version: 66.04
glider: 105
mission: 6
dive: 181
start: 7 21 109 22 38 40
data:
$ID,105
$MISSION,6
$DIVE,181
$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,-1631257.5
$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,26
$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
$GPS1,223206,6219.521,-1148.742,36,1.1,36,-11.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-59.8
$GPS2,223820,6219.546,-1148.822,13,1.3,13,-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,156.2,5751,-15.3,-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,-1.20,-84.6,0.0,0.0,0,69,0.00,0.00,-52.35,0.000,6,0.000,0.000,390,2243,3180
$GC,72,-1.20,-84.6,2.4,-6.5,2,88,11.27,2.47,0.00,0.000,4,0.127,0.038,2529,830,3181
$GC,241,-1.20,-84.6,24.8,-7.0,8,248,0.00,2.45,0.00,0.000,6,0.000,0.033,2528,2244,3183
$GC,557,-1.20,-84.6,54.2,-8.6,24,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2244,3183
$GC,867,-1.20,-84.6,78.6,-7.1,39,872,0.00,2.55,0.00,0.000,4,0.000,0.057,2529,3651,3183
$GC,1002,-1.20,-84.6,89.9,-8.0,45,1006,0.00,2.42,0.00,0.000,6,0.000,0.029,2529,2230,3183
$GC,1323,-1.20,-84.6,114.2,-8.0,61,1328,0.00,2.60,0.00,0.000,4,0.000,0.053,2529,3650,3183
$GC,1384,-1.20,-84.6,119.7,-9.4,63,1392,0.00,2.42,0.00,0.000,6,0.000,0.030,2529,2248,3183
$GC,1700,-1.20,-84.6,146.6,-8.5,79,1704,0.00,2.55,0.00,0.000,4,0.000,0.054,2529,3654,3183
$GC,1773,-1.20,-84.6,153.3,-9.2,82,1777,0.00,2.40,0.00,0.000,6,0.000,0.030,2528,2252,3184
$GC,2089,-1.20,-84.6,179.7,-8.3,97,2093,0.00,2.53,0.00,0.000,4,0.000,0.053,2529,3651,3184
$GC,2175,-1.20,-84.6,187.2,-9.0,101,2179,0.00,2.40,0.00,0.000,6,0.000,0.031,2529,2248,3183
$GC,2501,-1.20,-84.6,213.0,-7.8,117,2506,0.00,2.58,0.00,0.000,4,0.000,0.054,2529,3652,3183
$GC,2597,-1.20,-84.6,220.8,-8.0,121,2601,0.00,2.40,0.00,0.000,6,0.000,0.031,2529,2249,3183
$GC,2918,-1.20,-84.6,244.2,-7.2,137,2922,0.00,2.58,0.00,0.000,4,0.000,0.054,2529,3652,3184
$GC,2973,-1.20,-84.6,248.5,-8.0,139,2977,0.00,2.40,0.00,0.000,6,0.000,0.031,2528,2251,3183
$GC,3288,-1.20,-84.6,271.4,-7.5,154,3292,0.00,2.55,0.00,0.000,4,0.000,0.054,2529,3655,3183
$GC,3395,-1.20,-84.6,280.1,-8.5,159,3399,0.00,2.40,0.00,0.000,6,0.000,0.031,2529,2251,3183
$GC,3721,-1.20,-84.6,305.1,-7.8,175,3726,0.00,2.55,0.00,0.000,4,0.000,0.054,2529,3648,3182
$GC,3811,-1.20,-84.6,312.8,-8.5,179,3816,0.00,2.42,0.00,0.000,6,0.000,0.031,2529,2246,3182
$GC,4143,-1.20,-84.6,338.4,-7.6,195,4147,0.00,2.55,0.00,0.000,4,0.000,0.054,2529,3658,3182
$GC,4237,-1.20,-84.6,346.1,-8.4,199,4241,0.00,2.42,0.00,0.000,6,0.000,0.031,2528,2246,3182
$GC,4553,-1.20,-84.6,369.3,-7.0,214,4557,0.00,2.55,0.00,0.000,4,0.000,0.054,2529,3660,3182
