version: 66.04
glider: 105
mission: 6
dive: 183
start: 7 22 109 14 0 28
data:
$ID,105
$MISSION,6
$DIVE,183
$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,-1631286.6
$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
$GPS1,135336,6220.270,-1148.252,34,1.6,35,-11.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,2
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-58.7
$GPS2,140008,6220.280,-1148.427,13,1.6,13,-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,165.2,6754,-12.3,-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,-1.03,-122.2,0.0,0.0,0,77,0.00,0.00,-56.97,0.000,6,0.000,0.000,384,2253,3332
$GC,80,-1.03,-122.2,4.9,-9.7,3,101,11.48,2.55,0.00,0.000,4,0.127,0.040,2568,832,3334
$GC,374,-1.03,-122.2,38.9,-8.1,16,379,0.00,2.47,0.00,0.000,6,0.000,0.032,2569,2253,3335
$GC,696,-1.03,-122.2,63.9,-7.5,32,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2253,3334
$GC,1007,-1.03,-122.2,87.9,-8.0,47,1011,0.00,2.55,0.00,0.000,4,0.000,0.058,2569,3654,3335
$GC,1046,-1.03,-122.2,91.3,-8.2,49,1051,0.00,2.42,0.00,0.000,6,0.000,0.030,2569,2232,3335
$GC,1373,-1.03,-122.2,117.0,-7.9,65,1377,0.00,2.58,0.00,0.000,4,0.000,0.052,2569,3654,3336
$GC,1450,-1.03,-122.2,123.5,-7.9,68,1457,0.00,2.40,0.00,0.000,6,0.000,0.030,2569,2240,3335
$GC,1766,-1.03,-122.2,146.6,-7.2,84,1770,0.00,2.55,0.00,0.000,4,0.000,0.053,2569,3648,3335
$GC,1851,-1.03,-122.2,153.1,-7.8,88,1855,0.00,2.40,0.00,0.000,6,0.000,0.030,2569,2245,3334
$GC,2180,-1.03,-122.2,177.2,-7.4,104,2184,0.00,2.55,0.00,0.000,4,0.000,0.054,2568,3650,3335
$GC,2241,-1.03,-122.2,182.2,-7.9,107,2246,0.00,2.40,0.00,0.000,6,0.000,0.031,2569,2249,3335
$GC,2568,-1.03,-122.2,205.9,-7.4,123,2572,0.00,2.53,0.00,0.000,4,0.000,0.052,2569,3648,3334
$GC,2641,-1.03,-122.2,211.9,-7.9,126,2645,0.00,2.40,0.00,0.000,6,0.000,0.030,2569,2245,3334
$GC,2957,-1.03,-122.2,236.0,-7.5,141,2962,0.00,2.55,0.00,0.000,4,0.000,0.053,2569,3638,3334
$GC,3029,-1.03,-122.2,241.8,-7.9,144,3033,0.00,2.38,0.00,0.000,6,0.000,0.031,2569,2249,3334
$GC,3351,-1.03,-122.2,264.5,-7.0,160,3355,0.00,2.53,0.00,0.000,4,0.000,0.053,2569,3649,3334
$GC,3440,-1.03,-122.2,271.4,-7.5,164,3444,0.00,2.40,0.00,0.000,6,0.000,0.030,2569,2243,3334
$GC,3763,-1.03,-122.2,292.7,-6.5,180,3767,0.00,2.55,0.00,0.000,4,0.000,0.054,2569,3648,3334
$GC,3812,-1.03,-122.2,296.5,-7.3,182,3817,0.00,2.40,0.00,0.000,6,0.000,0.030,2568,2245,3333
$GC,4129,-1.03,-122.2,317.3,-6.7,197,4133,0.00,2.55,0.00,0.000,4,0.000,0.054,2569,3655,3333
$GC,4206,-1.03,-122.2,323.1,-7.6,200,4213,0.00,2.42,0.00,0.000,6,0.000,0.031,2569,2233,3333
$GC,4522,-1.03,-122.2,345.2,-7.1,216,4527,0.00,2.58,0.00,0.000,4,0.000,0.054,2569,3645,3333
