version: 66.04
glider: 105
mission: 6
dive: 217
start: 8 1 109 16 2 22
data:
$ID,105
$MISSION,6
$DIVE,217
$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,-1631862.8
$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,37
$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
$GPS1,155606,6205.360,-1008.496,32,1.1,32,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-62.4
$GPS2,160202,6205.384,-1008.537,15,1.6,15,-10.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,CE
$TGT_LATLONG,6205.000,-950.000
$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,102.6,16089,-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,-59.10,0.000,6,0.000,0.000,387,2262,3431
$GC,81,-0.96,-146.6,5.1,-10.2,3,98,11.73,0.00,0.00,0.000,6,0.129,0.000,2579,2263,3432
$GC,408,-0.96,-146.6,42.3,-6.9,19,412,0.00,2.50,0.00,0.000,4,0.000,0.054,2580,3641,3434
$GC,458,-0.96,-146.6,44.8,-4.5,21,463,0.00,2.40,0.00,0.000,6,0.000,0.030,2579,2234,3434
$GC,776,-0.96,-146.6,65.3,-8.4,36,780,0.00,2.55,0.00,0.000,4,0.000,0.052,2580,3642,3435
$GC,920,-0.96,-146.6,77.7,-7.9,42,927,0.00,2.38,0.00,0.000,6,0.000,0.030,2580,2252,3434
$GC,1236,-0.96,-146.6,97.3,-6.8,58,1241,0.00,2.53,0.00,0.000,4,0.000,0.051,2580,3649,3435
$GC,1331,-0.96,-146.6,104.7,-8.1,62,1335,0.00,2.40,0.00,0.000,6,0.000,0.031,2580,2249,3435
$GC,1647,-0.96,-146.6,128.5,-7.6,77,1651,0.00,2.53,0.00,0.000,4,0.000,0.051,2580,3645,3435
$GC,1713,-0.96,-146.6,133.8,-7.7,80,1717,0.00,2.40,0.00,0.000,6,0.000,0.031,2579,2242,3435
$GC,2034,-0.96,-146.6,153.9,-6.1,96,2039,0.00,2.55,0.00,0.000,4,0.000,0.054,2579,3649,3435
$GC,2113,-0.96,-146.6,159.4,-7.1,99,2120,0.00,2.40,0.00,0.000,6,0.000,0.031,2580,2249,3434
$GC,2429,-0.96,-146.6,182.5,-7.5,115,2433,0.00,2.53,0.00,0.000,4,0.000,0.051,2579,3646,3434
$GC,2495,-0.96,-146.6,187.8,-7.8,118,2499,0.00,2.40,0.00,0.000,6,0.000,0.031,2579,2246,3434
$GC,2818,-0.96,-146.6,209.0,-6.5,134,2822,0.00,2.53,0.00,0.000,4,0.000,0.052,2579,3645,3433
$GC,2880,-0.96,-146.6,213.6,-6.9,137,2884,0.00,2.40,0.00,0.000,6,0.000,0.031,2579,2242,3434
$GC,3206,-0.96,-146.6,236.7,-7.1,153,3210,0.00,2.55,0.00,0.000,4,0.000,0.054,2579,3647,3433
$GC,3290,-0.96,-146.6,243.0,-7.4,157,3294,0.00,2.40,0.00,0.000,6,0.000,0.031,2579,2246,3433
$GC,3616,-0.96,-146.6,267.7,-7.9,173,3620,0.00,2.53,0.00,0.000,4,0.000,0.053,2580,3644,3433
$GC,3694,-0.96,-146.6,274.5,-8.7,176,3700,0.00,2.40,0.00,0.000,6,0.000,0.031,2579,2244,3433
$GC,4013,-0.96,-146.6,300.4,-8.4,192,4017,0.00,2.53,0.00,0.000,4,0.000,0.053,2580,3642,3433
$GC,4099,-0.96,-146.6,308.0,-9.1,196,4103,0.00,2.40,0.00,0.000,6,0.000,0.031,2580,2237,3433
$GC,4425,-0.96,-146.6,332.9,-7.1,212,4430,0.00,2.58,0.00,0.000,4,0.000,0.054,2580,3641,3433
