version: 66.04
glider: 105
mission: 6
dive: 119
start: 7 2 109 21 8 52
data:
$ID,105
$MISSION,6
$DIVE,119
$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,-1630152.4
$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,32
$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
$GPS1,210201,6305.470,-1329.017,40,2.0,41,-12.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-63.2
$GPS2,210832,6305.431,-1328.920,12,1.8,12,-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,181.0,38586,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.96,-146.6,0.0,0.0,0,78,0.00,0.00,-57.62,0.000,6,0.000,0.000,385,2251,3432
$GC,81,-0.96,-146.6,5.4,-10.6,3,102,11.75,2.53,0.00,0.000,4,0.135,0.036,2583,831,3434
$GC,125,-0.96,-146.6,18.6,-16.0,5,130,0.00,2.47,0.00,0.000,6,0.000,0.035,2583,2244,3435
$GC,452,-0.96,-146.6,40.2,-6.4,21,457,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3654,3435
$GC,631,-0.96,-146.6,53.8,-7.8,29,635,0.00,2.42,0.00,0.000,6,0.000,0.027,2583,2220,3435
$GC,952,-0.96,-146.6,79.2,-7.8,45,956,0.00,2.60,0.00,0.000,4,0.000,0.051,2583,3659,3435
$GC,1153,-0.96,-146.6,96.9,-8.8,54,1157,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2255,3435
$GC,1476,-0.96,-146.6,122.6,-7.9,70,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2255,3435
$GC,1784,-0.96,-146.6,143.6,-6.1,85,1788,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3661,3435
$GC,1856,-0.96,-146.6,148.3,-6.5,88,1860,0.00,2.40,0.00,0.000,6,0.000,0.028,2583,2244,3435
$GC,2171,-0.96,-146.6,167.5,-6.2,103,2175,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3654,3435
$GC,2235,-0.96,-146.6,171.8,-7.5,106,2239,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2252,3435
$GC,2561,-0.96,-146.6,194.4,-6.8,122,2566,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3645,3436
$GC,2606,-0.96,-146.6,197.7,-7.2,124,2611,0.00,2.40,0.00,0.000,6,0.000,0.028,2583,2246,3436
$GC,2938,-0.96,-146.6,219.8,-6.4,140,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2246,3434
$GC,3248,-0.96,-146.6,236.2,-4.9,155,3253,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3651,3435
$GC,3315,-0.96,-146.6,239.9,-6.1,158,3320,0.00,2.40,0.00,0.000,6,0.000,0.028,2583,2255,3435
$GC,3642,-0.96,-146.6,255.8,-5.1,174,3646,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3651,3434
$GC,3686,-0.96,-146.6,258.3,-5.8,176,3691,0.00,2.40,0.00,0.000,6,0.000,0.028,2583,2253,3434
$GC,4013,-0.96,-146.6,275.9,-5.7,192,4017,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3652,3434
$GC,4053,-0.96,-146.6,278.3,-5.9,194,4057,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2250,3434
$GC,4379,-0.96,-146.6,298.1,-6.2,210,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2249,3434
$GC,4689,-0.96,-146.6,317.9,-6.6,225,4693,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3660,3433
$GC,4767,-0.96,-146.6,323.0,-6.5,228,4773,0.00,2.40,0.00,0.000,6,0.000,0.028,2583,2246,3433
$GC,5083,-0.96,-146.6,342.7,-6.4,244,5087,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3652,3433
$GC,5122,-0.96,-146.6,345.2,-6.9,246,5127,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2252,3433
$GC,5450,-0.96,-146.6,366.4,-6.4,262,5451,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2251,3433
$GC,5758,-0.96,-146.6,384.6,-7.0,277,5762,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3652,3433
$GC,5830,-0.96,-146.6,390.4,-8.4,280,5834,0.00,2.40,0.00,0.000,6,0.000,0.028,2583,2236,3433
$GC,6146,-0.96,-146.6,414.3,-7.9,295,6150,0.00,2.58,0.00,0.000,4,0.000,0.056,2583,3655,3433
$GC,6195,-0.96,-146.6,418.6,-8.3,297,6200,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2258,3433