$GC,4606,-1.03,-122.2,351.9,-8.1,219,4613,0.00,2.40,0.00,0.000,6,0.000,0.030,2569,2252,3333
$GC,4921,-1.03,-122.2,374.5,-7.3,235,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2252,3332
$GC,5231,-1.03,-122.2,396.8,-7.2,250,5235,0.00,2.53,0.00,0.000,4,0.000,0.053,2569,3655,3333
$GC,5337,-1.03,-122.2,405.1,-8.0,255,5341,0.00,2.40,0.00,0.000,6,0.000,0.031,2569,2248,3332
$GC,5666,-1.03,-122.2,428.1,-7.2,271,5670,0.00,2.53,0.00,0.000,4,0.000,0.053,2569,3652,3332
$GC,5743,-1.03,-122.2,433.9,-7.3,274,5750,0.00,2.38,0.00,0.000,6,0.000,0.031,2569,2252,3332
$GC,6059,-1.03,-122.2,455.3,-6.6,290,6063,0.00,2.53,0.00,0.000,4,0.000,0.052,2569,3653,3331
$GC,6111,-1.03,-122.2,458.7,-7.2,292,6115,0.00,2.40,0.00,0.000,6,0.000,0.030,2569,2247,3332
$GC,6426,-1.03,-122.2,479.7,-7.0,307,6431,0.00,2.53,0.00,0.000,4,0.000,0.053,2569,3648,3332
$GC,6482,-1.03,-122.2,483.9,-7.4,309,6488,0.00,2.40,0.00,0.000,6,0.000,0.031,2569,2233,3332
$GC,6797,-1.03,-122.2,505.5,-6.8,325,6802,0.00,2.55,0.00,0.000,4,0.000,0.052,2569,3649,3332
$GC,6911,-1.03,-122.2,513.9,-8.0,330,6915,0.00,2.40,0.00,0.000,6,0.000,0.030,2568,2245,3331
$GC,7235,-1.03,-122.2,536.7,-7.2,346,7239,0.00,2.55,0.00,0.000,4,0.000,0.054,2569,3651,3331
$GC,7329,-1.03,-122.2,544.6,-8.2,350,7334,0.00,2.40,0.00,0.000,6,0.000,0.031,2569,2249,3331
$GC,7645,-1.03,-122.2,566.7,-6.6,365,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2249,3331
$GC,7954,-1.03,-122.2,587.6,-6.9,380,7958,0.00,2.53,0.00,0.000,4,0.000,0.052,2569,3654,3331
$GC,8009,-1.03,-122.2,591.7,-7.6,382,8014,0.00,2.40,0.00,0.000,6,0.000,0.031,2569,2250,3331
$GC,8325,-1.03,-122.2,613.2,-6.8,398,8329,0.00,2.53,0.00,0.000,4,0.000,0.052,2568,3657,3330
$GC,8409,-1.03,-122.2,619.5,-7.7,402,8413,0.00,2.40,0.00,0.000,6,0.000,0.031,2569,2251,3330
$GC,8738,-1.03,-122.2,641.3,-6.6,418,8742,0.00,2.53,0.00,0.000,4,0.000,0.052,2569,3654,3331
$GC,8833,-1.03,-122.2,647.7,-6.3,422,8837,0.00,2.40,0.00,0.000,6,0.000,0.031,2569,2250,3330
$GC,9149,-1.06,-146.6,664.1,-4.8,437,9154,0.00,2.55,0.00,0.000,4,0.000,0.052,2569,3650,3330
$GC,9227,-1.06,-146.6,668.2,-5.2,440,9232,0.00,2.40,0.00,0.000,6,0.000,0.031,2569,2248,3330
$GC,9543,-1.06,-146.6,684.7,-6.2,455,9545,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2248,3330
$GC,9852,-1.06,-146.6,706.5,-7.4,470,9853,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2247,3330
$GC,10161,-1.06,-146.6,730.0,-7.7,485,10165,0.00,2.53,0.00,0.000,4,0.000,0.054,2569,3648,3330
$GC,10307,-1.06,-146.6,742.1,-8.5,491,10313,0.00,2.42,0.00,0.000,6,0.000,0.032,2569,2254,3330
$GC,10622,-1.06,-146.6,765.9,-7.4,507,10627,0.00,2.53,0.00,0.000,4,0.000,0.054,2569,3648,3330
