version: 66.04
glider: 105
mission: 6
dive: 107
start: 6 29 109 1 57 41
data:
$ID,105
$MISSION,6
$DIVE,107
$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,-1629940.4
$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,31
$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
$GPS1,014737,6333.578,-1338.728,31,0.9,31,-12.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-62.5
$GPS2,015721,6333.671,-1338.792,11,4.5,30,-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,157.2,19711,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-59.05,0.000,6,0.000,0.000,386,2250,3430
$GC,81,-0.96,-146.6,4.8,-9.3,3,102,11.57,2.53,0.00,0.000,4,0.128,0.035,2585,836,3432
$GC,197,-0.96,-146.6,22.5,-7.6,8,201,0.00,2.47,0.00,0.000,6,0.000,0.035,2585,2249,3432
$GC,519,-0.96,-146.6,43.9,-7.2,24,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3433
$GC,827,-0.96,-146.6,68.4,-8.1,39,831,0.00,2.47,0.00,0.000,4,0.000,0.038,2585,836,3433
$GC,876,-0.96,-146.6,72.6,-8.2,41,881,0.00,2.47,0.00,0.000,6,0.000,0.035,2585,2251,3433
$GC,1192,-0.96,-146.6,101.8,-9.7,56,1197,0.00,2.47,0.00,0.000,4,0.000,0.038,2585,835,3433
$GC,1232,-0.96,-146.6,105.7,-10.0,58,1237,0.00,2.50,0.00,0.000,6,0.000,0.035,2585,2250,3433
$GC,1565,-0.96,-146.6,129.7,-6.2,74,1570,0.00,2.50,0.00,0.000,4,0.000,0.039,2585,837,3433
$GC,1642,-0.96,-146.6,135.3,-7.2,77,1646,0.00,2.47,0.00,0.000,6,0.000,0.036,2585,2251,3433
$GC,1958,-0.96,-146.6,159.7,-7.7,92,1963,0.00,2.50,0.00,0.000,4,0.000,0.040,2585,839,3433
$GC,1996,-0.96,-146.6,162.5,-7.5,93,2002,0.00,2.47,0.00,0.000,6,0.000,0.037,2585,2254,3433
$GC,2312,-0.96,-146.6,181.1,-5.9,109,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2253,3433
$GC,2621,-0.96,-146.6,199.4,-6.1,124,2625,0.00,2.47,0.00,0.000,4,0.000,0.040,2585,839,3433
$GC,2654,-0.96,-146.6,201.4,-6.2,125,2661,0.00,2.47,0.00,0.000,6,0.000,0.036,2585,2257,3433
$GC,2973,-0.96,-146.6,220.5,-6.3,141,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2257,3433
$GC,3279,-0.96,-146.6,240.1,-6.3,156,3284,0.00,2.50,0.00,0.000,4,0.000,0.040,2585,830,3433
$GC,3342,-0.96,-146.6,244.2,-7.0,159,3347,0.00,2.50,0.00,0.000,6,0.000,0.037,2585,2243,3433
$GC,3674,-0.96,-146.6,263.9,-5.5,175,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2243,3433
$GC,3984,-0.96,-146.6,280.7,-5.7,190,3988,0.00,2.47,0.00,0.000,4,0.000,0.040,2585,832,3433
$GC,4033,-0.96,-146.6,283.9,-6.4,192,4037,0.00,2.50,0.00,0.000,6,0.000,0.036,2585,2260,3432
$GC,4349,-0.96,-146.6,302.8,-6.3,207,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2260,3432
$GC,4657,-0.96,-146.6,324.6,-7.3,222,4662,0.00,2.50,0.00,0.000,4,0.000,0.041,2585,834,3432
$GC,4707,-0.96,-146.6,328.6,-8.3,224,4711,0.00,2.47,0.00,0.000,6,0.000,0.037,2585,2252,3432
$GC,5027,-0.96,-146.6,353.7,-7.5,240,5029,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2252,3432
$GC,5338,-0.96,-146.6,376.0,-7.1,255,5343,0.00,2.50,0.00,0.000,4,0.000,0.041,2585,840,3432
$GC,5393,-0.96,-146.6,380.2,-7.9,257,5397,0.00,2.47,0.00,0.000,6,0.000,0.038,2585,2258,3432
$GC,5709,-0.96,-146.6,401.3,-6.4,272,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2259,3432
$GC,6020,-0.96,-146.6,422.5,-6.9,287,6025,0.00,2.50,0.00,0.000,4,0.000,0.041,2585,833,3432
$GC,6087,-0.96,-146.6,427.6,-7.7,290,6091,0.00,2.47,0.00,0.000,6,0.000,0.037,2585,2252,3431
$GC,6409,-0.96,-146.6,450.3,-6.9,306,6413,0.00,2.47,0.00,0.000,4,0.000,0.041,2585,839,3431
$GC,6449,-0.96,-146.6,453.4,-7.9,308,6453,0.00,2.45,0.00,0.000,6,0.000,0.036,2585,2249,3431
