version: 66.04
glider: 105
mission: 6
dive: 195
start: 7 26 109 3 9 27
data:
$ID,105
$MISSION,6
$DIVE,195
$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,-1631492
$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,26
$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
$GPS1,030237,6217.321,-1143.210,33,0.9,34,-11.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-57.7
$GPS2,030907,6217.276,-1143.159,11,1.3,16,-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,263.1,1666,-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,-45.75,0.000,6,0.000,0.000,392,2245,2951
$GC,67,-2.00,-42.3,2.7,-4.1,3,88,10.43,2.47,-1.23,0.000,4,0.130,0.052,2356,838,3006
$GC,235,-2.00,-42.3,26.9,-13.8,10,240,0.00,2.47,0.00,0.000,6,0.000,0.035,2356,2258,3006
$GC,552,-2.00,-42.3,62.3,-10.7,25,557,0.00,2.50,0.00,0.000,4,0.000,0.051,2356,3648,3007
$GC,738,-2.00,-42.3,84.0,-12.1,33,743,0.00,2.42,0.00,0.000,6,0.000,0.030,2356,2230,3007
$GC,1054,-2.00,-42.3,119.0,-11.3,48,1058,0.00,2.55,0.00,0.000,4,0.000,0.049,2356,3648,3008
$GC,1140,-2.00,-42.3,129.4,-12.6,52,1144,0.00,2.40,0.00,0.000,6,0.000,0.031,2356,2241,3008
$GC,1466,-2.00,-42.3,167.1,-11.5,68,1470,0.00,2.55,0.00,0.000,4,0.000,0.051,2356,3654,3008
$GC,1583,-2.00,-42.3,181.6,-12.3,73,1587,0.00,2.40,0.00,0.000,6,0.000,0.031,2356,2252,3008
$GC,1898,-2.00,-42.3,215.8,-10.4,88,1902,0.00,2.53,0.00,0.000,4,0.000,0.050,2356,3654,3007
$GC,2006,-2.00,-42.3,227.6,-10.6,93,2010,0.00,2.40,0.00,0.000,6,0.000,0.031,2356,2250,3007
$GC,2333,-2.00,-42.3,261.3,-10.4,109,2337,0.00,2.53,0.00,0.000,4,0.000,0.050,2356,3656,3007
$GC,2458,-2.00,-42.3,275.2,-10.9,114,2464,0.00,2.42,0.00,0.000,6,0.000,0.032,2356,2240,3007
$GC,2774,-2.00,-42.3,307.5,-10.3,130,2778,0.00,2.55,0.00,0.000,4,0.000,0.053,2356,3651,3007
$GC,2938,-2.00,-42.3,325.3,-10.7,137,2943,0.00,2.40,0.00,0.000,6,0.000,0.032,2356,2250,3007
$GC,3257,-2.00,-42.3,358.4,-10.4,152,3261,0.00,2.50,0.00,0.000,4,0.000,0.050,2356,3649,3007
$GC,3446,-2.00,-42.3,380.2,-11.5,160,3453,0.00,2.40,0.00,0.000,6,0.000,0.031,2356,2249,3007
$GC,3765,-2.00,-42.3,414.1,-11.2,176,3769,0.00,2.53,0.00,0.000,4,0.000,0.050,2356,3653,3006
$GC,3890,-2.00,-42.3,428.9,-11.8,181,3896,0.00,2.40,0.00,0.000,6,0.000,0.032,2356,2249,3006
$GC,4205,-2.00,-42.3,464.3,-11.4,197,4209,0.00,2.50,0.00,0.000,4,0.000,0.050,2356,3648,3006
$GC,4273,-2.00,-42.3,472.4,-11.8,200,4277,0.00,2.40,0.00,0.000,6,0.000,0.031,2356,2246,3006
$GC,4595,-2.00,-42.3,508.8,-11.5,216,4599,0.00,2.53,0.00,0.000,4,0.000,0.051,2356,3648,3005
$GC,4718,-2.00,-42.3,523.8,-12.0,221,4724,0.00,2.40,0.00,0.000,6,0.000,0.032,2356,2239,3006
$GC,5033,-2.00,-42.3,557.9,-10.8,237,5037,0.00,2.55,0.00,0.000,4,0.000,0.052,2356,3652,3006
