version: 66.04
glider: 105
mission: 6
dive: 117
start: 7 2 109 6 4 29
data:
$ID,105
$MISSION,6
$DIVE,117
$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,-1630124.5
$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,27
$R_STBD_OVSHOOT,32
$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
$GPS1,055454,6308.213,-1330.824,25,1.2,42,-12.4
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-62.1
$GPS2,060409,6308.187,-1330.582,10,1.7,10,-12.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,JE
$TGT_LATLONG,6305.000,-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,154.0,7532,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.96,-146.6,0.0,0.0,0,79,0.00,0.00,-59.62,0.000,2,0.000,0.000,391,2251,3376
$GC,82,-0.96,-146.6,4.3,-8.0,3,104,11.65,2.58,-0.93,0.000,4,0.133,0.064,2584,3644,3432
$GC,351,-0.96,-146.6,31.2,-8.4,15,356,0.00,2.40,0.00,0.000,6,0.000,0.028,2584,2229,3433
$GC,678,-0.96,-146.6,55.4,-6.5,31,682,0.00,2.55,0.00,0.000,4,0.000,0.050,2584,3647,3433
$GC,830,-0.96,-146.6,67.8,-9.0,38,835,0.00,2.40,0.00,0.000,6,0.000,0.028,2584,2249,3433
$GC,1162,-0.96,-146.6,93.8,-7.0,54,1166,0.00,2.42,0.00,0.000,4,0.000,0.041,2584,858,3434
$GC,1202,-0.96,-146.6,96.6,-6.7,56,1207,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2241,3434
$GC,1535,-0.96,-146.6,118.8,-7.2,72,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2241,3434
$GC,1845,-0.96,-146.6,143.1,-7.7,87,1849,0.00,2.55,0.00,0.000,4,0.000,0.057,2584,3647,3434
$GC,1885,-0.96,-146.6,146.2,-7.8,89,1889,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2252,3434
$GC,2211,-0.96,-146.6,169.8,-6.9,105,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3433
$GC,2520,-0.96,-146.6,190.2,-6.4,120,2524,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3647,3433
$GC,2619,-0.96,-146.6,197.0,-6.6,124,2625,0.00,2.38,0.00,0.000,6,0.000,0.029,2584,2249,3433
$GC,2936,-0.96,-146.6,216.2,-6.2,140,2940,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3653,3433
$GC,3036,-0.96,-146.6,223.8,-7.7,144,3042,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2238,3432
$GC,3354,-0.96,-146.6,244.3,-6.5,160,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2237,3433
$GC,3661,-0.96,-146.6,263.6,-5.9,175,3665,0.00,2.55,0.00,0.000,4,0.000,0.055,2584,3647,3432
$GC,3733,-0.96,-146.6,268.4,-6.5,178,3737,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2248,3432
$GC,4051,-0.96,-146.6,287.2,-5.8,193,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2248,3432
$GC,4358,-0.96,-146.6,305.0,-5.8,208,4362,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3647,3432
$GC,4421,-0.96,-146.6,308.9,-6.8,211,4426,0.00,2.38,0.00,0.000,6,0.000,0.029,2584,2246,3432
$GC,4748,-0.96,-146.6,328.6,-6.1,227,4753,0.00,2.55,0.00,0.000,4,0.000,0.055,2584,3638,3431
$GC,4793,-0.96,-146.6,331.7,-7.1,229,4798,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2251,3431
$GC,5125,-0.96,-146.6,352.6,-6.5,245,5129,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3647,3431
$GC,5169,-0.96,-146.6,355.8,-7.2,247,5174,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2251,3431
$GC,5495,-0.96,-146.6,378.5,-7.2,263,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2250,3430
$GC,5808,-0.96,-146.6,400.1,-7.0,278,5812,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3647,3431
$GC,5874,-0.96,-146.6,405.3,-7.3,281,5879,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2252,3431
$GC,6200,-0.96,-146.6,429.0,-7.3,297,6201,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2252,3431
$GC,6512,-0.96,-146.6,451.9,-7.2,312,6516,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3647,3430