$GC,4516,-0.96,-146.6,339.7,-7.8,216,4520,0.00,2.40,0.00,0.000,6,0.000,0.031,2580,2257,3432
$GC,4847,-0.96,-146.6,363.3,-7.2,232,4851,0.00,2.53,0.00,0.000,4,0.000,0.054,2579,3649,3433
$GC,4912,-0.96,-146.6,368.1,-7.7,235,4916,0.00,2.40,0.00,0.000,6,0.000,0.031,2579,2247,3432
$GC,5241,-0.96,-146.6,390.7,-7.1,251,5245,0.00,2.53,0.00,0.000,4,0.000,0.053,2580,3649,3432
$GC,5307,-0.96,-146.6,396.3,-8.2,254,5311,0.00,2.40,0.00,0.000,6,0.000,0.031,2579,2248,3432
$GC,5628,-0.96,-146.6,421.0,-7.7,270,5633,0.00,2.53,0.00,0.000,4,0.000,0.053,2579,3650,3432
$GC,5695,-0.96,-146.6,426.9,-8.8,273,5699,0.00,2.40,0.00,0.000,6,0.000,0.031,2579,2249,3432
$GC,6018,-0.96,-146.6,451.7,-7.6,289,6022,0.00,2.50,0.00,0.000,4,0.000,0.053,2579,3642,3432
$GC,6090,-0.96,-146.6,457.8,-7.8,292,6095,0.00,2.40,0.00,0.000,6,0.000,0.031,2579,2256,3432
$GC,6411,-0.96,-146.6,481.3,-7.0,308,6415,0.00,2.50,0.00,0.000,4,0.000,0.054,2580,3642,3432
$GC,6466,-0.96,-146.6,485.3,-7.9,310,6472,0.00,2.38,0.00,0.000,6,0.000,0.031,2579,2251,3432
$GC,6782,-0.96,-146.6,505.8,-6.6,326,6786,0.00,2.50,0.00,0.000,4,0.000,0.053,2580,3642,3432
$GC,6894,-0.96,-146.6,513.9,-7.5,331,6898,0.00,2.38,0.00,0.000,6,0.000,0.031,2579,2251,3432
$GC,7215,-0.96,-146.6,534.4,-6.1,347,7220,0.00,2.53,0.00,0.000,4,0.000,0.053,2579,3635,3431
$GC,7287,-0.96,-146.6,539.7,-7.4,350,7292,0.00,2.38,0.00,0.000,6,0.000,0.032,2580,2253,3431
$GC,7609,-0.96,-146.6,561.2,-6.5,366,7610,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2252,3432
$GC,7918,-0.96,-146.6,583.0,-7.3,381,7922,0.00,2.50,0.00,0.000,4,0.000,0.052,2579,3642,3431
$GC,8041,-0.96,-146.6,593.0,-7.9,386,8047,0.00,2.40,0.00,0.000,6,0.000,0.032,2579,2244,3431
$GC,8356,-0.96,-146.6,617.4,-7.3,402,8357,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2244,3431
$GC,8666,-0.96,-146.6,640.7,-7.5,417,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2243,3431
$GC,8975,-0.96,-146.6,666.1,-8.3,432,8980,0.00,2.55,0.00,0.000,4,0.000,0.056,2579,3646,3430
$GC,9086,-0.96,-146.6,676.2,-9.2,437,9091,0.00,2.40,0.00,0.000,6,0.000,0.032,2579,2253,3430
$GC,9411,-0.96,-146.6,700.0,-6.6,453,9415,0.00,2.50,0.00,0.000,4,0.000,0.054,2579,3643,3430
$GC,9478,-0.96,-146.6,704.7,-6.3,456,9482,0.00,2.40,0.00,0.000,6,0.000,0.033,2579,2252,3430
$GC,9801,-0.96,-146.6,725.6,-7.3,472,9802,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2250,3430
$GC,10109,-0.96,-146.6,746.6,-6.8,487,10113,0.00,2.53,0.00,0.000,4,0.000,0.055,2579,3645,3429
$GC,10254,-0.96,-146.6,756.7,-6.7,493,10260,0.00,2.40,0.00,0.000,6,0.000,0.034,2579,2248,3429
$GC,10571,-0.96,-146.6,775.1,-5.9,509,10572,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2247,3429
