version: 66.04
glider: 105
mission: 6
dive: 90
start: 6 24 109 12 10 10
data:
$ID,105
$MISSION,6
$DIVE,90
$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,-1629632.5
$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,37
$R_STBD_OVSHOOT,47
$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
$GPS1,120031,6332.459,-1327.080,39,1.1,40,-12.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-61.0
$GPS2,120950,6332.446,-1327.032,13,1.2,13,-12.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,LW
$TGT_LATLONG,6345.000,-1322.000
$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,22.6,23613,-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,13,begin dive
$GC,15,-0.96,-146.6,0.0,0.0,0,76,0.00,0.00,-59.08,0.000,6,0.000,0.000,389,2223,3431
$GC,80,-0.96,-146.6,3.2,-4.5,3,101,11.52,2.45,0.00,0.000,4,0.128,0.035,2584,844,3432
$GC,331,-0.96,-146.6,33.3,-7.7,14,336,0.00,2.40,0.00,0.000,6,0.000,0.032,2585,2233,3433
$GC,653,-0.96,-146.6,57.1,-7.0,30,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2233,3433
$GC,963,-0.96,-146.6,80.0,-8.3,45,967,0.00,2.42,0.00,0.000,4,0.000,0.038,2584,850,3434
$GC,996,-0.96,-146.6,83.4,-9.8,46,1003,0.00,2.42,0.00,0.000,6,0.000,0.034,2584,2246,3434
$GC,1312,-0.96,-146.6,117.8,-10.4,62,1316,0.00,2.55,0.00,0.000,4,0.000,0.059,2585,3651,3434
$GC,1378,-0.96,-146.6,124.7,-9.9,65,1382,0.00,2.40,0.00,0.000,6,0.000,0.028,2585,2238,3434
$GC,1700,-0.96,-146.6,147.7,-5.8,81,1704,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3657,3434
$GC,1780,-0.96,-146.6,152.3,-6.1,84,1786,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2255,3434
$GC,2096,-0.96,-146.6,168.4,-5.5,100,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2255,3434
$GC,2405,-0.96,-146.6,182.9,-4.1,115,2409,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3651,3434
$GC,2483,-0.96,-146.6,186.5,-4.5,118,2489,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2252,3434
$GC,2801,-0.96,-146.6,199.7,-4.8,134,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2252,3433
$GC,3107,-0.96,-146.6,219.7,-7.5,149,3111,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3657,3433
$GC,3151,-0.96,-146.6,223.3,-8.2,151,3156,0.00,2.42,0.00,0.000,6,0.000,0.028,2585,2251,3433
$GC,3477,-0.96,-146.6,249.9,-8.1,167,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3433
$GC,3789,-0.96,-146.6,273.9,-8.0,182,3793,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3655,3433
$GC,3850,-0.96,-146.6,279.5,-8.9,185,3855,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2238,3433
$GC,4178,-0.96,-146.6,306.3,-8.2,201,4182,0.00,2.58,0.00,0.000,4,0.000,0.056,2585,3658,3433
$GC,4221,-0.96,-146.6,310.3,-8.7,203,4226,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2246,3433
$GC,4542,-0.96,-146.6,336.6,-8.0,219,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2246,3433
$GC,4852,-0.96,-146.6,359.0,-6.9,234,4856,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3651,3432
$GC,4946,-0.96,-146.6,365.5,-6.5,238,4950,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2252,3432
$GC,5263,-0.96,-146.6,384.0,-5.9,253,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3432
$GC,5571,-0.96,-146.6,401.5,-5.5,268,5575,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3658,3432
$GC,5634,-0.96,-146.6,405.5,-6.9,271,5639,0.00,2.40,0.00,0.000,6,0.000,0.028,2585,2240,3431
$GC,5962,-0.96,-146.6,425.1,-6.1,287,5967,0.00,2.58,0.00,0.000,4,0.000,0.056,2585,3648,3432
$GC,6012,-0.96,-146.6,428.4,-6.4,289,6017,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2246,3431
$GC,6334,-0.96,-146.6,448.1,-5.9,305,6338,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3654,3432
$GC,6373,-0.96,-146.6,450.6,-6.6,307,6378,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2257,3432
