version: 66.04
glider: 105
mission: 6
dive: 127
start: 7 5 109 9 17 8
data:
$ID,105
$MISSION,6
$DIVE,127
$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,-1630285.1
$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,23
$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
$GPS1,091007,6256.110,-1327.651,32,1.6,33,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-57.6
$GPS2,091649,6256.136,-1327.634,15,1.6,32,-12.2
$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,174.8,21615,-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,-58.85,0.000,6,0.000,0.000,390,2250,3431
$GC,81,-0.96,-146.6,4.5,-8.7,3,102,11.55,2.55,0.00,0.000,4,0.129,0.038,2586,837,3433
$GC,263,-0.96,-146.6,28.1,-8.3,11,268,0.00,2.45,0.00,0.000,6,0.000,0.034,2586,2245,3433
$GC,591,-0.96,-146.6,41.5,-2.9,27,596,0.00,2.55,0.00,0.000,4,0.000,0.057,2586,3651,3434
$GC,838,-0.96,-146.6,55.8,-6.8,38,843,0.00,2.42,0.00,0.000,6,0.000,0.028,2586,2227,3434
$GC,1160,-0.96,-146.6,80.3,-7.7,54,1165,0.00,2.62,0.00,0.000,4,0.000,0.053,2586,3654,3435
$GC,1199,-0.96,-146.6,83.4,-7.8,55,1206,0.00,2.40,0.00,0.000,6,0.000,0.028,2586,2244,3435
$GC,1515,-0.96,-146.6,102.0,-5.2,71,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2244,3435
$GC,1826,-0.96,-146.6,118.9,-5.9,86,1830,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3652,3435
$GC,1866,-0.96,-146.6,121.7,-6.6,88,1870,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2241,3435
$GC,2192,-0.96,-146.6,144.8,-7.5,104,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2241,3435
$GC,2501,-0.96,-146.6,168.5,-7.5,119,2505,0.00,2.58,0.00,0.000,4,0.000,0.054,2586,3656,3435
$GC,2541,-0.96,-146.6,171.6,-7.6,121,2545,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2248,3435
$GC,2867,-0.96,-146.6,193.6,-6.6,137,2871,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3655,3435
$GC,2916,-0.96,-146.6,197.2,-7.7,139,2920,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2246,3434
$GC,3233,-0.96,-146.6,218.7,-6.9,154,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2246,3435
$GC,3541,-0.96,-146.6,240.7,-7.3,169,3545,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3652,3434
$GC,3590,-0.96,-146.6,244.6,-8.1,171,3595,0.00,2.42,0.00,0.000,6,0.000,0.029,2586,2249,3434
$GC,3911,-0.96,-146.6,268.9,-7.6,187,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2249,3434
$GC,4222,-0.96,-146.6,291.4,-7.2,202,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2248,3434
$GC,4529,-0.96,-146.6,312.5,-6.5,217,4534,0.00,2.55,0.00,0.000,4,0.000,0.055,2586,3654,3433
$GC,4597,-0.96,-146.6,317.3,-7.0,220,4602,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2244,3433
$GC,4922,-0.96,-146.6,337.0,-5.8,236,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2243,3433
$GC,5229,-0.96,-146.6,354.7,-5.7,251,5233,0.00,2.55,0.00,0.000,4,0.000,0.056,2586,3651,3433
$GC,5301,-0.96,-146.6,359.2,-6.0,254,5306,0.00,2.42,0.00,0.000,6,0.000,0.029,2586,2247,3433
$GC,5622,-0.96,-146.6,376.7,-5.4,270,5626,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3652,3433
$GC,5662,-0.96,-146.6,379.0,-5.9,272,5666,0.00,2.38,0.00,0.000,6,0.000,0.029,2586,2253,3433
$GC,5988,-0.96,-146.6,397.1,-5.5,288,5993,0.00,2.55,0.00,0.000,4,0.000,0.056,2586,3660,3433
$GC,6040,-0.96,-146.6,400.2,-5.9,290,6044,0.00,2.40,0.00,0.000,6,0.000,0.028,2586,2249,3432
$GC,6358,-0.96,-146.6,418.0,-5.8,305,6359,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2248,3432
$GC,6664,-0.96,-146.6,436.2,-6.0,320,6669,0.00,2.55,0.00,0.000,4,0.000,0.055,2586,3653,3432
$GC,6727,-0.96,-146.6,440.2,-6.6,323,6731,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2240,3432
