version: 66.04
glider: 105
mission: 6
dive: 131
start: 7 6 109 17 21 40
data:
$ID,105
$MISSION,6
$DIVE,131
$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,-1630381.8
$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,24
$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
$GPS1,171455,6247.603,-1324.477,42,1.8,43,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-58.0
$GPS2,172120,6247.614,-1324.519,11,1.5,11,-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,153.8,6174,-14.0,-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,-1.12,-99.4,0.0,0.0,0,71,0.00,0.00,-54.03,0.000,6,0.000,0.000,395,2256,3239
$GC,74,-1.14,-112.7,2.2,-5.5,2,97,11.38,2.50,-0.95,0.000,4,0.130,0.050,2545,829,3294
$GC,309,-1.14,-112.7,32.1,-8.7,12,314,0.00,2.47,0.00,0.000,6,0.000,0.033,2545,2248,3296
$GC,625,-1.14,-112.7,57.0,-7.3,27,630,0.00,2.58,0.00,0.000,4,0.000,0.058,2545,3652,3295
$GC,760,-1.14,-112.7,67.5,-8.3,33,764,0.00,2.42,0.00,0.000,6,0.000,0.029,2545,2228,3296
$GC,1086,-1.14,-112.7,95.2,-8.9,49,1091,0.00,2.58,0.00,0.000,4,0.000,0.053,2545,3653,3296
$GC,1164,-1.14,-112.7,102.6,-9.5,52,1171,0.00,2.38,0.00,0.000,6,0.000,0.029,2545,2248,3296
$GC,1480,-1.14,-112.7,130.6,-9.1,68,1484,0.00,2.55,0.00,0.000,4,0.000,0.054,2545,3654,3296
$GC,1542,-1.14,-112.7,136.6,-10.2,71,1547,0.00,2.40,0.00,0.000,6,0.000,0.030,2545,2246,3296
$GC,1868,-1.14,-112.7,163.2,-7.7,87,1873,0.00,2.58,0.00,0.000,4,0.000,0.054,2546,3649,3296
$GC,1936,-1.14,-112.7,168.6,-8.2,90,1940,0.00,2.38,0.00,0.000,6,0.000,0.029,2545,2252,3296
$GC,2263,-1.14,-112.7,191.8,-7.0,106,2267,0.00,2.55,0.00,0.000,4,0.000,0.054,2545,3660,3296
$GC,2329,-1.14,-112.7,197.0,-7.6,109,2334,0.00,2.42,0.00,0.000,6,0.000,0.030,2545,2255,3296
$GC,2655,-1.14,-112.7,220.3,-7.1,125,2659,0.00,2.53,0.00,0.000,4,0.000,0.053,2545,3653,3296
$GC,2756,-1.14,-112.7,228.2,-7.6,129,2762,0.00,2.40,0.00,0.000,6,0.000,0.030,2545,2244,3296
$GC,3072,-1.14,-112.7,251.5,-7.3,145,3077,0.00,2.55,0.00,0.000,4,0.000,0.053,2545,3654,3296
$GC,3167,-1.14,-112.7,259.2,-8.2,149,3171,0.00,2.40,0.00,0.000,6,0.000,0.029,2545,2250,3296
$GC,3483,-1.14,-112.7,283.0,-7.7,164,3488,0.00,2.55,0.00,0.000,4,0.000,0.054,2545,3657,3295
$GC,3568,-1.14,-112.7,289.7,-7.6,168,3572,0.00,2.40,0.00,0.000,6,0.000,0.030,2545,2251,3295
$GC,3897,-1.14,-112.7,314.4,-7.6,184,3901,0.00,2.53,0.00,0.000,4,0.000,0.054,2545,3653,3295
$GC,4004,-1.14,-112.7,323.4,-8.5,189,4008,0.00,2.40,0.00,0.000,6,0.000,0.030,2545,2245,3295
$GC,4330,-1.14,-112.7,349.1,-7.9,205,4334,0.00,2.55,0.00,0.000,4,0.000,0.054,2545,3652,3295
$GC,4408,-1.14,-112.7,355.7,-8.5,208,4414,0.00,2.40,0.00,0.000,6,0.000,0.030,2545,2248,3295