$GC,6705,-0.96,-146.6,470.0,-5.9,323,6709,0.00,2.53,0.00,0.000,4,0.000,0.056,2585,3653,3431
$GC,6769,-0.96,-146.6,474.0,-6.5,326,6773,0.00,2.38,0.00,0.000,6,0.000,0.029,2585,2251,3431
$GC,7095,-0.96,-146.6,494.8,-6.6,342,7100,0.00,2.58,0.00,0.000,4,0.000,0.056,2585,3654,3431
$GC,7133,-0.96,-146.6,497.8,-7.7,343,7140,0.00,2.42,0.00,0.000,6,0.000,0.029,2585,2220,3431
$GC,7449,-0.96,-146.6,520.7,-7.5,359,7453,0.00,2.60,0.00,0.000,4,0.000,0.055,2584,3654,3431
$GC,7498,-0.96,-146.6,524.7,-8.1,361,7504,0.00,2.42,0.00,0.000,6,0.000,0.029,2585,2247,3431
$GC,7820,-0.96,-146.6,548.2,-7.2,377,7824,0.00,2.55,0.00,0.000,4,0.000,0.055,2584,3654,3431
$GC,7859,-0.96,-146.6,551.1,-8.0,379,7863,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2240,3431
$GC,8185,-0.96,-146.6,572.4,-6.2,395,8190,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3652,3431
$GC,8248,-0.96,-146.6,576.4,-6.9,398,8252,0.00,2.38,0.00,0.000,6,0.000,0.029,2585,2253,3431
$GC,8574,-0.96,-146.6,596.4,-5.7,414,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2252,3431
$GC,8886,-0.96,-146.6,614.0,-5.6,429,8890,0.00,2.53,0.00,0.000,4,0.000,0.056,2584,3652,3431
$GC,8926,-0.96,-146.6,616.7,-6.8,431,8930,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2237,3431
$GC,9252,-0.96,-146.6,637.2,-6.5,447,9254,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2237,3431
$GC,9561,-0.96,-146.6,658.5,-6.9,462,9565,0.00,2.58,0.00,0.000,4,0.000,0.056,2585,3660,3430
$GC,9610,-0.96,-146.6,662.0,-7.2,464,9615,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2254,3430
$GC,9927,-0.96,-146.6,681.4,-5.9,479,9931,0.00,2.53,0.00,0.000,4,0.000,0.055,2585,3653,3430
$GC,9989,-0.96,-146.6,685.0,-5.8,482,9993,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2241,3430
$GC,10315,-0.96,-146.6,704.2,-6.4,498,10319,0.00,2.58,0.00,0.000,4,0.000,0.057,2584,3660,3430
$GC,10409,-0.96,-146.6,711.8,-9.0,502,10414,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2255,3430
$GC,10725,-0.96,-146.6,737.7,-7.7,517,10726,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2254,3430
$GC,11034,-0.96,-146.6,755.2,-4.1,532,11035,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2254,3430
$GC,11344,-0.96,-146.6,767.0,-4.3,547,11345,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2254,3430
$GC,11655,-0.96,-146.6,785.1,-6.7,562,11659,0.00,2.45,0.00,0.000,4,0.000,0.043,2585,850,3430
$GC,11695,-0.96,-146.6,788.0,-7.2,564,11699,0.00,2.42,0.00,0.000,6,0.000,0.036,2585,2252,3430
$GC,12023,-0.96,-146.6,812.5,-7.7,580,12025,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3429
$GC,12330,-0.96,-146.6,835.2,-7.1,595,12334,0.00,2.47,0.00,0.000,4,0.000,0.043,2585,849,3429
$GC,12402,-0.96,-146.6,840.7,-7.6,598,12406,0.00,2.45,0.00,0.000,6,0.000,0.036,2585,2259,3429
$GC,12718,-0.96,-146.6,860.6,-5.6,613,12719,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2259,3429
$GC,13029,-0.96,-146.6,873.7,-3.5,628,13034,0.00,2.53,0.00,0.000,4,0.000,0.061,2585,3651,3428
$GC,13085,-0.96,-146.6,875.8,-3.5,630,13091,0.00,2.42,0.00,0.000,6,0.000,0.034,2585,2239,3428
$GC,13404,-0.96,-146.6,888.2,-4.2,646,13408,0.00,2.58,0.00,0.000,4,0.000,0.059,2585,3651,3427
$GC,13465,-0.96,-146.6,891.5,-6.2,649,13470,0.00,2.42,0.00,0.000,6,0.000,0.034,2585,2243,3427
$GC,13791,-0.96,-146.6,914.3,-6.6,665,13795,0.00,2.45,0.00,0.000,4,0.000,0.047,2585,852,3427
$GC,13813,-0.96,-146.6,915.7,-5.8,666,13818,0.00,2.42,0.00,0.000,6,0.000,0.038,2584,2248,3427
$GC,14137,-0.96,-146.6,936.4,-6.0,682,14138,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3426
$GC,14444,-0.96,-146.6,955.9,-7.0,697,14445,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3426
$GC,14753,-0.96,-146.6,977.6,-6.3,712,14757,0.00,2.47,0.00,0.000,4,0.000,0.048,2584,852,3425