$GC,4664,-1.20,-84.6,378.1,-7.6,219,4668,0.00,2.42,0.00,0.000,6,0.000,0.031,2529,2243,3182
$GC,4986,-1.20,-84.6,400.9,-7.1,235,4990,0.00,2.55,0.00,0.000,4,0.000,0.054,2529,3654,3181
$GC,5080,-1.20,-84.6,408.3,-7.8,239,5084,0.00,2.40,0.00,0.000,6,0.000,0.032,2529,2251,3181
$GC,5396,-1.20,-84.6,431.7,-7.5,254,5400,0.00,2.53,0.00,0.000,4,0.000,0.053,2529,3654,3181
$GC,5503,-1.20,-84.6,440.8,-8.7,259,5508,0.00,2.40,0.00,0.000,6,0.000,0.031,2529,2252,3181
$GC,5830,-1.20,-84.6,466.6,-7.9,275,5834,0.00,2.53,0.00,0.000,4,0.000,0.052,2529,3660,3181
$GC,5953,-1.20,-84.6,477.1,-8.3,280,5959,0.00,2.42,0.00,0.000,6,0.000,0.031,2529,2244,3181
$GC,6270,-1.20,-84.6,501.7,-7.6,296,6274,0.00,2.55,0.00,0.000,4,0.000,0.054,2529,3656,3181
$GC,6370,-1.20,-84.6,510.2,-8.8,300,6377,0.00,2.42,0.00,0.000,6,0.000,0.032,2529,2239,3180
$GC,6687,-1.20,-84.6,533.5,-7.3,316,6691,0.00,2.55,0.00,0.000,4,0.000,0.054,2528,3653,3180
$GC,6777,-1.20,-84.6,540.7,-8.1,320,6782,0.00,2.40,0.00,0.000,6,0.000,0.031,2529,2254,3180
$GC,7101,-1.20,-84.6,563.7,-7.0,336,7105,0.00,2.53,0.00,0.000,4,0.000,0.052,2529,3658,3180
$GC,7179,-1.20,-84.6,569.9,-7.3,339,7187,0.00,2.45,0.00,0.000,6,0.000,0.032,2529,2252,3180
$GC,7495,-1.20,-84.6,592.7,-7.1,355,7499,0.00,2.53,0.00,0.000,4,0.000,0.051,2529,3654,3180
$GC,7552,-1.20,-84.6,596.8,-7.7,357,7558,0.00,2.42,0.00,0.000,6,0.000,0.032,2529,2235,3180
$GC,7867,-1.20,-84.6,617.8,-6.5,373,7872,0.00,2.58,0.00,0.000,4,0.000,0.053,2529,3650,3180
$GC,7967,-1.20,-84.6,625.0,-7.2,377,7972,0.00,2.40,0.00,0.000,6,0.000,0.031,2529,2252,3180
$GC,8288,-1.20,-87.7,644.5,-5.9,393,8293,0.00,2.55,0.00,0.000,4,0.000,0.052,2529,3652,3179
$GC,8400,-1.20,-87.7,652.2,-6.9,398,8405,0.00,2.42,0.00,0.000,6,0.000,0.032,2529,2236,3180
$GC,8727,-1.20,-87.7,674.7,-7.0,414,8732,0.00,2.58,0.00,0.000,4,0.000,0.054,2529,3661,3180
$GC,8799,-1.20,-87.7,680.0,-7.0,417,8803,0.00,2.42,0.00,0.000,6,0.000,0.032,2529,2252,3180
$GC,9119,-1.20,-87.7,700.0,-6.5,433,9125,0.00,2.50,0.00,0.000,4,0.000,0.045,2529,846,3180
$GC,9147,-1.20,-87.7,702.2,-7.8,434,9152,0.00,2.45,0.00,0.000,6,0.000,0.036,2529,2260,3179
$GC,9470,-1.20,-87.7,725.9,-7.9,450,9474,0.00,2.47,0.00,0.000,4,0.000,0.053,2529,3650,3179
$GC,9695,-1.20,-87.7,745.4,-8.8,460,9700,0.00,2.40,0.00,0.000,6,0.000,0.032,2529,2244,3179
$GC,10020,-1.20,-87.7,770.1,-7.5,476,10024,0.00,2.55,0.00,0.000,4,0.000,0.056,2529,3651,3179
$GC,10104,-1.20,-87.7,776.7,-7.3,480,10109,0.00,2.40,0.00,0.000,6,0.000,0.033,2529,2253,3179
$GC,10434,-1.20,-87.7,798.7,-6.7,496,10438,0.00,2.53,0.00,0.000,4,0.000,0.055,2529,3649,3179
