version: 66.04
glider: 105
mission: 6
dive: 88
start: 6 23 109 21 1 59
data:
$ID,105
$MISSION,6
$DIVE,88
$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,-1629602.1
$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,2350
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,33
$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
$GPS1,205437,6318.755,-1328.992,33,1.7,33,-12.4
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-61.1
$GPS2,210138,6318.788,-1328.961,12,1.9,12,-12.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,KW
$TGT_LATLONG,6325.000,-1325.000
$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,28.3,11965,-11.0,-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,-0.96,-146.6,0.0,0.0,0,80,0.00,0.00,-63.08,0.000,6,0.000,0.000,389,2344,3430
$GC,83,-0.96,-146.6,3.7,-6.6,3,104,11.62,2.50,0.00,0.000,4,0.131,0.034,2587,931,3432
$GC,352,-0.96,-146.6,36.6,-9.2,15,356,0.00,2.45,0.00,0.000,6,0.000,0.033,2587,2347,3433
$GC,678,-0.96,-146.6,66.9,-9.1,31,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2347,3433
$GC,987,-0.96,-146.6,93.2,-6.8,46,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2347,3434
$GC,1298,-0.96,-146.6,111.8,-4.9,61,1303,0.00,2.45,0.00,0.000,4,0.000,0.037,2587,939,3433
$GC,1332,-0.96,-146.6,113.5,-4.8,62,1338,0.00,2.42,0.00,0.000,6,0.000,0.032,2587,2348,3433
$GC,1647,-0.96,-146.6,132.3,-6.8,78,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2348,3434
$GC,1956,-0.96,-146.6,159.9,-10.3,93,1961,0.00,2.50,0.00,0.000,4,0.000,0.038,2587,934,3433
$GC,2008,-0.96,-146.6,165.3,-11.2,95,2013,0.00,2.45,0.00,0.000,6,0.000,0.033,2587,2351,3434
$GC,2333,-0.96,-146.6,201.5,-10.9,111,2337,0.00,2.47,0.00,0.000,4,0.000,0.038,2587,932,3434
$GC,2365,-0.96,-146.6,205.3,-10.2,112,2372,0.00,2.45,0.00,0.000,6,0.000,0.035,2587,2350,3434
$GC,2681,-0.96,-146.6,226.7,-4.9,128,2685,0.00,2.45,0.00,0.000,4,0.000,0.038,2587,938,3433
$GC,2731,-0.96,-146.6,229.1,-4.4,130,2736,0.00,2.45,0.00,0.000,6,0.000,0.035,2587,2349,3433
$GC,3050,-0.96,-146.6,244.7,-5.6,145,3054,0.00,2.47,0.00,0.000,4,0.000,0.038,2587,931,3433
$GC,3089,-0.96,-146.6,247.3,-6.6,147,3093,0.00,2.47,0.00,0.000,6,0.000,0.035,2587,2352,3433
$GC,3415,-0.96,-146.6,271.6,-8.5,163,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2352,3433
$GC,3724,-0.96,-146.6,296.3,-7.6,178,3728,0.00,2.47,0.00,0.000,4,0.000,0.039,2587,935,3433
$GC,3780,-0.96,-146.6,300.4,-7.5,180,3786,0.00,2.45,0.00,0.000,6,0.000,0.035,2586,2353,3433
$GC,4096,-0.96,-146.6,318.9,-5.3,196,4100,0.00,2.47,0.00,0.000,4,0.000,0.039,2587,935,3433
$GC,4161,-0.96,-146.6,321.9,-4.5,199,4165,0.00,2.45,0.00,0.000,6,0.000,0.034,2587,2351,3433
