version: 66.04
glider: 105
mission: 6
dive: 143
start: 7 10 109 13 57 40
data:
$ID,105
$MISSION,6
$DIVE,143
$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,-1630560.5
$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,24
$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
$GPS1,135100,6228.163,-1212.114,37,1.4,43,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-64.1
$GPS2,135720,6228.121,-1212.135,13,1.6,13,-11.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FE
$TGT_LATLONG,6215.000,-1220.000
$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,206.9,25228,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-57.75,0.000,6,0.000,0.000,388,2261,3432
$GC,80,-0.96,-146.6,5.5,-10.3,3,102,11.65,2.55,0.00,0.000,4,0.131,0.039,2585,836,3433
$GC,286,-0.96,-146.6,35.0,-7.5,12,291,0.00,2.47,0.00,0.000,6,0.000,0.032,2585,2242,3434
$GC,613,-0.96,-146.6,52.7,-5.2,28,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2242,3435
$GC,923,-0.96,-146.6,72.7,-7.3,43,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2242,3435
$GC,1231,-0.96,-146.6,92.9,-6.1,58,1235,0.00,2.47,0.00,0.000,4,0.000,0.041,2585,836,3435
$GC,1286,-0.96,-146.6,96.7,-6.5,60,1292,0.00,2.45,0.00,0.000,6,0.000,0.033,2585,2250,3435
$GC,1602,-0.96,-146.6,116.8,-6.7,76,1607,0.00,2.55,0.00,0.000,4,0.000,0.058,2585,3643,3435
$GC,1657,-0.96,-146.6,121.1,-7.9,78,1661,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2233,3435
$GC,1974,-0.96,-146.6,145.1,-7.8,93,1979,0.00,2.58,0.00,0.000,4,0.000,0.052,2585,3654,3435
$GC,2030,-0.96,-146.6,149.9,-8.5,95,2038,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2246,3435
$GC,2346,-0.96,-146.6,172.5,-7.0,111,2351,0.00,2.58,0.00,0.000,4,0.000,0.053,2585,3650,3435
$GC,2395,-0.96,-146.6,176.2,-7.9,113,2399,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2248,3435
$GC,2716,-0.96,-146.6,198.8,-7.4,129,2721,0.00,2.58,0.00,0.000,4,0.000,0.053,2585,3652,3435
$GC,2762,-0.96,-146.6,202.2,-8.0,131,2766,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3435
$GC,3091,-0.96,-146.6,225.4,-7.0,147,3096,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3651,3435
$GC,3141,-0.96,-146.6,229.7,-8.1,149,3146,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2248,3435
$GC,3457,-0.96,-146.6,252.2,-7.3,164,3461,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3659,3435
$GC,3496,-0.96,-146.6,255.1,-7.7,166,3501,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2238,3434
$GC,3823,-0.96,-146.6,278.5,-7.0,182,3827,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3651,3434
$GC,3878,-0.96,-146.6,282.7,-8.0,184,3885,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2249,3434
$GC,4194,-0.96,-146.6,303.9,-6.6,200,4199,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3651,3434
$GC,4257,-0.96,-146.6,308.3,-7.0,203,4261,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2246,3434
$GC,4583,-0.96,-146.6,330.3,-6.7,219,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2246,3434
$GC,4896,-0.96,-146.6,351.3,-6.7,234,4900,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3658,3433
$GC,4968,-0.96,-146.6,356.8,-7.5,237,4973,0.00,2.45,0.00,0.000,6,0.000,0.031,2585,2248,3433
$GC,5288,-0.96,-146.6,378.4,-6.9,253,5293,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3660,3433
$GC,5333,-0.96,-146.6,381.6,-7.4,255,5337,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2243,3433
$GC,5654,-0.96,-146.6,402.8,-6.6,271,5658,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3653,3433
$GC,5703,-0.96,-146.6,406.5,-7.1,273,5707,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3433
$GC,6019,-0.96,-146.6,427.8,-6.7,288,6024,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3651,3433