$GC,10541,-1.20,-87.7,806.5,-6.6,501,10545,0.00,2.40,0.00,0.000,6,0.000,0.034,2529,2250,3179
$GC,10867,-1.20,-87.7,826.3,-6.4,517,10868,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2250,3179
$GC,11177,-1.21,-96.6,844.4,-5.6,532,11182,0.00,2.55,0.00,0.000,4,0.000,0.056,2529,3645,3178
$GC,11406,-1.21,-96.6,858.7,-6.2,542,11411,0.00,2.42,0.00,0.000,6,0.000,0.035,2529,2257,3178
$GC,11733,-1.21,-96.6,878.5,-6.1,558,11737,0.00,2.53,0.00,0.000,4,0.000,0.058,2529,3650,3177
$GC,11817,-1.21,-96.6,884.0,-6.2,562,11821,0.00,2.42,0.00,0.000,6,0.000,0.035,2529,2248,3177
$GC,12143,-1.21,-96.6,903.5,-6.8,578,12148,0.00,2.47,0.00,0.000,4,0.000,0.050,2529,848,3176
$GC,12188,-1.21,-96.6,906.8,-6.9,580,12192,0.00,2.45,0.00,0.000,6,0.000,0.039,2529,2247,3176
$STATE,12341,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12341,begin apogee
$GC,12349,-0.36,0.0,915.1,4.9,588,12429,0.93,0.00,76.75,1.385,6,0.079,0.000,2720,1463,2832
$STATE,12430,end apogee,CONTROL_FINISHED_OK
$STATE,12430,begin climb
$GC,12433,1.21,96.6,917.2,0.0,592,12530,1.60,2.30,89.32,1.347,4,0.051,0.064,3067,265,2437
$GC,12566,1.21,96.6,911.6,7.8,598,12572,0.00,2.10,0.00,0.000,6,0.000,0.036,3067,1475,2433
$GC,12884,1.21,96.6,891.5,6.7,614,12888,0.00,2.47,0.00,0.000,4,0.000,0.048,3067,2846,2429
$GC,12969,1.21,96.6,885.4,7.5,618,12973,0.00,2.50,0.00,0.000,6,0.000,0.042,3067,1445,2428
$GC,13295,1.21,96.6,865.1,6.3,634,13296,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1445,2426
$GC,13607,1.23,111.8,847.6,5.3,649,13628,0.00,2.60,12.90,1.236,4,0.000,0.048,3067,2848,2376
$GC,13729,1.23,111.8,840.2,6.2,654,13734,0.00,2.53,0.00,0.000,6,0.000,0.042,3066,1453,2374
$GC,14050,1.23,111.8,821.3,6.0,670,14054,0.00,2.50,0.00,0.000,4,0.000,0.049,3066,2846,2373
$GC,14127,1.23,111.8,816.1,6.8,673,14133,0.00,2.47,0.00,0.000,6,0.000,0.041,3067,1452,2373
$GC,14443,1.23,111.8,795.4,6.9,689,14444,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1452,2372
$GC,14755,1.23,111.8,773.4,7.2,704,14759,0.00,2.50,0.00,0.000,4,0.000,0.049,3067,2852,2372
$GC,14844,1.23,111.8,766.5,7.6,708,14848,0.00,2.47,0.00,0.000,6,0.000,0.041,3067,1445,2371
$GC,15164,1.23,111.8,743.8,6.9,724,15169,0.00,2.53,0.00,0.000,4,0.000,0.045,3067,2840,2371
$GC,15270,1.23,111.8,736.6,6.6,728,15276,0.00,2.45,0.00,0.000,6,0.000,0.040,3067,1452,2370
$GC,15586,1.23,111.8,717.3,6.2,744,15590,0.00,2.47,0.00,0.000,4,0.000,0.046,3067,2848,2371
$GC,15663,1.23,111.8,712.5,6.5,747,15669,0.00,2.42,0.00,0.000,6,0.000,0.040,3067,1453,2370
$GC,15981,1.23,111.8,693.1,6.1,763,15983,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1453,2370