$STATE,14783,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14783,begin apogee
$GC,14791,-0.36,0.0,980.1,8.3,713,14925,0.60,0.00,131.32,1.406,6,0.062,0.000,2720,1473,2832
$STATE,14926,end apogee,CONTROL_FINISHED_OK
$STATE,14926,begin climb
$GC,14929,0.96,146.6,981.9,0.0,720,15066,1.35,0.00,132.80,1.367,6,0.050,0.000,3014,1473,2234
$GC,15370,0.96,146.6,957.3,6.2,742,15371,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1473,2224
$GC,15678,0.96,146.6,935.0,6.7,757,15683,0.00,2.47,0.00,0.000,4,0.000,0.048,3014,2852,2222
$GC,15745,1.03,201.3,932.1,4.5,760,15804,0.00,2.45,49.25,1.348,6,0.000,0.041,3014,1468,2010
$GC,16116,1.03,201.3,908.5,6.3,778,16118,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1468,2004
$GC,16422,1.03,201.3,885.7,7.2,793,16426,0.00,2.47,0.00,0.000,4,0.000,0.049,3014,2848,2002
$GC,16538,1.03,201.3,877.0,6.7,798,16543,0.00,2.47,0.00,0.000,6,0.000,0.041,3014,1461,2001
$GC,16859,1.11,263.9,860.3,4.3,814,16924,0.12,2.58,57.72,1.333,4,0.042,0.048,3068,2850,1755
$GC,16963,1.11,263.9,852.1,9.7,818,16970,0.12,2.50,0.00,0.000,6,0.080,0.040,3042,1447,1751
$GC,17281,1.11,263.9,819.1,12.3,834,17285,0.00,2.17,0.00,0.000,4,0.000,0.059,3042,257,1747
$GC,17419,1.11,263.9,799.9,14.9,840,17423,0.00,2.05,0.00,0.000,6,0.000,0.034,3042,1459,1747
$GC,17754,1.11,263.9,757.6,11.8,856,17758,0.00,2.50,0.00,0.000,4,0.000,0.048,3042,2858,1745
$GC,17849,1.11,263.9,745.2,11.5,860,17854,0.00,2.47,0.00,0.000,6,0.000,0.038,3042,1445,1744
$GC,18165,1.11,263.9,710.8,10.6,875,18166,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1444,1744
$GC,18474,1.11,263.9,686.5,6.9,890,18478,0.00,2.50,0.00,0.000,4,0.000,0.044,3042,2858,1743
$GC,18513,1.11,264.8,684.1,6.0,892,18518,0.00,2.47,0.00,0.000,6,0.000,0.037,3042,1447,1744
$GC,18840,1.15,295.0,666.0,5.2,908,18870,0.00,0.00,28.30,1.183,6,0.000,0.000,3042,1446,1629
$GC,19172,1.15,295.0,645.6,7.0,924,19176,0.00,2.50,0.00,0.000,4,0.000,0.044,3042,2851,1625
$GC,19233,1.15,295.0,640.8,7.3,927,19238,0.00,2.45,0.00,0.000,6,0.000,0.037,3042,1445,1624
$GC,19560,1.15,295.0,613.6,8.8,943,19561,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1445,1623
$GC,19869,1.15,295.0,583.8,10.4,958,19874,0.00,2.50,0.00,0.000,4,0.000,0.042,3042,2852,1624
$GC,19909,1.15,295.0,579.8,10.9,960,19913,0.00,2.42,0.00,0.000,6,0.000,0.036,3042,1452,1624
$GC,20235,1.15,295.0,546.2,10.5,976,20237,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1452,1624
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$GC,26106,1.16,308.3,35.1,5.7,1262,26122,0.00,2.20,9.65,0.718,4,0.000,0.056,3042,261,1574
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$STATE,26528,end climb,SURFACE_DEPTH_REACHED
$STATE,26528,begin surface coast
$FINISH,0.8,1.027043
$STATE,26550,end surface coast,CONTROL_FINISHED_OK
$STATE,26550,begin surface
$SM_CCo,26634,0.00,0.000,0,0,1570,309.57
$SM_GC,0.87,11.43,0.00,0.00,0.024,0.000,0.000,388,2239,1570,-11.00,-0.31,309.57
$IRIDIUM_FIX,6308.26,-1329.37,180998,121227
$TT8_MAMPS,0.026845
$HUMID,1840
$INTERNAL_PRESSURE,8.10902
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,900.4,89.3
$24V_AH,23.2,31.295
$10V_AH,10.1,14.917
$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,25.150,225.825,413.600,0.000,0.000,61.279,51.665,247.010,8.000,0.000,0.000,13.677,2343.429,20446.006,558.572,2729.944,1102.973,0.000,1980.231,0.000,2948.716,0.000,54.163,0.000
$DEVICE_MAMPS,128.089,60.593,1405.911,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1060.616,971.484,686.175,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66188,1283
$CAP_FILE_SIZE,188514,0
$CFSIZE,260165632,252211200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,240609,193524,6336.961,-1329.499,25,1.2,43,-12.5