version: 66.04
glider: 105
mission: 6
dive: 149
start: 7 12 109 11 28 52
data:
$ID,105
$MISSION,6
$DIVE,149
$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,-1630672.1
$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,2250
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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
$GPS1,112206,6217.080,-1158.652,36,1.4,42,-11.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-57.9
$GPS2,112832,6217.115,-1158.675,16,1.4,16,-11.1
$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,102.1,11781,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-59.12,0.000,6,0.000,0.000,385,2252,3432
$GC,81,-0.96,-146.6,4.5,-7.9,3,98,11.70,0.00,0.00,0.000,6,0.127,0.000,2583,2252,3433
$GC,409,-0.96,-146.6,38.5,-5.7,19,413,0.00,2.55,0.00,0.000,4,0.000,0.056,2583,3654,3434
$GC,503,-0.96,-146.6,45.9,-7.2,23,508,0.00,2.45,0.00,0.000,6,0.000,0.029,2583,2233,3434
$GC,824,-0.96,-146.6,66.4,-5.4,39,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2232,3435
$GC,1134,-0.96,-146.6,85.0,-6.0,54,1138,0.00,2.58,0.00,0.000,4,0.000,0.052,2583,3638,3435
$GC,1234,-0.96,-146.6,91.3,-6.3,58,1238,0.00,2.38,0.00,0.000,6,0.000,0.030,2583,2249,3435
$GC,1551,-0.96,-146.6,109.4,-5.6,73,1556,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3647,3435
$GC,1615,-0.96,-146.6,113.5,-6.7,76,1619,0.00,2.38,0.00,0.000,6,0.000,0.030,2583,2251,3435
$GC,1942,-0.96,-146.6,134.9,-6.7,92,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2251,3435
$GC,2251,-0.96,-146.6,155.5,-6.6,107,2256,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3643,3434
$GC,2319,-0.96,-146.6,160.3,-6.9,110,2323,0.00,2.38,0.00,0.000,6,0.000,0.031,2583,2251,3434
$GC,2646,-0.96,-146.6,181.0,-6.3,126,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2251,3434
$GC,2955,-0.96,-146.6,201.5,-6.7,141,2959,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3650,3434
$GC,3028,-0.96,-146.6,206.9,-7.6,144,3032,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2245,3434
$GC,3343,-0.96,-146.6,227.4,-6.5,159,3348,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3645,3434
$GC,3383,-0.96,-146.6,230.2,-7.3,161,3388,0.00,2.38,0.00,0.000,6,0.000,0.031,2583,2252,3434
$GC,3712,-0.96,-146.6,251.2,-6.3,177,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2252,3434
$GC,4019,-0.96,-146.6,270.5,-6.1,192,4024,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3651,3434
$GC,4092,-0.96,-146.6,275.6,-6.7,195,4096,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3434
$GC,4407,-0.96,-146.6,296.4,-6.8,210,4412,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3647,3433
$GC,4452,-0.96,-146.6,299.8,-7.6,212,4458,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2248,3433
$GC,4779,-0.96,-146.6,322.5,-6.9,228,4783,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3647,3433
$GC,4828,-0.96,-146.6,326.3,-7.6,230,4833,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2248,3433
$GC,5149,-0.96,-146.6,348.6,-6.8,246,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2248,3433
$GC,5461,-0.96,-146.6,370.1,-7.0,261,5465,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3649,3433
$GC,5533,-0.96,-146.6,375.8,-7.7,264,5538,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2249,3433
$GC,5854,-0.96,-146.6,398.4,-6.9,280,5858,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3651,3432
$GC,5903,-0.96,-146.6,402.2,-7.7,282,5908,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2251,3433
$GC,6223,-0.96,-146.6,424.6,-7.0,298,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2251,3432
$GC,6533,-0.96,-146.6,446.1,-6.9,313,6537,0.00,2.50,0.00,0.000,4,0.000,0.053,2583,3646,3432
$GC,6606,-0.96,-146.6,451.8,-7.6,316,6610,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2245,3432