$GC,4487,-0.96,-146.6,340.4,-6.1,215,4491,0.00,2.47,0.00,0.000,4,0.000,0.039,2587,933,3433
$GC,4543,-0.96,-146.6,343.9,-6.4,217,4549,0.00,2.47,0.00,0.000,6,0.000,0.035,2587,2357,3432
$GC,4859,-0.96,-146.6,364.3,-6.5,233,4863,0.00,2.47,0.00,0.000,4,0.000,0.039,2587,939,3432
$GC,4902,-0.96,-146.6,367.4,-7.1,235,4907,0.00,2.45,0.00,0.000,6,0.000,0.035,2587,2352,3432
$GC,5224,-0.96,-146.6,388.9,-6.8,251,5228,0.00,2.47,0.00,0.000,4,0.000,0.040,2587,935,3432
$GC,5279,-0.96,-146.6,392.6,-6.9,253,5286,0.00,2.47,0.00,0.000,6,0.000,0.035,2587,2358,3432
$GC,5595,-0.96,-146.6,412.1,-6.0,269,5599,0.00,2.47,0.00,0.000,4,0.000,0.039,2587,938,3432
$GC,5652,-0.96,-146.6,415.4,-5.9,271,5659,0.00,2.45,0.00,0.000,6,0.000,0.035,2587,2353,3432
$GC,5968,-0.96,-146.6,435.2,-6.6,287,5972,0.00,2.47,0.00,0.000,4,0.000,0.040,2587,938,3431
$GC,6011,-0.96,-146.6,438.3,-6.8,289,6016,0.00,2.45,0.00,0.000,6,0.000,0.035,2587,2351,3432
$GC,6333,-0.96,-146.6,458.2,-6.1,305,6337,0.00,2.47,0.00,0.000,4,0.000,0.040,2587,936,3432
$GC,6372,-0.96,-146.6,460.7,-6.5,307,6376,0.00,2.45,0.00,0.000,6,0.000,0.035,2587,2351,3432
$GC,6698,-0.96,-146.6,480.7,-6.8,323,6702,0.00,2.47,0.00,0.000,4,0.000,0.040,2587,935,3432
$GC,6747,-0.96,-146.6,484.2,-7.3,325,6751,0.00,2.45,0.00,0.000,6,0.000,0.035,2587,2354,3431
$GC,7063,-0.96,-146.6,506.2,-7.0,340,7068,0.00,2.50,0.00,0.000,4,0.000,0.040,2587,939,3431
$GC,7118,-0.96,-146.6,510.1,-6.9,342,7122,0.00,2.45,0.00,0.000,6,0.000,0.035,2586,2351,3432
$GC,7433,-0.96,-146.6,529.9,-6.2,357,7437,0.00,2.47,0.00,0.000,4,0.000,0.040,2587,937,3431
$GC,7461,-0.96,-146.6,531.7,-6.4,358,7465,0.00,2.47,0.00,0.000,6,0.000,0.035,2587,2358,3432
$GC,7780,-0.96,-146.6,550.5,-5.6,373,7784,0.00,2.47,0.00,0.000,4,0.000,0.040,2587,939,3432
$GC,7820,-0.96,-146.6,553.0,-5.9,375,7824,0.00,2.45,0.00,0.000,6,0.000,0.035,2587,2353,3432
$GC,8149,-0.96,-146.6,573.4,-6.5,391,8153,0.00,2.47,0.00,0.000,4,0.000,0.040,2587,936,3431
$GC,8192,-0.96,-146.6,576.6,-7.2,393,8196,0.00,2.45,0.00,0.000,6,0.000,0.035,2587,2351,3431
$GC,8516,-0.96,-146.6,599.0,-7.4,409,8520,0.00,2.47,0.00,0.000,4,0.000,0.040,2587,938,3431
$GC,8565,-0.96,-146.6,602.9,-7.5,411,8569,0.00,2.45,0.00,0.000,6,0.000,0.035,2587,2350,3431
$GC,8884,-0.96,-146.6,624.4,-6.5,426,8888,0.00,2.47,0.00,0.000,4,0.000,0.041,2587,932,3431
$GC,8933,-0.96,-146.6,628.1,-7.2,428,8938,0.00,2.45,0.00,0.000,6,0.000,0.036,2587,2349,3431
$GC,9249,-0.96,-146.6,646.1,-4.8,443,9254,0.00,2.50,0.00,0.000,4,0.000,0.041,2587,939,3431
$GC,9302,-0.96,-146.6,648.4,-4.1,445,9306,0.00,2.45,0.00,0.000,6,0.000,0.035,2587,2351,3431
$GC,9626,-0.96,-146.6,660.2,-3.6,461,9630,0.00,2.47,0.00,0.000,4,0.000,0.041,2587,939,3430
$GC,9659,-0.96,-146.6,661.4,-3.0,462,9666,0.00,2.45,0.00,0.000,6,0.000,0.035,2587,2356,3430
