version: 66.04
glider: 105
mission: 6
dive: 123
start: 7 4 109 1 54 22
data:
$ID,105
$MISSION,6
$DIVE,123
$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,-1630209
$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,28
$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
$GPS1,014737,6300.570,-1333.847,32,1.3,32,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-59.5
$GPS2,015402,6300.632,-1333.891,12,1.3,12,-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,170.2,31255,-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,-59.72,0.000,6,0.000,0.000,381,2247,3431
$GC,81,-0.96,-146.6,4.6,-8.4,3,102,11.60,2.50,0.00,0.000,4,0.129,0.033,2586,830,3433
$GC,202,-0.96,-146.6,21.4,-8.6,8,206,0.00,2.47,0.00,0.000,6,0.000,0.035,2586,2248,3433
$GC,519,-0.96,-146.6,46.2,-6.3,23,524,0.00,2.55,0.00,0.000,4,0.000,0.058,2586,3653,3434
$GC,586,-0.96,-146.6,51.1,-7.2,26,590,0.00,2.42,0.00,0.000,6,0.000,0.027,2586,2223,3434
$GC,907,-0.96,-146.6,73.9,-7.1,42,911,0.00,2.38,0.00,0.000,4,0.000,0.040,2586,856,3435
$GC,973,-0.96,-146.6,79.0,-8.1,45,977,0.00,2.42,0.00,0.000,6,0.000,0.035,2586,2256,3435
$GC,1295,-0.96,-146.6,96.8,-4.5,61,1299,0.00,2.45,0.00,0.000,4,0.000,0.039,2586,856,3436
$GC,1381,-0.96,-146.6,101.3,-5.4,65,1386,0.00,2.42,0.00,0.000,6,0.000,0.035,2586,2247,3436
$GC,1710,-0.96,-146.6,120.9,-5.9,81,1714,0.00,2.55,0.00,0.000,4,0.000,0.059,2586,3651,3436
$GC,1809,-0.96,-146.6,127.7,-6.6,85,1816,0.00,2.40,0.00,0.000,6,0.000,0.028,2586,2256,3435
$GC,2125,-0.96,-146.6,148.8,-7.1,101,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2256,3435
$GC,2435,-0.96,-146.6,171.5,-7.1,116,2439,0.00,2.45,0.00,0.000,4,0.000,0.042,2586,854,3435
$GC,2479,-0.96,-146.6,175.0,-7.8,118,2483,0.00,2.42,0.00,0.000,6,0.000,0.035,2586,2250,3435
$GC,2805,-0.96,-146.6,198.9,-7.7,134,2809,0.00,2.45,0.00,0.000,4,0.000,0.041,2586,852,3435
$GC,2868,-0.96,-146.6,204.0,-8.0,137,2872,0.00,2.42,0.00,0.000,6,0.000,0.035,2586,2251,3435
$GC,3196,-0.96,-146.6,226.9,-6.6,153,3200,0.00,2.45,0.00,0.000,4,0.000,0.041,2586,852,3434
$GC,3282,-0.96,-146.6,233.4,-7.2,157,3286,0.00,2.45,0.00,0.000,6,0.000,0.036,2586,2259,3434
$GC,3608,-0.96,-146.6,256.5,-7.4,173,3613,0.00,2.50,0.00,0.000,4,0.000,0.042,2586,855,3434
$GC,3663,-0.96,-146.6,260.7,-7.8,175,3668,0.00,2.45,0.00,0.000,6,0.000,0.037,2586,2257,3434
$GC,3979,-0.96,-146.6,284.3,-7.8,190,3983,0.00,2.55,0.00,0.000,4,0.000,0.062,2586,3654,3434
$GC,4068,-0.96,-146.6,291.3,-8.0,194,4072,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2240,3433
$GC,4389,-0.96,-146.6,314.8,-7.1,210,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2239,3434
$GC,4698,-0.96,-146.6,336.9,-7.3,225,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2238,3433
$GC,5010,-0.96,-146.6,357.9,-6.5,240,5014,0.00,2.58,0.00,0.000,4,0.000,0.056,2586,3655,3433
$GC,5072,-0.96,-146.6,362.1,-6.5,243,5076,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2239,3433
$GC,5398,-0.96,-146.6,382.6,-6.4,259,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2238,3433
$GC,5707,-0.96,-146.6,403.7,-6.8,274,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2237,3432
$GC,6019,-0.96,-146.6,424.7,-7.0,289,6024,0.00,2.58,0.00,0.000,4,0.000,0.056,2586,3658,3432
$GC,6109,-0.96,-146.6,431.5,-8.0,293,6113,0.00,2.38,0.00,0.000,6,0.000,0.029,2587,2253,3432
$GC,6436,-0.96,-146.6,453.0,-6.4,309,6440,0.00,2.53,0.00,0.000,4,0.000,0.055,2586,3651,3432
$GC,6491,-0.96,-146.6,456.9,-6.9,311,6497,0.00,2.38,0.00,0.000,6,0.000,0.028,2587,2249,3432
$GC,6807,-0.96,-146.6,476.7,-6.3,327,6811,0.00,2.55,0.00,0.000,4,0.000,0.056,2586,3656,3432
