version: 66.04
glider: 105
mission: 6
dive: 89
start: 6 24 109 4 10 39
data:
$ID,105
$MISSION,6
$DIVE,89
$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,-1629618.2
$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,28
$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
$GPS1,040407,6325.261,-1328.607,30,1.7,30,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-61.8
$GPS2,041019,6325.272,-1328.675,10,1.8,15,-12.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,LW
$TGT_LATLONG,6345.000,-1322.000
$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,21.0,36943,-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,13,begin dive
$GC,15,-0.96,-146.6,0.0,0.0,0,82,0.00,0.00,-64.72,0.000,6,0.000,0.000,387,2355,3431
$GC,85,-0.96,-146.6,3.6,-6.4,3,106,11.55,2.70,0.00,0.000,4,0.128,0.035,2585,834,3433
$GC,346,-0.96,-146.6,32.7,-7.9,14,353,0.00,2.45,0.00,0.000,6,0.000,0.033,2585,2252,3433
$GC,662,-0.96,-146.6,57.3,-7.8,30,667,0.00,2.58,0.00,0.000,4,0.000,0.057,2585,3652,3434
$GC,717,-0.96,-146.6,62.6,-9.6,32,722,0.00,2.42,0.00,0.000,6,0.000,0.027,2585,2225,3434
$GC,1035,-0.96,-146.6,84.9,-7.5,47,1039,0.00,2.58,0.00,0.000,4,0.000,0.051,2585,3651,3434
$GC,1134,-0.96,-146.6,93.0,-5.8,51,1141,0.00,2.35,0.00,0.000,6,0.000,0.027,2585,2249,3434
$GC,1450,-0.96,-146.6,108.0,-5.2,67,1455,0.00,2.53,0.00,0.000,4,0.000,0.051,2585,3651,3435
$GC,1500,-0.96,-146.6,111.6,-7.2,69,1504,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2248,3434
$GC,1817,-0.96,-146.6,129.5,-5.0,84,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3434
$GC,2126,-0.96,-146.6,143.0,-4.4,99,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3434
$GC,2435,-0.96,-146.6,157.5,-5.3,114,2439,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3652,3434
$GC,2501,-0.96,-146.6,161.7,-6.1,117,2506,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2254,3434
$GC,2823,-0.96,-146.6,179.8,-5.6,133,2828,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3648,3434
$GC,2861,-0.96,-146.6,182.2,-6.4,134,2868,0.00,2.40,0.00,0.000,6,0.000,0.028,2585,2220,3434
$GC,3177,-0.96,-146.6,203.9,-7.4,150,3181,0.00,2.58,0.00,0.000,4,0.000,0.051,2585,3651,3434
$GC,3239,-0.96,-146.6,208.9,-8.8,153,3243,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2250,3434
$GC,3565,-0.96,-146.6,233.9,-7.4,169,3570,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3649,3433
$GC,3626,-0.96,-146.6,238.4,-7.4,171,3632,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2249,3433
$GC,3942,-0.96,-146.6,256.6,-5.4,187,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3434
$GC,4251,-0.96,-146.6,273.2,-5.8,202,4255,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3651,3434
$GC,4300,-0.96,-146.6,276.5,-6.3,204,4305,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2251,3433
$GC,4618,-0.96,-146.6,297.0,-7.1,219,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3433
$GC,4925,-0.96,-146.6,322.6,-9.1,234,4929,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3651,3433
$GC,4971,-0.96,-146.6,327.0,-9.9,236,4976,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2247,3433
$GC,5292,-0.96,-146.6,356.7,-9.1,252,5296,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3654,3432
$GC,5348,-0.96,-146.6,362.1,-10.1,254,5354,0.00,2.40,0.00,0.000,6,0.000,0.028,2585,2235,3432
$GC,5663,-0.96,-146.6,390.4,-9.2,270,5668,0.00,2.58,0.00,0.000,4,0.000,0.056,2585,3654,3432
$GC,5713,-0.96,-146.6,395.3,-9.8,272,5718,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2257,3432
$GC,6034,-0.96,-146.6,424.4,-9.2,288,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2257,3432
