version: 66.04
glider: 105
mission: 6
dive: 133
start: 7 7 109 8 12 4
data:
$ID,105
$MISSION,6
$DIVE,133
$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,-1630406.6
$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,30
$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
$GPS1,080536,6244.268,-1315.827,40,0.8,41,-12.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-58.9
$GPS2,081144,6244.262,-1315.832,12,1.1,12,-12.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HE
$TGT_LATLONG,6235.000,-1245.000
$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,135.1,31393,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-58.40,0.000,6,0.000,0.000,387,2248,3432
$GC,81,-0.96,-146.6,5.1,-9.5,3,102,11.65,2.53,0.00,0.000,4,0.132,0.038,2585,835,3433
$GC,230,-0.96,-146.6,28.1,-8.8,9,237,0.00,2.45,0.00,0.000,6,0.000,0.033,2585,2251,3434
$GC,546,-0.96,-146.6,50.1,-6.4,25,551,0.00,2.55,0.00,0.000,4,0.000,0.057,2585,3651,3434
$GC,658,-0.96,-146.6,59.1,-8.5,30,662,0.00,2.42,0.00,0.000,6,0.000,0.029,2585,2228,3434
$GC,978,-0.96,-146.6,82.2,-7.1,46,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2228,3434
$GC,1288,-0.96,-146.6,102.7,-6.4,61,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2228,3435
$GC,1598,-0.96,-146.6,123.5,-7.0,76,1603,0.00,2.58,0.00,0.000,4,0.000,0.054,2585,3651,3435
$GC,1654,-0.96,-146.6,127.9,-7.6,78,1661,0.00,2.42,0.00,0.000,6,0.000,0.030,2584,2252,3435
$GC,1971,-0.96,-146.6,151.0,-7.2,94,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2252,3435
$GC,2279,-0.96,-146.6,172.6,-6.8,109,2284,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3644,3434
$GC,2328,-0.96,-146.6,176.5,-7.5,111,2332,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2243,3435
$GC,2652,-0.96,-146.6,199.0,-7.0,127,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2243,3434
$GC,2959,-0.96,-146.6,221.2,-7.2,142,2963,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3648,3434
$GC,3036,-0.96,-146.6,227.1,-7.6,145,3043,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3435
$GC,3352,-0.96,-146.6,249.4,-7.1,161,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2250,3434
$GC,3663,-0.96,-146.6,271.4,-7.0,176,3667,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3652,3434
$GC,3729,-0.96,-146.6,276.7,-7.8,179,3734,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2254,3434
$GC,4056,-0.96,-146.6,299.0,-6.7,195,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2253,3433
$GC,4365,-0.96,-146.6,320.5,-7.0,210,4369,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3651,3433
$GC,4427,-0.96,-146.6,325.0,-7.6,213,4431,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2248,3433
$GC,4756,-0.96,-146.6,347.9,-7.1,229,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3433
$GC,5062,-0.96,-146.6,370.3,-7.2,244,5067,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3648,3433
$GC,5107,-0.96,-146.6,374.0,-8.4,246,5111,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2250,3433
$GC,5433,-0.96,-146.6,397.6,-7.2,262,5437,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3651,3433
$GC,5477,-0.96,-146.6,400.9,-8.1,264,5482,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2251,3433
$GC,5803,-0.96,-146.6,423.4,-6.8,280,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3432
$GC,6112,-0.96,-146.6,443.8,-6.5,295,6117,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3650,3432
$GC,6185,-0.96,-146.6,448.8,-7.1,298,6189,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2249,3432
$GC,6503,-0.96,-146.6,468.1,-6.0,313,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3432