$GC,6578,-0.96,-146.6,457.2,-7.4,315,6582,0.00,2.38,0.00,0.000,6,0.000,0.029,2584,2250,3430
$GC,6900,-0.96,-146.6,478.9,-6.6,331,6904,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3648,3430
$GC,6964,-0.96,-146.6,483.3,-7.4,334,6968,0.00,2.38,0.00,0.000,6,0.000,0.029,2584,2248,3430
$GC,7291,-0.96,-146.6,505.8,-6.9,350,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3430
$GC,7600,-0.96,-146.6,527.1,-6.9,365,7604,0.00,2.53,0.00,0.000,4,0.000,0.055,2584,3646,3430
$GC,7668,-0.96,-146.6,531.9,-8.1,368,7673,0.00,2.38,0.00,0.000,6,0.000,0.029,2584,2251,3430
$GC,7989,-0.96,-146.6,553.0,-6.3,384,7993,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3648,3430
$GC,8046,-0.96,-146.6,556.8,-7.4,386,8052,0.00,2.38,0.00,0.000,6,0.000,0.029,2584,2248,3430
$GC,8362,-0.96,-146.6,575.9,-6.0,402,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2248,3430
$GC,8671,-0.96,-146.6,594.9,-6.0,417,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2248,3430
$GC,8981,-0.96,-146.6,615.0,-7.0,432,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2246,3430
$GC,9289,-0.96,-146.6,635.6,-7.0,447,9294,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3651,3430
$GC,9322,-0.96,-146.6,638.2,-7.5,448,9328,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2246,3430
$GC,9639,-0.96,-146.6,661.8,-7.9,464,9643,0.00,2.55,0.00,0.000,4,0.000,0.057,2584,3651,3429
$GC,9718,-0.96,-146.6,668.5,-9.3,467,9724,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2243,3429
$GC,10033,-0.96,-146.6,694.1,-8.5,483,10037,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3652,3429
$GC,10192,-0.96,-146.6,708.3,-9.5,490,10196,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2243,3429
$GC,10515,-0.96,-146.6,736.0,-7.7,506,10519,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3652,3429
$GC,10570,-0.96,-146.6,740.1,-7.2,508,10576,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2244,3429
$GC,10889,-0.96,-146.6,759.1,-5.5,524,10893,0.00,2.55,0.00,0.000,4,0.000,0.057,2584,3650,3429
$GC,10929,-0.96,-146.6,761.2,-4.9,526,10933,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2239,3429
$GC,11256,-0.96,-146.6,779.4,-5.6,542,11257,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2238,3429
$GC,11564,-0.96,-146.6,798.7,-6.7,557,11568,0.00,2.58,0.00,0.000,4,0.000,0.058,2584,3651,3428
$GC,11603,-0.96,-146.6,801.2,-6.9,559,11607,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2252,3428
$GC,11932,-0.96,-146.6,821.7,-6.3,575,11936,0.00,2.47,0.00,0.000,4,0.000,0.046,2584,842,3428
$GC,12005,-0.96,-146.6,827.2,-7.7,578,12009,0.00,2.45,0.00,0.000,6,0.000,0.038,2585,2243,3428
$GC,12320,-0.96,-146.6,847.1,-6.1,593,12324,0.00,2.47,0.00,0.000,4,0.000,0.044,2584,845,3428
$GC,12392,-0.96,-146.6,851.4,-6.2,596,12396,0.00,2.47,0.00,0.000,6,0.000,0.039,2584,2257,3428
$GC,12711,-0.96,-146.6,870.7,-6.2,611,12715,0.00,2.55,0.00,0.000,4,0.000,0.062,2584,3655,3427
$GC,12820,-0.96,-146.6,877.4,-5.5,616,12825,0.00,2.45,0.00,0.000,6,0.000,0.034,2584,2254,3426
$GC,13152,-0.96,-146.6,893.6,-4.1,632,13157,0.00,2.55,0.00,0.000,4,0.000,0.060,2584,3651,3426
$GC,13276,-0.96,-146.6,900.1,-5.3,637,13282,0.00,2.42,0.00,0.000,6,0.000,0.034,2584,2245,3426
$GC,13592,-0.96,-146.6,916.8,-5.7,653,13593,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2244,3425
$GC,13901,-0.96,-146.6,933.0,-5.9,668,13906,0.00,2.60,0.00,0.000,4,0.000,0.062,2584,3641,3424
$GC,14007,-0.96,-146.6,939.4,-4.4,672,14013,0.00,2.40,0.00,0.000,6,0.000,0.035,2584,2254,3424
$STATE,14261,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14261,begin apogee
$GC,14269,-0.36,0.0,952.2,5.5,685,14402,0.62,0.00,129.85,1.407,6,0.065,0.000,2720,1461,2832
$STATE,14402,end apogee,CONTROL_FINISHED_OK