$GC,6862,-0.96,-146.6,480.5,-7.0,329,6868,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2242,3432
$GC,7180,-0.96,-146.6,498.3,-5.6,345,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2241,3432
$GC,7487,-0.96,-146.6,514.8,-5.5,360,7491,0.00,2.55,0.00,0.000,4,0.000,0.056,2586,3651,3432
$GC,7543,-0.96,-146.6,518.1,-6.5,362,7549,0.00,2.38,0.00,0.000,6,0.000,0.029,2586,2252,3432
$GC,7859,-0.96,-146.6,534.6,-5.3,378,7863,0.00,2.53,0.00,0.000,4,0.000,0.054,2587,3651,3432
$GC,7923,-0.96,-146.6,538.2,-5.9,381,7927,0.00,2.38,0.00,0.000,6,0.000,0.029,2587,2252,3432
$GC,8249,-0.96,-146.6,556.0,-5.2,397,8250,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2251,3431
$GC,8561,-0.96,-146.6,572.4,-5.5,412,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2251,3431
$GC,8868,-0.96,-146.6,588.9,-5.4,427,8872,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3652,3431
$GC,8945,-0.96,-146.6,593.4,-6.1,430,8952,0.00,2.40,0.00,0.000,6,0.000,0.029,2587,2238,3431
$GC,9264,-0.96,-146.6,608.9,-5.0,446,9268,0.00,2.58,0.00,0.000,4,0.000,0.054,2586,3658,3431
$GC,9326,-0.96,-146.6,612.2,-5.4,449,9330,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2245,3431
$GC,9652,-0.96,-146.6,628.4,-4.8,465,9657,0.00,2.55,0.00,0.000,4,0.000,0.054,2587,3653,3431
$GC,9714,-0.96,-146.6,631.8,-5.4,468,9719,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2257,3430
$GC,10047,-0.96,-146.6,650.4,-5.6,484,10048,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2256,3430
$GC,10356,-0.96,-146.6,668.8,-6.1,499,10357,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2255,3430
$GC,10665,-0.96,-146.6,687.4,-6.0,514,10670,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3654,3430
$GC,10710,-0.96,-146.6,690.2,-6.1,516,10714,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2245,3430
$GC,11031,-0.96,-146.6,710.4,-6.6,532,11035,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3654,3430
$GC,11119,-0.96,-146.6,716.6,-6.9,536,11123,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2248,3430
$GC,11443,-0.96,-146.6,737.1,-6.2,552,11444,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2248,3430
$GC,11750,-0.96,-146.6,755.7,-6.0,567,11754,0.00,2.55,0.00,0.000,4,0.000,0.056,2586,3657,3430
$GC,11789,-0.96,-146.6,758.2,-6.9,569,11793,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2252,3430
$GC,12115,-0.96,-146.6,778.2,-6.2,585,12116,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2251,3430
$GC,12424,-0.96,-146.6,798.7,-6.9,600,12425,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2251,3430
$GC,12736,-0.96,-146.6,820.7,-6.8,615,12741,0.00,2.55,0.00,0.000,4,0.000,0.056,2586,3657,3430
$GC,12903,-0.96,-146.6,833.6,-7.8,622,12908,0.00,2.42,0.00,0.000,6,0.000,0.031,2587,2237,3429
$GC,13219,-0.96,-146.6,857.5,-7.5,637,13223,0.00,2.58,0.00,0.000,4,0.000,0.057,2586,3657,3429
$GC,13283,-0.96,-146.6,862.4,-8.0,640,13287,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2254,3429
$GC,13612,-0.96,-146.6,885.4,-6.3,656,13616,0.00,2.45,0.00,0.000,4,0.000,0.044,2586,849,3429
$GC,13696,-0.96,-146.6,891.1,-7.3,660,13701,0.00,2.47,0.00,0.000,6,0.000,0.038,2586,2253,3429
$GC,14031,-0.96,-146.6,911.1,-5.6,676,14036,0.00,2.47,0.00,0.000,4,0.000,0.044,2586,850,3429
$GC,14072,-0.96,-146.6,913.3,-5.5,678,14076,0.00,2.45,0.00,0.000,6,0.000,0.038,2586,2257,3429
$GC,14399,-0.96,-146.6,930.7,-5.7,694,14403,0.00,2.55,0.00,0.000,4,0.000,0.061,2586,3650,3428
$GC,14454,-0.96,-146.6,933.7,-5.4,696,14458,0.00,2.40,0.00,0.000,6,0.000,0.033,2586,2254,3428