$GC,4724,-1.14,-112.7,380.6,-8.0,224,4728,0.00,2.55,0.00,0.000,4,0.000,0.054,2545,3656,3294
$GC,4796,-1.14,-112.7,386.9,-8.6,227,4801,0.00,2.42,0.00,0.000,6,0.000,0.031,2545,2252,3295
$GC,5117,-1.14,-112.7,413.4,-8.2,243,5121,0.00,2.53,0.00,0.000,4,0.000,0.054,2545,3653,3294
$GC,5180,-1.14,-112.7,418.7,-9.1,246,5185,0.00,2.40,0.00,0.000,6,0.000,0.031,2545,2248,3294
$GC,5507,-1.14,-112.7,445.2,-7.9,262,5512,0.00,2.55,0.00,0.000,4,0.000,0.054,2545,3645,3294
$GC,5585,-1.14,-112.7,451.9,-8.6,265,5589,0.00,2.38,0.00,0.000,6,0.000,0.030,2545,2251,3294
$GC,5904,-1.14,-112.7,476.6,-7.9,280,5908,0.00,2.53,0.00,0.000,4,0.000,0.053,2545,3653,3294
$GC,5970,-1.14,-112.7,482.7,-8.5,283,5975,0.00,2.40,0.00,0.000,6,0.000,0.030,2545,2249,3294
$GC,6291,-1.14,-112.7,507.8,-7.6,299,6296,0.00,2.53,0.00,0.000,4,0.000,0.053,2545,3653,3294
$GC,6381,-1.14,-112.7,515.2,-8.2,303,6385,0.00,2.40,0.00,0.000,6,0.000,0.031,2545,2249,3293
$GC,6703,-1.14,-112.7,539.4,-7.5,319,6707,0.00,2.55,0.00,0.000,4,0.000,0.054,2545,3661,3293
$GC,6791,-1.14,-112.7,546.9,-8.7,323,6795,0.00,2.42,0.00,0.000,6,0.000,0.030,2545,2246,3293
$GC,7115,-1.14,-112.7,571.3,-7.7,339,7119,0.00,2.55,0.00,0.000,4,0.000,0.053,2545,3661,3293
$GC,7184,-1.14,-112.7,577.1,-8.6,342,7188,0.00,2.42,0.00,0.000,6,0.000,0.031,2545,2244,3293
$GC,7505,-1.14,-112.7,601.9,-7.8,358,7510,0.00,2.58,0.00,0.000,4,0.000,0.054,2545,3653,3293
$GC,7595,-1.14,-112.7,609.3,-8.0,362,7600,0.00,2.42,0.00,0.000,6,0.000,0.031,2545,2251,3293
$GC,7926,-1.14,-112.7,634.5,-7.5,378,7931,0.00,2.53,0.00,0.000,4,0.000,0.053,2545,3653,3293
$GC,7982,-1.14,-112.7,639.0,-8.2,380,7988,0.00,2.42,0.00,0.000,6,0.000,0.031,2545,2231,3292
$GC,8298,-1.14,-112.7,663.0,-7.5,396,8303,0.00,2.60,0.00,0.000,4,0.000,0.054,2545,3654,3292
$GC,8353,-1.14,-112.7,667.6,-8.2,398,8357,0.00,2.40,0.00,0.000,6,0.000,0.031,2545,2250,3292
$GC,8668,-1.14,-112.7,692.3,-8.1,413,8673,0.00,2.53,0.00,0.000,4,0.000,0.054,2545,3653,3292
$GC,8780,-1.14,-112.7,702.1,-8.8,418,8784,0.00,2.40,0.00,0.000,6,0.000,0.031,2545,2251,3293
$GC,9103,-1.14,-112.7,728.3,-8.2,434,9104,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2250,3292
$GC,9410,-1.14,-112.7,753.7,-8.3,449,9414,0.00,2.55,0.00,0.000,4,0.000,0.054,2544,3658,3292
$GC,9571,-1.14,-112.7,767.6,-8.4,456,9576,0.00,2.42,0.00,0.000,6,0.000,0.031,2545,2242,3291
$GC,9887,-1.14,-112.7,790.4,-6.7,471,9888,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2241,3292
$GC,10199,-1.14,-112.7,810.5,-6.2,486,10204,0.00,2.55,0.00,0.000,4,0.000,0.055,2545,3653,3291
$GC,10290,-1.14,-112.7,816.8,-6.4,490,10294,0.00,2.40,0.00,0.000,6,0.000,0.031,2545,2253,3291