$STATE,14403,begin climb
$GC,14405,0.96,146.6,955.9,0.0,692,14545,1.33,2.28,131.68,1.361,4,0.053,0.064,3009,258,2233
$GC,14795,1.01,185.2,932.5,4.9,709,14838,0.00,2.10,34.97,1.318,6,0.000,0.036,3009,1458,2076
$GC,15151,1.04,206.1,915.2,5.4,726,15177,0.00,2.60,19.38,1.288,4,0.000,0.050,3009,2852,1990
$GC,15236,1.04,206.1,910.0,6.1,729,15242,0.00,2.50,0.00,0.000,6,0.000,0.043,3009,1451,1988
$GC,15551,1.04,206.1,889.5,6.5,745,15556,0.00,2.53,0.00,0.000,4,0.000,0.050,3009,2855,1986
$GC,15591,1.04,206.1,887.0,6.0,747,15595,0.00,2.47,0.00,0.000,6,0.000,0.042,3009,1453,1985
$GC,15917,1.05,216.6,867.3,5.7,763,15932,0.00,2.58,10.30,1.210,4,0.000,0.048,3009,2853,1947
$GC,15972,1.05,216.6,863.9,6.4,764,15978,0.00,2.50,0.00,0.000,6,0.000,0.041,3009,1448,1946
$GC,16290,1.05,216.6,843.6,6.4,780,16291,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1448,1945
$GC,16597,1.07,234.1,825.1,5.5,795,16618,0.10,0.00,17.23,1.278,6,0.051,0.000,3057,1448,1877
$GC,16929,1.07,234.1,799.4,8.4,811,16931,0.12,0.00,0.00,0.000,6,0.079,0.000,3031,1448,1873
$GC,17236,1.07,234.1,777.4,6.6,826,17240,0.00,2.53,0.00,0.000,4,0.000,0.047,3031,2854,1871
$GC,17308,1.07,234.1,772.3,6.4,829,17313,0.00,2.50,0.00,0.000,6,0.000,0.038,3031,1452,1871
$GC,17628,1.07,234.1,749.0,7.9,845,17629,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1453,1871
$GC,17937,1.07,234.1,723.9,7.8,860,17942,0.00,2.50,0.00,0.000,4,0.000,0.044,3031,2854,1871
$GC,17971,1.07,234.1,721.3,7.3,861,17977,0.00,2.45,0.00,0.000,6,0.000,0.037,3031,1454,1871
$GC,18288,1.07,234.1,695.6,8.3,877,18293,0.00,2.50,0.00,0.000,4,0.000,0.045,3031,2859,1871
$GC,18316,1.07,234.1,693.1,8.2,878,18321,0.00,2.47,0.00,0.000,6,0.000,0.037,3031,1464,1871
$GC,18637,1.07,234.1,666.7,7.9,894,18641,0.00,2.47,0.00,0.000,4,0.000,0.045,3031,2862,1872
$GC,18676,1.07,234.1,663.3,8.2,896,18681,0.00,2.47,0.00,0.000,6,0.000,0.037,3031,1448,1872
$GC,19003,1.07,234.1,636.5,8.2,912,19004,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1448,1872
$GC,19312,1.07,234.1,610.8,8.5,927,19317,0.00,2.50,0.00,0.000,4,0.000,0.044,3031,2855,1872
$GC,19375,1.07,234.1,605.5,8.6,930,19379,0.00,2.47,0.00,0.000,6,0.000,0.037,3031,1455,1872
$GC,19707,1.07,234.1,578.4,8.0,946,19712,0.00,2.50,0.00,0.000,4,0.000,0.044,3031,2854,1872
$GC,19739,1.07,234.1,575.7,6.9,947,19744,0.00,2.45,0.00,0.000,6,0.000,0.035,3031,1450,1872
$GC,20058,1.07,234.1,550.5,8.3,962,20062,0.00,2.50,0.00,0.000,4,0.000,0.044,3031,2858,1873
$GC,20101,1.07,234.1,546.8,7.8,964,20106,0.00,2.45,0.00,0.000,6,0.000,0.036,3031,1454,1873
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$STATE,26921,end climb,SURFACE_DEPTH_REACHED
$STATE,26921,begin surface coast
$FINISH,0.3,1.012705
$STATE,26964,end surface coast,CONTROL_FINISHED_OK
$STATE,26964,begin surface
$SM_CCo,26987,41.75,0.765,0,0,1609,300.00
$SM_GC,1.02,0.00,0.00,41.75,0.000,0.000,0.765,389,2240,1609,-11.09,-0.28,300.00
$IRIDIUM_FIX,6244.56,-1327.52,260998,060648
$TT8_MAMPS,0.027612
$HUMID,1826
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,875.1,87.0
$24V_AH,23.2,35.475
$10V_AH,10.1,17.943
$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,25.250,262.875,343.400,41.750,0.000,62.077,52.658,246.973,7.750,0.000,0.000,10.864,2428.626,20535.334,564.388,2888.520,1162.403,0.000,2075.663,0.000,3101.706,0.000,52.532,0.000
$DEVICE_MAMPS,132.691,64.428,1407.445,765.466,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1053.688,991.362,732.153,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66400,1297
$CAP_FILE_SIZE,200734,0
$CFSIZE,260165632,250077184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,020709,133607,6306.426,-1327.671,27,1.7,28,-12.3