version: 66.04
glider: 105
mission: 6
dive: 129
start: 7 6 109 1 29 52
data:
$ID,105
$MISSION,6
$DIVE,129
$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,-1630338.4
$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,24
$R_STBD_OVSHOOT,31
$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
$GPS1,012237,6251.344,-1328.902,27,1.5,27,-12.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-58.9
$GPS2,012934,6251.342,-1328.977,17,4.0,36,-12.2
$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,159.3,13997,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,79,0.00,0.00,-59.42,0.000,6,0.000,0.000,392,2252,3431
$GC,82,-0.96,-146.6,4.8,-8.9,3,103,11.57,2.53,0.00,0.000,4,0.130,0.037,2583,836,3432
$GC,226,-0.96,-146.6,26.7,-8.4,9,230,0.00,2.47,0.00,0.000,6,0.000,0.034,2583,2251,3433
$GC,542,-0.96,-146.6,52.7,-8.5,24,546,0.00,2.50,0.00,0.000,4,0.000,0.039,2583,830,3434
$GC,574,-0.96,-146.6,55.8,-8.9,25,581,0.00,2.47,0.00,0.000,6,0.000,0.035,2583,2246,3434
$GC,892,-0.96,-146.6,85.3,-8.7,41,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2246,3434
$GC,1200,-0.96,-146.6,109.2,-7.1,56,1204,0.00,2.47,0.00,0.000,4,0.000,0.041,2583,839,3434
$GC,1232,-0.96,-146.6,111.6,-7.3,57,1239,0.00,2.47,0.00,0.000,6,0.000,0.035,2584,2256,3434
$GC,1550,-0.96,-146.6,130.0,-5.7,73,1554,0.00,2.55,0.00,0.000,4,0.000,0.061,2583,3653,3434
$GC,1590,-0.96,-146.6,132.5,-6.1,75,1594,0.00,2.42,0.00,0.000,6,0.000,0.029,2583,2230,3435
$GC,1916,-0.96,-146.6,152.0,-6.0,91,1921,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3651,3435
$GC,1966,-0.96,-146.6,155.4,-6.9,93,1970,0.00,2.40,0.00,0.000,6,0.000,0.028,2583,2236,3435
$GC,2285,-0.96,-146.6,175.5,-6.6,108,2289,0.00,2.58,0.00,0.000,4,0.000,0.054,2583,3655,3434
$GC,2334,-0.96,-146.6,179.3,-6.8,110,2339,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2248,3434
$GC,2650,-0.96,-146.6,201.8,-7.3,125,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2248,3434
$GC,2962,-0.96,-146.6,225.5,-7.7,140,2966,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3651,3434
$GC,3052,-0.96,-146.6,233.1,-7.8,144,3056,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2240,3434
$GC,3373,-0.96,-146.6,256.4,-7.3,160,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2240,3434
$GC,3683,-0.96,-146.6,278.1,-6.9,175,3687,0.00,2.58,0.00,0.000,4,0.000,0.055,2583,3656,3433
$GC,3777,-0.96,-146.6,285.3,-7.7,179,3781,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2250,3433
$GC,4093,-0.96,-146.6,307.2,-7.0,194,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2249,3433
$GC,4402,-0.96,-146.6,329.0,-7.1,209,4406,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3654,3432
$GC,4468,-0.96,-146.6,334.2,-7.8,212,4472,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2245,3433
$GC,4788,-0.96,-146.6,357.4,-7.3,228,4793,0.00,2.58,0.00,0.000,4,0.000,0.056,2584,3648,3432
$GC,4833,-0.96,-146.6,361.0,-7.8,230,4838,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2254,3432
$GC,5166,-0.96,-146.6,384.8,-7.1,246,5171,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3642,3432
$GC,5216,-0.96,-146.6,388.6,-7.7,248,5220,0.00,2.38,0.00,0.000,6,0.000,0.029,2583,2248,3432
$GC,5537,-0.96,-146.6,410.8,-6.8,264,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2246,3432
$GC,5847,-0.96,-146.6,431.5,-6.5,279,5851,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3655,3432
$GC,5914,-0.96,-146.6,436.2,-7.2,282,5919,0.00,2.42,0.00,0.000,6,0.000,0.030,2583,2252,3432
$GC,6240,-0.96,-146.6,456.5,-6.2,298,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2252,3431
$GC,6553,-0.96,-146.6,475.3,-6.1,313,6557,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3651,3431
