version: 66.04
glider: 105
mission: 6
dive: 106
start: 6 28 109 17 49 15
data:
$ID,105
$MISSION,6
$DIVE,106
$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,-1629907
$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,40
$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
$GPS1,174237,6338.579,-1337.685,35,1.0,36,-12.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-63.1
$GPS2,174855,6338.552,-1337.830,11,1.1,11,-12.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,KE
$TGT_LATLONG,6325.000,-1325.000
$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,169.6,27258,-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,12,begin dive
$GC,15,-0.96,-146.6,0.0,0.0,0,78,0.00,0.00,-59.70,0.000,6,0.000,0.000,385,2259,3431
$GC,81,-0.96,-146.6,4.8,-9.3,3,102,11.52,2.55,0.00,0.000,4,0.127,0.037,2588,829,3432
$GC,126,-0.96,-146.6,16.3,-12.5,5,130,0.00,2.45,0.00,0.000,6,0.000,0.033,2588,2237,3432
$GC,452,-0.96,-146.6,46.1,-9.1,21,456,0.00,2.45,0.00,0.000,4,0.000,0.039,2588,839,3433
$GC,484,-0.96,-146.6,49.3,-9.0,22,491,0.00,2.45,0.00,0.000,6,0.000,0.035,2588,2249,3433
$GC,801,-0.96,-146.6,75.5,-8.1,38,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2249,3433
$GC,1110,-0.96,-146.6,99.3,-6.7,53,1114,0.00,2.47,0.00,0.000,4,0.000,0.040,2588,839,3433
$GC,1149,-0.96,-146.6,101.9,-6.9,55,1154,0.00,2.47,0.00,0.000,6,0.000,0.035,2588,2240,3433
$GC,1482,-0.96,-146.6,120.1,-5.3,71,1487,0.00,2.50,0.00,0.000,4,0.000,0.041,2588,835,3433
$GC,1515,-0.96,-146.6,122.1,-6.0,72,1519,0.00,2.50,0.00,0.000,6,0.000,0.035,2588,2250,3433
$GC,1835,-0.96,-146.6,142.9,-6.5,88,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2250,3433
$GC,2145,-0.96,-146.6,162.3,-6.2,103,2149,0.00,2.47,0.00,0.000,4,0.000,0.041,2587,840,3433
$GC,2185,-0.96,-146.6,164.9,-6.6,105,2189,0.00,2.47,0.00,0.000,6,0.000,0.036,2588,2259,3433
$GC,2513,-0.96,-146.6,187.8,-7.2,121,2517,0.00,2.50,0.00,0.000,4,0.000,0.041,2588,834,3433
$GC,2553,-0.96,-146.6,190.8,-6.9,123,2557,0.00,2.47,0.00,0.000,6,0.000,0.037,2588,2255,3433
$GC,2881,-0.96,-146.6,216.7,-8.9,139,2882,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2256,3433
$GC,3188,-0.96,-146.6,249.3,-11.0,154,3192,0.00,2.50,0.00,0.000,4,0.000,0.041,2588,831,3433
$GC,3220,-0.96,-146.6,252.8,-10.9,155,3226,0.00,2.47,0.00,0.000,6,0.000,0.036,2588,2251,3433
$GC,3537,-0.96,-146.6,286.1,-10.6,171,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2251,3433
$GC,3845,-0.96,-146.6,313.0,-7.0,186,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2251,3433
$GC,4155,-0.96,-146.6,324.2,-2.3,201,4159,0.00,2.47,0.00,0.000,4,0.000,0.041,2588,840,3432
$GC,4199,-0.96,-146.6,325.1,-2.3,203,4204,0.00,2.47,0.00,0.000,6,0.000,0.035,2588,2248,3432
$GC,4526,-0.96,-146.6,335.0,-4.0,219,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2248,3432
$GC,4834,-0.96,-146.6,351.9,-6.3,234,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2248,3432
$GC,5147,-0.96,-146.6,376.3,-8.5,249,5151,0.00,2.47,0.00,0.000,4,0.000,0.041,2588,839,3432
$GC,5179,-0.96,-146.6,379.7,-9.1,250,5186,0.00,2.45,0.00,0.000,6,0.000,0.035,2588,2257,3432
$GC,5495,-0.96,-146.6,407.9,-9.2,266,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2257,3432
$GC,5806,-0.96,-146.6,432.7,-7.4,281,5810,0.00,2.47,0.00,0.000,4,0.000,0.041,2588,840,3432
$GC,5861,-0.96,-146.6,436.7,-6.4,283,5867,0.00,2.45,0.00,0.000,6,0.000,0.035,2588,2248,3431
$GC,6179,-0.96,-146.6,453.6,-4.4,299,6183,0.00,2.47,0.00,0.000,4,0.000,0.041,2588,835,3432
$GC,6219,-0.96,-146.6,455.9,-5.1,301,6224,0.00,2.45,0.00,0.000,6,0.000,0.035,2588,2253,3432