$GC,6347,-0.96,-146.6,451.1,-8.6,303,6351,0.00,2.53,0.00,0.000,4,0.000,0.056,2585,3651,3432
$GC,6396,-0.96,-146.6,456.2,-9.1,305,6401,0.00,2.38,0.00,0.000,6,0.000,0.029,2585,2253,3432
$GC,6712,-0.96,-146.6,481.0,-7.7,320,6716,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3658,3432
$GC,6756,-0.96,-146.6,484.7,-8.5,322,6761,0.00,2.42,0.00,0.000,6,0.000,0.030,2585,2252,3432
$GC,7082,-0.96,-146.6,506.4,-6.0,338,7086,0.00,2.53,0.00,0.000,4,0.000,0.056,2585,3651,3432
$GC,7131,-0.96,-146.6,509.4,-6.2,340,7135,0.00,2.38,0.00,0.000,6,0.000,0.029,2585,2251,3432
$GC,7450,-0.96,-146.6,523.4,-4.1,355,7454,0.00,2.53,0.00,0.000,4,0.000,0.055,2585,3651,3432
$GC,7528,-0.96,-146.6,527.6,-5.7,358,7534,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2237,3432
$GC,7844,-0.96,-146.6,544.0,-5.4,374,7848,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3651,3432
$GC,7921,-0.96,-146.6,548.9,-6.5,377,7928,0.00,2.38,0.00,0.000,6,0.000,0.029,2585,2254,3432
$GC,8238,-0.96,-146.6,566.5,-5.4,393,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2254,3432
$GC,8547,-0.96,-146.6,583.2,-5.1,408,8551,0.00,2.53,0.00,0.000,4,0.000,0.056,2585,3651,3432
$GC,8631,-0.96,-146.6,587.9,-5.1,412,8635,0.00,2.38,0.00,0.000,6,0.000,0.029,2585,2250,3432
$GC,8959,-0.96,-146.6,600.3,-3.0,428,8963,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3660,3432
$GC,8993,-0.96,-146.6,601.4,-3.3,429,8998,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2250,3432
$GC,9308,-0.96,-146.6,608.7,-2.5,445,9312,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3655,3431
$GC,9387,-0.96,-146.6,611.2,-3.0,448,9393,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2245,3431
$GC,9705,-0.96,-146.6,623.1,-4.5,464,9709,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3655,3431
$GC,9759,-0.96,-146.6,626.0,-6.1,466,9765,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2248,3431
$GC,10078,-0.96,-146.6,642.1,-5.3,482,10079,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3431
$GC,10384,-0.96,-146.6,662.3,-7.3,497,10388,0.00,2.55,0.00,0.000,4,0.000,0.057,2585,3651,3431
$GC,10451,-0.96,-146.6,667.8,-8.4,500,10455,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2240,3431
$GC,10775,-0.96,-146.6,692.1,-7.1,516,10776,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2240,3431
$GC,11082,-0.96,-146.6,709.8,-4.7,531,11086,0.00,2.58,0.00,0.000,4,0.000,0.057,2585,3657,3431
$GC,11149,-0.96,-146.6,713.0,-4.6,534,11154,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2252,3431
$GC,11471,-0.96,-146.6,722.2,-2.5,550,11475,0.00,2.55,0.00,0.000,4,0.000,0.057,2585,3655,3430
$GC,11601,-0.96,-146.6,726.4,-3.4,556,11605,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2252,3430
$GC,11927,-0.96,-146.6,738.8,-4.7,572,11928,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3430
$GC,12236,-0.96,-146.6,759.8,-8.9,587,12240,0.00,2.45,0.00,0.000,4,0.000,0.044,2585,850,3430
$GC,12268,-0.96,-146.6,763.2,-9.9,588,12275,0.00,2.45,0.00,0.000,6,0.000,0.037,2585,2259,3431
$GC,12585,-0.96,-146.6,799.0,-11.8,604,12589,0.00,2.47,0.00,0.000,4,0.000,0.044,2585,851,3430
$GC,12640,-0.96,-146.6,805.6,-11.3,606,12646,0.00,2.42,0.00,0.000,6,0.000,0.036,2585,2247,3430
$GC,12956,-0.96,-146.6,833.0,-7.0,622,12957,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2247,3430
$GC,13265,-0.96,-146.6,849.1,-4.9,637,13270,0.00,2.47,0.00,0.000,4,0.000,0.044,2585,846,3429
$GC,13299,-0.96,-146.6,851.2,-6.0,638,13305,0.00,2.45,0.00,0.000,6,0.000,0.037,2585,2253,3429
$GC,13615,-0.96,-146.6,867.3,-5.3,654,13620,0.00,2.55,0.00,0.000,4,0.000,0.058,2585,3650,3429
$GC,13692,-0.96,-146.6,872.3,-7.0,657,13696,0.00,2.40,0.00,0.000,6,0.000,0.032,2585,2252,3429
