version: 66.04
glider: 105
mission: 6
dive: 118
start: 7 2 109 13 42 40
data:
$ID,105
$MISSION,6
$DIVE,118
$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,-1630139.2
$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,28
$R_STBD_OVSHOOT,30
$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
$GPS1,133607,6306.426,-1327.671,27,1.7,28,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-64.4
$GPS2,134220,6306.455,-1327.687,14,1.6,14,-12.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IE
$TGT_LATLONG,6245.000,-1320.000
$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,183.0,40265,-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,16,-0.96,-146.6,0.0,0.0,0,77,0.00,0.00,-58.22,0.000,6,0.000,0.000,389,2241,3432
$GC,81,-0.96,-146.6,5.0,-9.5,3,98,11.80,0.00,0.00,0.000,6,0.133,0.000,2579,2241,3433
$GC,408,-0.96,-146.6,38.6,-7.8,19,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2241,3434
$GC,716,-0.96,-146.6,59.5,-6.5,34,720,0.00,2.45,0.00,0.000,4,0.000,0.038,2579,843,3434
$GC,750,-0.96,-146.6,61.6,-6.0,35,756,0.00,2.45,0.00,0.000,6,0.000,0.035,2579,2247,3434
$GC,1067,-0.96,-146.6,80.1,-6.1,51,1071,0.00,2.55,0.00,0.000,4,0.000,0.058,2579,3651,3435
$GC,1106,-0.96,-146.6,82.8,-6.5,53,1111,0.00,2.40,0.00,0.000,6,0.000,0.028,2579,2232,3435
$GC,1433,-0.96,-146.6,102.7,-6.3,69,1438,0.00,2.58,0.00,0.000,4,0.000,0.054,2579,3651,3435
$GC,1479,-0.96,-146.6,105.9,-7.3,71,1483,0.00,2.38,0.00,0.000,6,0.000,0.028,2579,2249,3435
$GC,1800,-0.96,-146.6,130.2,-7.9,87,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2249,3435
$GC,2109,-0.96,-146.6,152.7,-6.9,102,2113,0.00,2.55,0.00,0.000,4,0.000,0.054,2579,3654,3435
$GC,2186,-0.96,-146.6,158.3,-7.7,105,2193,0.00,2.38,0.00,0.000,6,0.000,0.028,2579,2254,3435
$GC,2502,-0.96,-146.6,177.8,-6.5,121,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2253,3435
$GC,2811,-0.96,-146.6,198.0,-6.7,136,2816,0.00,2.55,0.00,0.000,4,0.000,0.054,2579,3644,3435
$GC,2872,-0.96,-146.6,202.4,-7.1,138,2878,0.00,2.38,0.00,0.000,6,0.000,0.028,2579,2242,3435
$GC,3187,-0.96,-146.6,224.5,-7.2,154,3192,0.00,2.58,0.00,0.000,4,0.000,0.054,2579,3650,3435
$GC,3242,-0.96,-146.6,228.9,-8.0,156,3246,0.00,2.38,0.00,0.000,6,0.000,0.028,2579,2245,3435
$GC,3562,-0.96,-146.6,250.8,-7.1,171,3566,0.00,2.55,0.00,0.000,4,0.000,0.054,2579,3653,3434
$GC,3601,-0.96,-146.6,254.0,-7.8,173,3606,0.00,2.38,0.00,0.000,6,0.000,0.028,2579,2253,3434
$GC,3931,-0.96,-146.6,278.5,-7.6,189,3935,0.00,2.53,0.00,0.000,4,0.000,0.054,2579,3651,3434
$GC,3974,-0.96,-146.6,282.5,-8.5,191,3978,0.00,2.38,0.00,0.000,6,0.000,0.028,2579,2250,3433
$GC,4296,-0.96,-146.6,306.9,-7.6,207,4301,0.00,2.55,0.00,0.000,4,0.000,0.054,2579,3657,3434