$GC,5127,-2.00,-42.3,568.7,-10.8,241,5131,0.00,2.40,0.00,0.000,6,0.000,0.032,2356,2252,3005
$GC,5446,-2.00,-42.3,601.6,-10.4,256,5450,0.00,2.50,0.00,0.000,4,0.000,0.051,2356,3651,3006
$GC,5615,-2.00,-42.3,619.7,-10.9,263,5622,0.00,2.40,0.00,0.000,6,0.000,0.033,2356,2243,3006
$GC,5932,-2.00,-42.3,650.9,-9.8,279,5936,0.00,2.55,0.00,0.000,4,0.000,0.053,2356,3655,3005
$GC,6020,-2.00,-42.3,660.4,-10.8,283,6025,0.00,2.42,0.00,0.000,6,0.000,0.033,2356,2244,3005
$GC,6341,-2.00,-42.3,694.6,-10.7,299,6346,0.00,2.53,0.00,0.000,4,0.000,0.053,2356,3650,3005
$GC,6635,-2.00,-42.3,727.9,-11.3,312,6639,0.00,2.40,0.00,0.000,6,0.000,0.033,2356,2249,3005
$GC,6956,-2.00,-42.3,761.4,-9.5,328,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2248,3005
$GC,7265,-2.00,-42.3,784.5,-6.4,343,7269,0.00,2.53,0.00,0.000,4,0.000,0.051,2356,3651,3005
$GC,7606,-2.00,-42.3,814.8,-11.2,358,7610,0.00,2.40,0.00,0.000,6,0.000,0.033,2356,2250,3005
$GC,7922,-2.00,-42.3,847.6,-10.4,373,7926,0.00,2.50,0.00,0.000,4,0.000,0.052,2356,3648,3005
$GC,8016,-2.00,-42.3,858.8,-11.8,377,8020,0.00,2.40,0.00,0.000,6,0.000,0.033,2356,2250,3004
$GC,8331,-2.00,-42.3,888.3,-7.7,392,8336,0.00,2.53,0.00,0.000,4,0.000,0.053,2356,3655,3004
$GC,8364,-2.00,-42.3,891.0,-7.6,393,8371,0.00,2.42,0.00,0.000,6,0.000,0.034,2356,2249,3004
$GC,8680,-2.00,-42.3,912.6,-7.7,409,8685,0.00,2.53,0.00,0.000,4,0.000,0.054,2356,3650,3003
$GC,8882,-2.00,-42.3,933.4,-12.0,418,8886,0.00,2.42,0.00,0.000,6,0.000,0.035,2356,2247,3003
$STATE,9182,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9182,begin apogee
$GC,9190,-0.36,0.0,963.5,9.9,433,9233,1.75,0.00,39.08,1.380,6,0.085,0.000,2718,1459,2832
$STATE,9234,end apogee,CONTROL_FINISHED_OK
$STATE,9234,begin climb
$GC,9237,2.00,42.3,965.7,0.0,435,9285,2.35,2.58,39.90,1.352,4,0.044,0.048,3239,2854,2659
$GC,9330,2.01,48.4,962.0,5.2,439,9343,0.00,2.50,7.07,1.088,6,0.000,0.044,3239,1456,2634
$GC,9653,2.01,48.4,940.5,6.8,455,9654,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1456,2632
$GC,9960,2.02,53.7,921.9,5.3,470,9971,0.00,2.55,6.00,1.052,4,0.000,0.048,3239,2854,2612
$GC,9983,2.02,60.4,920.7,5.1,471,10000,0.00,2.55,8.10,1.146,6,0.000,0.046,3239,1446,2584
$GC,10310,2.02,60.4,897.8,7.7,487,10315,0.00,2.53,0.00,0.000,4,0.000,0.050,3239,2854,2583
$GC,10652,2.02,60.4,867.8,9.3,502,10656,0.00,2.50,0.00,0.000,6,0.000,0.043,3239,1452,2582
$GC,10967,2.02,60.4,844.3,7.2,517,10971,0.00,2.53,0.00,0.000,4,0.000,0.048,3239,2863,2580
$GC,11308,2.02,60.4,825.6,6.4,532,11312,0.00,2.50,0.00,0.000,6,0.000,0.041,3239,1451,2579
$GC,11626,2.03,66.1,807.0,5.2,547,11637,0.00,2.55,5.72,1.020,4,0.000,0.044,3239,2860,2562