$GC,6924,-0.96,-146.6,473.3,-6.7,331,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2245,3432
$GC,7231,-0.96,-146.6,493.0,-6.4,346,7235,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3646,3432
$GC,7320,-0.96,-146.6,499.4,-7.5,350,7324,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3432
$GC,7641,-0.96,-146.6,520.1,-6.5,366,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2248,3432
$GC,7950,-0.96,-146.6,539.6,-6.2,381,7954,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3651,3432
$GC,8035,-0.96,-146.6,545.4,-7.4,385,8039,0.00,2.40,0.00,0.000,6,0.000,0.032,2583,2248,3432
$GC,8362,-0.96,-146.6,566.2,-6.4,401,8363,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2248,3432
$GC,8671,-0.96,-146.6,585.8,-6.3,416,8676,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3646,3432
$GC,8726,-0.96,-146.6,589.6,-7.3,418,8730,0.00,2.40,0.00,0.000,6,0.000,0.032,2583,2249,3431
$GC,9041,-0.96,-146.6,610.0,-6.5,433,9043,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2248,3431
$GC,9353,-0.96,-146.6,629.4,-6.2,448,9354,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2248,3431
$GC,9660,-0.96,-146.6,647.8,-6.0,463,9664,0.00,2.50,0.00,0.000,4,0.000,0.053,2583,3646,3431
$GC,9724,-0.96,-146.6,651.7,-6.3,466,9728,0.00,2.40,0.00,0.000,6,0.000,0.033,2583,2248,3431
$GC,10050,-0.96,-146.6,672.1,-6.5,482,10054,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3648,3431
$GC,10111,-0.96,-146.6,676.5,-7.0,485,10116,0.00,2.40,0.00,0.000,6,0.000,0.033,2583,2251,3431
$GC,10441,-0.96,-146.6,697.4,-6.0,501,10445,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3653,3431
$GC,10507,-0.96,-146.6,702.1,-6.8,504,10512,0.00,2.42,0.00,0.000,6,0.000,0.033,2583,2237,3430
$GC,10829,-0.96,-146.6,722.2,-6.4,520,10833,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3649,3431
$GC,10907,-0.96,-146.6,727.9,-7.3,523,10914,0.00,2.40,0.00,0.000,6,0.000,0.033,2583,2252,3431
$GC,11223,-0.96,-146.6,747.3,-6.1,539,11224,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2252,3430
$GC,11535,-0.96,-146.6,765.9,-6.0,554,11539,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3650,3430
$GC,11620,-0.96,-146.6,771.5,-6.8,558,11624,0.00,2.40,0.00,0.000,6,0.000,0.033,2583,2254,3430
$GC,11948,-0.96,-146.6,792.1,-6.9,574,11952,0.00,2.47,0.00,0.000,4,0.000,0.048,2583,846,3430
$GC,11981,-0.96,-146.6,794.7,-7.1,575,11988,0.00,2.42,0.00,0.000,6,0.000,0.037,2583,2251,3430
$GC,12298,-0.96,-146.6,815.7,-5.9,591,12303,0.00,2.55,0.00,0.000,4,0.000,0.057,2583,3650,3430
$GC,12381,-0.96,-146.6,821.1,-6.0,594,12387,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2240,3430
$GC,12698,-0.96,-146.6,839.6,-5.7,610,12702,0.00,2.45,0.00,0.000,4,0.000,0.049,2583,850,3429
$GC,12748,-0.96,-146.6,842.5,-5.7,612,12752,0.00,2.45,0.00,0.000,6,0.000,0.038,2583,2257,3429
$GC,13064,-0.96,-146.6,862.5,-6.4,627,13068,0.00,2.50,0.00,0.000,4,0.000,0.056,2583,3650,3429
$GC,13192,-0.96,-146.6,871.0,-6.3,633,13197,0.00,2.42,0.00,0.000,6,0.000,0.035,2583,2258,3429
$GC,13527,-0.96,-146.6,890.1,-5.4,649,13528,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2258,3429
$GC,13834,-0.96,-146.6,907.5,-5.7,664,13838,0.00,2.53,0.00,0.000,4,0.000,0.057,2583,3650,3428
$GC,13896,-0.96,-146.6,911.3,-6.7,667,13901,0.00,2.45,0.00,0.000,6,0.000,0.036,2583,2255,3427
$GC,14228,-0.96,-146.6,931.7,-6.3,683,14232,0.00,2.55,0.00,0.000,4,0.000,0.058,2583,3654,3427
$GC,14255,-0.96,-146.6,933.2,-5.3,684,14259,0.00,2.45,0.00,0.000,4,0.000,0.037,2583,2243,3427
$STATE,14260,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14260,begin apogee
$GC,14268,-0.36,0.0,933.3,4.8,684,14402,0.60,0.00,130.98,1.386,6,0.058,0.000,2718,1456,2832
$STATE,14403,end apogee,CONTROL_FINISHED_OK
$STATE,14403,begin climb
$GC,14406,0.96,146.6,936.8,0.0,691,14546,1.33,2.30,131.85,1.348,4,0.052,0.067,3008,252,2233
