version: 66.04
glider: 105
mission: 6
dive: 201
start: 7 27 109 21 30 52
data:
$ID,105
$MISSION,6
$DIVE,201
$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,-1631620.9
$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,23
$R_STBD_OVSHOOT,29
$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
$GPS1,212330,6217.420,-1147.715,38,1.6,38,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-60.8
$GPS2,213034,6217.460,-1147.740,9,2.1,28,-11.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$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,82.2,43255,-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,-59.85,0.000,6,0.000,0.000,387,2251,3430
$GC,82,-0.96,-146.6,4.8,-9.9,3,99,11.75,0.00,0.00,0.000,6,0.130,0.000,2581,2251,3432
$GC,409,-0.96,-146.6,40.7,-8.0,19,414,0.00,2.55,0.00,0.000,4,0.000,0.056,2581,3650,3434
$GC,526,-0.96,-146.6,50.4,-7.2,24,531,0.00,2.42,0.00,0.000,6,0.000,0.029,2581,2231,3434
$GC,843,-0.96,-146.6,72.4,-7.4,39,848,0.00,2.60,0.00,0.000,4,0.000,0.052,2581,3648,3434
$GC,937,-0.96,-146.6,80.2,-8.1,43,941,0.00,2.40,0.00,0.000,6,0.000,0.029,2581,2248,3434
$GC,1259,-0.96,-146.6,103.9,-7.3,59,1263,0.00,2.55,0.00,0.000,4,0.000,0.052,2581,3653,3435
$GC,1314,-0.96,-146.6,108.2,-7.7,61,1320,0.00,2.40,0.00,0.000,6,0.000,0.031,2581,2250,3435
$GC,1630,-0.96,-146.6,129.7,-6.8,77,1634,0.00,2.53,0.00,0.000,4,0.000,0.052,2581,3650,3435
$GC,1702,-0.96,-146.6,135.2,-8.1,80,1706,0.00,2.40,0.00,0.000,6,0.000,0.031,2581,2249,3435
$GC,2018,-0.96,-146.6,157.2,-7.0,95,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2249,3435
$GC,2327,-0.96,-146.6,180.1,-7.5,110,2331,0.00,2.55,0.00,0.000,4,0.000,0.053,2581,3655,3435
$GC,2439,-0.96,-146.6,189.5,-8.1,115,2443,0.00,2.42,0.00,0.000,6,0.000,0.031,2581,2241,3434
$GC,2761,-0.96,-146.6,214.6,-7.9,131,2765,0.00,2.55,0.00,0.000,4,0.000,0.054,2581,3650,3434
$GC,2825,-0.96,-146.6,219.9,-8.3,134,2829,0.00,2.40,0.00,0.000,6,0.000,0.031,2581,2250,3434
$GC,3151,-0.96,-146.6,245.3,-7.6,150,3155,0.00,2.53,0.00,0.000,4,0.000,0.052,2581,3651,3434
$GC,3207,-0.96,-146.6,249.9,-8.0,152,3214,0.00,2.40,0.00,0.000,6,0.000,0.031,2581,2250,3433
$GC,3523,-0.96,-146.6,272.8,-6.9,168,3527,0.00,2.53,0.00,0.000,4,0.000,0.052,2581,3653,3433
$GC,3580,-0.96,-146.6,277.1,-8.1,170,3586,0.00,2.40,0.00,0.000,6,0.000,0.031,2581,2249,3433
$GC,3896,-0.96,-146.6,297.8,-6.4,186,3900,0.00,2.55,0.00,0.000,4,0.000,0.054,2581,3657,3433
$GC,3935,-0.96,-146.6,300.5,-6.9,188,3939,0.00,2.40,0.00,0.000,6,0.000,0.031,2581,2249,3433
$GC,4261,-0.96,-146.6,322.2,-6.9,204,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2249,3432