$GC,11973,2.03,66.1,790.0,6.2,562,11979,0.00,2.50,0.00,0.000,6,0.000,0.041,3239,1448,2561
$GC,12292,2.03,66.1,766.4,8.2,578,12295,0.00,2.15,0.00,0.000,4,0.000,0.061,3239,258,2561
$GC,12633,2.03,66.1,733.4,9.6,593,12637,0.00,2.05,0.00,0.000,6,0.000,0.033,3239,1458,2561
$GC,12960,2.03,66.1,703.5,8.4,609,12965,0.00,2.17,0.00,0.000,4,0.000,0.056,3239,264,2561
$GC,13200,2.03,66.1,683.6,8.0,619,13207,0.00,2.08,0.00,0.000,6,0.000,0.035,3239,1455,2562
$GC,13516,2.03,66.1,662.8,6.2,635,13517,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1455,2561
$GC,13825,2.03,66.1,644.7,6.1,650,13828,0.00,2.15,0.00,0.000,4,0.000,0.055,3239,259,2562
$GC,13954,2.03,66.1,636.0,6.7,655,13961,0.00,2.03,0.00,0.000,6,0.000,0.035,3239,1457,2562
$GC,14272,2.03,66.1,615.3,6.7,671,14273,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1457,2562
$GC,14580,2.03,66.1,594.7,6.8,686,14581,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1457,2563
$GC,14888,2.03,66.1,574.2,6.5,701,14889,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1457,2563
$GC,15197,2.03,66.1,554.3,6.3,716,15201,0.00,2.15,0.00,0.000,4,0.000,0.054,3239,258,2564
$GC,15267,2.03,66.1,549.7,6.5,719,15271,0.00,2.03,0.00,0.000,6,0.000,0.034,3239,1457,2564
$GC,15600,2.03,66.3,528.4,6.0,735,15601,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1457,2564
$GC,15912,2.03,66.3,509.7,6.0,750,15913,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1457,2564
$GC,16219,2.03,68.1,491.4,5.8,765,16228,0.00,2.17,4.25,0.724,4,0.000,0.055,3239,249,2553
$GC,16296,2.03,68.1,486.4,6.0,768,16299,0.00,2.05,0.00,0.000,6,0.000,0.034,3239,1456,2553
$GC,16617,2.03,68.1,466.0,6.3,784,16618,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1456,2554
$GC,16929,2.03,68.1,446.3,6.3,799,16932,0.00,2.15,0.00,0.000,4,0.000,0.054,3239,257,2554
$GC,17024,2.03,68.1,439.2,7.3,803,17027,0.00,2.05,0.00,0.000,6,0.000,0.033,3239,1457,2555
$GC,17350,2.03,68.1,418.0,6.4,819,17352,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1457,2555
$GC,17662,2.03,68.1,397.5,6.2,834,17667,0.00,2.47,0.00,0.000,4,0.000,0.048,3239,2853,2555
$GC,17748,2.03,68.1,391.8,7.2,838,17752,0.00,2.45,0.00,0.000,6,0.000,0.038,3239,1447,2555
$GC,18074,2.03,68.1,371.4,6.1,854,18075,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1447,2555
$GC,18386,2.03,68.4,352.8,6.0,869,18390,0.00,2.47,0.00,0.000,4,0.000,0.044,3239,2857,2555
$GC,18427,2.03,68.4,350.2,6.1,871,18431,0.00,2.45,0.00,0.000,6,0.000,0.038,3239,1445,2555
$GC,18756,2.03,68.4,330.1,6.2,887,18757,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1446,2555
$GC,19063,2.03,68.4,310.9,6.1,902,19066,0.00,2.10,0.00,0.000,4,0.000,0.056,3239,267,2555
$GC,19153,2.03,68.4,304.9,6.7,906,19157,0.00,2.03,0.00,0.000,6,0.000,0.034,3239,1464,2555