$GC,9975,-0.96,-146.6,671.1,-3.4,478,9979,0.00,2.47,0.00,0.000,4,0.000,0.041,2587,940,3430
$GC,10025,-0.96,-146.6,673.5,-4.9,480,10029,0.00,2.45,0.00,0.000,6,0.000,0.035,2587,2356,3430
$GC,10343,-0.96,-146.6,692.0,-6.7,495,10344,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2356,3430
$GC,10649,-0.96,-146.6,713.7,-7.5,510,10654,0.00,2.47,0.00,0.000,4,0.000,0.041,2587,940,3430
$GC,10682,-0.96,-146.6,716.2,-7.7,511,10688,0.00,2.45,0.00,0.000,6,0.000,0.035,2587,2357,3431
$GC,10999,-0.96,-146.6,733.6,-4.1,527,11003,0.00,2.47,0.00,0.000,4,0.000,0.041,2587,941,3430
$GC,11077,-0.96,-146.6,736.8,-3.7,530,11084,0.00,2.45,0.00,0.000,6,0.000,0.036,2586,2355,3430
$GC,11394,-0.96,-146.6,748.9,-3.8,546,11398,0.00,2.47,0.00,0.000,4,0.000,0.041,2587,940,3430
$GC,11488,-0.96,-146.6,753.7,-5.2,550,11493,0.00,2.45,0.00,0.000,6,0.000,0.037,2587,2352,3430
$GC,11807,-0.96,-146.6,769.5,-5.1,565,11811,0.00,2.47,0.00,0.000,4,0.000,0.041,2587,940,3430
$GC,11879,-0.96,-146.6,773.6,-5.3,568,11884,0.00,2.47,0.00,0.000,6,0.000,0.038,2587,2341,3430
$GC,12199,-0.96,-146.6,792.8,-6.5,584,12201,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2341,3429
$GC,12509,-0.96,-146.6,814.9,-6.6,599,12514,0.00,2.50,0.00,0.000,4,0.000,0.044,2587,941,3429
$GC,12569,-0.96,-146.6,819.1,-7.0,601,12575,0.00,2.47,0.00,0.000,6,0.000,0.038,2587,2356,3429
$GC,12885,-0.96,-146.6,838.4,-5.7,617,12889,0.00,2.50,0.00,0.000,4,0.000,0.044,2587,939,3429
$GC,12970,-0.96,-146.6,843.5,-5.9,621,12974,0.00,2.47,0.00,0.000,6,0.000,0.039,2587,2354,3429
$GC,13296,-0.96,-146.6,860.4,-5.3,637,13301,0.00,2.50,0.00,0.000,4,0.000,0.044,2587,941,3428
$GC,13329,-0.96,-146.6,862.5,-7.4,638,13336,0.00,2.47,0.00,0.000,6,0.000,0.041,2587,2354,3428
$GC,13645,-0.96,-146.6,883.5,-7.4,654,13650,0.00,2.53,0.00,0.000,4,0.000,0.046,2587,947,3427
$GC,13742,-0.96,-146.6,888.6,-5.4,658,13746,0.00,2.47,0.00,0.000,6,0.000,0.041,2587,2350,3427
$GC,14062,-0.96,-146.6,910.2,-7.6,674,14067,0.00,2.50,0.00,0.000,4,0.000,0.047,2587,940,3426
$GC,14135,-0.96,-146.6,914.4,-4.3,677,14140,0.00,2.50,0.00,0.000,6,0.000,0.042,2587,2355,3426
$STATE,14201,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14201,begin apogee
$GC,14209,-0.36,0.0,920.1,8.6,680,14344,0.62,0.00,130.40,1.372,6,0.060,0.000,2724,1457,2831
$STATE,14345,end apogee,CONTROL_FINISHED_OK
$STATE,14345,begin climb
$GC,14348,0.96,146.6,925.9,0.0,687,14488,1.27,2.62,132.12,1.331,4,0.048,0.048,3008,2866,2232
$GC,14591,1.11,267.5,920.1,2.7,698,14711,0.15,2.53,108.57,1.318,6,0.037,0.041,3069,1449,1740
$GC,15020,1.11,267.5,887.0,9.1,719,15024,0.15,2.17,0.00,0.000,4,0.072,0.062,3037,264,1731
$GC,15155,1.11,267.5,873.6,9.9,725,15159,0.00,2.08,0.00,0.000,6,0.000,0.036,3037,1468,1730