$GC,14008,-0.96,-146.6,892.4,-6.6,672,14009,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2252,3428
$GC,14317,-0.96,-146.6,907.2,-3.5,687,14318,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3428
$GC,14629,-0.96,-146.6,916.5,-3.8,702,14630,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3428
$GC,14935,-0.96,-146.6,933.0,-5.4,717,14940,0.00,2.47,0.00,0.000,4,0.000,0.047,2585,848,3427
$GC,14969,-0.96,-146.6,935.0,-5.2,718,14975,0.00,2.45,0.00,0.000,6,0.000,0.039,2585,2247,3427
$GC,15284,-0.96,-146.6,962.8,-8.5,734,15288,0.00,2.50,0.00,0.000,4,0.000,0.047,2585,842,3427
$GC,15307,-0.96,-146.6,964.2,-6.6,735,15312,0.00,2.47,0.00,0.000,6,0.000,0.040,2585,2253,3426
$GC,15629,-0.96,-146.6,980.5,-3.6,751,15630,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2253,3426
$STATE,15770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15770,begin apogee
$GC,15778,-0.36,0.0,991.3,9.3,758,15914,0.62,0.00,130.80,1.415,6,0.059,0.000,2722,1461,2832
$STATE,15914,end apogee,CONTROL_FINISHED_OK
$STATE,15915,begin climb
$GC,15917,0.96,146.6,994.3,0.0,765,16058,1.30,2.28,132.73,1.374,4,0.051,0.062,3008,258,2234
$GC,16099,1.04,206.4,990.0,4.4,773,16160,0.00,2.10,54.78,1.343,6,0.000,0.035,3008,1475,1989
$GC,16483,1.04,206.4,964.3,6.2,792,16484,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1474,1979
$GC,16792,1.04,206.4,942.7,6.4,807,16793,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1474,1978
$GC,17101,1.04,206.4,917.9,7.3,822,17106,0.00,2.25,0.00,0.000,4,0.000,0.059,3008,265,1976
$GC,17197,1.04,206.4,910.9,7.5,826,17201,0.00,2.05,0.00,0.000,6,0.000,0.035,3008,1458,1976
$GC,17524,1.04,206.4,884.5,8.4,842,17528,0.00,2.50,0.00,0.000,4,0.000,0.049,3008,2850,1976
$GC,17630,1.04,206.4,875.9,8.0,847,17635,0.00,2.47,0.00,0.000,6,0.000,0.041,3008,1459,1975
$GC,17963,1.08,242.2,854.4,5.0,863,18005,0.12,2.62,31.85,1.318,4,0.043,0.048,3060,2855,1843
$GC,18039,1.09,244.6,849.6,5.9,866,18044,0.12,2.50,0.00,0.000,6,0.082,0.040,3035,1449,1841
$GC,18357,1.12,270.1,834.7,5.3,881,18394,0.00,2.58,27.30,1.292,4,0.000,0.048,3035,2848,1728
$GC,18450,1.12,270.1,827.4,8.8,885,18455,0.00,2.50,0.00,0.000,6,0.000,0.041,3035,1455,1726
$GC,18771,1.12,270.1,794.5,10.1,901,18774,0.00,2.15,0.00,0.000,4,0.000,0.059,3034,264,1723
$GC,18809,1.12,270.1,790.7,9.5,902,18815,0.00,2.03,0.00,0.000,6,0.000,0.033,3034,1457,1723
$GC,19127,1.12,270.1,765.8,9.9,918,19131,0.00,2.50,0.00,0.000,4,0.000,0.048,3035,2854,1722
$GC,19222,1.12,270.1,753.8,14.2,922,19226,0.00,2.45,0.00,0.000,6,0.000,0.038,3034,1452,1721
$GC,19538,1.12,270.1,709.7,12.9,937,19539,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1452,1721
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$STATE,28044,end climb,SURFACE_DEPTH_REACHED
$STATE,28044,begin surface coast
$FINISH,1.2,1.027078
$STATE,28068,end surface coast,CONTROL_FINISHED_OK
$STATE,28068,begin surface
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$IRIDIUM_FIX,6254.00,-1331.98,170998,212132
$TT8_MAMPS,0.027612
$HUMID,1834
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$TCM_TEMP,19.30
$XPDR_PINGS,0
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$24V_AH,23.2,31.119
$10V_AH,10.1,14.797
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$DEVICE_SECS,25.175,244.175,377.450,20.725,0.000,27.992,34.506,175.046,9.000,0.000,0.000,15.535,2474.058,21511.736,570.128,2899.951,1021.897,0.000,2078.404,0.000,3099.973,0.000,63.155,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69486,1347
$CAP_FILE_SIZE,197493,0
$CFSIZE,260165632,252284928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,240609,120031,6332.459,-1327.080,39,1.1,40,-12.5