$GC,19489,2.04,72.9,285.9,5.4,922,19497,0.00,0.00,6.30,0.780,6,0.000,0.000,3239,1466,2534
$GC,19797,2.04,75.2,267.9,5.7,937,19803,0.00,0.00,3.92,0.607,6,0.000,0.000,3239,1466,2525
$GC,20107,2.04,75.9,249.3,5.9,952,20108,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1466,2525
$GC,20414,2.04,76.9,231.2,5.9,967,20415,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1467,2525
$GC,20723,2.04,77.1,213.2,6.0,982,20726,0.00,2.15,0.00,0.000,4,0.000,0.055,3239,266,2525
$GC,20868,2.04,77.1,203.3,6.1,988,20872,0.00,2.03,0.00,0.000,6,0.000,0.034,3239,1461,2525
$GC,21192,2.04,77.1,181.9,6.9,1004,21193,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1462,2525
$GC,21499,2.04,77.1,160.6,6.8,1019,21500,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1462,2525
$GC,21808,2.04,77.1,140.4,6.2,1034,21812,0.00,2.15,0.00,0.000,4,0.000,0.055,3239,264,2525
$GC,21908,2.04,77.1,133.7,6.7,1038,21912,0.00,2.03,0.00,0.000,6,0.000,0.034,3239,1454,2525
$GC,22231,2.05,79.7,114.8,5.6,1054,22239,0.00,0.00,5.45,0.669,6,0.000,0.000,3239,1455,2507
$GC,22541,2.05,79.7,95.3,6.4,1069,22545,0.00,2.50,0.00,0.000,4,0.000,0.051,3239,2859,2507
$GC,22607,2.05,79.7,90.5,7.3,1072,22611,0.00,2.45,0.00,0.000,6,0.000,0.038,3239,1454,2507
$GC,22929,2.05,79.7,68.4,6.9,1088,22930,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1454,2507
$GC,23238,2.05,83.2,49.5,5.5,1103,23248,0.00,2.50,5.12,0.625,4,0.000,0.042,3239,2859,2491
$GC,23396,2.06,88.0,40.7,5.3,1110,23407,0.00,2.45,5.38,0.632,6,0.000,0.037,3239,1452,2473
$GC,23719,2.08,103.9,28.1,3.8,1125,23742,0.00,2.20,14.88,0.765,4,0.000,0.056,3240,267,2408
$STATE,24032,end climb,SURFACE_DEPTH_REACHED
$STATE,24033,begin surface coast
$FINISH,0.3,1.026929
$STATE,24056,end surface coast,CONTROL_FINISHED_OK
$STATE,24056,begin surface
$SM_CCo,24084,135.48,0.762,0,0,1609,300.00
$SM_GC,0.96,0.00,0.00,135.48,0.000,0.000,0.762,387,2249,1609,-11.10,-0.03,300.00
$IRIDIUM_FIX,6148.92,-1151.18,191098,191934
$TT8_MAMPS,0.027612
$HUMID,1839
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,900.0,73.3
$24V_AH,23.2,45.552
$10V_AH,10.1,27.361
$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,27.100,183.575,151.175,135.475,0.000,30.844,24.539,197.180,8.250,0.000,0.000,16.589,2243.374,17888.004,455.669,3034.438,981.476,0.000,1912.006,0.000,3198.900,0.000,57.028,0.000
$DEVICE_MAMPS,129.623,60.593,1379.833,762.398,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,873.114,939.030,647.049,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60014,1140
$CAP_FILE_SIZE,178969,0
$CFSIZE,260165632,243572736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,260709,095424,6215.740,-1149.836,37,1.3,37,-11.1