$GC,7056,-0.96,-146.6,459.7,-5.9,339,7060,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3652,3432
$GC,7105,-0.96,-146.6,463.2,-6.5,341,7109,0.00,2.38,0.00,0.000,6,0.000,0.029,2586,2252,3431
$GC,7423,-0.96,-146.6,481.9,-5.8,356,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2252,3432
$GC,7732,-0.96,-146.6,500.1,-5.8,371,7736,0.00,2.53,0.00,0.000,4,0.000,0.055,2586,3651,3431
$GC,7781,-0.96,-146.6,503.4,-6.2,373,7786,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2238,3432
$GC,8099,-0.96,-146.6,522.6,-6.2,388,8104,0.00,2.55,0.00,0.000,4,0.000,0.055,2586,3652,3432
$GC,8139,-0.96,-146.6,525.5,-7.1,390,8143,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2245,3432
$GC,8468,-0.96,-146.6,547.7,-7.1,406,8469,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2245,3431
$GC,8775,-0.96,-146.6,570.4,-7.6,421,8776,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2244,3431
$GC,9084,-0.96,-146.6,593.2,-7.0,436,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2244,3431
$GC,9394,-0.96,-146.6,615.1,-7.3,451,9396,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2243,3431
$GC,9703,-0.96,-146.6,638.1,-7.5,466,9707,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3653,3431
$GC,9771,-0.96,-146.6,643.3,-7.6,469,9775,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2246,3431
$GC,10092,-0.96,-146.6,667.2,-7.7,485,10093,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2247,3431
$GC,10402,-0.96,-146.6,687.0,-6.1,500,10406,0.00,2.55,0.00,0.000,4,0.000,0.055,2586,3654,3431
$GC,10486,-0.96,-146.6,692.0,-5.3,504,10491,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2245,3431
$GC,10816,-0.96,-146.6,709.7,-5.4,520,10820,0.00,2.42,0.00,0.000,4,0.000,0.044,2586,852,3430
$GC,10860,-0.96,-146.6,712.4,-5.7,522,10864,0.00,2.42,0.00,0.000,6,0.000,0.035,2586,2256,3431
$GC,11182,-0.96,-146.6,730.6,-5.7,538,11186,0.00,2.47,0.00,0.000,4,0.000,0.042,2586,849,3430
$GC,11244,-0.96,-146.6,734.2,-5.6,541,11249,0.00,2.42,0.00,0.000,6,0.000,0.035,2586,2245,3430
$GC,11572,-0.96,-146.6,750.1,-4.5,557,11573,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2245,3430
$GC,11881,-0.96,-146.6,762.6,-3.9,572,11885,0.00,2.55,0.00,0.000,4,0.000,0.058,2586,3659,3430
$GC,11920,-0.96,-146.6,764.6,-5.4,574,11925,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2251,3429
$GC,12247,-0.96,-146.6,780.9,-4.9,590,12251,0.00,2.45,0.00,0.000,4,0.000,0.044,2586,849,3429
$GC,12306,-0.96,-146.6,783.8,-5.0,592,12312,0.00,2.45,0.00,0.000,6,0.000,0.037,2586,2259,3429
$GC,12621,-0.96,-146.6,802.3,-6.6,608,12623,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2258,3429
$GC,12934,-0.96,-146.6,825.1,-7.5,623,12935,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2259,3429
$GC,13241,-0.96,-146.6,844.5,-5.4,638,13245,0.00,2.47,0.00,0.000,4,0.000,0.044,2586,852,3429
$GC,13313,-0.96,-146.6,848.3,-5.4,641,13318,0.00,2.45,0.00,0.000,6,0.000,0.039,2586,2255,3429
$GC,13629,-0.96,-146.6,863.8,-5.0,656,13631,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2254,3428
$GC,13940,-0.96,-146.6,881.0,-5.8,671,13944,0.00,2.47,0.00,0.000,4,0.000,0.044,2586,852,3428
$GC,13996,-0.96,-146.6,884.5,-6.7,673,14002,0.00,2.45,0.00,0.000,6,0.000,0.039,2586,2247,3428
$GC,14312,-0.96,-146.6,904.1,-5.9,689,14314,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2247,3427
$GC,14621,-0.96,-146.6,923.0,-6.0,704,14625,0.00,2.58,0.00,0.000,4,0.000,0.062,2586,3657,3427
$GC,14687,-0.96,-146.6,927.3,-6.1,707,14691,0.00,2.42,0.00,0.000,6,0.000,0.035,2586,2255,3427
$GC,15010,-0.96,-146.6,946.7,-6.1,723,15015,0.00,2.58,0.00,0.000,4,0.000,0.062,2586,3656,3426
