version: 66.04
glider: 105
mission: 6
dive: 137
start: 7 8 109 13 56 44
data:
$ID,105
$MISSION,6
$DIVE,137
$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,-1630471.5
$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,35
$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
$GPS1,134924,6235.222,-1249.172,24,1.0,42,-11.7
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-62.6
$GPS2,135625,6235.227,-1249.148,13,1.4,18,-11.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,GE
$TGT_LATLONG,6230.000,-1210.000
$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,117.8,34849,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-57.55,0.000,6,0.000,0.000,393,2259,3431
$GC,82,-0.96,-146.6,5.7,-11.3,3,103,11.60,2.55,0.00,0.000,4,0.131,0.040,2584,839,3432
$GC,333,-0.96,-146.6,35.6,-6.5,14,338,0.00,2.42,0.00,0.000,6,0.000,0.032,2584,2242,3433
$GC,655,-0.96,-146.6,57.3,-7.0,30,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2242,3434
$GC,965,-0.96,-146.6,76.6,-6.2,45,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2242,3434
$GC,1273,-0.96,-146.6,99.3,-7.9,60,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2242,3434
$GC,1583,-0.96,-146.6,122.8,-7.4,75,1588,0.00,2.50,0.00,0.000,4,0.000,0.042,2584,844,3434
$GC,1624,-0.96,-146.6,125.8,-7.6,76,1630,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2250,3434
$GC,1939,-0.96,-146.6,148.0,-7.2,92,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2250,3434
$GC,2248,-0.96,-146.6,169.9,-7.0,107,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2250,3434
$GC,2560,-0.96,-146.6,192.9,-7.5,122,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2250,3434
$GC,2867,-0.96,-146.6,216.1,-7.6,137,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2250,3434
$GC,3179,-0.96,-146.6,239.6,-7.4,152,3183,0.00,2.50,0.00,0.000,4,0.000,0.044,2584,832,3433
$GC,3234,-0.96,-146.6,244.2,-7.4,154,3240,0.00,2.47,0.00,0.000,6,0.000,0.035,2584,2249,3433
$GC,3552,-0.96,-146.6,266.9,-7.0,170,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2248,3433
$GC,3859,-0.96,-146.6,288.4,-6.9,185,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2248,3432
$GC,4168,-0.96,-146.6,309.8,-7.0,200,4172,0.00,2.50,0.00,0.000,4,0.000,0.044,2584,835,3432
$GC,4207,-0.96,-146.6,312.6,-7.1,202,4212,0.00,2.47,0.00,0.000,6,0.000,0.036,2584,2255,3433
$GC,4534,-0.96,-146.6,333.4,-6.3,218,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2255,3431
$GC,4843,-0.96,-146.6,353.1,-6.7,233,4848,0.00,2.53,0.00,0.000,4,0.000,0.045,2584,843,3432
$GC,4876,-0.96,-146.6,355.2,-7.0,234,4880,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2260,3432
$GC,5191,-0.96,-146.6,376.7,-6.8,249,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2261,3432
$GC,5500,-0.96,-146.6,397.0,-6.6,264,5505,0.00,2.50,0.00,0.000,4,0.000,0.044,2584,842,3432
$GC,5541,-0.96,-146.6,399.7,-7.1,266,5550,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2256,3427
$GC,5877,-0.96,-146.6,421.2,-6.6,282,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2256,3431
$GC,6188,-0.96,-146.6,442.6,-6.9,297,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2256,3431
$GC,6495,-0.96,-146.6,465.2,-7.2,312,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2256,3431
$GC,6804,-0.96,-146.6,488.0,-7.3,327,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2256,3431
$GC,7114,-0.96,-146.6,511.5,-7.8,342,7118,0.00,2.50,0.00,0.000,4,0.000,0.044,2584,841,3431
$GC,7150,-0.96,-146.6,514.2,-8.1,343,7156,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2252,3431