$GC,10878,-0.96,-146.6,794.5,-6.4,524,10883,0.00,2.55,0.00,0.000,4,0.000,0.058,2579,3650,3428
$GC,10919,-0.96,-146.6,797.3,-7.2,526,10923,0.00,2.42,0.00,0.000,6,0.000,0.036,2579,2250,3428
$GC,11246,-0.96,-146.6,818.4,-6.6,542,11250,0.00,2.53,0.00,0.000,4,0.000,0.058,2580,3642,3427
$GC,11290,-0.96,-146.6,821.6,-7.6,544,11294,0.00,2.42,0.00,0.000,6,0.000,0.036,2579,2244,3427
$GC,11611,-0.96,-146.6,841.4,-5.9,560,11616,0.00,2.55,0.00,0.000,4,0.000,0.061,2579,3641,3426
$GC,11691,-0.96,-146.6,846.6,-6.4,563,11697,0.00,2.42,0.00,0.000,6,0.000,0.037,2579,2249,3425
$STATE,11880,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11880,begin apogee
$GC,11888,-0.36,0.0,858.2,6.0,573,12024,0.65,0.00,129.93,1.364,6,0.064,0.000,2719,1460,2831
$STATE,12024,end apogee,CONTROL_FINISHED_OK
$STATE,12025,begin climb
$GC,12028,0.96,146.6,862.3,0.0,580,12168,1.33,2.30,131.35,1.322,4,0.053,0.066,3010,267,2233
$GC,12221,0.98,156.6,854.9,5.7,589,12236,0.00,2.08,10.00,1.118,6,0.000,0.035,3010,1455,2193
$GC,12550,0.98,156.6,834.9,6.1,604,12554,0.00,2.50,0.00,0.000,4,0.000,0.047,3010,2856,2186
$GC,12667,0.98,156.6,827.2,6.3,609,12671,0.00,2.50,0.00,0.000,6,0.000,0.042,3010,1452,2185
$GC,12985,0.98,156.6,807.7,6.0,624,12989,0.00,2.53,0.00,0.000,4,0.000,0.049,3010,2856,2184
$GC,13046,0.98,156.6,803.7,6.0,627,13051,0.00,2.50,0.00,0.000,6,0.000,0.042,3009,1450,2183
$GC,13373,1.00,178.7,785.2,5.4,643,13399,0.00,2.60,19.70,1.264,4,0.000,0.048,3010,2845,2103
$GC,13445,1.04,208.7,780.9,5.2,646,13483,0.00,2.53,29.27,1.278,6,0.000,0.043,3010,1455,1980
$GC,13793,1.04,208.7,758.2,6.6,663,13798,0.00,2.50,0.00,0.000,4,0.000,0.049,3010,2853,1974
$GC,13879,1.04,208.7,751.9,7.2,667,13883,0.00,2.47,0.00,0.000,6,0.000,0.042,3010,1454,1973
$GC,14205,1.04,208.7,726.1,8.2,683,14210,0.00,2.20,0.00,0.000,4,0.000,0.064,3010,271,1972
$GC,14243,1.04,208.7,722.7,8.6,684,14250,0.00,2.05,0.00,0.000,6,0.000,0.036,3010,1455,1971
$GC,14559,1.04,208.7,698.9,6.9,700,14560,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1455,1971
$GC,14868,1.04,208.7,679.4,6.2,715,14873,0.00,2.47,0.00,0.000,4,0.000,0.046,3010,2848,1971
$GC,14953,1.05,215.4,674.3,5.8,719,14964,0.00,2.45,5.72,0.971,6,0.000,0.041,3010,1452,1953
$GC,15281,1.07,232.8,655.6,5.5,735,15305,0.10,2.55,17.85,1.191,4,0.051,0.046,3055,2844,1882
$GC,15368,1.07,232.8,649.3,8.3,738,15375,0.12,2.47,0.00,0.000,6,0.084,0.039,3030,1450,1879
$GC,15684,1.07,232.8,627.3,7.0,754,15685,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1450,1879
$GC,15994,1.07,233.2,607.7,6.0,769,15995,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1450,1879
$GC,16305,1.07,233.2,588.6,6.1,784,16309,0.00,2.47,0.00,0.000,4,0.000,0.044,3030,2846,1878