$GC,15482,1.11,267.5,840.1,10.7,741,15487,0.00,2.50,0.00,0.000,4,0.000,0.051,3037,2839,1728
$GC,15572,1.11,267.5,830.0,11.0,745,15576,0.00,2.45,0.00,0.000,6,0.000,0.041,3037,1455,1727
$GC,15898,1.11,267.5,794.5,9.5,761,15900,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1455,1727
$GC,16208,1.11,267.5,770.6,7.1,776,16211,0.00,2.17,0.00,0.000,4,0.000,0.061,3037,259,1726
$GC,16253,1.11,267.5,766.8,9.0,778,16256,0.00,2.05,0.00,0.000,6,0.000,0.035,3037,1457,1726
$GC,16585,1.11,267.5,739.2,8.1,794,16586,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1457,1726
$GC,16894,1.11,267.5,715.4,7.6,809,16898,0.00,2.50,0.00,0.000,4,0.000,0.047,3037,2852,1725
$GC,16952,1.11,267.5,710.8,7.8,811,16958,0.00,2.45,0.00,0.000,6,0.000,0.038,3036,1450,1724
$GC,17268,1.11,267.5,683.7,8.7,827,17269,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1450,1724
$GC,17577,1.11,267.5,658.9,7.5,842,17578,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1451,1725
$GC,17886,1.11,267.5,634.8,8.2,857,17891,0.00,2.50,0.00,0.000,4,0.000,0.044,3037,2844,1725
$GC,17947,1.11,267.5,629.8,8.0,859,17953,0.00,2.42,0.00,0.000,6,0.000,0.036,3037,1453,1724
$GC,18262,1.11,267.5,601.3,9.2,875,18263,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1453,1725
$GC,18572,1.11,267.5,570.2,10.6,890,18573,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1454,1725
$GC,18882,1.11,267.5,535.1,11.4,905,18887,0.00,2.47,0.00,0.000,4,0.000,0.044,3037,2855,1725
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$GC,25014,1.20,336.3,16.1,5.2,1202,25047,0.10,2.45,27.45,0.759,6,0.047,0.034,3088,1448,1460
$STATE,25156,end climb,SURFACE_DEPTH_REACHED
$STATE,25156,begin surface coast
$FINISH,0.6,1.027087
$STATE,25176,end surface coast,CONTROL_FINISHED_OK
$STATE,25176,begin surface
$SM_CCo,25261,0.00,0.000,0,0,1453,338.27
$SM_GC,0.89,11.70,0.00,0.00,0.024,0.000,0.000,387,2355,1453,-11.00,0.14,338.27
$IRIDIUM_FIX,6244.56,-1313.61,170998,141459
$TT8_MAMPS,0.027612
$HUMID,1816
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,850.7,78.4
$24V_AH,23.2,30.953
$10V_AH,10.1,14.672
$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,25.625,238.850,432.375,0.000,0.000,30.941,26.225,230.391,7.750,0.000,0.000,14.808,2232.313,19220.035,587.482,2614.287,1018.750,0.000,1980.341,0.000,2820.349,0.000,53.834,0.000
$DEVICE_MAMPS,131.157,62.127,1372.163,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,992.993,930.299,654.106,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63165,1210
$CAP_FILE_SIZE,183304,0
$CFSIZE,260165632,252391424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,240609,040407,6325.261,-1328.607,30,1.7,30,-12.5