$GC,10614,-1.16,-128.6,836.0,-5.4,506,10618,0.00,2.55,0.00,0.000,4,0.000,0.056,2545,3661,3291
$GC,10730,-1.16,-128.6,843.2,-6.4,511,10735,0.00,2.42,0.00,0.000,6,0.000,0.032,2545,2252,3291
$GC,11049,-1.16,-128.6,862.3,-6.6,526,11053,0.00,2.55,0.00,0.000,4,0.000,0.057,2545,3657,3291
$GC,11133,-1.16,-130.3,868.0,-5.9,530,11138,0.00,2.45,0.00,0.000,6,0.000,0.033,2545,2253,3290
$GC,11466,-1.16,-130.3,889.3,-6.4,546,11467,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2253,3289
$GC,11778,-1.17,-136.5,909.4,-5.8,561,11782,0.00,2.55,0.00,0.000,4,0.000,0.060,2545,3651,3289
$GC,11907,-1.17,-136.5,919.5,-7.8,567,11912,0.00,2.45,0.00,0.000,6,0.000,0.035,2545,2255,3288
$STATE,11969,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11969,begin apogee
$GC,11977,-0.36,0.0,924.2,7.5,570,12081,0.82,0.00,100.80,1.378,6,0.073,0.000,2719,1459,2832
$STATE,12082,end apogee,CONTROL_FINISHED_OK
$STATE,12082,begin climb
$GC,12085,1.17,136.5,924.8,0.0,575,12217,1.50,2.25,123.10,1.341,4,0.048,0.065,3052,263,2274
$GC,12346,1.17,136.5,911.2,7.0,587,12350,0.00,2.08,0.00,0.000,6,0.000,0.036,3052,1460,2268
$GC,12676,1.17,136.5,886.6,7.3,603,12680,0.00,2.53,0.00,0.000,4,0.000,0.049,3052,2857,2264
$GC,12747,1.17,136.5,880.6,8.7,606,12752,0.00,2.55,0.00,0.000,6,0.000,0.043,3052,1452,2264
$GC,13068,1.17,136.5,856.4,6.7,622,13072,0.00,2.53,0.00,0.000,4,0.000,0.048,3052,2856,2262
$GC,13130,1.17,136.5,851.8,8.2,625,13135,0.00,2.53,0.00,0.000,6,0.000,0.043,3052,1457,2262
$GC,13462,1.17,136.5,827.4,7.3,641,13463,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1457,2260
$GC,13774,1.17,136.5,804.8,7.5,656,13775,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1457,2260
$GC,14081,1.17,136.5,782.6,7.0,671,14085,0.00,2.50,0.00,0.000,4,0.000,0.048,3052,2856,2259
$GC,14103,1.17,136.5,781.0,7.1,672,14108,0.00,2.50,0.00,0.000,6,0.000,0.041,3052,1446,2259
$GC,14424,1.17,136.5,759.4,6.7,688,14425,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1446,2259
$GC,14733,1.17,136.5,738.5,6.8,703,14738,0.00,2.53,0.00,0.000,4,0.000,0.046,3052,2848,2258
$GC,14771,1.17,136.5,735.9,6.5,704,14778,0.00,2.42,0.00,0.000,6,0.000,0.040,3052,1452,2258
$GC,15087,1.17,136.5,716.1,6.5,720,15091,0.00,2.50,0.00,0.000,4,0.000,0.045,3052,2860,2258
$GC,15155,1.17,136.5,711.3,7.2,723,15160,0.00,2.47,0.00,0.000,6,0.000,0.038,3052,1452,2258
$GC,15476,1.17,136.5,688.4,7.1,739,15478,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1452,2258
$GC,15786,1.17,136.5,667.1,6.8,754,15791,0.00,2.50,0.00,0.000,4,0.000,0.044,3052,2852,2258
$GC,15833,1.17,136.5,664.1,7.1,756,15837,0.00,2.45,0.00,0.000,6,0.000,0.039,3052,1447,2258