$GC,7465,-0.96,-146.6,538.4,-7.6,359,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2252,3431
$GC,7777,-0.96,-146.6,561.4,-7.1,374,7781,0.00,2.50,0.00,0.000,4,0.000,0.044,2584,838,3429
$GC,7817,-0.96,-146.6,564.6,-8.1,376,7822,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2247,3430
$GC,8145,-0.96,-146.6,588.3,-7.2,392,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3430
$GC,8453,-0.96,-146.6,609.3,-6.6,407,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3430
$GC,8762,-0.96,-146.6,629.9,-6.7,422,8767,0.00,2.50,0.00,0.000,4,0.000,0.045,2584,833,3430
$GC,8802,-0.96,-146.6,632.6,-7.2,424,8806,0.00,2.47,0.00,0.000,6,0.000,0.036,2584,2260,3430
$GC,9128,-0.96,-146.6,655.7,-7.5,440,9129,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2260,3430
$GC,9437,-0.96,-146.6,679.3,-7.6,455,9442,0.00,2.53,0.00,0.000,4,0.000,0.046,2584,849,3430
$GC,9470,-0.96,-146.6,681.9,-8.0,456,9475,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2242,3430
$GC,9791,-0.96,-146.6,705.3,-7.3,472,9792,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2242,3430
$GC,10100,-0.96,-146.6,728.9,-7.6,487,10105,0.00,2.50,0.00,0.000,4,0.000,0.044,2584,846,3430
$GC,10145,-0.96,-146.6,732.4,-8.2,489,10150,0.00,2.47,0.00,0.000,6,0.000,0.036,2584,2252,3430
$GC,10477,-0.96,-146.6,755.5,-7.0,505,10481,0.00,2.50,0.00,0.000,4,0.000,0.045,2584,840,3430
$GC,10529,-0.96,-146.6,759.2,-7.6,507,10533,0.00,2.45,0.00,0.000,6,0.000,0.037,2585,2248,3430
$GC,10844,-0.96,-146.6,780.4,-6.6,522,10845,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2248,3429
$GC,11157,-0.96,-146.6,800.1,-6.5,537,11161,0.00,2.50,0.00,0.000,4,0.000,0.046,2584,837,3429
$GC,11197,-0.96,-146.6,803.2,-7.1,539,11201,0.00,2.47,0.00,0.000,6,0.000,0.037,2584,2261,3429
$GC,11524,-0.96,-146.6,825.8,-6.6,555,11529,0.00,2.53,0.00,0.000,4,0.000,0.058,2584,3644,3428
$GC,11579,-0.96,-146.6,829.5,-6.4,557,11584,0.00,2.42,0.00,0.000,6,0.000,0.033,2584,2231,3429
$GC,11895,-0.96,-146.6,847.9,-6.0,572,11900,0.00,2.60,0.00,0.000,4,0.000,0.056,2584,3650,3429
$GC,11979,-0.96,-146.6,853.5,-6.7,575,11986,0.00,2.40,0.00,0.000,6,0.000,0.033,2584,2252,3429
$GC,12295,-0.96,-146.6,871.5,-5.9,591,12299,0.00,2.55,0.00,0.000,4,0.000,0.057,2584,3657,3428
$GC,12350,-0.96,-146.6,874.9,-6.5,593,12359,0.00,2.40,0.00,0.000,6,0.000,0.033,2584,2250,3428
$GC,12666,-0.96,-146.6,893.9,-6.2,609,12667,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2250,3428
$GC,12978,-0.96,-146.6,914.5,-5.2,624,12982,0.00,2.55,0.00,0.000,4,0.000,0.060,2584,3650,3427
$GC,13100,-0.96,-146.6,922.2,-8.5,629,13107,0.00,2.40,0.00,0.000,6,0.000,0.035,2584,2252,3427
$GC,13416,-0.96,-146.6,941.8,-4.7,645,13417,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3427
$STATE,13578,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13578,begin apogee
$GC,13586,-0.36,0.0,948.5,3.8,653,13722,0.62,0.00,130.68,1.400,6,0.064,0.000,2720,1461,2832
$STATE,13722,end apogee,CONTROL_FINISHED_OK
$STATE,13723,begin climb
$GC,13725,0.96,146.6,951.6,0.0,660,13865,1.30,2.60,131.82,1.364,4,0.052,0.048,3006,2863,2232
$GC,14056,0.98,155.5,934.8,5.8,674,14069,0.00,2.53,8.12,1.112,6,0.000,0.044,3006,1458,2198
$GC,14377,0.98,159.5,913.9,5.9,690,14387,0.00,2.55,4.82,0.921,4,0.000,0.050,3006,2858,2181
$GC,14462,1.00,171.6,909.2,5.7,694,14483,0.00,2.53,12.93,1.233,6,0.000,0.044,3006,1453,2131
$GC,14795,1.04,210.3,892.3,4.9,710,14839,0.00,2.60,36.58,1.339,4,0.000,0.050,3006,2860,1973
$GC,14917,1.04,210.3,884.6,6.1,715,14922,0.00,2.55,0.00,0.000,6,0.000,0.044,3006,1444,1970