$GC,6549,-0.96,-146.6,471.6,-4.7,317,6553,0.00,2.47,0.00,0.000,4,0.000,0.041,2588,840,3431
$GC,6582,-0.96,-146.6,473.4,-4.9,318,6588,0.00,2.45,0.00,0.000,6,0.000,0.035,2588,2259,3431
$GC,6897,-0.96,-146.6,487.6,-4.6,334,6899,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2260,3431
$GC,7209,-0.96,-146.6,503.5,-5.7,349,7214,0.00,2.50,0.00,0.000,4,0.000,0.041,2588,833,3431
$GC,7250,-0.96,-146.6,505.9,-5.9,351,7254,0.00,2.45,0.00,0.000,6,0.000,0.035,2588,2248,3431
$GC,7576,-0.96,-146.6,528.0,-7.4,367,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2248,3431
$GC,7886,-0.96,-146.6,552.2,-8.0,382,7887,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2248,3431
$GC,8198,-0.96,-146.6,575.8,-7.6,397,8202,0.00,2.47,0.00,0.000,4,0.000,0.041,2588,836,3431
$GC,8284,-0.96,-146.6,582.8,-7.8,401,8288,0.00,2.47,0.00,0.000,6,0.000,0.036,2588,2261,3431
$GC,8610,-0.96,-146.6,605.6,-6.6,417,8615,0.00,2.53,0.00,0.000,4,0.000,0.041,2588,840,3431
$GC,8661,-0.96,-146.6,609.3,-7.5,419,8665,0.00,2.45,0.00,0.000,6,0.000,0.037,2588,2250,3431
$GC,8981,-0.96,-146.6,631.4,-6.9,435,8983,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2250,3431
$GC,9292,-0.96,-146.6,653.1,-7.2,450,9296,0.00,2.47,0.00,0.000,4,0.000,0.042,2588,837,3430
$GC,9358,-0.96,-146.6,657.8,-7.0,453,9363,0.00,2.47,0.00,0.000,6,0.000,0.037,2588,2242,3431
$GC,9684,-0.96,-146.6,680.2,-6.6,469,9688,0.00,2.47,0.00,0.000,4,0.000,0.041,2588,831,3430
$GC,9717,-0.96,-146.6,682.5,-7.1,470,9723,0.00,2.47,0.00,0.000,6,0.000,0.037,2588,2256,3430
$GC,10034,-0.96,-146.6,704.8,-7.4,486,10038,0.00,2.50,0.00,0.000,4,0.000,0.041,2588,831,3430
$GC,10083,-0.96,-146.6,708.6,-7.6,488,10087,0.00,2.47,0.00,0.000,6,0.000,0.037,2588,2249,3430
$GC,10399,-0.96,-146.6,729.7,-6.3,503,10400,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2250,3430
$GC,10711,-0.96,-146.6,747.3,-5.6,518,10712,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2249,3429
$GC,11017,-0.96,-146.6,764.5,-6.2,533,11018,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2250,3430
$GC,11326,-0.96,-146.6,785.5,-7.8,548,11331,0.00,2.50,0.00,0.000,4,0.000,0.043,2588,847,3430
$GC,11371,-0.96,-146.6,789.4,-8.9,550,11376,0.00,2.45,0.00,0.000,6,0.000,0.037,2588,2244,3430
$GC,11706,-0.96,-146.6,818.8,-8.8,566,11710,0.00,2.47,0.00,0.000,4,0.000,0.043,2588,837,3430
$GC,11755,-0.96,-146.6,823.4,-8.9,568,11760,0.00,2.47,0.00,0.000,6,0.000,0.038,2588,2256,3429
$GC,12073,-0.96,-146.6,846.5,-6.8,583,12078,0.00,2.50,0.00,0.000,4,0.000,0.044,2588,837,3429
$GC,12130,-0.96,-146.6,850.2,-6.1,585,12136,0.00,2.47,0.00,0.000,6,0.000,0.038,2588,2255,3429
$GC,12448,-0.96,-146.6,867.5,-5.4,601,12450,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2255,3429
$GC,12755,-0.96,-146.6,885.7,-5.9,616,12759,0.00,2.50,0.00,0.000,4,0.000,0.044,2588,840,3428
$GC,12810,-0.96,-146.6,889.2,-6.5,618,12818,0.00,2.50,0.00,0.000,6,0.000,0.039,2588,2249,3428
$GC,13126,-0.96,-146.6,906.4,-5.6,634,13127,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2249,3428
$GC,13435,-0.96,-146.6,923.6,-5.5,649,13439,0.00,2.50,0.00,0.000,4,0.000,0.046,2588,840,3428
$GC,13491,-0.96,-146.6,926.9,-5.8,651,13498,0.00,2.47,0.00,0.000,6,0.000,0.040,2588,2253,3428
$GC,13807,-0.96,-146.6,944.2,-5.7,667,13808,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2253,3427
$GC,14117,-0.96,-146.6,962.1,-5.9,682,14121,0.00,2.50,0.00,0.000,4,0.000,0.047,2588,843,3426
$GC,14167,-0.96,-146.6,965.7,-6.7,684,14171,0.00,2.47,0.00,0.000,6,0.000,0.041,2588,2248,3426
$GC,14485,-0.96,-146.6,985.8,-6.8,699,14489,0.00,2.55,0.00,0.000,4,0.000,0.062,2588,3653,3425