$GC,6775,-0.96,-146.6,477.9,-7.9,324,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2250,3431
$GC,7084,-0.96,-146.6,501.7,-7.7,339,7089,0.00,2.47,0.00,0.000,4,0.000,0.041,2585,838,3431
$GC,7134,-0.96,-146.6,505.8,-7.6,341,7139,0.00,2.47,0.00,0.000,6,0.000,0.036,2586,2243,3431
$GC,7455,-0.96,-146.6,529.3,-7.1,357,7459,0.00,2.47,0.00,0.000,4,0.000,0.041,2585,831,3431
$GC,7494,-0.96,-146.6,532.0,-7.5,359,7498,0.00,2.47,0.00,0.000,6,0.000,0.037,2585,2257,3431
$GC,7820,-0.96,-146.6,552.4,-6.2,375,7824,0.00,2.50,0.00,0.000,4,0.000,0.058,2585,3648,3430
$GC,7863,-0.96,-146.6,555.6,-7.8,377,7868,0.00,2.40,0.00,0.000,6,0.000,0.028,2585,2231,3430
$GC,8184,-0.96,-146.6,576.6,-6.8,393,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2230,3431
$GC,8494,-0.96,-146.6,597.7,-6.4,408,8498,0.00,2.58,0.00,0.000,4,0.000,0.054,2585,3655,3430
$GC,8551,-0.96,-146.6,601.6,-7.7,410,8557,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2250,3430
$GC,8867,-0.96,-146.6,621.8,-6.2,426,8868,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3430
$GC,9179,-0.96,-146.6,638.4,-5.0,441,9181,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3430
$GC,9486,-0.96,-146.6,654.4,-5.2,456,9490,0.00,2.53,0.00,0.000,4,0.000,0.055,2585,3648,3430
$GC,9575,-0.96,-146.6,659.0,-5.2,460,9579,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2248,3430
$GC,9898,-0.96,-146.6,674.8,-4.9,476,9899,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3430
$GC,10205,-0.96,-146.6,691.0,-5.6,491,10206,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3429
$GC,10515,-0.96,-146.6,708.5,-5.1,506,10520,0.00,2.58,0.00,0.000,4,0.000,0.056,2585,3650,3430
$GC,10628,-0.96,-146.6,714.8,-5.7,511,10632,0.00,2.38,0.00,0.000,6,0.000,0.029,2585,2251,3430
$GC,10955,-0.96,-146.6,730.0,-4.6,527,10956,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2250,3430
$GC,11264,-0.96,-146.6,745.9,-5.6,542,11268,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3656,3429
$GC,11348,-0.96,-146.6,751.2,-6.3,546,11352,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2243,3429
$GC,11675,-0.96,-146.6,772.5,-6.6,562,11679,0.00,2.42,0.00,0.000,4,0.000,0.044,2585,855,3429
$GC,11702,-0.96,-146.6,774.5,-7.2,563,11707,0.00,2.45,0.00,0.000,6,0.000,0.037,2585,2244,3429
$GC,12022,-0.96,-146.6,795.7,-6.5,579,12024,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2245,3429
$GC,12332,-0.96,-146.6,814.6,-6.1,594,12337,0.00,2.47,0.00,0.000,4,0.000,0.043,2585,856,3429
$GC,12392,-0.96,-146.6,818.3,-6.0,596,12399,0.00,2.42,0.00,0.000,6,0.000,0.038,2585,2254,3429
$GC,12710,-0.96,-146.6,837.4,-6.6,612,12711,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2254,3428
$GC,13017,-0.96,-146.6,858.5,-6.8,627,13021,0.00,2.47,0.00,0.000,4,0.000,0.044,2585,850,3428
$GC,13050,-0.96,-146.6,860.8,-6.8,628,13056,0.00,2.45,0.00,0.000,6,0.000,0.037,2585,2258,3428
$GC,13369,-0.96,-146.6,878.5,-5.6,644,13373,0.00,2.53,0.00,0.000,4,0.000,0.059,2585,3655,3428
$GC,13418,-0.96,-146.6,881.7,-5.9,646,13423,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2255,3428
$GC,13737,-0.96,-146.6,898.8,-4.4,661,13741,0.00,2.47,0.00,0.000,4,0.000,0.045,2585,840,3428
$GC,13822,-0.96,-146.6,902.7,-4.2,665,13826,0.00,2.45,0.00,0.000,6,0.000,0.039,2585,2246,3427
$GC,14151,-0.96,-146.6,921.0,-5.5,681,14156,0.00,2.47,0.00,0.000,4,0.000,0.045,2585,848,3427
$GC,14225,-0.96,-146.6,925.2,-5.3,684,14230,0.00,2.47,0.00,0.000,6,0.000,0.039,2585,2251,3427
$GC,14546,-0.96,-146.6,942.4,-5.1,700,14547,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3426
$GC,14855,-0.96,-146.6,960.6,-5.8,715,14859,0.00,2.50,0.00,0.000,4,0.000,0.048,2585,844,3425