$GC,6810,-0.96,-146.6,486.8,-5.8,328,6811,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3432
$GC,7119,-0.96,-146.6,506.2,-6.6,343,7120,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3432
$GC,7428,-0.96,-146.6,527.1,-6.8,358,7432,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3650,3432
$GC,7494,-0.96,-146.6,532.1,-7.7,361,7499,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2250,3432
$GC,7820,-0.96,-146.6,554.5,-6.8,377,7825,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3654,3432
$GC,7870,-0.96,-146.6,558.2,-7.0,379,7874,0.00,2.40,0.00,0.000,6,0.000,0.032,2585,2251,3431
$GC,8187,-0.96,-146.6,579.2,-6.6,394,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3431
$GC,8495,-0.96,-146.6,599.4,-6.5,409,8499,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3653,3431
$GC,8556,-0.96,-146.6,603.7,-7.4,412,8560,0.00,2.40,0.00,0.000,6,0.000,0.032,2585,2251,3431
$GC,8882,-0.96,-146.6,624.1,-6.1,428,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3431
$GC,9192,-0.96,-146.6,643.0,-5.9,443,9194,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3431
$GC,9501,-0.96,-146.6,660.4,-5.4,458,9505,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3652,3431
$GC,9557,-0.96,-146.6,663.7,-5.9,460,9563,0.00,2.40,0.00,0.000,6,0.000,0.032,2585,2240,3431
$GC,9873,-0.96,-146.6,680.0,-5.3,476,9877,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3648,3430
$GC,9912,-0.96,-146.6,682.3,-6.5,478,9916,0.00,2.40,0.00,0.000,6,0.000,0.033,2585,2250,3431
$GC,10239,-0.96,-146.6,700.1,-5.6,494,10241,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2250,3430
$GC,10548,-0.96,-146.6,717.8,-5.8,509,10549,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2250,3430
$GC,10859,-0.96,-146.6,736.3,-6.3,524,10860,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2250,3430
$GC,11166,-0.96,-146.6,757.2,-6.7,539,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3430
$GC,11475,-0.96,-146.6,776.2,-6.0,554,11480,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3654,3430
$GC,11586,-0.96,-146.6,783.0,-5.8,559,11590,0.00,2.42,0.00,0.000,6,0.000,0.034,2585,2245,3430
$GC,11917,-0.96,-146.6,800.8,-5.5,575,11918,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2244,3430
$GC,12221,-0.96,-146.6,820.3,-7.2,590,12225,0.00,2.47,0.00,0.000,4,0.000,0.049,2585,844,3430
$GC,12295,-0.96,-146.6,826.3,-8.2,593,12299,0.00,2.45,0.00,0.000,6,0.000,0.038,2585,2244,3430
$GC,12610,-0.96,-146.6,848.0,-6.3,608,12615,0.00,2.47,0.00,0.000,4,0.000,0.048,2585,850,3429
$GC,12688,-0.96,-146.6,853.0,-6.0,611,12695,0.00,2.45,0.00,0.000,6,0.000,0.038,2585,2258,3429
$GC,13004,-0.96,-146.6,871.8,-5.6,627,13009,0.00,2.55,0.00,0.000,4,0.000,0.060,2585,3648,3429
$STATE,13125,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13125,begin apogee
$GC,13135,-0.36,0.0,879.5,6.1,632,13268,0.60,0.00,129.82,1.343,6,0.063,0.000,2719,1466,2832
$STATE,13269,end apogee,CONTROL_FINISHED_OK
$STATE,13269,begin climb
$GC,13272,0.96,146.6,882.7,0.0,639,13410,1.30,2.28,130.62,1.303,4,0.047,0.064,3009,264,2233
$GC,13496,0.96,146.6,873.4,6.5,649,13500,0.00,2.05,0.00,0.000,6,0.000,0.036,3009,1455,2227
$GC,13818,0.97,148.2,855.7,6.0,665,13823,0.00,2.53,0.00,0.000,4,0.000,0.050,3009,2863,2224
$GC,13919,0.97,148.2,848.7,6.7,669,13925,0.00,2.53,0.00,0.000,6,0.000,0.043,3009,1448,2223
$GC,14235,0.97,151.4,829.1,5.9,685,14239,0.00,2.17,0.00,0.000,4,0.000,0.063,3009,258,2221
$GC,14274,0.99,165.0,827.0,5.6,686,14295,0.00,2.08,16.00,1.228,6,0.000,0.035,3009,1467,2159
$GC,14612,1.00,176.2,808.7,5.7,703,14630,0.00,0.00,11.50,1.179,6,0.000,0.000,3009,1467,2112
$GC,14942,1.00,176.2,788.1,6.2,719,14946,0.00,2.50,0.00,0.000,4,0.000,0.049,3009,2858,2109
