version: 66.04
glider: 105
mission: 6
dive: 126
start: 7 5 109 1 18 46
data:
$ID,105
$MISSION,6
$DIVE,126
$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,-1630252.2
$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,35
$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
$GPS1,011207,6257.484,-1328.332,31,1.0,32,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-57.7
$GPS2,011826,6257.458,-1328.414,13,1.3,13,-12.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IE
$TGT_LATLONG,6245.000,-1320.000
$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,175.1,24150,-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,-58.50,0.000,6,0.000,0.000,388,2256,3431
$GC,81,-0.96,-146.6,5.2,-10.2,3,102,11.55,2.53,0.00,0.000,4,0.128,0.036,2584,838,3433
$GC,314,-0.96,-146.6,33.8,-7.3,13,318,0.00,2.45,0.00,0.000,6,0.000,0.033,2584,2245,3433
$GC,632,-0.96,-146.6,57.3,-8.1,28,636,0.00,2.47,0.00,0.000,4,0.000,0.038,2584,833,3434
$GC,676,-0.96,-146.6,61.0,-7.6,30,680,0.00,2.47,0.00,0.000,6,0.000,0.032,2584,2257,3434
$GC,997,-0.96,-146.6,84.4,-6.9,46,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2257,3435
$GC,1306,-0.96,-146.6,104.3,-6.4,61,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2257,3435
$GC,1617,-0.96,-146.6,125.3,-7.1,76,1621,0.00,2.50,0.00,0.000,4,0.000,0.041,2583,836,3435
$GC,1649,-0.96,-146.6,127.8,-6.4,77,1656,0.00,2.47,0.00,0.000,6,0.000,0.035,2584,2256,3435
$GC,1965,-0.96,-146.6,149.0,-6.5,93,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2256,3434
$GC,2274,-0.96,-146.6,169.5,-6.7,108,2278,0.00,2.50,0.00,0.000,4,0.000,0.041,2584,833,3434
$GC,2313,-0.96,-146.6,172.1,-7.0,110,2317,0.00,2.47,0.00,0.000,6,0.000,0.035,2584,2257,3434
$GC,2640,-0.96,-146.6,194.2,-6.9,126,2644,0.00,2.55,0.00,0.000,4,0.000,0.061,2583,3654,3434
$GC,2679,-0.96,-146.6,197.0,-7.3,128,2683,0.00,2.42,0.00,0.000,6,0.000,0.029,2583,2229,3434
$GC,3006,-0.96,-146.6,219.0,-6.9,144,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2229,3434
$GC,3314,-0.96,-146.6,240.3,-6.8,159,3319,0.00,2.60,0.00,0.000,4,0.000,0.055,2584,3658,3433
$GC,3404,-0.96,-146.6,247.2,-8.1,163,3408,0.00,2.40,0.00,0.000,6,0.000,0.028,2583,2248,3433
$GC,3724,-0.96,-146.6,268.7,-6.7,179,3728,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3651,3433
$GC,3764,-0.96,-146.6,271.6,-7.1,181,3768,0.00,2.38,0.00,0.000,6,0.000,0.029,2583,2252,3433
$GC,4090,-0.96,-146.6,294.2,-7.1,197,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3433
$GC,4399,-0.96,-146.6,316.5,-7.2,212,4404,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3654,3433
$GC,4449,-0.96,-146.6,320.4,-7.7,214,4454,0.00,2.40,0.00,0.000,6,0.000,0.028,2584,2239,3433
$GC,4765,-0.96,-146.6,342.4,-6.7,229,4770,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3650,3432
$GC,4815,-0.96,-146.6,346.1,-7.1,231,4820,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2250,3432
$GC,5133,-0.96,-146.6,366.9,-6.3,246,5134,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2250,3432
$GC,5441,-0.96,-146.6,385.9,-5.9,261,5445,0.00,2.53,0.00,0.000,4,0.000,0.055,2583,3651,3432
$GC,5513,-0.96,-146.6,390.5,-6.8,264,5517,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2251,3432
$GC,5828,-0.96,-146.6,408.6,-6.1,279,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2249,3432
$GC,6140,-0.96,-146.6,428.1,-6.4,294,6144,0.00,2.53,0.00,0.000,4,0.000,0.055,2584,3651,3431
$GC,6206,-0.96,-146.6,433.2,-7.0,297,6211,0.00,2.40,0.00,0.000,6,0.000,0.028,2584,2253,3431
$GC,6533,-0.96,-146.6,455.7,-6.9,313,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2253,3432