$GC,15013,-0.96,-146.6,971.2,-6.6,722,15017,0.00,2.47,0.00,0.000,6,0.000,0.040,2585,2259,3425
$STATE,15269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15269,begin apogee
$GC,15277,-0.36,0.0,990.3,7.7,735,15412,0.62,0.00,131.15,1.416,6,0.061,0.000,2722,1464,2832
$STATE,15413,end apogee,CONTROL_FINISHED_OK
$STATE,15413,begin climb
$GC,15416,0.96,146.6,997.0,0.0,742,15553,1.30,0.00,132.75,1.379,6,0.048,0.000,3010,1464,2234
$GC,15849,0.98,155.4,978.8,5.8,763,15863,0.00,2.58,7.95,1.127,4,0.000,0.049,3010,2853,2199
$GC,16163,1.00,178.2,958.4,5.4,777,16192,0.00,2.50,22.10,1.320,6,0.000,0.043,3010,1462,2105
$GC,16514,1.01,180.3,937.4,5.9,794,16519,0.00,2.53,0.00,0.000,4,0.000,0.049,3010,2864,2100
$GC,16548,1.04,206.2,935.3,5.3,795,16580,0.00,2.50,26.70,1.338,6,0.000,0.041,3010,1452,1991
$GC,16901,1.04,206.2,912.5,6.9,813,16902,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1452,1985
$GC,17210,1.04,206.2,890.8,7.2,828,17212,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1452,1984
$GC,17519,1.04,206.2,870.4,7.3,843,17524,0.00,2.53,0.00,0.000,4,0.000,0.049,3010,2860,1982
$GC,17575,1.04,206.2,866.6,6.8,845,17582,0.00,2.50,0.00,0.000,6,0.000,0.041,3010,1450,1982
$GC,17891,1.04,206.2,846.2,6.6,861,17892,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1450,1982
$GC,18200,1.04,206.2,826.3,6.1,876,18205,0.00,2.55,0.00,0.000,4,0.000,0.048,3010,2859,1981
$GC,18272,1.04,206.2,821.5,6.4,879,18276,0.00,2.47,0.00,0.000,6,0.000,0.038,3010,1452,1981
$GC,18596,1.04,206.2,800.7,6.4,895,18600,0.00,2.53,0.00,0.000,4,0.000,0.048,3010,2862,1981
$GC,18629,1.08,238.5,798.5,5.1,896,18665,0.10,2.47,29.73,1.287,6,0.045,0.038,3063,1453,1858
$GC,18988,1.08,238.5,767.7,8.3,914,18993,0.15,2.55,0.00,0.000,4,0.074,0.048,3031,2864,1854
$GC,19016,1.08,238.5,765.3,8.8,915,19020,0.00,2.47,0.00,0.000,6,0.000,0.038,3031,1452,1854
$GC,19331,1.08,238.5,743.0,6.8,930,19332,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1452,1854
$GC,19640,1.08,238.5,719.4,8.1,945,19644,0.00,2.53,0.00,0.000,4,0.000,0.047,3031,2867,1853
$GC,19712,1.08,238.5,713.7,7.9,948,19717,0.00,2.47,0.00,0.000,6,0.000,0.038,3031,1449,1852
$GC,20027,1.08,238.5,686.9,8.9,963,20032,0.00,2.55,0.00,0.000,4,0.000,0.046,3031,2858,1852
$GC,20099,1.08,238.5,680.3,9.0,966,20104,0.00,2.47,0.00,0.000,6,0.000,0.038,3031,1448,1852
$GC,20421,1.08,238.5,654.3,7.6,982,20423,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1448,1852
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$STATE,29083,end climb,SURFACE_DEPTH_REACHED
$STATE,29083,begin surface coast
$FINISH,0.4,1.027004
$STATE,29126,end surface coast,CONTROL_FINISHED_OK
$STATE,29126,begin surface
$SM_CCo,29149,30.40,0.752,0,0,1609,300.00
$SM_GC,1.23,0.00,0.00,30.40,0.000,0.000,0.752,382,2247,1609,-11.13,-0.06,300.00
$IRIDIUM_FIX,6308.26,-1335.20,230998,010138
$TT8_MAMPS,0.027612
$HUMID,1815
$INTERNAL_PRESSURE,8.10902
$TCM_TEMP,17.40
$XPDR_PINGS,0
$24V_AH,23.2,33.808
$10V_AH,10.1,16.728
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$DEVICE_SECS,25.075,260.000,362.700,30.400,0.000,59.788,54.609,247.191,8.750,0.000,0.000,32.754,2577.573,22429.682,564.708,2984.229,1195.908,0.000,2114.704,0.000,3219.622,0.000,58.923,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1150.876,1074.366,755.079,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72561,1403
$CAP_FILE_SIZE,209308,0
$CFSIZE,260165632,250916864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,290609,100524,6331.396,-1330.668,24,1.8,41,-12.5