$GC,10746,-1.06,-146.6,775.4,-7.6,512,10752,0.00,2.40,0.00,0.000,6,0.000,0.032,2569,2251,3329
$GC,11062,-1.06,-146.6,795.2,-5.4,528,11067,0.00,2.55,0.00,0.000,4,0.000,0.055,2569,3647,3329
$GC,11226,-1.06,-146.6,804.8,-5.9,535,11230,0.00,2.40,0.00,0.000,6,0.000,0.032,2569,2251,3329
$GC,11549,-1.06,-146.6,822.5,-5.6,551,11550,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2251,3328
$GC,11857,-1.06,-146.6,839.1,-5.4,566,11861,0.00,2.55,0.00,0.000,4,0.000,0.056,2569,3653,3328
$GC,11921,-1.06,-146.6,842.8,-5.4,569,11925,0.00,2.42,0.00,0.000,6,0.000,0.034,2569,2248,3328
$GC,12248,-1.06,-146.6,861.6,-6.0,585,12252,0.00,2.55,0.00,0.000,4,0.000,0.058,2569,3650,3327
$GC,12300,-1.06,-146.6,864.8,-6.5,587,12304,0.00,2.42,0.00,0.000,6,0.000,0.035,2569,2246,3327
$GC,12616,-1.06,-146.6,881.8,-4.7,602,12620,0.00,2.47,0.00,0.000,4,0.000,0.049,2568,846,3324
$GC,12649,-1.06,-146.6,883.7,-5.5,603,12655,0.00,2.45,0.00,0.000,6,0.000,0.038,2569,2246,3326
$GC,12967,-1.06,-146.6,901.2,-5.5,619,12971,0.00,2.50,0.00,0.000,4,0.000,0.047,2568,842,3326
$STATE,13005,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13005,begin apogee
$GC,13013,-0.36,0.0,903.8,5.5,621,13127,0.70,0.00,109.32,1.370,6,0.063,0.000,2719,1474,2832
$STATE,13128,end apogee,CONTROL_FINISHED_OK
$STATE,13128,begin climb
$GC,13130,1.06,146.6,907.1,0.0,627,13272,1.42,2.28,133.48,1.335,4,0.048,0.062,3031,276,2234
$GC,13353,1.06,146.6,898.2,7.4,637,13357,0.00,2.03,0.00,0.000,6,0.000,0.035,3031,1455,2227
$GC,13676,1.06,146.6,875.9,6.5,653,13677,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1455,2224
$GC,13983,1.06,146.6,854.5,6.1,668,13984,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1455,2222
$GC,14293,1.07,150.4,837.0,5.9,683,14297,0.00,2.47,0.00,0.000,4,0.000,0.047,3031,2849,2221
$GC,14336,1.07,150.4,834.2,6.1,685,14341,0.00,2.45,0.00,0.000,6,0.000,0.041,3031,1459,2220
$GC,14658,1.07,151.2,815.0,6.0,701,14663,0.00,2.50,0.00,0.000,4,0.000,0.047,3031,2854,2219
$GC,14744,1.07,156.6,809.9,5.8,705,14758,0.00,2.47,7.93,1.123,6,0.000,0.041,3031,1454,2193
$GC,15076,1.07,156.6,788.9,6.6,721,15080,0.00,2.53,0.00,0.000,4,0.000,0.047,3031,2858,2191
$GC,15143,1.07,156.6,784.4,6.5,724,15148,0.00,2.50,0.00,0.000,6,0.000,0.039,3031,1461,2190
$GC,15469,1.07,156.6,764.7,6.1,740,15473,0.00,2.47,0.00,0.000,4,0.000,0.045,3031,2858,2190
$GC,15530,1.07,156.6,760.8,6.5,743,15535,0.00,2.47,0.00,0.000,6,0.000,0.039,3031,1452,2189
$GC,15857,1.07,156.6,739.6,6.9,759,15862,0.00,2.50,0.00,0.000,4,0.000,0.045,3031,2844,2189
$GC,15904,1.07,156.6,736.5,6.7,761,15908,0.00,2.45,0.00,0.000,6,0.000,0.039,3031,1451,2190