$GC,6516,-0.96,-146.6,443.7,-8.1,313,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2257,3433
$GC,6825,-0.96,-146.6,468.6,-7.8,328,6830,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3651,3432
$GC,6897,-0.96,-146.6,474.8,-8.9,331,6906,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2243,3432
$GC,7228,-0.96,-146.6,502.5,-8.2,347,7232,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3653,3432
$GC,7271,-0.96,-146.6,506.4,-8.9,349,7275,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2244,3432
$GC,7592,-0.96,-146.6,534.1,-9.2,365,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2242,3432
$GC,7902,-0.96,-146.6,556.7,-6.0,380,7907,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3652,3432
$GC,7987,-0.96,-146.6,563.6,-8.4,384,7991,0.00,2.38,0.00,0.000,6,0.000,0.029,2583,2253,3432
$GC,8313,-0.96,-146.6,591.5,-8.9,400,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2252,3431
$GC,8622,-0.96,-146.6,618.0,-8.2,415,8627,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3653,3431
$GC,8689,-0.96,-146.6,624.3,-9.0,418,8693,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2248,3431
$GC,9011,-0.96,-146.6,654.3,-9.9,434,9015,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3656,3431
$GC,9060,-0.96,-146.6,659.4,-10.3,436,9065,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2251,3431
$GC,9378,-0.96,-146.6,687.1,-8.2,451,9379,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2251,3431
$GC,9686,-0.96,-146.6,711.8,-7.8,466,9690,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3658,3431
$GC,9802,-0.96,-146.6,721.5,-8.1,471,9807,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2253,3431
$GC,10118,-0.96,-146.6,745.7,-7.8,486,10123,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3648,3431
$GC,10219,-0.96,-146.6,754.2,-8.5,490,10223,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2237,3431
$GC,10534,-0.96,-146.6,782.2,-9.1,505,10538,0.00,2.58,0.00,0.000,4,0.000,0.056,2583,3657,3431
$GC,10623,-0.96,-146.6,791.2,-10.2,509,10627,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2254,3431
$GC,10944,-0.96,-146.6,825.6,-10.6,525,10945,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2254,3431
$GC,11253,-0.96,-146.6,856.0,-8.0,540,11254,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2253,3431
$GC,11563,-0.96,-146.6,879.3,-8.6,555,11567,0.00,2.55,0.00,0.000,4,0.000,0.056,2583,3660,3431
$GC,11720,-0.96,-146.6,890.9,-5.8,562,11725,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2246,3431
$GC,12042,-0.96,-146.6,908.1,-6.6,578,12043,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2246,3430
$GC,12351,-0.96,-146.6,934.2,-8.9,593,12356,0.00,2.50,0.00,0.000,4,0.000,0.048,2583,849,3430
$GC,12401,-0.96,-146.6,939.1,-8.8,595,12406,0.00,2.45,0.00,0.000,6,0.000,0.038,2583,2250,3430
$GC,12723,-0.96,-146.6,964.9,-6.8,611,12728,0.00,2.58,0.00,0.000,4,0.000,0.062,2583,3650,3429
$GC,12774,-0.96,-146.6,969.0,-7.4,613,12778,0.00,2.42,0.00,0.000,6,0.000,0.035,2583,2246,3429
$STATE,12989,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12989,begin apogee
$GC,12997,-0.36,0.0,981.3,3.9,624,13133,0.62,0.00,131.27,1.405,6,0.062,0.000,2720,1465,2832
$STATE,13133,end apogee,CONTROL_FINISHED_OK
$STATE,13133,begin climb
$GC,13136,0.96,146.6,982.9,0.0,631,13276,1.30,2.58,132.10,1.374,4,0.049,0.048,3007,2861,2232
$GC,13542,0.96,146.6,964.6,7.5,649,13546,0.00,2.50,0.00,0.000,6,0.000,0.043,3007,1455,2224
$GC,13858,0.96,146.6,943.9,6.8,664,13862,0.00,2.53,0.00,0.000,4,0.000,0.048,3007,2860,2221
$GC,13919,0.96,146.6,939.3,8.1,667,13924,0.00,2.53,0.00,0.000,6,0.000,0.042,3008,1448,2221