$GC,15060,-0.96,-146.6,950.1,-7.5,725,15065,0.00,2.45,0.00,0.000,6,0.000,0.035,2586,2239,3425
$GC,15377,-0.96,-146.6,966.0,-5.2,740,15378,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2239,3425
$STATE,15683,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,15683,begin apogee
$GC,15691,-0.36,0.0,984.7,8.5,755,15827,0.62,0.00,131.18,1.434,6,0.067,0.000,2720,1464,2832
$STATE,15827,end apogee,CONTROL_FINISHED_OK
$STATE,15827,begin climb
$GC,15830,0.96,146.6,989.4,0.0,762,15971,1.30,2.28,132.90,1.390,4,0.051,0.065,3007,264,2233
$GC,16109,1.01,187.4,977.0,4.9,774,16152,0.00,2.08,37.05,1.342,6,0.000,0.038,3007,1461,2068
$GC,16465,1.03,199.2,958.8,5.7,791,16486,0.00,2.55,11.40,1.224,4,0.000,0.051,3007,2853,2018
$GC,16509,1.05,215.8,956.1,5.5,793,16532,0.00,2.50,16.73,1.279,6,0.000,0.044,3006,1454,1952
$GC,16842,1.05,215.8,936.5,6.1,809,16846,0.00,2.55,0.00,0.000,4,0.000,0.051,3007,2854,1948
$GC,16898,1.06,227.5,932.8,5.7,811,16918,0.10,2.50,11.95,1.243,6,0.046,0.044,3059,1453,1904
$GC,17234,1.06,227.5,903.4,8.9,828,17239,0.15,2.58,0.00,0.000,4,0.075,0.051,3028,2858,1900
$GC,17264,1.06,227.5,900.9,8.2,829,17268,0.00,2.50,0.00,0.000,6,0.000,0.043,3028,1454,1900
$GC,17580,1.06,227.5,877.3,7.0,844,17581,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1454,1899
$GC,17889,1.06,227.5,854.7,7.8,859,17893,0.00,2.53,0.00,0.000,4,0.000,0.049,3027,2854,1897
$GC,17941,1.06,227.5,850.6,8.2,861,17945,0.00,2.50,0.00,0.000,6,0.000,0.041,3028,1448,1897
$GC,18257,1.06,227.5,826.7,7.9,876,18261,0.00,2.53,0.00,0.000,4,0.000,0.048,3028,2856,1896
$GC,18284,1.06,227.5,824.5,8.4,877,18288,0.00,2.47,0.00,0.000,6,0.000,0.041,3028,1448,1896
$GC,18599,1.06,227.5,798.9,8.3,892,18604,0.00,2.50,0.00,0.000,4,0.000,0.047,3028,2856,1896
$GC,18639,1.06,227.5,795.6,7.8,894,18644,0.00,2.47,0.00,0.000,6,0.000,0.039,3028,1449,1896
$GC,18966,1.06,227.5,769.3,8.5,910,18970,0.00,2.50,0.00,0.000,4,0.000,0.046,3028,2856,1896
$GC,19020,1.06,227.5,764.3,8.7,912,19027,0.00,2.47,0.00,0.000,6,0.000,0.038,3028,1448,1895
$GC,19338,1.06,227.5,732.4,10.2,928,19343,0.00,2.50,0.00,0.000,4,0.000,0.045,3028,2856,1896
$GC,19394,1.06,227.5,726.6,9.6,930,19400,0.00,2.47,0.00,0.000,6,0.000,0.038,3028,1446,1896
$GC,19712,1.06,227.5,701.1,7.4,946,19714,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1446,1896
$GC,20021,1.06,227.5,680.8,6.4,961,20025,0.00,2.50,0.00,0.000,4,0.000,0.044,3028,2856,1896
$GC,20056,1.06,227.5,678.4,6.5,962,20062,0.00,2.45,0.00,0.000,6,0.000,0.037,3028,1453,1896
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$STATE,29098,end climb,SURFACE_DEPTH_REACHED
$STATE,29098,begin surface coast
$FINISH,0.1,1.003101
$STATE,29139,end surface coast,CONTROL_FINISHED_OK
$STATE,29139,begin surface
$SM_CCo,29163,19.42,0.743,0,0,1609,300.00
$SM_GC,0.77,0.00,0.00,19.42,0.000,0.000,0.743,380,2246,1609,-11.13,-0.11,300.00
$IRIDIUM_FIX,6235.17,-1327.72,290998,010108
$TT8_MAMPS,0.026845
$HUMID,1857
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,925.1,69.2
$24V_AH,23.1,37.144
$10V_AH,10.1,19.153
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$DEVICE_SECS,25.025,293.850,381.025,19.425,0.000,29.398,30.214,183.741,8.250,0.000,0.000,32.202,2592.156,22283.688,591.663,2999.583,1104.033,0.000,2162.796,0.000,3229.391,0.000,55.717,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1150.225,1066.953,772.981,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72596,1402
$CAP_FILE_SIZE,213882,0
$CFSIZE,260165632,249225216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,050709,172453,6253.396,-1329.403,25,1.3,41,-12.2