version: 66.04
glider: 105
mission: 6
dive: 121
start: 7 3 109 11 23 34
data:
$ID,105
$MISSION,6
$DIVE,121
$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,-1630181
$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,26
$R_STBD_OVSHOOT,41
$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
$GPS1,111655,6302.691,-1334.566,42,1.1,42,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-60.7
$GPS2,112314,6302.665,-1334.632,14,1.6,14,-12.4
$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,171.6,34989,-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,-58.97,0.000,6,0.000,0.000,388,2260,3432
$GC,81,-0.96,-146.6,5.2,-10.2,3,102,11.60,2.53,0.00,0.000,4,0.130,0.035,2583,836,3433
$GC,314,-0.96,-146.6,33.8,-8.0,13,319,0.00,2.45,0.00,0.000,6,0.000,0.033,2583,2243,3434
$GC,632,-0.96,-146.6,58.6,-9.5,28,636,0.00,2.55,0.00,0.000,4,0.000,0.058,2583,3652,3435
$GC,788,-0.96,-146.6,73.6,-8.9,35,792,0.00,2.40,0.00,0.000,6,0.000,0.027,2583,2230,3435
$GC,1109,-0.96,-146.6,96.7,-6.4,51,1113,0.00,2.40,0.00,0.000,4,0.000,0.039,2583,849,3435
$GC,1131,-0.96,-146.6,98.0,-5.5,52,1135,0.00,2.42,0.00,0.000,6,0.000,0.033,2583,2255,3435
$GC,1453,-0.96,-146.6,118.4,-6.3,68,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2255,3435
$GC,1761,-0.96,-146.6,140.8,-8.3,83,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2255,3435
$GC,2072,-0.96,-146.6,162.8,-7.3,98,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2255,3435
$GC,2379,-0.96,-146.6,188.6,-8.2,113,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2256,3435
$GC,2688,-0.96,-146.6,211.3,-7.5,128,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2256,3435
$GC,2998,-0.96,-146.6,232.7,-7.4,143,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2255,3435
$GC,3307,-0.96,-146.6,256.9,-7.9,158,3311,0.00,2.47,0.00,0.000,4,0.000,0.041,2583,850,3434
$GC,3339,-0.96,-146.6,259.6,-8.5,159,3345,0.00,2.42,0.00,0.000,6,0.000,0.034,2583,2259,3434
$GC,3657,-0.96,-146.6,285.0,-8.1,175,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2259,3434
$GC,3964,-0.96,-146.6,310.1,-8.0,190,3968,0.00,2.45,0.00,0.000,4,0.000,0.041,2583,858,3433
$GC,4003,-0.96,-146.6,313.2,-8.3,192,4007,0.00,2.42,0.00,0.000,6,0.000,0.035,2583,2254,3434
$GC,4329,-0.96,-146.6,337.4,-7.6,208,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2254,3433
$GC,4638,-0.96,-146.6,360.8,-7.0,223,4643,0.00,2.47,0.00,0.000,4,0.000,0.041,2583,862,3433
$GC,4676,-0.96,-146.6,363.8,-8.5,224,4683,0.00,2.42,0.00,0.000,6,0.000,0.036,2584,2255,3433
$GC,4993,-0.96,-146.6,386.4,-6.9,240,4997,0.00,2.53,0.00,0.000,4,0.000,0.061,2584,3651,3433
$GC,5037,-0.96,-146.6,389.7,-7.4,242,5041,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2252,3433
$GC,5358,-0.96,-146.6,413.0,-7.7,258,5363,0.00,2.53,0.00,0.000,4,0.000,0.056,2584,3651,3433
$GC,5421,-0.96,-146.6,418.2,-8.3,261,5426,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2246,3433
$GC,5748,-0.96,-146.6,443.0,-7.3,277,5752,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3654,3433
$GC,5803,-0.96,-146.6,447.4,-7.9,279,5809,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2252,3433
$GC,6119,-0.96,-146.6,468.8,-6.9,295,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2252,3433
$GC,6428,-0.96,-146.6,492.0,-7.7,310,6432,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3651,3432
$GC,6477,-0.96,-146.6,496.3,-8.4,312,6482,0.00,2.40,0.00,0.000,6,0.000,0.028,2583,2252,3432
$GC,6798,-0.96,-146.6,518.9,-6.9,328,6802,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3651,3432
$GC,6837,-0.96,-146.6,521.8,-7.6,330,6841,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2248,3432