$GC,4570,-0.96,-146.6,344.0,-7.0,219,4575,0.00,2.53,0.00,0.000,4,0.000,0.053,2581,3650,3432
$GC,4632,-0.96,-146.6,348.8,-7.8,222,4637,0.00,2.40,0.00,0.000,6,0.000,0.031,2580,2247,3432
$GC,4962,-0.96,-146.6,373.2,-7.6,238,4966,0.00,2.55,0.00,0.000,4,0.000,0.054,2581,3655,3432
$GC,5024,-0.96,-146.6,378.4,-8.1,241,5028,0.00,2.42,0.00,0.000,6,0.000,0.031,2581,2254,3431
$GC,5355,-0.96,-146.6,403.7,-7.5,257,5360,0.00,2.55,0.00,0.000,4,0.000,0.054,2581,3651,3431
$GC,5468,-0.96,-146.6,412.3,-7.6,262,5472,0.00,2.40,0.00,0.000,6,0.000,0.031,2581,2248,3431
$GC,5795,-0.96,-146.6,435.9,-7.3,278,5799,0.00,2.53,0.00,0.000,4,0.000,0.054,2581,3650,3432
$GC,5889,-0.96,-146.6,443.1,-7.8,282,5893,0.00,2.40,0.00,0.000,6,0.000,0.031,2581,2249,3431
$GC,6205,-0.96,-146.6,464.4,-6.7,297,6209,0.00,2.53,0.00,0.000,4,0.000,0.053,2581,3654,3431
$GC,6261,-0.96,-146.6,468.5,-7.7,299,6267,0.00,2.40,0.00,0.000,6,0.000,0.031,2580,2252,3431
$GC,6577,-0.96,-146.6,489.2,-6.6,315,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2252,3431
$GC,6885,-0.96,-146.6,509.5,-6.3,330,6890,0.00,2.53,0.00,0.000,4,0.000,0.053,2581,3657,3431
$GC,6952,-0.96,-146.6,514.2,-6.9,333,6957,0.00,2.42,0.00,0.000,6,0.000,0.031,2581,2237,3431
$GC,7276,-0.96,-146.6,534.4,-6.5,349,7280,0.00,2.55,0.00,0.000,4,0.000,0.054,2581,3650,3431
$GC,7332,-0.96,-146.6,538.6,-7.8,351,7338,0.00,2.40,0.00,0.000,6,0.000,0.031,2581,2249,3431
$GC,7647,-0.96,-146.6,559.2,-6.5,367,7651,0.00,2.53,0.00,0.000,4,0.000,0.053,2581,3650,3431
$GC,7697,-0.96,-146.6,562.7,-7.3,369,7701,0.00,2.40,0.00,0.000,6,0.000,0.031,2581,2250,3430
$GC,8013,-0.96,-146.6,582.0,-5.9,384,8017,0.00,2.53,0.00,0.000,4,0.000,0.054,2581,3653,3431
$GC,8086,-0.96,-146.6,587.2,-6.6,387,8090,0.00,2.42,0.00,0.000,6,0.000,0.032,2581,2255,3431
$GC,8406,-0.96,-146.6,608.5,-7.1,403,8411,0.00,2.53,0.00,0.000,4,0.000,0.053,2581,3658,3431
$GC,8456,-0.96,-146.6,612.6,-7.8,405,8460,0.00,2.42,0.00,0.000,6,0.000,0.031,2581,2246,3431
$GC,8773,-0.96,-146.6,636.3,-7.5,420,8777,0.00,2.53,0.00,0.000,4,0.000,0.054,2581,3650,3431
$GC,8852,-0.96,-146.6,642.6,-7.6,423,8858,0.00,2.40,0.00,0.000,6,0.000,0.032,2581,2252,3431
$GC,9167,-0.96,-146.6,665.5,-7.2,439,9169,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2252,3430
$GC,9479,-0.96,-146.6,687.6,-7.4,454,9484,0.00,2.53,0.00,0.000,4,0.000,0.053,2581,3653,3430
$GC,9565,-0.96,-146.6,694.6,-8.3,458,9569,0.00,2.40,0.00,0.000,6,0.000,0.032,2581,2251,3430
$GC,9894,-0.96,-146.6,717.9,-6.8,474,9898,0.00,2.53,0.00,0.000,4,0.000,0.053,2581,3655,3430
$GC,9934,-0.96,-146.6,721.0,-7.6,476,9939,0.00,2.42,0.00,0.000,6,0.000,0.032,2581,2237,3430