$GC,15014,1.00,176.2,783.3,6.2,722,15019,0.00,2.53,0.00,0.000,6,0.000,0.041,3009,1452,2109
$GC,15335,1.02,190.6,765.5,5.6,738,15356,0.00,2.55,14.12,1.202,4,0.000,0.045,3009,2851,2054
$GC,15389,1.02,190.6,762.1,6.2,740,15394,0.00,2.47,0.00,0.000,6,0.000,0.040,3009,1452,2053
$GC,15708,1.06,220.7,745.0,5.2,755,15744,0.00,2.58,28.83,1.246,4,0.000,0.044,3009,2851,1931
$GC,15797,1.07,235.1,740.0,5.6,759,15819,0.08,2.50,14.75,1.164,6,0.033,0.040,3060,1453,1873
$GC,16130,1.07,235.1,712.0,9.0,775,16132,0.12,0.00,0.00,0.000,6,0.078,0.000,3033,1453,1867
$GC,16437,1.07,235.1,687.3,8.0,790,16441,0.00,2.50,0.00,0.000,4,0.000,0.044,3033,2852,1867
$GC,16480,1.07,235.1,683.9,7.4,792,16485,0.00,2.47,0.00,0.000,6,0.000,0.038,3033,1449,1867
$GC,16802,1.07,235.1,661.5,6.7,808,16806,0.00,2.50,0.00,0.000,4,0.000,0.044,3033,2851,1866
$GC,16838,1.07,235.1,659.0,7.0,809,16844,0.00,2.47,0.00,0.000,6,0.000,0.039,3034,1446,1866
$GC,17153,1.07,235.1,636.0,7.2,825,17158,0.00,2.47,0.00,0.000,4,0.000,0.042,3033,2852,1866
$GC,17198,1.07,235.1,632.5,7.7,827,17203,0.00,2.50,0.00,0.000,6,0.000,0.038,3033,1450,1865
$GC,17524,1.07,235.1,608.0,7.6,843,17528,0.00,2.50,0.00,0.000,4,0.000,0.043,3033,2857,1865
$GC,17573,1.07,235.1,604.1,7.7,845,17578,0.00,2.45,0.00,0.000,6,0.000,0.038,3033,1455,1865
$GC,17891,1.07,235.1,579.6,7.9,860,17896,0.00,2.47,0.00,0.000,4,0.000,0.042,3033,2858,1865
$GC,17947,1.07,235.1,574.9,7.9,862,17953,0.00,2.45,0.00,0.000,6,0.000,0.037,3033,1454,1865
$GC,18265,1.07,235.1,549.9,8.0,878,18269,0.00,2.47,0.00,0.000,4,0.000,0.043,3034,2852,1866
$GC,18309,1.07,235.1,546.2,8.5,880,18313,0.00,2.45,0.00,0.000,6,0.000,0.038,3033,1455,1866
$GC,18633,1.07,235.1,519.7,8.4,896,18637,0.00,2.47,0.00,0.000,4,0.000,0.043,3034,2860,1866
$GC,18673,1.07,235.1,516.0,9.2,898,18677,0.00,2.45,0.00,0.000,6,0.000,0.038,3034,1454,1866
$GC,18999,1.07,235.1,488.5,8.4,914,19004,0.00,2.50,0.00,0.000,4,0.000,0.043,3033,2851,1866
$GC,19031,1.07,235.1,485.9,6.8,915,19036,0.00,2.42,0.00,0.000,6,0.000,0.038,3034,1455,1866
$GC,19349,1.07,235.1,459.9,8.2,930,19354,0.00,2.45,0.00,0.000,4,0.000,0.042,3033,2852,1866
$GC,19378,1.07,235.1,457.4,7.5,931,19382,0.00,2.45,0.00,0.000,6,0.000,0.038,3034,1452,1866
$GC,19694,1.07,235.1,431.9,8.0,946,19698,0.00,2.47,0.00,0.000,4,0.000,0.042,3033,2853,1866
$GC,19733,1.07,235.1,428.5,8.3,948,19737,0.00,2.45,0.00,0.000,6,0.000,0.038,3033,1451,1866
$GC,20061,1.07,235.1,402.7,7.7,964,20065,0.00,2.50,0.00,0.000,4,0.000,0.043,3033,2860,1866
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$STATE,25463,end climb,SURFACE_DEPTH_REACHED
$STATE,25463,begin surface coast
$FINISH,0.3,1.027004
$STATE,25485,end surface coast,CONTROL_FINISHED_OK
$STATE,25485,begin surface
$SM_CCo,25509,39.78,0.765,0,0,1609,300.00
$SM_GC,1.17,0.00,0.00,39.78,0.000,0.000,0.765,393,2254,1609,-11.07,0.11,300.00
$IRIDIUM_FIX,6221.17,-1321.16,011098,000050
$TT8_MAMPS,0.027612
$HUMID,1856
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,825.1,64.4
$24V_AH,23.2,38.066
$10V_AH,10.1,19.894
$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,25.125,249.025,345.650,39.775,0.000,25.819,27.480,179.178,7.500,0.000,0.000,12.373,2268.050,19477.346,554.513,2628.119,979.135,0.000,1949.415,0.000,2845.734,0.000,52.159,0.000
$DEVICE_MAMPS,131.924,64.428,1343.017,764.699,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,994.618,944.422,704.768,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63199,1225
$CAP_FILE_SIZE,185572,0
$CFSIZE,260165632,248737792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,070709,151924,6241.044,-1310.924,34,1.6,51,-12.0