$GC,7164,-0.96,-146.6,544.5,-6.7,346,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2246,3432
$GC,7474,-0.96,-146.6,563.4,-6.3,361,7479,0.00,2.58,0.00,0.000,4,0.000,0.055,2583,3651,3432
$GC,7541,-0.96,-146.6,568.3,-7.2,364,7546,0.00,2.38,0.00,0.000,6,0.000,0.029,2583,2253,3432
$GC,7868,-0.96,-146.6,591.4,-7.4,380,7872,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3651,3432
$GC,7912,-0.96,-146.6,595.0,-7.9,382,7916,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2248,3432
$GC,8232,-0.96,-146.6,619.0,-7.8,398,8236,0.00,2.55,0.00,0.000,4,0.000,0.055,2584,3657,3431
$GC,8303,-0.96,-146.6,624.9,-8.2,401,8308,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2244,3432
$GC,8626,-0.96,-146.6,649.4,-7.5,417,8631,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3651,3432
$GC,8689,-0.96,-146.6,654.3,-7.8,420,8693,0.00,2.38,0.00,0.000,6,0.000,0.029,2583,2252,3431
$GC,9016,-0.96,-146.6,677.2,-6.9,436,9020,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3651,3431
$GC,9059,-0.96,-146.6,680.5,-7.2,438,9064,0.00,2.40,0.00,0.000,6,0.000,0.028,2583,2237,3431
$GC,9382,-0.96,-146.6,699.1,-5.1,454,9386,0.00,2.58,0.00,0.000,4,0.000,0.055,2583,3658,3431
$GC,9431,-0.96,-146.6,702.1,-5.5,456,9436,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2251,3431
$GC,9750,-0.96,-146.6,717.1,-4.4,471,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3431
$GC,10057,-0.96,-146.6,729.6,-4.2,486,10058,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2251,3431
$GC,10366,-0.96,-146.6,742.2,-3.8,501,10371,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3653,3431
$GC,10444,-0.96,-146.6,746.8,-6.1,504,10450,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2249,3431
$GC,10760,-0.96,-146.6,767.2,-6.8,520,10761,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2249,3431
$GC,11070,-0.96,-146.6,792.1,-8.8,535,11074,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3653,3431
$GC,11159,-0.96,-146.6,800.9,-10.2,539,11163,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2249,3431
$GC,11481,-0.96,-146.6,830.4,-9.3,555,11485,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3653,3431
$GC,11665,-0.96,-146.6,848.4,-9.4,563,11670,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3431
$GC,11981,-0.96,-146.6,872.9,-7.7,578,11985,0.00,2.45,0.00,0.000,4,0.000,0.044,2584,849,3430
$GC,12070,-0.96,-146.6,879.8,-7.3,582,12075,0.00,2.47,0.00,0.000,6,0.000,0.036,2583,2251,3430
$GC,12396,-0.96,-146.6,905.5,-8.0,598,12397,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2252,3430
$GC,12708,-0.96,-146.6,930.7,-7.6,613,12712,0.00,2.53,0.00,0.000,4,0.000,0.058,2583,3651,3430
$GC,12757,-0.96,-146.6,934.9,-7.9,615,12761,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2252,3430
$GC,13073,-0.96,-146.6,957.1,-7.2,630,13077,0.00,2.47,0.00,0.000,4,0.000,0.045,2583,843,3430
$GC,13122,-0.96,-146.6,961.0,-7.9,632,13127,0.00,2.47,0.00,0.000,6,0.000,0.038,2583,2243,3430
$GC,13443,-0.96,-146.6,987.5,-8.0,648,13447,0.00,2.55,0.00,0.000,4,0.000,0.060,2584,3653,3429
$STATE,13473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13473,begin apogee
$GC,13483,-0.36,0.0,990.2,7.8,649,13618,0.60,0.00,131.43,1.399,6,0.061,0.000,2719,1465,2832
$STATE,13619,end apogee,CONTROL_FINISHED_OK
$STATE,13619,begin climb
$GC,13621,0.96,146.6,994.2,0.0,656,13761,1.30,2.30,131.20,1.370,4,0.051,0.061,3006,262,2234
$GC,13780,0.96,146.6,987.4,6.4,663,13784,0.00,2.08,0.00,0.000,6,0.000,0.035,3006,1461,2231
$GC,14101,0.96,146.6,967.4,6.5,679,14106,0.00,2.53,0.00,0.000,4,0.000,0.048,3006,2850,2225
