version: 66.04
glider: 105
mission: 6
dive: 199
start: 7 27 109 7 35 43
data:
$ID,105
$MISSION,6
$DIVE,199
$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,-1631574.9
$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,25
$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
$GPS1,072554,6216.774,-1146.267,38,1.2,38,-11.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-50.9
$GPS2,073521,6216.792,-1146.511,13,1.6,14,-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,84.5,1357,-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,-28.8,0.0,0.0,0,64,0.00,0.00,-46.50,0.000,6,0.000,0.000,389,2243,2950
$GC,67,-1.99,-32.6,2.1,-5.5,2,83,10.45,2.47,-0.32,0.000,4,0.130,0.053,2358,840,2965
$GC,301,-1.99,-32.6,33.2,-14.6,11,307,0.00,2.47,0.00,0.000,6,0.000,0.035,2359,2262,2966
$GC,618,-1.99,-32.6,68.3,-11.5,27,622,0.00,2.50,0.00,0.000,4,0.000,0.050,2358,3656,2966
$GC,802,-1.99,-32.6,91.3,-12.8,35,806,0.00,2.45,0.00,0.000,6,0.000,0.030,2358,2224,2966
$GC,1118,-1.99,-32.6,126.2,-10.5,50,1122,0.00,2.58,0.00,0.000,4,0.000,0.049,2359,3653,2967
$GC,1351,-1.99,-32.6,154.5,-11.7,60,1357,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2250,2967
$GC,1668,-1.99,-32.6,188.3,-10.5,76,1673,0.00,2.50,0.00,0.000,4,0.000,0.049,2359,3648,2967
$GC,1893,-1.99,-32.6,213.7,-11.3,86,1897,0.00,2.40,0.00,0.000,6,0.000,0.030,2358,2241,2967
$GC,2213,-1.99,-32.6,247.7,-10.6,102,2218,0.00,2.53,0.00,0.000,4,0.000,0.051,2358,3648,2967
$GC,2348,-1.99,-32.6,263.0,-11.8,108,2352,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2245,2966
$GC,2668,-1.99,-32.6,297.2,-10.6,124,2672,0.00,2.53,0.00,0.000,4,0.000,0.051,2359,3649,2967
$GC,2791,-1.99,-32.6,311.0,-10.6,129,2797,0.00,2.40,0.00,0.000,6,0.000,0.031,2359,2245,2966
$GC,3107,-1.99,-32.6,342.2,-9.5,145,3111,0.00,2.53,0.00,0.000,4,0.000,0.051,2359,3654,2966
$GC,3285,-1.99,-32.6,360.2,-10.3,153,3289,0.00,2.40,0.00,0.000,6,0.000,0.031,2359,2251,2966
$GC,3605,-1.99,-32.6,389.5,-8.9,169,3610,0.00,2.50,0.00,0.000,4,0.000,0.050,2358,3650,2965
$GC,3812,-1.99,-32.6,409.3,-9.6,178,3817,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2246,2965
$GC,4127,-1.99,-32.6,437.7,-9.2,193,4132,0.00,2.53,0.00,0.000,4,0.000,0.051,2358,3651,2965
$GC,4284,-1.99,-32.6,453.8,-10.3,200,4289,0.00,2.42,0.00,0.000,6,0.000,0.031,2358,2251,2965
$GC,4610,-1.99,-32.6,487.1,-10.1,216,4615,0.00,2.53,0.00,0.000,4,0.000,0.050,2359,3644,2965
$GC,4705,-1.99,-32.6,497.6,-10.9,220,4710,0.00,2.42,0.00,0.000,6,0.000,0.031,2358,2248,2965
$GC,5034,-1.99,-32.6,530.7,-10.0,236,5038,0.00,2.50,0.00,0.000,4,0.000,0.050,2358,3648,2965
$GC,5186,-1.99,-32.6,547.1,-10.7,243,5190,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2241,2964
$GC,5513,-1.99,-32.6,580.6,-10.3,259,5517,0.00,2.55,0.00,0.000,4,0.000,0.053,2359,3653,2964
$GC,5630,-1.99,-32.6,593.6,-11.3,264,5634,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2250,2964
$GC,5946,-1.99,-32.6,625.7,-10.1,279,5950,0.00,2.50,0.00,0.000,4,0.000,0.051,2358,3649,2964
$GC,6127,-1.99,-32.6,644.8,-10.3,287,6131,0.00,2.40,0.00,0.000,6,0.000,0.031,2358,2246,2964
$GC,6447,-1.99,-32.6,674.2,-8.8,303,6452,0.00,2.53,0.00,0.000,4,0.000,0.051,2358,3653,2964
$GC,6519,-1.99,-32.6,680.9,-9.1,306,6523,0.00,2.40,0.00,0.000,6,0.000,0.032,2358,2249,2963
$GC,6835,-1.99,-32.6,706.0,-7.7,321,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2249,2964
$GC,7145,-1.99,-32.6,728.5,-7.4,336,7150,0.00,2.53,0.00,0.000,4,0.000,0.051,2358,3654,2964
$GC,7414,-1.99,-32.6,750.5,-8.9,348,7419,0.00,2.42,0.00,0.000,6,0.000,0.033,2358,2256,2963
$GC,7741,-1.99,-32.6,777.6,-8.0,364,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2256,2964