$GC,14775,-0.96,-146.6,950.4,-6.2,711,14779,0.00,2.47,0.00,0.000,4,0.000,0.047,2586,847,3427
$GC,14815,-0.96,-146.6,953.7,-7.3,713,14819,0.00,2.45,0.00,0.000,6,0.000,0.039,2587,2248,3427
$GC,15141,-0.96,-146.6,970.7,-4.1,729,15143,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2248,3427
$GC,15453,-0.96,-146.6,985.2,-4.4,744,15454,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2248,3425
$STATE,15571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15571,begin apogee
$GC,15579,-0.36,0.0,990.9,5.1,750,15715,0.62,0.00,130.73,1.431,6,0.059,0.000,2723,1454,2831
$STATE,15716,end apogee,CONTROL_FINISHED_OK
$STATE,15716,begin climb
$GC,15719,0.96,146.6,992.9,0.0,757,15857,1.30,0.00,132.52,1.385,6,0.049,0.000,3010,1454,2233
$GC,16174,0.96,146.6,964.4,6.7,779,16178,0.00,2.55,0.00,0.000,4,0.000,0.049,3009,2863,2223
$GC,16241,0.96,146.6,959.8,7.1,782,16246,0.00,2.53,0.00,0.000,6,0.000,0.041,3010,1451,2222
$GC,16562,0.96,146.6,938.0,7.2,798,16566,0.00,2.55,0.00,0.000,4,0.000,0.050,3009,2864,2220
$GC,16618,0.96,146.6,934.1,7.2,800,16625,0.00,2.50,0.00,0.000,6,0.000,0.042,3009,1453,2220
$GC,16934,1.03,203.0,917.4,4.5,816,16987,0.00,0.00,50.90,1.374,6,0.000,0.000,3009,1453,2004
$GC,17285,1.19,329.6,906.3,2.5,833,17410,0.17,2.62,117.22,1.367,4,0.035,0.049,3081,2865,1486
$GC,17459,1.19,329.6,894.1,9.1,841,17464,0.12,2.53,0.00,0.000,6,0.077,0.043,3056,1455,1481
$GC,17785,1.19,329.6,865.5,9.4,857,17790,0.00,2.22,0.00,0.000,4,0.000,0.064,3056,262,1474
$GC,17830,1.19,329.6,861.0,10.2,859,17836,0.00,2.10,0.00,0.000,6,0.000,0.036,3055,1461,1473
$GC,18162,1.19,329.6,826.7,10.4,875,18167,0.00,2.50,0.00,0.000,4,0.000,0.049,3056,2853,1472
$GC,18195,1.19,329.6,823.5,9.1,876,18202,0.00,2.47,0.00,0.000,6,0.000,0.041,3056,1448,1471
$GC,18514,1.19,329.6,785.9,12.0,892,18515,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1448,1471
$GC,18820,1.19,329.6,747.9,11.7,907,18824,0.00,2.15,0.00,0.000,4,0.000,0.058,3055,263,1471
$GC,18853,1.19,329.6,743.8,12.2,908,18857,0.00,2.05,0.00,0.000,6,0.000,0.035,3056,1460,1470
$GC,19174,1.19,329.6,707.5,11.0,924,19179,0.00,2.50,0.00,0.000,4,0.000,0.048,3055,2854,1469
$GC,19202,1.19,329.6,704.5,10.5,925,19206,0.00,2.45,0.00,0.000,6,0.000,0.038,3055,1448,1469
$GC,19517,1.19,329.6,670.6,10.8,940,19518,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1448,1469
$GC,19829,1.19,329.6,638.2,10.2,955,19831,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1448,1469
$GC,20136,1.19,329.6,607.2,10.1,970,20140,0.00,2.50,0.00,0.000,4,0.000,0.046,3055,2856,1469
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$STATE,26876,end climb,SURFACE_DEPTH_REACHED
$STATE,26876,begin surface coast
$FINISH,0.9,1.026778
$STATE,26899,end surface coast,CONTROL_FINISHED_OK
$STATE,26899,begin surface
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$IRIDIUM_FIX,6239.86,-1333.43,270998,181829
$TT8_MAMPS,0.026845
$HUMID,1880
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$TCM_TEMP,13.90
$XPDR_PINGS,0
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$24V_AH,23.1,36.493
$10V_AH,10.1,18.643
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$DEVICE_SECS,25.325,209.100,431.375,0.000,0.000,33.172,44.194,174.591,8.500,0.000,0.000,12.716,2359.380,20774.262,561.660,2658.669,1004.238,0.000,1955.897,0.000,2891.136,0.000,57.473,0.000
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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,66318,1298
$CAP_FILE_SIZE,183428,0
$CFSIZE,260165632,249610240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,040709,092524,6259.549,-1330.698,24,1.1,42,-12.3