$GC,10262,-0.96,-146.6,741.3,-5.7,492,10263,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2236,3430
$GC,10571,-0.96,-146.6,757.9,-5.5,507,10575,0.00,2.58,0.00,0.000,4,0.000,0.055,2581,3657,3430
$GC,10638,-0.96,-146.6,762.0,-6.6,510,10643,0.00,2.42,0.00,0.000,6,0.000,0.033,2581,2249,3430
$GC,10960,-0.96,-146.6,780.9,-6.1,526,10965,0.00,2.50,0.00,0.000,4,0.000,0.048,2581,847,3430
$GC,11005,-0.96,-146.6,783.8,-6.6,528,11010,0.00,2.47,0.00,0.000,6,0.000,0.037,2581,2254,3430
$GC,11337,-0.96,-146.6,804.0,-6.3,544,11338,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2254,3429
$GC,11646,-0.96,-146.6,824.2,-6.4,559,11647,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2254,3429
$GC,11956,-0.96,-146.6,842.3,-5.6,574,11960,0.00,2.50,0.00,0.000,4,0.000,0.047,2581,846,3429
$GC,12012,-0.96,-146.6,845.6,-5.7,576,12018,0.00,2.45,0.00,0.000,6,0.000,0.038,2581,2250,3428
$GC,12327,-0.96,-146.6,865.8,-6.6,592,12328,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2250,3428
$GC,12637,-0.96,-146.6,884.0,-5.7,607,12641,0.00,2.50,0.00,0.000,4,0.000,0.048,2581,847,3428
$GC,12681,-0.96,-146.6,886.5,-5.8,609,12685,0.00,2.45,0.00,0.000,6,0.000,0.038,2581,2249,3428
$GC,13003,-0.96,-146.6,904.8,-5.4,625,13007,0.00,2.53,0.00,0.000,4,0.000,0.059,2581,3651,3427
$GC,13134,-0.96,-146.6,912.9,-6.3,631,13139,0.00,2.42,0.00,0.000,6,0.000,0.035,2581,2251,3427
$STATE,13417,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13417,begin apogee
$GC,13425,-0.36,0.0,929.2,5.5,645,13561,0.65,0.00,131.55,1.388,6,0.061,0.000,2722,1461,2832
$STATE,13562,end apogee,CONTROL_FINISHED_OK
$STATE,13562,begin climb
$GC,13565,0.96,146.6,933.2,0.0,652,13711,1.30,2.33,133.80,1.347,4,0.053,0.065,3007,261,2233
$GC,13768,0.96,146.6,924.3,7.2,661,13772,0.00,2.08,0.00,0.000,6,0.000,0.037,3007,1458,2228
$GC,14090,0.96,146.6,904.5,6.7,677,14094,0.00,2.53,0.00,0.000,4,0.000,0.048,3007,2860,2223
$GC,14145,0.97,153.7,900.8,5.8,679,14156,0.00,2.50,6.12,1.015,6,0.000,0.041,3007,1452,2205
$GC,14478,0.97,153.7,877.9,7.0,696,14479,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1452,2202
$GC,14788,1.00,173.6,860.7,5.5,711,14813,0.00,2.58,19.85,1.285,4,0.000,0.048,3008,2856,2123
$GC,14909,1.00,173.6,853.5,6.1,716,14915,0.00,2.50,0.00,0.000,6,0.000,0.042,3007,1449,2120
$GC,15225,1.00,173.6,834.1,6.2,732,15229,0.00,2.53,0.00,0.000,4,0.000,0.046,3007,2861,2119
$GC,15303,1.02,188.3,829.1,5.6,735,15323,0.00,2.50,14.70,1.243,6,0.000,0.040,3007,1447,2063
$GC,15640,1.02,188.3,806.0,7.2,752,15644,0.00,2.53,0.00,0.000,4,0.000,0.046,3008,2857,2060
$GC,15674,1.02,188.3,803.5,7.7,753,15680,0.00,2.50,0.00,0.000,6,0.000,0.040,3007,1448,2059