$GC,16230,1.07,156.6,714.1,6.8,777,16235,0.00,2.53,0.00,0.000,4,0.000,0.044,3031,2845,2189
$GC,16298,1.07,156.6,709.6,6.6,780,16302,0.00,2.42,0.00,0.000,6,0.000,0.038,3031,1453,2189
$GC,16626,1.07,156.6,686.6,7.1,796,16627,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1453,2189
$GC,16934,1.07,156.6,665.5,6.8,811,16938,0.00,2.47,0.00,0.000,4,0.000,0.044,3031,2851,2189
$GC,17006,1.07,156.6,660.6,6.0,814,17011,0.00,2.47,0.00,0.000,6,0.000,0.038,3031,1455,2189
$GC,17327,1.07,156.6,639.3,6.6,830,17331,0.00,2.47,0.00,0.000,4,0.000,0.044,3031,2860,2189
$GC,17366,1.07,156.6,636.7,6.6,832,17370,0.00,2.45,0.00,0.000,6,0.000,0.037,3031,1452,2189
$GC,17692,1.07,156.6,615.1,6.5,848,17696,0.00,2.47,0.00,0.000,4,0.000,0.042,3031,2852,2189
$GC,17732,1.07,156.6,612.4,7.1,850,17736,0.00,2.42,0.00,0.000,6,0.000,0.038,3031,1456,2189
$GC,18060,1.07,156.6,591.8,6.5,866,18064,0.00,2.47,0.00,0.000,4,0.000,0.043,3031,2860,2189
$GC,18122,1.07,156.6,587.7,6.8,869,18126,0.00,2.47,0.00,0.000,6,0.000,0.037,3031,1445,2189
$GC,18448,1.07,156.6,567.2,6.3,885,18453,0.00,2.47,0.00,0.000,4,0.000,0.041,3031,2852,2189
$GC,18493,1.07,156.6,564.3,7.2,887,18497,0.00,2.45,0.00,0.000,6,0.000,0.036,3031,1448,2189
$GC,18817,1.07,156.6,543.7,6.6,903,18821,0.00,2.47,0.00,0.000,4,0.000,0.041,3031,2853,2189
$GC,18872,1.07,156.6,539.7,6.9,905,18878,0.00,2.45,0.00,0.000,6,0.000,0.037,3031,1449,2189
$GC,19191,1.07,156.6,518.3,6.9,921,19195,0.00,2.50,0.00,0.000,4,0.000,0.042,3031,2860,2190
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$STATE,27104,end climb,SURFACE_DEPTH_REACHED
$STATE,27104,begin surface coast
$FINISH,0.1,1.027133
$STATE,27145,end surface coast,CONTROL_FINISHED_OK
$STATE,27145,begin surface
$SM_CCo,27169,64.70,0.764,0,0,1609,300.00
$SM_GC,0.96,0.00,0.00,64.70,0.000,0.000,0.764,390,2252,1609,-11.09,0.06,300.00
$IRIDIUM_FIX,6158.08,-1149.50,161098,060619
$TT8_MAMPS,0.027612
$HUMID,1845
$INTERNAL_PRESSURE,8.13832
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,825.7,87.9
$24V_AH,23.2,44.257
$10V_AH,10.1,25.942
$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,25.075,300.750,293.600,64.700,0.000,30.798,26.674,195.309,7.250,0.000,0.000,13.549,2470.536,20475.926,572.250,3008.720,1088.051,0.000,2146.135,0.000,3225.337,0.000,49.297,0.000
$DEVICE_MAMPS,126.555,62.127,1369.862,763.932,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1047.011,1012.804,742.263,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66319,1307
$CAP_FILE_SIZE,207532,0
$CFSIZE,260165632,244518912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,220709,213537,6220.305,-1150.509,33,1.6,34,-11.1