$GC,4352,-0.96,-146.6,311.5,-8.8,209,4358,0.00,2.40,0.00,0.000,6,0.000,0.028,2579,2239,3434
$GC,4667,-0.96,-146.6,334.7,-7.4,225,4672,0.00,2.58,0.00,0.000,4,0.000,0.055,2579,3659,3434
$GC,4717,-0.96,-146.6,338.9,-8.2,227,4721,0.00,2.40,0.00,0.000,6,0.000,0.028,2579,2241,3433
$GC,5033,-0.96,-146.6,361.1,-6.8,242,5037,0.00,2.55,0.00,0.000,4,0.000,0.055,2579,3651,3433
$GC,5121,-0.96,-146.6,367.7,-7.5,246,5125,0.00,2.38,0.00,0.000,6,0.000,0.028,2579,2252,3433
$GC,5442,-0.96,-146.6,389.0,-6.7,262,5447,0.00,2.58,0.00,0.000,4,0.000,0.055,2579,3653,3433
$GC,5503,-0.96,-146.6,393.7,-7.5,264,5509,0.00,2.38,0.00,0.000,6,0.000,0.028,2579,2249,3433
$GC,5819,-0.96,-146.6,416.1,-7.1,280,5823,0.00,2.55,0.00,0.000,4,0.000,0.055,2579,3657,3433
$GC,5880,-0.96,-146.6,420.8,-7.7,283,5885,0.00,2.40,0.00,0.000,6,0.000,0.028,2579,2242,3432
$GC,6210,-0.96,-146.6,444.0,-6.9,299,6214,0.00,2.55,0.00,0.000,4,0.000,0.055,2579,3651,3432
$GC,6264,-0.96,-146.6,448.3,-7.3,301,6271,0.00,2.38,0.00,0.000,6,0.000,0.028,2580,2252,3432
$GC,6581,-0.96,-146.6,469.2,-6.7,317,6585,0.00,2.55,0.00,0.000,4,0.000,0.055,2579,3658,3432
$GC,6636,-0.96,-146.6,473.1,-7.5,319,6642,0.00,2.40,0.00,0.000,6,0.000,0.028,2579,2239,3432
$GC,6952,-0.96,-146.6,493.6,-6.4,335,6956,0.00,2.58,0.00,0.000,4,0.000,0.055,2579,3660,3432
$GC,6991,-0.96,-146.6,496.3,-7.1,337,6995,0.00,2.40,0.00,0.000,6,0.000,0.028,2579,2245,3433
$GC,7318,-0.96,-146.6,518.3,-6.9,353,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2245,3432
$GC,7627,-0.96,-146.6,540.7,-7.7,368,7631,0.00,2.55,0.00,0.000,4,0.000,0.054,2579,3654,3432
$GC,7715,-0.96,-146.6,547.9,-7.9,372,7720,0.00,2.38,0.00,0.000,6,0.000,0.028,2579,2254,3432
$GC,8037,-0.96,-146.6,572.1,-7.5,388,8041,0.00,2.53,0.00,0.000,4,0.000,0.054,2579,3651,3432
$GC,8108,-0.96,-146.6,578.2,-8.3,391,8113,0.00,2.38,0.00,0.000,6,0.000,0.028,2579,2249,3432
$GC,8425,-0.96,-146.6,601.0,-7.1,406,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2249,3431
$GC,8736,-0.96,-146.6,621.6,-6.1,421,8740,0.00,2.55,0.00,0.000,4,0.000,0.054,2579,3657,3432
$GC,8817,-0.96,-146.6,626.8,-6.8,424,8823,0.00,2.40,0.00,0.000,6,0.000,0.029,2579,2245,3431
$GC,9132,-0.96,-146.6,645.1,-6.1,440,9137,0.00,2.55,0.00,0.000,4,0.000,0.054,2579,3654,3432
$GC,9172,-0.96,-146.6,647.6,-6.3,442,9176,0.00,2.40,0.00,0.000,6,0.000,0.029,2579,2238,3431
$GC,9498,-0.96,-146.6,666.2,-5.9,458,9503,0.00,2.55,0.00,0.000,4,0.000,0.054,2579,3651,3431
$GC,9548,-0.96,-146.6,669.6,-6.8,460,9553,0.00,2.38,0.00,0.000,6,0.000,0.028,2579,2254,3431
$GC,9864,-0.96,-146.6,689.9,-6.3,475,9868,0.00,2.45,0.00,0.000,4,0.000,0.041,2579,846,3431