$GC,14660,0.96,146.6,924.8,6.9,702,14666,0.00,2.08,0.00,0.000,6,0.000,0.035,3008,1459,2227
$GC,14976,0.97,150.4,906.1,5.9,718,14980,0.00,2.50,0.00,0.000,4,0.000,0.047,3008,2863,2223
$GC,15015,0.97,150.4,903.6,6.6,720,15019,0.00,2.53,0.00,0.000,6,0.000,0.044,3008,1448,2223
$GC,15342,0.97,150.4,883.3,6.0,736,15346,0.00,2.55,0.00,0.000,4,0.000,0.048,3008,2862,2221
$GC,15391,0.97,150.4,880.2,6.1,738,15395,0.00,2.53,0.00,0.000,6,0.000,0.042,3008,1448,2221
$GC,15709,0.99,170.0,861.8,5.5,753,15735,0.00,2.60,20.67,1.302,4,0.000,0.048,3008,2860,2137
$GC,15825,0.99,171.4,855.2,6.0,758,15829,0.00,2.53,0.00,0.000,6,0.000,0.042,3008,1447,2134
$GC,16147,1.00,177.2,836.7,5.8,774,16161,0.00,2.60,7.30,1.114,4,0.000,0.045,3008,2857,2109
$GC,16214,1.00,177.2,832.6,6.6,777,16218,0.00,2.50,0.00,0.000,6,0.000,0.041,3008,1453,2108
$GC,16540,1.00,177.2,811.6,6.7,793,16545,0.00,2.53,0.00,0.000,4,0.000,0.045,3008,2857,2107
$GC,16608,1.01,180.0,807.3,5.9,796,16613,0.00,2.47,0.00,0.000,6,0.000,0.039,3008,1453,2106
$GC,16935,1.01,180.0,787.2,6.4,812,16936,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1453,2106
$GC,17244,1.01,180.0,766.4,6.9,827,17249,0.00,2.47,0.00,0.000,4,0.000,0.044,3008,2857,2105
$GC,17379,1.01,180.0,756.5,7.4,833,17383,0.00,2.47,0.00,0.000,6,0.000,0.038,3008,1452,2105
$GC,17702,1.01,180.0,733.2,7.2,849,17703,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1452,2105
$GC,18008,1.01,180.0,711.8,6.8,864,18013,0.00,2.47,0.00,0.000,4,0.000,0.043,3008,2857,2106
$GC,18086,1.01,180.0,706.4,7.3,867,18092,0.00,2.45,0.00,0.000,6,0.000,0.038,3007,1453,2105
$GC,18402,1.01,180.0,686.5,6.2,883,18406,0.00,2.47,0.00,0.000,4,0.000,0.042,3008,2859,2106
$GC,18446,1.01,180.0,683.6,6.4,885,18450,0.00,2.45,0.00,0.000,6,0.000,0.037,3008,1452,2106
$GC,18767,1.01,180.0,662.9,6.5,901,18772,0.00,2.47,0.00,0.000,4,0.000,0.042,3008,2860,2106
$GC,18807,1.01,180.0,660.1,7.1,903,18812,0.00,2.45,0.00,0.000,6,0.000,0.037,3008,1452,2106
$GC,19137,1.01,180.0,638.8,6.8,919,19141,0.00,2.50,0.00,0.000,4,0.000,0.042,3008,2864,2105
$GC,19186,1.01,180.0,635.2,7.2,921,19190,0.00,2.47,0.00,0.000,6,0.000,0.037,3008,1448,2105
$GC,19505,1.01,180.0,613.7,6.8,936,19509,0.00,2.50,0.00,0.000,4,0.000,0.041,3008,2863,2106
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$GC,24695,1.04,206.6,277.3,5.7,1188,24711,0.00,2.53,9.73,0.856,4,0.000,0.042,3009,2857,1989
$GC,24764,1.04,206.6,273.3,6.7,1191,24768,0.00,2.47,0.00,0.000,6,0.000,0.036,3008,1446,1988
$GC,25090,1.04,206.6,253.2,6.2,1207,25094,0.00,2.50,0.00,0.000,4,0.000,0.040,3008,2861,1988
$GC,25145,1.04,206.6,249.7,6.6,1209,25152,0.00,2.47,0.00,0.000,6,0.000,0.036,3008,1445,1987
$GC,25461,1.04,207.8,230.4,6.0,1225,25465,0.00,2.50,0.00,0.000,4,0.000,0.039,3008,2863,1987
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$STATE,28548,end climb,SURFACE_DEPTH_REACHED
$STATE,28548,begin surface coast
$FINISH,0.9,1.026742
$STATE,28569,end surface coast,CONTROL_FINISHED_OK
$STATE,28569,begin surface
$SM_CCo,28593,5.93,0.610,0,0,1609,300.00
$SM_GC,1.57,0.00,0.00,5.93,0.000,0.000,0.610,394,2266,1609,-11.07,0.45,300.00
$IRIDIUM_FIX,6153.50,-1201.17,061098,030345
$TT8_MAMPS,0.027612
$HUMID,1861
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,876.0,67.3
$24V_AH,23.2,40.571
$10V_AH,10.1,21.887
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$DEVICE_SECS,25.200,284.725,399.525,5.925,0.000,30.455,29.848,186.204,7.750,0.000,0.000,16.349,2549.135,21709.818,568.304,3066.514,1081.701,0.000,2186.469,0.000,3296.662,0.000,52.483,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1099.874,1080.210,768.681,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69388,1375
$CAP_FILE_SIZE,210385,0
$CFSIZE,260165632,247336960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,120709,192636,6217.344,-1152.455,24,1.3,24,-11.1