$GC,14229,0.96,146.6,958.2,6.2,684,14235,0.00,2.45,0.00,0.000,6,0.000,0.041,3006,1454,2224
$GC,14547,0.96,146.6,936.0,7.0,700,14551,0.00,2.50,0.00,0.000,4,0.000,0.048,3006,2856,2222
$GC,14586,0.96,146.6,933.6,6.4,702,14590,0.00,2.47,0.00,0.000,6,0.000,0.040,3006,1451,2221
$GC,14915,0.98,163.2,913.6,5.5,718,14936,0.00,2.58,14.35,1.258,4,0.000,0.047,3006,2857,2166
$GC,14970,1.03,198.7,910.6,5.0,720,15012,0.00,2.47,34.28,1.325,6,0.000,0.038,3006,1455,2021
$GC,15336,1.06,226.6,892.3,5.2,738,15365,0.10,0.00,26.42,1.302,6,0.051,0.000,3059,1455,1908
$GC,15666,1.06,226.6,862.7,9.6,754,15671,0.12,2.15,0.00,0.000,4,0.080,0.058,3032,267,1902
$GC,15693,1.06,226.6,859.9,9.3,755,15698,0.00,2.05,0.00,0.000,6,0.000,0.035,3032,1455,1902
$GC,16014,1.06,226.6,830.7,8.7,771,16018,0.00,2.47,0.00,0.000,4,0.000,0.046,3031,2845,1901
$GC,16053,1.06,226.6,827.1,9.5,773,16058,0.00,2.45,0.00,0.000,6,0.000,0.038,3032,1451,1901
$GC,16381,1.06,226.6,799.8,6.4,789,16382,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1451,1901
$GC,16689,1.06,226.6,777.6,8.9,804,16691,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1451,1900
$GC,16999,1.06,226.6,740.9,13.1,819,17003,0.00,2.47,0.00,0.000,4,0.000,0.044,3031,2845,1900
$GC,17042,1.06,226.6,735.0,13.0,821,17047,0.00,2.45,0.00,0.000,6,0.000,0.036,3031,1447,1900
$GC,17364,1.06,226.6,694.8,11.3,837,17369,0.00,2.47,0.00,0.000,4,0.000,0.043,3032,2853,1900
$GC,17437,1.06,226.6,686.3,12.1,840,17441,0.00,2.45,0.00,0.000,6,0.000,0.035,3032,1449,1899
$GC,17755,1.06,226.6,649.1,11.5,855,17759,0.00,2.47,0.00,0.000,4,0.000,0.044,3032,2846,1899
$GC,17794,1.06,226.6,644.4,9.8,857,17798,0.00,2.42,0.00,0.000,6,0.000,0.036,3032,1455,1899
$GC,18120,1.06,226.6,609.9,10.0,873,18125,0.00,2.47,0.00,0.000,4,0.000,0.044,3032,2841,1899
$GC,18153,1.06,226.6,606.6,10.1,874,18157,0.00,2.42,0.00,0.000,6,0.000,0.035,3032,1449,1899
$GC,18471,1.06,226.6,577.4,8.9,889,18475,0.00,2.47,0.00,0.000,4,0.000,0.044,3032,2851,1899
$GC,18504,1.06,226.6,574.3,9.9,890,18510,0.00,2.42,0.00,0.000,6,0.000,0.036,3032,1452,1899
$GC,18819,1.06,226.6,547.1,8.7,906,18824,0.00,2.45,0.00,0.000,4,0.000,0.044,3031,2847,1899
$GC,18859,1.06,226.6,543.6,8.7,908,18863,0.00,2.40,0.00,0.000,6,0.000,0.036,3032,1454,1899
$GC,19185,1.06,226.6,516.1,8.6,924,19189,0.00,2.45,0.00,0.000,4,0.000,0.044,3032,2847,1900
$GC,19218,1.06,226.6,513.2,8.3,925,19224,0.00,2.42,0.00,0.000,6,0.000,0.036,3032,1455,1899
$GC,19533,1.06,226.6,489.5,7.2,941,19538,0.00,2.47,0.00,0.000,4,0.000,0.044,3031,2844,1900
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$STATE,26242,end climb,SURFACE_DEPTH_REACHED
$STATE,26242,begin surface coast
$FINISH,0.3,1.011630
$STATE,26284,end surface coast,CONTROL_FINISHED_OK
$STATE,26284,begin surface
$SM_CCo,26308,15.85,0.737,0,0,1608,300.00
$SM_GC,0.99,0.00,0.00,15.85,0.000,0.000,0.737,389,2244,1608,-11.09,-0.17,300.00
$IRIDIUM_FIX,6239.86,-1339.16,270998,040407
$TT8_MAMPS,0.027612
$HUMID,1851
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$TCM_TEMP,17.50
$XPDR_PINGS,0
$24V_AH,23.2,36.138
$10V_AH,10.1,18.410
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$DEVICE_SECS,25.025,262.275,382.650,15.850,0.000,29.660,26.035,185.490,8.500,0.000,0.000,14.623,2338.010,20058.467,564.909,2722.560,1009.528,0.000,2014.413,0.000,2943.471,0.000,55.964,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1012.974,1000.318,701.969,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66296,1266
$CAP_FILE_SIZE,192277,0
$CFSIZE,260165632,249761792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,030709,184336,6301.537,-1334.645,37,1.6,38,-12.3