$GC,16288,1.23,111.8,672.7,6.5,778,16289,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1454,2370
$GC,16597,1.23,111.8,653.5,6.4,793,16601,0.00,2.47,0.00,0.000,4,0.000,0.044,3067,2851,2370
$GC,16743,1.23,111.8,643.7,6.8,799,16749,0.00,2.42,0.00,0.000,6,0.000,0.038,3067,1452,2370
$GC,17061,1.23,111.8,623.8,6.6,815,17065,0.00,2.47,0.00,0.000,4,0.000,0.044,3067,2854,2371
$GC,17100,1.23,111.8,621.0,6.2,817,17104,0.00,2.45,0.00,0.000,6,0.000,0.038,3067,1452,2371
$GC,17429,1.23,111.8,600.1,6.5,833,17433,0.00,2.45,0.00,0.000,4,0.000,0.043,3067,2850,2371
$GC,17461,1.23,111.8,597.7,6.6,834,17468,0.00,2.47,0.00,0.000,6,0.000,0.038,3067,1432,2371
$GC,17777,1.23,111.8,576.7,6.7,850,17781,0.00,2.50,0.00,0.000,4,0.000,0.042,3067,2857,2371
$GC,17809,1.23,111.8,574.5,6.2,851,17815,0.00,2.45,0.00,0.000,6,0.000,0.037,3067,1453,2371
$GC,18125,1.23,111.8,553.4,6.9,867,18126,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1453,2371
$GC,18436,1.23,111.8,532.7,6.6,882,18441,0.00,2.47,0.00,0.000,4,0.000,0.042,3067,2850,2372
$GC,18477,1.23,111.8,529.8,6.9,884,18481,0.00,2.42,0.00,0.000,6,0.000,0.037,3067,1450,2371
$GC,18803,1.23,111.8,508.6,6.3,900,18807,0.00,2.47,0.00,0.000,4,0.000,0.043,3067,2851,2372
$GC,18842,1.23,111.8,506.0,6.3,902,18846,0.00,2.45,0.00,0.000,6,0.000,0.037,3067,1446,2372
$GC,19169,1.23,111.8,485.8,6.1,918,19170,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1446,2372
$GC,19478,1.24,115.0,467.5,5.8,933,19487,0.00,2.47,4.20,0.712,4,0.000,0.041,3067,2852,2363
$GC,19523,1.24,115.0,464.7,6.8,935,19527,0.00,2.45,0.00,0.000,6,0.000,0.037,3066,1450,2362
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$STATE,26603,end climb,SURFACE_DEPTH_REACHED
$STATE,26604,begin surface coast
$FINISH,1.3,1.026961
$STATE,26627,end surface coast,CONTROL_FINISHED_OK
$STATE,26627,begin surface
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$IRIDIUM_FIX,6221.17,-2002.60,151098,151551
$TT8_MAMPS,0.027612
$HUMID,1835
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$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,825.1,99.4
$24V_AH,23.2,43.952
$10V_AH,10.1,25.686
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$DEVICE_SECS,25.625,254.775,233.425,90.275,0.000,33.001,33.488,169.322,7.250,0.000,0.000,13.236,2424.605,20161.516,518.350,2986.659,1016.371,0.000,2045.163,0.000,3192.570,0.000,49.357,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1009.126,1014.101,696.854,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66338,1278
$CAP_FILE_SIZE,196443,0
$CFSIZE,260165632,244707328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,220709,060601,6218.940,-1152.506,59,1.1,60,-11.1