$GC,16354,1.07,233.2,585.4,6.1,786,16358,0.00,2.45,0.00,0.000,6,0.000,0.039,3030,1445,1878
$GC,16673,1.07,233.2,561.7,8.0,801,16677,0.00,2.50,0.00,0.000,4,0.000,0.044,3031,2847,1878
$GC,16722,1.07,233.2,557.6,7.9,803,16726,0.00,2.42,0.00,0.000,6,0.000,0.038,3030,1455,1878
$GC,17038,1.07,233.2,531.5,9.2,818,17039,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1455,1878
$GC,17347,1.07,233.2,501.2,10.1,833,17352,0.00,2.47,0.00,0.000,4,0.000,0.043,3030,2842,1879
$GC,17392,1.07,233.2,496.6,11.2,835,17397,0.00,2.45,0.00,0.000,6,0.000,0.038,3030,1462,1878
$GC,17724,1.07,233.2,465.2,9.1,851,17729,0.00,2.45,0.00,0.000,4,0.000,0.041,3030,2844,1878
$GC,17763,1.07,233.2,461.7,9.2,852,17770,0.00,2.47,0.00,0.000,6,0.000,0.038,3030,1447,1878
$GC,18078,1.07,233.2,439.4,6.3,868,18082,0.00,2.47,0.00,0.000,4,0.000,0.041,3030,2847,1878
$GC,18128,1.12,273.2,436.5,4.9,870,18171,0.00,2.42,37.80,1.061,6,0.000,0.038,3030,1453,1718
$GC,18490,1.12,273.5,415.2,6.0,888,18495,0.00,2.47,0.00,0.000,4,0.000,0.041,3030,2847,1713
$GC,18523,1.12,273.5,412.7,6.1,889,18530,0.00,2.42,0.00,0.000,6,0.000,0.038,3030,1458,1711
$GC,18840,1.12,273.5,393.2,6.3,905,18841,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1457,1711
$GC,19148,1.12,273.5,373.8,6.3,920,19152,0.00,2.45,0.00,0.000,4,0.000,0.041,3030,2851,1711
$GC,19181,1.12,273.5,371.5,6.6,921,19187,0.00,2.45,0.00,0.000,6,0.000,0.038,3030,1452,1711
$GC,19499,1.12,273.5,349.3,7.4,937,19503,0.00,2.47,0.00,0.000,4,0.000,0.041,3030,2852,1711
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$GC,20874,1.12,273.5,225.6,8.5,1004,20878,0.00,2.47,0.00,0.000,4,0.000,0.041,3030,2846,1711
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$STATE,23947,end climb,SURFACE_DEPTH_REACHED
$STATE,23947,begin surface coast
$FINISH,0.1,1.009412
$STATE,23989,end surface coast,CONTROL_FINISHED_OK
$STATE,23989,begin surface
$SM_CCo,24013,17.02,0.746,0,0,1609,300.00
$SM_GC,0.83,0.00,0.00,17.02,0.000,0.000,0.746,383,2246,1609,-11.12,-0.14,300.00
$IRIDIUM_FIX,6144.36,-1006.35,261098,090931
$TT8_MAMPS,0.027612
$HUMID,1878
$INTERNAL_PRESSURE,8.14809
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,801.2,66.5
$24V_AH,23.1,48.718
$10V_AH,10.1,29.958
$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
$DEVICE_SECS,25.200,243.250,381.625,17.025,0.000,24.024,28.678,163.990,7.000,0.000,0.000,15.753,2152.121,18123.277,556.301,2608.676,939.230,0.000,1936.862,0.000,2801.661,0.000,47.620,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,962.173,883.163,675.760,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60030,1154
$CAP_FILE_SIZE,178458,0
$CFSIZE,260165632,241750016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,010809,224406,6203.508,-1000.211,34,1.3,34,-10.0