$STATE,14526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14526,begin apogee
$GC,14537,-0.36,0.0,990.2,9.9,701,14674,0.57,0.00,131.27,1.417,6,0.065,0.000,2717,1454,2831
$STATE,14675,end apogee,CONTROL_FINISHED_OK
$STATE,14675,begin climb
$GC,14677,0.96,146.6,997.9,0.0,708,14815,1.33,0.00,132.90,1.379,6,0.048,0.000,3012,1453,2234
$GC,15111,0.96,146.6,975.7,6.3,729,15115,0.00,2.53,0.00,0.000,4,0.000,0.049,3012,2862,2224
$GC,15274,0.96,146.6,964.8,6.6,736,15278,0.00,2.50,0.00,0.000,6,0.000,0.041,3012,1452,2222
$GC,15593,0.96,146.6,941.2,7.4,751,15594,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1452,2221
$GC,15899,0.96,146.6,919.9,6.7,766,15904,0.00,2.53,0.00,0.000,4,0.000,0.048,3012,2860,2221
$GC,15984,0.96,146.6,914.1,7.5,770,15988,0.00,2.50,0.00,0.000,6,0.000,0.040,3012,1455,2220
$GC,16313,0.97,149.2,894.1,5.9,786,16318,0.00,2.50,0.00,0.000,4,0.000,0.048,3012,2860,2219
$GC,16358,0.97,149.2,891.1,6.1,788,16362,0.00,2.50,0.00,0.000,6,0.000,0.040,3012,1450,2219
$GC,16678,0.97,149.2,871.4,6.4,804,16683,0.00,2.58,0.00,0.000,4,0.000,0.049,3012,2861,2218
$GC,16706,1.00,176.3,869.8,5.3,805,16737,0.00,2.47,26.00,1.315,6,0.000,0.040,3012,1453,2112
$GC,17054,1.01,183.3,848.7,5.8,822,17063,0.00,0.00,7.40,1.102,6,0.000,0.000,3012,1453,2084
$GC,17364,1.01,183.3,829.7,6.5,837,17366,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1453,2082
$GC,17671,1.01,183.3,806.1,8.3,852,17676,0.00,2.53,0.00,0.000,4,0.000,0.048,3012,2864,2081
$GC,17688,1.01,183.3,804.7,8.8,853,17693,0.00,2.50,0.00,0.000,6,0.000,0.039,3012,1454,2081
$GC,18020,1.01,183.3,778.5,7.8,869,18021,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1454,2082
$GC,18330,1.01,183.3,753.0,8.5,884,18334,0.00,2.53,0.00,0.000,4,0.000,0.048,3012,2863,2081
$GC,18369,1.01,183.3,749.8,8.4,886,18373,0.00,2.47,0.00,0.000,6,0.000,0.038,3012,1452,2081
$GC,18695,1.01,183.3,727.5,6.4,902,18699,0.00,2.53,0.00,0.000,4,0.000,0.047,3012,2867,2081
$GC,18762,1.05,215.9,723.4,5.1,905,18800,0.00,2.47,31.05,1.230,6,0.000,0.038,3012,1447,1951
$GC,19111,1.05,215.9,700.8,6.4,922,19115,0.00,2.55,0.00,0.000,4,0.000,0.046,3012,2865,1946
$GC,19172,1.05,215.9,696.8,6.1,925,19177,0.00,2.47,0.00,0.000,6,0.000,0.037,3012,1448,1946
$GC,19500,1.05,215.9,675.6,6.5,941,19504,0.00,2.53,0.00,0.000,4,0.000,0.045,3012,2861,1946
$GC,19584,1.05,215.9,670.3,6.2,945,19588,0.00,2.47,0.00,0.000,6,0.000,0.038,3012,1452,1945
$GC,19913,1.06,220.2,650.6,5.9,961,19923,0.00,2.53,4.62,0.815,4,0.000,0.045,3012,2861,1934
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$STATE,28536,end climb,SURFACE_DEPTH_REACHED
$STATE,28537,begin surface coast
$FINISH,0.3,1.004256
$STATE,28578,end surface coast,CONTROL_FINISHED_OK
$STATE,28578,begin surface
$SM_CCo,28601,28.50,0.752,0,0,1609,300.00
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$IRIDIUM_FIX,6317.84,-1328.05,220998,101059
$TT8_MAMPS,0.027612
$HUMID,1815
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$TCM_TEMP,17.30
$XPDR_PINGS,0
$24V_AH,23.2,33.641
$10V_AH,10.1,16.597
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$DEVICE_SECS,25.050,255.675,370.875,28.500,0.000,23.568,27.215,192.743,8.500,0.000,0.000,11.973,2521.540,22042.121,570.551,2809.393,1053.840,0.000,2062.914,0.000,3045.063,0.000,55.955,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1142.853,1034.621,763.300,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69418,1382
$CAP_FILE_SIZE,200637,0
$CFSIZE,260165632,251019264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,290609,014737,6333.578,-1338.728,31,0.9,31,-12.6