$GC,9896,-0.96,-146.6,692.2,-6.8,476,9902,0.00,2.45,0.00,0.000,6,0.000,0.035,2579,2260,3431
$GC,10215,-0.96,-146.6,712.6,-5.8,492,10219,0.00,2.50,0.00,0.000,4,0.000,0.056,2579,3651,3431
$GC,10355,-0.96,-146.6,723.4,-8.0,498,10359,0.00,2.40,0.00,0.000,6,0.000,0.029,2579,2237,3431
$GC,10670,-0.96,-146.6,743.7,-6.1,513,10671,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2237,3431
$GC,10980,-0.96,-146.6,764.1,-7.0,528,10984,0.00,2.40,0.00,0.000,4,0.000,0.043,2579,856,3431
$GC,11015,-0.96,-146.6,766.8,-7.9,529,11021,0.00,2.42,0.00,0.000,6,0.000,0.036,2579,2255,3432
$GC,11331,-0.96,-146.6,785.5,-5.7,545,11335,0.00,2.50,0.00,0.000,4,0.000,0.057,2579,3650,3431
$GC,11470,-0.96,-146.6,793.8,-5.5,551,11475,0.00,2.38,0.00,0.000,6,0.000,0.030,2579,2255,3431
$GC,11788,-0.96,-146.6,811.5,-6.3,566,11789,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2255,3431
$GC,12095,-0.96,-146.6,831.0,-6.0,581,12100,0.00,2.53,0.00,0.000,4,0.000,0.056,2578,3650,3430
$GC,12218,-0.96,-146.6,839.5,-6.6,586,12225,0.00,2.40,0.00,0.000,6,0.000,0.031,2579,2243,3430
$GC,12534,-0.96,-146.6,857.8,-5.7,602,12539,0.00,2.58,0.00,0.000,4,0.000,0.057,2579,3645,3430
$GC,12596,-0.96,-146.6,861.1,-4.6,604,12602,0.00,2.40,0.00,0.000,6,0.000,0.031,2579,2243,3430
$GC,12912,-0.96,-146.6,879.9,-6.8,620,12916,0.00,2.55,0.00,0.000,4,0.000,0.058,2579,3650,3430
$GC,12984,-0.96,-146.6,884.4,-5.7,623,12989,0.00,2.42,0.00,0.000,6,0.000,0.032,2579,2256,3429
$GC,13305,-0.96,-146.6,903.2,-6.3,639,13306,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2255,3429
$GC,13614,-0.96,-146.6,922.4,-7.0,654,13615,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2255,3428
$GC,13924,-0.96,-146.6,940.2,-5.7,669,13928,0.00,2.55,0.00,0.000,4,0.000,0.061,2579,3650,3427
$GC,14001,-0.96,-146.6,943.8,-3.7,672,14007,0.00,2.42,0.00,0.000,6,0.000,0.035,2579,2246,3427
$GC,14320,-0.96,-146.6,960.8,-1.9,688,14324,0.00,2.58,0.00,0.000,4,0.000,0.063,2579,3649,3426
$STATE,14397,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14398,begin apogee
$GC,14408,-0.36,0.0,965.7,8.3,691,14542,0.62,0.00,130.70,1.414,6,0.067,0.000,2718,1461,2833
$STATE,14542,end apogee,CONTROL_FINISHED_OK
$STATE,14542,begin climb
$GC,14545,0.96,146.6,967.5,0.0,698,14685,1.35,2.28,132.27,1.369,4,0.060,0.065,3008,260,2234
$GC,14868,0.96,146.6,950.0,6.4,712,14872,0.00,2.08,0.00,0.000,6,0.000,0.037,3008,1460,2225
$GC,15200,0.96,146.6,928.3,7.3,728,15205,0.00,2.50,0.00,0.000,4,0.000,0.049,3007,2854,2222
$GC,15340,1.11,266.5,921.7,2.7,734,15456,0.15,2.50,108.80,1.365,6,0.038,0.043,3068,1453,1745
$GC,15765,1.11,266.5,880.1,11.0,755,15770,0.12,2.55,0.00,0.000,4,0.080,0.049,3042,2854,1733