$GC,8053,-1.99,-32.6,800.7,-7.5,379,8057,0.00,2.50,0.00,0.000,4,0.000,0.052,2358,3647,2963
$GC,8182,-1.99,-32.6,811.9,-8.9,385,8187,0.00,2.42,0.00,0.000,6,0.000,0.033,2358,2252,2963
$GC,8517,-1.99,-32.6,842.9,-9.6,401,8522,0.00,2.50,0.00,0.000,4,0.000,0.052,2358,3648,2963
$GC,8669,-1.99,-32.6,858.4,-10.4,408,8674,0.00,2.40,0.00,0.000,6,0.000,0.034,2358,2252,2963
$GC,8996,-1.99,-32.6,885.2,-7.7,424,9001,0.00,2.50,0.00,0.000,4,0.000,0.053,2358,3647,2962
$GC,9069,-1.99,-32.6,891.2,-8.7,427,9073,0.00,2.40,0.00,0.000,6,0.000,0.034,2358,2250,2962
$GC,9384,-1.99,-32.6,912.6,-6.3,442,9388,0.00,2.53,0.00,0.000,4,0.000,0.054,2358,3653,2962
$GC,9726,-1.99,-32.6,936.2,-7.5,457,9730,0.00,2.42,0.00,0.000,6,0.000,0.035,2358,2250,2961
$STATE,10041,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10042,begin apogee
$GC,10050,-0.36,0.0,958.6,7.8,472,10084,1.75,0.00,30.00,1.374,6,0.083,0.000,2720,1459,2832
$STATE,10085,end apogee,CONTROL_FINISHED_OK
$STATE,10085,begin climb
$GC,10088,1.99,32.6,959.9,0.0,474,10130,2.33,2.28,31.15,1.351,4,0.045,0.064,3235,269,2699
$GC,10471,1.99,32.6,939.4,6.3,491,10476,0.00,2.08,0.00,0.000,6,0.000,0.038,3235,1455,2697
$GC,10803,2.00,39.4,921.2,5.1,507,10819,0.00,2.58,7.38,1.137,4,0.000,0.049,3235,2846,2671
$GC,11155,2.01,45.6,901.2,5.1,522,11169,0.00,2.50,6.95,1.118,6,0.000,0.043,3235,1445,2646
$GC,11492,2.01,51.1,884.0,5.2,539,11505,0.00,2.58,6.82,1.113,4,0.000,0.048,3235,2854,2623
$GC,11692,2.01,51.1,873.0,6.7,548,11697,0.00,2.53,0.00,0.000,6,0.000,0.042,3234,1452,2622
$GC,12025,2.03,65.4,856.3,4.0,564,12046,0.00,2.58,14.18,1.276,4,0.000,0.048,3235,2854,2565
$GC,12220,2.03,68.5,845.4,5.6,572,12230,0.00,2.50,4.45,0.905,6,0.000,0.041,3235,1450,2552
$GC,12558,2.03,68.8,827.0,6.0,589,12562,0.00,2.15,0.00,0.000,4,0.000,0.062,3234,265,2551
$GC,12671,2.04,69.4,820.4,5.9,594,12675,0.00,2.05,0.00,0.000,6,0.000,0.035,3234,1460,2551
$GC,13004,2.04,69.4,800.3,6.7,610,13005,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1460,2551
$GC,13312,2.04,69.4,780.7,6.5,625,13314,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1460,2551
$GC,13622,2.04,69.4,758.7,7.0,640,13623,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1460,2551
$GC,13931,2.04,69.4,735.1,8.0,655,13935,0.00,2.17,0.00,0.000,4,0.000,0.058,3235,260,2550
$GC,14009,2.04,69.4,728.7,8.0,658,14013,0.00,2.08,0.00,0.000,6,0.000,0.034,3235,1469,2550
$GC,14333,2.04,69.4,707.4,6.4,674,14336,0.00,2.17,0.00,0.000,4,0.000,0.057,3234,264,2551
$GC,14675,2.04,69.4,683.5,7.4,689,14679,0.00,2.03,0.00,0.000,6,0.000,0.035,3235,1455,2551
$GC,15002,2.04,69.4,659.9,7.5,705,15003,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1455,2551
$GC,15313,2.04,69.4,636.1,7.9,720,15315,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1455,2551
$GC,15620,2.04,69.4,613.1,7.2,735,15624,0.00,2.45,0.00,0.000,4,0.000,0.044,3235,2851,2552
$GC,15704,2.04,69.4,607.1,7.6,739,15708,0.00,2.45,0.00,0.000,6,0.000,0.038,3234,1448,2552
$GC,16033,2.04,69.4,584.8,6.6,755,16034,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1448,2552
$GC,16339,2.04,69.4,564.5,6.5,770,16340,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1448,2552
$GC,16649,2.04,69.4,544.0,6.7,785,16650,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1448,2553
$GC,16958,2.04,69.4,523.3,6.7,800,16959,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1448,2554
$GC,17267,2.04,69.4,502.8,6.6,815,17268,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1447,2554
$GC,17579,2.04,69.4,481.2,7.1,830,17580,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1448,2555