$GC,6844,-0.96,-146.6,477.5,-7.1,328,6848,0.00,2.53,0.00,0.000,4,0.000,0.055,2584,3651,3431
$GC,6906,-0.96,-146.6,482.4,-8.0,331,6910,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2251,3431
$GC,7232,-0.96,-146.6,503.8,-6.5,347,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2250,3431
$GC,7542,-0.96,-146.6,522.5,-5.9,362,7546,0.00,2.55,0.00,0.000,4,0.000,0.055,2584,3657,3431
$GC,7586,-0.96,-146.6,525.4,-6.5,364,7591,0.00,2.42,0.00,0.000,6,0.000,0.029,2583,2251,3431
$GC,7913,-0.96,-146.6,545.1,-6.4,380,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2250,3431
$GC,8222,-0.96,-146.6,565.5,-7.0,395,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2250,3431
$GC,8532,-0.96,-146.6,587.9,-7.3,410,8536,0.00,2.55,0.00,0.000,4,0.000,0.055,2584,3658,3430
$GC,8581,-0.96,-146.6,592.1,-8.7,412,8586,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2245,3430
$GC,8897,-0.96,-146.6,617.6,-8.5,427,8898,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2245,3431
$GC,9206,-0.96,-146.6,643.2,-8.2,442,9207,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2244,3430
$GC,9515,-0.96,-146.6,667.7,-8.0,457,9520,0.00,2.58,0.00,0.000,4,0.000,0.056,2583,3649,3430
$GC,9576,-0.96,-146.6,673.1,-8.7,459,9582,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2239,3430
$GC,9892,-0.96,-146.6,698.0,-7.5,475,9893,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2239,3430
$GC,10201,-0.96,-146.6,720.0,-6.9,490,10206,0.00,2.58,0.00,0.000,4,0.000,0.055,2584,3658,3430
$GC,10257,-0.96,-146.6,724.1,-7.9,492,10263,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2253,3430
$GC,10574,-0.96,-146.6,743.2,-5.9,508,10578,0.00,2.45,0.00,0.000,4,0.000,0.043,2584,848,3430
$GC,10629,-0.96,-146.6,746.8,-6.1,510,10635,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2261,3430
$GC,10946,-0.96,-146.6,763.9,-5.2,526,10947,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2261,3430
$GC,11254,-0.96,-146.6,781.2,-6.1,541,11255,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2261,3430
$GC,11563,-0.96,-146.6,802.9,-7.4,556,11568,0.00,2.50,0.00,0.000,4,0.000,0.044,2583,857,3430
$GC,11646,-0.96,-146.6,809.2,-7.4,559,11653,0.00,2.42,0.00,0.000,6,0.000,0.038,2584,2249,3429
$GC,11963,-0.96,-146.6,830.7,-6.7,575,11967,0.00,2.47,0.00,0.000,4,0.000,0.044,2584,846,3429
$GC,12006,-0.96,-146.6,833.7,-6.5,577,12011,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2254,3429
$GC,12329,-0.96,-146.6,853.5,-5.9,593,12330,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2254,3429
$GC,12637,-0.96,-146.6,870.9,-5.6,608,12639,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2254,3428
$GC,12946,-0.96,-146.6,888.9,-5.9,623,12948,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2254,3428
$GC,13257,-0.96,-146.6,906.3,-5.6,638,13261,0.00,2.47,0.00,0.000,4,0.000,0.045,2584,853,3428
$GC,13284,-0.96,-146.6,908.1,-6.4,639,13289,0.00,2.47,0.00,0.000,6,0.000,0.038,2583,2248,3428
$GC,13605,-0.96,-146.6,925.6,-5.5,655,13609,0.00,2.55,0.00,0.000,4,0.000,0.061,2584,3653,3427
$GC,13655,-0.96,-146.6,928.4,-4.9,657,13660,0.00,2.45,0.00,0.000,6,0.000,0.034,2584,2251,3427
$GC,13976,-0.96,-146.6,943.5,-4.5,673,13980,0.00,2.47,0.00,0.000,4,0.000,0.048,2584,847,3426
$GC,14060,-0.96,-146.6,947.9,-5.6,677,14065,0.00,2.45,0.00,0.000,6,0.000,0.039,2584,2250,3426
$GC,14390,-0.96,-146.6,964.9,-5.7,693,14391,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2250,3426
$GC,14697,-0.96,-146.6,983.3,-5.7,708,14701,0.00,2.58,0.00,0.000,4,0.000,0.064,2584,3659,3424
$GC,14791,-0.96,-146.6,988.8,-5.8,712,14796,0.00,2.45,0.00,0.000,6,0.000,0.035,2583,2249,3424
$STATE,14816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14816,begin apogee