$GC,14246,0.96,146.6,913.8,6.1,683,14247,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1448,2219
$GC,14558,1.15,299.3,910.3,1.8,698,14705,0.20,2.62,139.32,1.374,4,0.033,0.050,3080,2860,1610
$GC,14712,1.15,299.3,900.2,8.4,705,14720,0.15,2.53,0.00,0.000,6,0.076,0.041,3050,1452,1607
$GC,15028,1.15,299.3,868.0,14.1,721,15033,0.00,2.20,0.00,0.000,4,0.000,0.062,3049,267,1599
$GC,15044,1.15,299.3,866.2,11.4,721,15050,0.00,2.05,0.00,0.000,6,0.000,0.035,3050,1472,1599
$GC,15360,1.15,299.3,840.1,8.5,737,15361,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1472,1596
$GC,15671,1.15,299.3,815.8,6.6,752,15675,0.00,2.22,0.00,0.000,4,0.000,0.058,3049,257,1595
$GC,15711,1.15,299.3,812.2,8.6,753,15717,0.00,2.05,0.00,0.000,6,0.000,0.035,3050,1456,1595
$GC,16027,1.15,299.3,782.2,10.7,769,16031,0.00,2.50,0.00,0.000,4,0.000,0.048,3049,2855,1594
$GC,16053,1.15,299.3,779.0,11.6,770,16058,0.00,2.45,0.00,0.000,6,0.000,0.038,3049,1449,1593
$GC,16369,1.15,299.3,740.9,11.9,785,16373,0.00,2.50,0.00,0.000,4,0.000,0.045,3050,2858,1593
$GC,16408,1.15,299.3,736.3,12.1,787,16413,0.00,2.45,0.00,0.000,6,0.000,0.037,3050,1453,1593
$GC,16735,1.15,299.3,698.6,11.2,803,16736,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1453,1593
$GC,17044,1.15,299.3,662.0,11.8,818,17045,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1452,1593
$GC,17354,1.15,299.3,624.3,12.4,833,17357,0.00,2.15,0.00,0.000,4,0.000,0.055,3050,258,1593
$GC,17381,1.15,299.3,620.5,13.7,834,17385,0.00,2.03,0.00,0.000,6,0.000,0.032,3049,1458,1593
$GC,17709,1.15,299.3,581.0,11.9,850,17710,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1458,1593
$GC,18017,1.15,299.3,545.5,11.7,865,18022,0.00,2.47,0.00,0.000,4,0.000,0.045,3049,2852,1593
$GC,18044,1.15,299.3,542.4,10.7,866,18048,0.00,2.42,0.00,0.000,6,0.000,0.036,3049,1448,1592
$GC,18360,1.15,299.3,510.7,9.5,881,18364,0.00,2.47,0.00,0.000,4,0.000,0.043,3049,2856,1592
$GC,18387,1.15,299.3,508.1,9.4,882,18391,0.00,2.45,0.00,0.000,6,0.000,0.035,3049,1451,1592
$GC,18703,1.15,299.3,480.2,8.5,897,18704,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1451,1593
$GC,19014,1.15,299.3,452.9,8.8,912,19018,0.00,2.47,0.00,0.000,4,0.000,0.043,3050,2857,1593
$GC,19036,1.15,299.3,450.7,8.6,913,19040,0.00,2.45,0.00,0.000,6,0.000,0.036,3050,1452,1592
$GC,19357,1.15,299.3,421.1,9.1,929,19359,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1452,1593
$GC,19666,1.15,299.3,394.3,8.5,944,19667,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1452,1593
$GC,19975,1.15,299.3,367.0,9.3,959,19976,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1452,1593
$GC,20284,1.15,299.3,340.4,8.7,974,20289,0.00,2.47,0.00,0.000,4,0.000,0.044,3049,2854,1593
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$STATE,24229,end climb,SURFACE_DEPTH_REACHED
$STATE,24230,begin surface coast
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$STATE,24275,end surface coast,CONTROL_FINISHED_OK
$STATE,24276,begin surface
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$HUMID,1841
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$XPDR_PINGS,0
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$10V_AH,10.1,18.173
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$DEVICE_SECS,25.525,203.100,402.700,0.000,0.000,30.757,29.002,196.784,8.500,0.000,0.000,12.494,2135.059,18613.891,540.760,2495.469,955.336,0.000,1838.823,0.000,2685.794,0.000,58.638,0.000
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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,60016,1167
$CAP_FILE_SIZE,169420,0
$CFSIZE,260165632,249954304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,030709,035607,6303.928,-1333.969,37,1.2,37,-12.4