$GC,17886,2.04,69.4,458.6,7.2,845,17887,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1447,2555
$GC,18195,2.04,69.4,435.8,7.4,860,18196,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1448,2555
$GC,18504,2.04,69.4,413.7,7.0,875,18509,0.00,2.47,0.00,0.000,4,0.000,0.045,3235,2854,2555
$GC,18644,2.04,69.4,404.1,6.4,881,18648,0.00,2.45,0.00,0.000,6,0.000,0.038,3234,1446,2555
$GC,18963,2.04,69.4,384.2,6.0,896,18964,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1447,2556
$GC,19271,2.04,72.4,366.3,5.6,911,19279,0.00,0.00,6.05,0.808,6,0.000,0.000,3235,1447,2536
$GC,19581,2.04,73.6,348.1,5.8,926,19583,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1447,2536
$GC,19889,2.04,73.6,329.7,6.2,941,19890,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1447,2536
$GC,20198,2.04,73.6,309.4,6.7,956,20201,0.00,2.10,0.00,0.000,4,0.000,0.058,3235,269,2536
$GC,20321,2.04,73.6,300.2,7.9,961,20325,0.00,2.00,0.00,0.000,6,0.000,0.034,3235,1457,2536
$GC,20642,2.04,73.6,277.3,7.2,977,20643,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1457,2536
$GC,20951,2.04,73.6,255.3,7.0,992,20955,0.00,2.47,0.00,0.000,4,0.000,0.048,3235,2861,2537
$GC,21015,2.04,73.6,251.0,6.3,995,21020,0.00,2.45,0.00,0.000,6,0.000,0.038,3235,1451,2537
$GC,21342,2.04,73.6,228.8,6.8,1011,21343,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1451,2536
$GC,21653,2.04,73.6,208.1,6.6,1026,21655,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1451,2537
$GC,21961,2.04,73.6,188.1,6.3,1041,21963,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1451,2537
$GC,22270,2.04,74.5,169.2,5.9,1056,22276,0.00,0.00,3.72,0.557,6,0.000,0.000,3235,1451,2528
$GC,22581,2.04,75.9,151.2,5.8,1071,22583,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1451,2528
$GC,22889,2.05,77.7,134.1,5.8,1086,22896,0.00,0.00,4.80,0.640,6,0.000,0.000,3235,1451,2514
$GC,23199,2.05,77.7,113.8,7.0,1101,23202,0.00,2.12,0.00,0.000,4,0.000,0.055,3235,259,2514
$GC,23312,2.05,77.7,105.0,7.9,1106,23315,0.00,2.03,0.00,0.000,6,0.000,0.033,3235,1458,2514
$GC,23646,2.05,77.7,82.3,6.7,1122,23650,0.00,2.47,0.00,0.000,4,0.000,0.048,3235,2853,2514
$GC,23710,2.05,77.7,77.8,6.8,1125,23714,0.00,2.42,0.00,0.000,6,0.000,0.037,3235,1455,2514
$GC,24036,2.05,81.0,56.9,5.5,1141,24046,0.00,2.47,4.68,0.603,4,0.000,0.042,3235,2858,2500
$GC,24076,2.07,94.5,55.1,4.1,1143,24098,0.00,2.47,12.40,0.766,6,0.000,0.037,3235,1457,2446
$GC,24408,2.07,94.5,37.6,6.1,1159,24412,0.00,2.47,0.00,0.000,4,0.000,0.042,3235,2857,2445
$GC,24524,2.07,94.5,29.1,8.1,1164,24528,0.00,2.45,0.00,0.000,6,0.000,0.036,3235,1452,2444
$STATE,24839,end climb,SURFACE_DEPTH_REACHED
$STATE,24839,begin surface coast
$FINISH,0.1,1.027071
$STATE,24859,end surface coast,CONTROL_FINISHED_OK
$STATE,24860,begin surface
$SM_CCo,24884,131.02,0.763,0,0,1609,300.00
$SM_GC,0.89,0.00,0.00,131.02,0.000,0.000,0.763,386,2243,1609,-11.10,-0.20,300.00
$IRIDIUM_FIX,6153.50,-1144.02,211098,070749
$TT8_MAMPS,0.027612
$HUMID,1843
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,875.5,92.0
$24V_AH,23.1,45.939
$10V_AH,10.1,27.842
$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,26.775,166.500,132.575,131.025,0.000,58.137,59.590,249.006,7.750,0.000,0.000,14.710,2279.295,18708.111,412.857,3076.319,1102.421,0.000,1882.428,0.000,3244.398,0.000,52.526,0.000
$DEVICE_MAMPS,129.623,63.661,1374.464,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,895.450,963.528,647.992,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59958,1180
$CAP_FILE_SIZE,179535,0
$CFSIZE,260165632,243245056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,270709,143401,6218.195,-1143.076,42,1.3,42,-11.0