$GC,15990,1.02,188.3,780.6,6.9,769,15994,0.00,2.53,0.00,0.000,4,0.000,0.044,3008,2857,2058
$GC,16079,1.02,188.3,774.8,6.3,773,16083,0.00,2.47,0.00,0.000,6,0.000,0.038,3008,1452,2057
$GC,16401,1.04,204.6,756.3,5.6,789,16420,0.00,0.00,15.75,1.213,6,0.000,0.000,3007,1452,1998
$GC,16732,1.05,216.0,737.5,5.7,805,16755,0.00,2.60,12.07,1.158,4,0.000,0.044,3008,2857,1950
$GC,16806,1.07,230.4,733.2,5.6,808,16827,0.08,2.53,15.45,1.180,6,0.032,0.038,3058,1450,1892
$GC,17150,1.07,230.4,706.2,8.1,825,17152,0.12,0.00,0.00,0.000,6,0.080,0.000,3032,1450,1887
$GC,17457,1.07,230.4,682.6,7.6,840,17462,0.00,2.53,0.00,0.000,4,0.000,0.045,3032,2857,1886
$GC,17542,1.07,230.4,675.9,7.8,844,17547,0.00,2.47,0.00,0.000,6,0.000,0.038,3032,1451,1886
$GC,17869,1.07,230.4,647.6,8.9,860,17870,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1451,1886
$GC,18178,1.07,230.4,619.3,9.3,875,18182,0.00,2.53,0.00,0.000,4,0.000,0.044,3032,2861,1886
$GC,18245,1.07,230.4,613.3,9.2,878,18249,0.00,2.47,0.00,0.000,6,0.000,0.038,3032,1454,1886
$GC,18566,1.07,230.4,586.1,8.2,894,18570,0.00,2.53,0.00,0.000,4,0.000,0.045,3032,2856,1885
$GC,18612,1.07,230.4,582.4,7.4,896,18617,0.00,2.47,0.00,0.000,6,0.000,0.038,3032,1446,1886
$GC,18939,1.07,230.4,556.3,7.6,912,18940,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1446,1886
$GC,19251,1.07,230.4,532.3,7.8,927,19255,0.00,2.53,0.00,0.000,4,0.000,0.044,3032,2861,1886
$GC,19313,1.07,231.0,527.5,6.0,930,19317,0.00,2.47,0.00,0.000,6,0.000,0.038,3032,1448,1886
$GC,19640,1.07,231.0,503.9,7.0,946,19641,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1448,1886
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$STATE,26325,end climb,SURFACE_DEPTH_REACHED
$STATE,26326,begin surface coast
$FINISH,0.1,1.013419
$STATE,26368,end surface coast,CONTROL_FINISHED_OK
$STATE,26368,begin surface
$SM_CCo,26392,41.22,0.769,0,0,1609,300.00
$SM_GC,0.82,0.00,0.00,41.22,0.000,0.000,0.769,385,2240,1609,-11.11,-0.28,300.00
$IRIDIUM_FIX,6148.92,-1050.51,211098,141458
$TT8_MAMPS,0.026845
$HUMID,1878
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,850.9,88.0
$24V_AH,23.1,46.186
$10V_AH,10.1,28.083
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$DEVICE_SECS,25.200,249.675,349.300,41.225,0.000,29.195,30.571,207.605,7.500,0.000,0.000,29.247,2342.423,20094.797,568.515,2789.056,1052.235,0.000,2025.254,0.000,2996.365,0.000,50.923,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1017.065,1018.104,700.726,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66273,1271
$CAP_FILE_SIZE,190114,0
$CFSIZE,260165632,243048448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,280709,045237,6219.929,-1139.233,30,1.1,31,-11.0