$GC,16159,1.17,136.5,640.8,7.2,772,16160,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1447,2259
$GC,16471,1.17,136.5,618.1,7.3,787,16475,0.00,2.47,0.00,0.000,4,0.000,0.043,3052,2857,2259
$GC,16526,1.17,136.5,613.8,7.2,789,16532,0.00,2.47,0.00,0.000,6,0.000,0.038,3052,1446,2259
$GC,16841,1.17,136.5,590.8,7.3,805,16842,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1446,2259
$GC,17153,1.17,136.5,568.7,6.9,820,17157,0.00,2.47,0.00,0.000,4,0.000,0.042,3053,2858,2259
$GC,17239,1.17,136.5,562.4,7.4,824,17243,0.00,2.45,0.00,0.000,6,0.000,0.038,3052,1452,2259
$GC,17565,1.17,136.5,539.9,6.9,840,17569,0.00,2.47,0.00,0.000,4,0.000,0.043,3052,2863,2260
$GC,17597,1.17,136.5,537.5,7.8,841,17603,0.00,2.45,0.00,0.000,6,0.000,0.037,3052,1454,2260
$GC,17915,1.17,136.5,515.2,7.1,857,17919,0.00,2.47,0.00,0.000,4,0.000,0.042,3052,2863,2261
$GC,17955,1.17,136.5,512.3,6.6,859,17959,0.00,2.45,0.00,0.000,6,0.000,0.037,3052,1454,2260
$GC,18281,1.17,136.5,489.9,6.8,875,18285,0.00,2.47,0.00,0.000,4,0.000,0.042,3053,2863,2261
$GC,18334,1.17,136.5,486.3,6.6,877,18338,0.00,2.45,0.00,0.000,6,0.000,0.037,3053,1454,2261
$GC,18649,1.17,136.5,463.8,7.3,892,18650,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1454,2261
$GC,18958,1.17,136.5,442.0,7.0,907,18963,0.00,2.45,0.00,0.000,4,0.000,0.042,3052,2857,2261
$GC,19008,1.17,136.5,438.5,6.6,909,19013,0.00,2.45,0.00,0.000,6,0.000,0.036,3053,1448,2261
$GC,19326,1.17,136.5,417.3,6.7,924,19331,0.00,2.47,0.00,0.000,4,0.000,0.043,3052,2857,2261
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$STATE,25395,end climb,SURFACE_DEPTH_REACHED
$STATE,25395,begin surface coast
$FINISH,0.6,1.026751
$STATE,25437,end surface coast,CONTROL_FINISHED_OK
$STATE,25437,begin surface
$SM_CCo,25460,96.78,0.759,0,0,1609,300.00
$SM_GC,0.87,0.00,0.00,96.78,0.000,0.000,0.759,391,2252,1609,-11.08,0.06,300.00
$IRIDIUM_FIX,6225.82,-1326.82,300998,090905
$TT8_MAMPS,0.027612
$HUMID,1825
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,825.3,108.0
$24V_AH,23.2,37.751
$10V_AH,10.1,19.654
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$DEVICE_SECS,25.300,254.900,237.975,96.775,0.000,25.549,32.615,191.761,7.250,0.000,0.000,11.473,2316.557,19282.338,522.316,2809.137,1001.681,0.000,1974.654,0.000,3007.199,0.000,49.347,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,962.995,969.091,690.555,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63186,1221
$CAP_FILE_SIZE,188587,0
$CFSIZE,260165632,248905728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,070709,002900,6246.784,-1319.573,43,1.3,43,-12.1