$GC,14824,-0.36,0.0,990.1,5.5,713,14959,0.65,0.00,131.10,1.430,6,0.066,0.000,2723,1458,2832
$STATE,14960,end apogee,CONTROL_FINISHED_OK
$STATE,14960,begin climb
$GC,14963,0.96,146.6,996.3,0.0,720,15103,1.30,2.28,132.45,1.393,4,0.050,0.065,3009,260,2234
$GC,15264,0.96,146.6,984.9,7.9,733,15270,0.00,2.08,0.00,0.000,6,0.000,0.036,3009,1462,2226
$GC,15579,0.96,146.6,964.9,6.0,749,15583,0.00,2.53,0.00,0.000,4,0.000,0.051,3009,2857,2223
$GC,15673,0.96,146.6,959.0,6.8,753,15678,0.00,2.50,0.00,0.000,6,0.000,0.042,3009,1448,2222
$GC,15991,0.96,146.6,940.0,6.3,768,15996,0.00,2.55,0.00,0.000,4,0.000,0.051,3009,2860,2221
$GC,16032,0.97,149.4,937.4,5.9,770,16036,0.00,2.50,0.00,0.000,6,0.000,0.042,3009,1454,2220
$GC,16361,0.97,149.4,915.1,7.2,786,16365,0.00,2.17,0.00,0.000,4,0.000,0.064,3009,262,2220
$GC,16384,0.97,149.4,913.2,7.3,787,16388,0.00,2.05,0.00,0.000,6,0.000,0.037,3009,1456,2219
$GC,16716,0.97,149.4,893.0,6.1,803,16721,0.00,2.50,0.00,0.000,4,0.000,0.050,3009,2851,2219
$GC,16817,0.98,163.3,887.5,5.6,807,16837,0.00,2.47,13.85,1.282,6,0.000,0.041,3009,1448,2166
$GC,17155,0.99,166.1,867.4,5.9,824,17164,0.00,2.55,4.18,0.874,4,0.000,0.049,3009,2854,2154
$GC,17227,0.99,166.1,863.0,6.2,827,17231,0.00,2.47,0.00,0.000,6,0.000,0.041,3009,1453,2153
$GC,17547,0.99,166.1,843.5,6.5,843,17552,0.00,2.53,0.00,0.000,4,0.000,0.048,3009,2842,2152
$GC,17625,0.99,166.1,838.0,6.9,846,17630,0.00,2.47,0.00,0.000,6,0.000,0.040,3009,1446,2152
$GC,17944,0.99,166.1,817.0,6.7,861,17948,0.00,2.53,0.00,0.000,4,0.000,0.048,3009,2858,2152
$GC,17970,0.99,166.1,815.1,6.5,862,17975,0.00,2.50,0.00,0.000,6,0.000,0.039,3009,1457,2152
$GC,18291,0.99,170.8,796.0,5.9,878,18302,0.00,2.53,5.80,1.017,4,0.000,0.046,3009,2851,2135
$GC,18336,1.01,183.8,793.2,5.6,880,18356,0.00,2.47,13.62,1.222,6,0.000,0.039,3009,1446,2082
$GC,18684,1.01,183.8,770.3,6.4,897,18685,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1446,2080
$GC,18993,1.04,209.8,751.8,5.3,912,19024,0.00,2.60,25.38,1.250,4,0.000,0.044,3009,2857,1976
$GC,19086,1.05,216.5,746.5,5.8,916,19098,0.00,2.47,7.35,1.036,6,0.000,0.038,3009,1452,1949
$GC,19409,1.05,217.7,727.8,6.0,932,19414,0.00,2.50,0.00,0.000,4,0.000,0.046,3009,2851,1947
$GC,19450,1.05,217.7,725.2,6.9,934,19454,0.00,2.45,0.00,0.000,6,0.000,0.038,3009,1451,1946
$GC,19776,1.07,236.1,706.5,5.5,950,19802,0.10,2.58,19.30,1.184,4,0.049,0.044,3053,2845,1868
$GC,19852,1.07,236.1,701.0,7.5,953,19857,0.00,2.47,0.00,0.000,6,0.000,0.038,3052,1464,1867
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$STATE,28104,end climb,SURFACE_DEPTH_REACHED
$STATE,28104,begin surface coast
$FINISH,0.1,1.026719
$STATE,28145,end surface coast,CONTROL_FINISHED_OK
$STATE,28145,begin surface
$SM_CCo,28169,37.97,0.764,0,0,1609,300.00
$SM_GC,0.87,0.00,0.00,37.97,0.000,0.000,0.764,390,2249,1609,-11.09,-0.03,300.00
$IRIDIUM_FIX,6235.17,-1327.72,280998,171706
$TT8_MAMPS,0.027612
$HUMID,1849
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,900.5,108.9
$24V_AH,23.1,36.980
$10V_AH,10.1,19.022
$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,25.125,269.400,357.700,37.975,0.000,31.073,26.343,183.024,8.000,0.000,0.000,13.359,2487.295,21614.396,558.525,2865.473,1049.215,0.000,2072.338,0.000,3098.761,0.000,54.201,0.000
$DEVICE_MAMPS,128.089,65.195,1430.455,763.932,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1102.953,1039.999,728.477,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69520,1354
$CAP_FILE_SIZE,203418,0
$CFSIZE,260165632,249327616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,050709,091007,6256.110,-1327.651,32,1.6,33,-12.2