$GC,15233,1.04,210.3,864.8,6.2,730,15234,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1445,1968
$GC,15543,1.04,210.3,846.3,6.1,745,15547,0.00,2.53,0.00,0.000,4,0.000,0.047,3006,2859,1966
$GC,15627,1.04,210.3,841.0,6.9,749,15631,0.00,2.50,0.00,0.000,6,0.000,0.041,3006,1452,1966
$GC,15953,1.04,210.3,821.1,6.0,765,15958,0.00,2.53,0.00,0.000,4,0.000,0.045,3006,2864,1965
$GC,16010,1.04,210.3,817.5,6.3,767,16016,0.00,2.50,0.00,0.000,6,0.000,0.041,3006,1453,1964
$GC,16326,1.04,210.3,795.0,7.2,783,16330,0.00,2.50,0.00,0.000,4,0.000,0.045,3006,2859,1964
$GC,16380,1.04,210.3,791.0,6.9,785,16388,0.00,2.53,0.00,0.000,6,0.000,0.040,3006,1449,1963
$GC,16697,1.04,210.3,767.9,7.6,801,16701,0.00,2.53,0.00,0.000,4,0.000,0.045,3006,2864,1963
$GC,16752,1.04,210.3,763.6,7.1,803,16758,0.00,2.47,0.00,0.000,6,0.000,0.039,3006,1453,1964
$GC,17070,1.04,210.3,741.4,7.2,819,17074,0.00,2.50,0.00,0.000,4,0.000,0.045,3006,2861,1963
$GC,17119,1.04,210.3,737.5,7.3,821,17123,0.00,2.47,0.00,0.000,6,0.000,0.038,3006,1454,1963
$GC,17438,1.04,210.3,714.8,7.3,836,17442,0.00,2.50,0.00,0.000,4,0.000,0.045,3006,2863,1964
$GC,17478,1.04,210.3,711.7,7.7,838,17482,0.00,2.47,0.00,0.000,6,0.000,0.038,3006,1453,1963
$GC,17804,1.04,210.3,689.6,6.6,854,17809,0.00,2.50,0.00,0.000,4,0.000,0.044,3006,2854,1963
$GC,17881,1.04,210.3,684.4,6.2,857,17885,0.00,2.45,0.00,0.000,6,0.000,0.038,3006,1449,1963
$GC,18199,1.04,210.3,662.5,6.9,872,18203,0.00,2.50,0.00,0.000,4,0.000,0.044,3006,2862,1963
$GC,18248,1.04,210.3,658.8,7.6,874,18253,0.00,2.47,0.00,0.000,6,0.000,0.038,3006,1450,1963
$GC,18564,1.04,210.3,637.1,7.0,889,18568,0.00,2.47,0.00,0.000,4,0.000,0.044,3006,2859,1964
$GC,18620,1.04,210.3,633.2,6.2,891,18626,0.00,2.47,0.00,0.000,6,0.000,0.038,3006,1446,1964
$GC,18936,1.04,210.3,611.7,6.8,907,18940,0.00,2.47,0.00,0.000,4,0.000,0.043,3006,2859,1964
$GC,18986,1.04,210.3,608.2,6.2,909,18990,0.00,2.45,0.00,0.000,6,0.000,0.037,3006,1456,1964
$GC,19303,1.04,210.3,587.3,6.7,924,19308,0.00,2.47,0.00,0.000,4,0.000,0.043,3006,2860,1964
$GC,19354,1.05,213.6,583.7,5.9,926,19358,0.00,2.47,0.00,0.000,6,0.000,0.038,3006,1445,1964
$GC,19672,1.05,213.6,563.7,6.2,941,19676,0.00,2.50,0.00,0.000,4,0.000,0.043,3006,2860,1965
$GC,19721,1.05,213.6,560.3,6.2,943,19726,0.00,2.45,0.00,0.000,6,0.000,0.037,3006,1453,1964
$GC,20037,1.05,213.6,540.9,6.2,958,20041,0.00,2.50,0.00,0.000,4,0.000,0.043,3006,2864,1965
$GC,20076,1.05,213.6,538.3,6.9,960,20081,0.00,2.47,0.00,0.000,6,0.000,0.038,3006,1448,1965
$GC,20403,1.05,213.6,518.0,6.3,976,20408,0.00,2.50,0.00,0.000,4,0.000,0.042,3006,2860,1965
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$STATE,27584,end climb,SURFACE_DEPTH_REACHED
$STATE,27584,begin surface coast
$FINISH,0.4,1.011030
$STATE,27606,end surface coast,CONTROL_FINISHED_OK
$STATE,27606,begin surface
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$TT8_MAMPS,0.026845
$HUMID,1858
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$TCM_TEMP,17.50
$XPDR_PINGS,1
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$10V_AH,10.1,20.379
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$DEVICE_SECS,25.650,256.475,420.750,0.000,0.000,27.843,34.800,211.221,8.000,0.000,0.000,18.156,2424.537,21186.775,608.053,2803.560,1073.256,0.000,2094.696,0.000,3031.932,0.000,52.540,0.000
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$DATA_FILE_SIZE,66306,1321
$CAP_FILE_SIZE,196221,0
$CFSIZE,260165632,248389632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,080709,213931,6234.383,-1241.965,39,1.3,40,-11.7