$GC,6596,-0.96,-146.6,478.4,-6.6,315,6601,0.00,2.40,0.00,0.000,6,0.000,0.028,2583,2238,3431
$GC,6921,-0.96,-146.6,499.3,-6.6,331,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2236,3431
$GC,7227,-0.96,-146.6,519.0,-6.3,346,7231,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3651,3431
$GC,7305,-0.96,-146.6,524.4,-7.0,349,7311,0.00,2.38,0.00,0.000,6,0.000,0.029,2583,2252,3431
$GC,7621,-0.96,-146.6,543.3,-5.9,365,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2252,3431
$GC,7930,-0.96,-146.6,560.5,-5.6,380,7935,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3651,3431
$GC,8015,-0.96,-146.6,565.7,-6.1,384,8019,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2237,3431
$GC,8343,-0.96,-146.6,584.1,-5.5,400,8348,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3651,3431
$GC,8388,-0.96,-146.6,587.0,-6.1,402,8392,0.00,2.38,0.00,0.000,6,0.000,0.029,2584,2253,3430
$GC,8709,-0.96,-146.6,605.1,-5.8,418,8710,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2254,3431
$GC,9020,-0.96,-146.6,624.5,-6.4,433,9021,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2254,3430
$GC,9327,-0.96,-146.6,643.9,-6.1,448,9331,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3651,3430
$GC,9371,-0.96,-146.6,646.8,-6.2,450,9375,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2239,3430
$GC,9691,-0.96,-146.6,666.1,-6.1,466,9696,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3651,3430
$GC,9736,-0.96,-146.6,669.1,-7.2,468,9740,0.00,2.38,0.00,0.000,6,0.000,0.029,2583,2253,3430
$GC,10057,-0.96,-146.6,689.0,-6.4,484,10061,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3654,3430
$GC,10134,-0.96,-146.6,694.5,-6.8,487,10141,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2248,3430
$GC,10450,-0.96,-146.6,715.2,-6.3,503,10451,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2248,3430
$GC,10760,-0.96,-146.6,736.6,-7.0,518,10761,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2248,3430
$GC,11068,-0.96,-146.6,760.0,-8.0,533,11073,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3653,3430
$GC,11202,-0.96,-146.6,771.4,-8.4,539,11206,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3430
$GC,11525,-0.96,-146.6,794.7,-7.0,555,11529,0.00,2.45,0.00,0.000,4,0.000,0.045,2583,849,3429
$GC,11553,-0.96,-146.6,797.0,-7.6,556,11557,0.00,2.42,0.00,0.000,6,0.000,0.035,2583,2250,3429
$GC,11869,-0.96,-146.6,820.6,-7.5,571,11873,0.00,2.47,0.00,0.000,4,0.000,0.044,2583,847,3429
$GC,11918,-0.96,-146.6,824.6,-7.9,573,11923,0.00,2.45,0.00,0.000,6,0.000,0.035,2583,2260,3429
$GC,12235,-0.96,-146.6,846.5,-6.5,588,12236,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2260,3429
$GC,12544,-0.96,-146.6,865.7,-5.9,603,12548,0.00,2.50,0.00,0.000,4,0.000,0.044,2583,844,3429
$GC,12644,-0.96,-146.6,871.5,-5.9,607,12650,0.00,2.45,0.00,0.000,6,0.000,0.036,2583,2254,3429
$GC,12961,-0.96,-146.6,887.5,-5.1,623,12965,0.00,2.53,0.00,0.000,4,0.000,0.058,2583,3654,3428
$GC,13027,-0.96,-146.6,891.6,-5.4,626,13032,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2256,3428
$GC,13354,-0.96,-146.6,910.0,-5.7,642,13355,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2256,3429
$GC,13663,-0.96,-146.6,928.3,-6.3,657,13667,0.00,2.53,0.00,0.000,4,0.000,0.058,2583,3648,3428
$GC,13843,-0.96,-146.6,940.5,-6.8,665,13847,0.00,2.40,0.00,0.000,6,0.000,0.033,2583,2255,3428
$GC,14167,-0.96,-146.6,962.1,-7.1,681,14171,0.00,2.50,0.00,0.000,4,0.000,0.049,2584,839,3427
$GC,14251,-0.96,-146.6,968.5,-6.9,685,14256,0.00,2.50,0.00,0.000,6,0.000,0.041,2583,2245,3427
$GC,14583,-0.96,-146.6,988.1,-6.1,701,14584,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2245,3426
$STATE,14602,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14602,begin apogee
