,1453,2493
$GC,13188,2.05,82.6,781.9,6.3,618,13190,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1453,2493
$GC,13495,2.05,82.6,760.3,7.4,633,13499,0.00,2.50,0.00,0.000,4,0.000,0.045,3234,2863,2493
$GC,13625,2.05,82.6,750.0,8.2,639,13629,0.00,2.50,0.00,0.000,6,0.000,0.041,3234,1449,2493
$GC,13951,2.05,82.6,721.7,8.8,655,13952,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1449,2494
$GC,14262,2.05,82.6,693.1,9.4,670,14264,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1449,2494
$GC,14569,2.05,82.6,664.4,9.1,685,14570,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1449,2493
$GC,14879,2.05,82.6,637.2,8.2,700,14882,0.00,2.15,0.00,0.000,4,0.000,0.061,3234,258,2494
$GC,14979,2.05,82.6,628.5,9.3,704,14983,0.00,2.03,0.00,0.000,6,0.000,0.032,3234,1461,2494
$GC,15301,2.05,82.6,604.0,7.7,720,15302,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1461,2495
$GC,15609,2.05,82.6,579.4,8.2,735,15611,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1461,2495
$GC,15919,2.05,82.6,552.2,8.9,750,15920,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1460,2495
$GC,16228,2.05,82.6,523.6,9.3,765,16229,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1460,2495
$GC,16538,2.05,82.6,494.9,9.3,780,16539,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1460,2496
$GC,16849,2.05,82.6,466.5,9.0,795,16850,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1461,2496
$GC,17156,2.05,82.6,439.6,8.5,810,17159,0.00,2.15,0.00,0.000,4,0.000,0.056,3234,262,2496
$GC,17278,2.05,82.6,428.3,8.9,815,17283,0.00,2.05,0.00,0.000,6,0.000,0.035,3234,1456,2497
$GC,17599,2.05,82.6,403.2,7.7,831,17601,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1456,2497
$GC,17909,2.05,82.6,380.0,7.4,846,17910,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1456,2497
$GC,18218,2.05,82.6,357.0,7.6,861,18219,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1456,2498
$GC,18530,2.05,82.6,333.3,7.5,876,18534,0.00,2.47,0.00,0.000,4,0.000,0.047,3234,2860,2498
$GC,18641,2.05,82.6,324.5,7.6,881,18646,0.00,2.45,0.00,0.000,6,0.000,0.039,3234,1451,2498
$GC,18963,2.05,82.6,300.1,7.6,897,18964,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1451,2498
$GC,19271,2.05,82.6,276.7,7.6,912,19273,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1451,2499
$GC,19581,2.05,82.6,253.2,7.7,927,19582,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1450,2499
$GC,19890,2.05,82.6,229.7,7.5,942,19891,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1451,2499
$GC,20199,2.05,82.6,206.9,7.5,957,20204,0.00,2.50,0.00,0.000,4,0.000,0.047,3234,2848,2499
$GC,20290,2.05,82.6,200.1,6.8,961,20295,0.00,2.47,0.00,0.000,6,0.000,0.040,3234,1449,2499
$GC,20622,2.05,82.6,174.9,7.4,977,20623,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1449,2500
$GC,20931,2.05,82.6,152.5,7.2,992,20932,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1449,2499
$GC,21241,2.05,82.6,130.6,7.3,1007,21242,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1449,2500
$GC,21551,2.05,82.6,108.1,7.2,1022,21555,0.00,2.12,0.00,0.000,4,0.000,0.058,3234,258,2500
$GC,21634,2.05,82.6,101.1,8.6,1025,21641,0.00,2.03,0.00,0.000,6,0.000,0.035,3234,1454,2500
$GC,21952,2.05,82.6,77.0,7.5,1041,21953,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1454,2500
$GC,22259,2.05,82.6,54.9,7.2,1056,22261,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1454,2500
$GC,22569,2.07,94.5,36.7,4.3,1071,22590,0.00,2.22,12.25,0.762,4,0.000,0.054,3234,258,2446
$GC,22929,2.07,94.5,16.4,8.1,1087,22932,0.00,2.03,0.00,0.000,6,0.000,0.033,3234,1454,2445
$STATE,23156,end climb,SURFACE_DEPTH_REACHED
$STATE,23156,begin surface coast
$FINISH,0.3,1.026901
$STATE,23219,end surface coast,CONTROL_FINISHED_OK
$STATE,23219,begin surface
$SM_CCo,23244,137.65,0.765,0,0,1609,300.00
$SM_GC,0.96,0.00,0.00,137.65,0.000,0.000,0.765,385,2238,1609,-11.11,-0.34,300.00
$IRIDIUM_FIX,6148.92,-1151.18,191098,060630
$TT8_MAMPS,0.027612
$HUMID,1830
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,900.2,75.8
$24V_AH,23.2,45.354
$10V_AH,10.1,27.128
$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,26.825,151.250,124.625,137.650,0.000,31.308,29.288,169.794,8.000,0.000,0.000,11.228,2156.823,17252.488,406.037,3002.618,923.872,0.000,1838.058,0.000,3170.026,0.000,54.114,0.000
$DEVICE_MAMPS,130.390,61.360,1369.862,765.466,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,850.040,902.165,624.884,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56866,1101
$CAP_FILE_SIZE,167079,0
$CFSIZE,260165632,243748864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,250709,194637,6215.150,-1148.733,41,1.0,41,-11.0