$GC,15820,1.11,266.5,874.7,9.1,757,15826,0.00,2.50,0.00,0.000,6,0.000,0.043,3043,1454,1732
$GC,16138,1.11,266.5,846.5,8.8,773,16139,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1454,1731
$GC,16444,1.11,266.5,816.4,10.1,788,16449,0.00,2.50,0.00,0.000,4,0.000,0.048,3042,2853,1729
$GC,16507,1.11,266.5,809.7,10.8,791,16512,0.00,2.50,0.00,0.000,6,0.000,0.041,3042,1451,1728
$GC,16839,1.11,266.5,774.7,11.0,807,16844,0.00,2.50,0.00,0.000,4,0.000,0.047,3043,2854,1728
$GC,16861,1.11,266.5,772.2,12.0,808,16865,0.00,2.47,0.00,0.000,6,0.000,0.039,3042,1452,1727
$GC,17182,1.11,266.5,740.5,9.1,824,17186,0.00,2.17,0.00,0.000,4,0.000,0.058,3042,268,1727
$GC,17228,1.11,266.5,736.5,9.3,826,17232,0.00,2.03,0.00,0.000,6,0.000,0.034,3042,1459,1727
$GC,17561,1.11,266.5,714.5,6.0,842,17566,0.00,2.50,0.00,0.000,4,0.000,0.048,3042,2844,1727
$GC,17599,1.11,266.5,712.1,6.7,843,17606,0.00,2.40,0.00,0.000,6,0.000,0.038,3042,1453,1727
$GC,17915,1.11,266.5,692.3,6.3,859,17916,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1453,1727
$GC,18224,1.11,266.5,672.0,6.7,874,18228,0.00,2.50,0.00,0.000,4,0.000,0.044,3042,2859,1727
$GC,18245,1.11,266.5,670.5,6.9,875,18249,0.00,2.45,0.00,0.000,6,0.000,0.036,3042,1453,1727
$GC,18569,1.11,266.5,649.0,7.0,891,18570,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1453,1727
$GC,18875,1.11,266.5,626.7,7.3,906,18880,0.00,2.47,0.00,0.000,4,0.000,0.043,3043,2853,1728
$GC,18898,1.11,266.5,625.0,7.8,907,18903,0.00,2.45,0.00,0.000,6,0.000,0.036,3042,1451,1727
$GC,19220,1.11,266.5,599.7,7.8,923,19224,0.00,2.47,0.00,0.000,4,0.000,0.044,3042,2852,1728
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$STATE,26192,end climb,SURFACE_DEPTH_REACHED
$STATE,26192,begin surface coast
$FINISH,0.2,1.014667
$STATE,26235,end surface coast,CONTROL_FINISHED_OK
$STATE,26235,begin surface
$SM_CCo,26259,20.35,0.749,0,0,1608,300.00
$SM_GC,0.84,0.00,0.00,20.35,0.000,0.000,0.749,384,2251,1608,-11.11,0.03,300.00
$IRIDIUM_FIX,6244.56,-1332.15,260998,060653
$TT8_MAMPS,0.026078
$HUMID,1863
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$TCM_TEMP,17.60
$XPDR_PINGS,0
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$24V_AH,23.1,35.640
$10V_AH,10.1,18.063
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$DEVICE_SECS,25.500,273.150,371.775,20.350,0.000,31.033,25.770,178.705,7.750,0.000,0.000,14.151,2337.031,19971.814,568.329,2752.445,1013.130,0.000,2044.090,0.000,2981.279,0.000,52.562,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66236,1263
$CAP_FILE_SIZE,194145,0
$CFSIZE,260165632,249999360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,020709,210201,6305.470,-1329.017,40,2.0,41,-12.3