$GC,14610,-0.36,0.0,989.2,5.5,702,14745,0.62,0.00,131.60,1.423,6,0.062,0.000,2720,1461,2832
$STATE,14745,end apogee,CONTROL_FINISHED_OK
$STATE,14745,begin climb
$GC,14748,0.96,146.6,993.3,0.0,709,14894,1.30,2.65,132.95,1.381,4,0.050,0.049,3007,2864,2232
$GC,15234,0.96,146.6,963.9,8.8,731,15238,0.00,2.53,0.00,0.000,6,0.000,0.043,3007,1448,2224
$GC,15560,0.96,146.6,942.1,6.7,747,15564,0.00,2.55,0.00,0.000,4,0.000,0.050,3007,2863,2221
$GC,15660,0.96,146.6,935.3,6.8,751,15666,0.00,2.53,0.00,0.000,6,0.000,0.043,3007,1449,2221
$GC,15978,0.96,146.6,914.8,6.3,767,15982,0.00,2.55,0.00,0.000,4,0.000,0.050,3007,2867,2220
$GC,16027,0.96,146.6,911.3,6.7,769,16032,0.00,2.50,0.00,0.000,6,0.000,0.043,3007,1456,2219
$GC,16343,0.96,146.6,892.2,6.2,784,16344,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1455,2218
$GC,16655,0.98,157.8,874.2,5.7,799,16669,0.00,2.60,8.65,1.180,4,0.000,0.048,3007,2862,2188
$GC,16766,0.98,157.8,867.3,6.4,804,16771,0.00,2.53,0.00,0.000,6,0.000,0.041,3007,1451,2187
$GC,17098,0.98,163.1,847.3,5.9,820,17112,0.00,2.58,6.72,1.098,4,0.000,0.046,3007,2867,2165
$GC,17147,0.98,163.1,844.3,6.1,822,17151,0.00,2.53,0.00,0.000,6,0.000,0.040,3006,1457,2165
$GC,17473,1.00,179.0,825.7,5.6,838,17495,0.00,2.60,16.02,1.263,4,0.000,0.046,3007,2865,2101
$GC,17586,1.02,188.2,819.0,5.7,843,17601,0.00,2.50,10.00,1.169,6,0.000,0.039,3007,1447,2064
$GC,17914,1.02,188.2,799.4,6.2,858,17919,0.00,2.55,0.00,0.000,4,0.000,0.044,3007,2863,2061
$GC,17942,1.02,188.2,797.4,6.5,859,17947,0.00,2.50,0.00,0.000,6,0.000,0.038,3006,1453,2061
$GC,18262,1.02,188.2,777.3,6.3,875,18267,0.00,2.50,0.00,0.000,4,0.000,0.045,3007,2863,2061
$GC,18307,1.02,188.2,774.4,7.3,877,18312,0.00,2.50,0.00,0.000,6,0.000,0.038,3007,1461,2060
$GC,18633,1.02,188.2,753.5,6.6,893,18637,0.00,2.50,0.00,0.000,4,0.000,0.044,3007,2863,2060
$GC,18696,1.02,188.2,749.4,7.1,896,18701,0.00,2.47,0.00,0.000,6,0.000,0.038,3007,1452,2060
$GC,19023,1.02,188.2,725.5,7.1,912,19027,0.00,2.55,0.00,0.000,4,0.000,0.044,3007,2864,2061
$GC,19055,1.02,188.2,723.1,7.6,913,19059,0.00,2.47,0.00,0.000,6,0.000,0.037,3007,1451,2060
$GC,19373,1.02,188.2,701.0,6.8,928,19378,0.00,2.53,0.00,0.000,4,0.000,0.044,3007,2869,2061
$GC,19418,1.02,188.2,697.7,7.6,930,19422,0.00,2.47,0.00,0.000,6,0.000,0.037,3007,1446,2061
$GC,19741,1.02,188.2,675.7,6.8,946,19745,0.00,2.53,0.00,0.000,4,0.000,0.043,3007,2867,2061
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$GC,21596,1.07,230.1,559.0,4.9,1035,21642,0.10,2.45,39.05,1.115,6,0.047,0.036,3059,1454,1893
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$STATE,28576,end climb,SURFACE_DEPTH_REACHED
$STATE,28577,begin surface coast
$FINISH,0.4,1.026792
$STATE,28619,end surface coast,CONTROL_FINISHED_OK
$STATE,28619,begin surface
$SM_CCo,28643,42.65,0.761,0,0,1609,300.00
$SM_GC,1.17,0.00,0.00,42.65,0.000,0.000,0.761,388,2263,1609,-11.09,0.37,300.00
$IRIDIUM_FIX,6230.49,-1324.42,290998,171700
$TT8_MAMPS,0.027612
$HUMID,1855
$INTERNAL_PRESSURE,8.13832
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,925.6,73.3
$24V_AH,23.1,37.464
$10V_AH,10.1,19.412
$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,25.075,301.350,345.000,42.650,0.000,27.730,29.308,197.559,8.250,0.000,0.000,37.661,2577.524,21718.436,581.276,3110.441,1101.979,0.000,2209.612,0.000,3321.900,0.000,55.722,0.000
$DEVICE_MAMPS,130.390,61.360,1422.785,760.864,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1100.794,1078.422,737.916,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69401,1373
$CAP_FILE_SIZE,215008,0
$CFSIZE,260165632,249044992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,060709,092906,6249.539,-1327.032,27,1.7,27,-12.2