$GC,6075,-0.96,-146.6,432.1,-7.4,290,6081,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2248,3433
$GC,6392,-0.96,-146.6,453.0,-6.7,306,6396,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3651,3433
$GC,6432,-0.96,-146.6,455.8,-7.0,308,6437,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2247,3433
$GC,6762,-0.96,-146.6,477.5,-6.6,324,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2246,3433
$GC,7068,-0.96,-146.6,498.6,-6.8,339,7073,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3651,3433
$GC,7146,-0.96,-146.6,504.4,-7.2,342,7153,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2249,3432
$GC,7465,-0.96,-146.6,526.2,-7.0,358,7469,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3653,3432
$GC,7509,-0.96,-146.6,529.7,-7.7,360,7514,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2249,3432
$GC,7833,-0.96,-146.6,551.8,-6.7,376,7837,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3651,3432
$GC,7872,-0.96,-146.6,554.9,-7.3,378,7876,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2248,3432
$GC,8201,-0.96,-146.6,576.8,-6.7,394,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3431
$GC,8508,-0.96,-146.6,597.1,-6.8,409,8513,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3651,3431
$GC,8586,-0.96,-146.6,602.6,-7.0,412,8592,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2251,3431
$GC,8902,-0.96,-146.6,623.3,-6.7,428,8903,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3431
$GC,9212,-0.96,-146.6,644.6,-6.9,443,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3431
$GC,9520,-0.96,-146.6,665.8,-7.0,458,9524,0.00,2.53,0.00,0.000,4,0.000,0.051,2585,3654,3431
$GC,9570,-0.96,-146.6,669.7,-7.9,460,9574,0.00,2.42,0.00,0.000,6,0.000,0.032,2585,2237,3431
$GC,9886,-0.96,-146.6,692.4,-7.2,475,9890,0.00,2.58,0.00,0.000,4,0.000,0.054,2585,3660,3431
$GC,9958,-0.96,-146.6,698.2,-7.7,478,9963,0.00,2.42,0.00,0.000,6,0.000,0.033,2585,2251,3431
$GC,10274,-0.96,-146.6,721.3,-7.0,493,10275,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3431
$GC,10585,-0.96,-146.6,743.4,-7.2,508,10590,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3651,3431
$GC,10630,-0.96,-146.6,747.0,-7.6,510,10634,0.00,2.40,0.00,0.000,6,0.000,0.033,2585,2251,3430
$GC,10952,-0.96,-146.6,770.1,-7.5,526,10953,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2252,3431
$GC,11260,-0.96,-146.6,794.0,-8.0,541,11264,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3658,3431
$GC,11370,-0.96,-146.6,803.3,-8.3,546,11375,0.00,2.42,0.00,0.000,6,0.000,0.034,2585,2252,3430
$GC,11692,-0.96,-146.6,826.5,-6.7,562,11693,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2252,3430
$GC,12004,-0.96,-146.6,844.5,-5.3,577,12008,0.00,2.53,0.00,0.000,4,0.000,0.055,2585,3653,3430
$GC,12070,-0.96,-146.6,848.2,-5.0,580,12075,0.00,2.42,0.00,0.000,6,0.000,0.035,2585,2253,3430
$GC,12392,-0.96,-146.6,863.9,-5.3,596,12397,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3655,3430
$GC,12465,-0.96,-146.6,868.4,-6.2,599,12469,0.00,2.45,0.00,0.000,6,0.000,0.035,2585,2239,3430
$GC,12781,-0.96,-146.6,885.7,-5.8,614,12782,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2239,3429
$GC,13090,-0.96,-146.6,904.0,-5.8,629,13094,0.00,2.60,0.00,0.000,4,0.000,0.061,2585,3654,3428
$GC,13122,-0.96,-146.6,906.5,-7.3,630,13129,0.00,2.45,0.00,0.000,6,0.000,0.037,2585,2249,3428
$GC,13444,-0.96,-146.6,926.2,-6.1,646,13448,0.00,2.55,0.00,0.000,4,0.000,0.059,2585,3651,3428
$GC,13538,-0.96,-146.6,932.9,-6.7,650,13542,0.00,2.45,0.00,0.000,6,0.000,0.037,2585,2241,3426
$GC,13854,-0.96,-146.6,952.7,-6.2,665,13855,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2241,3426
$STATE,14057,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14057,begin apogee
$GC,14065,-0.36,0.0,965.1,5.5,675,14201,0.62,0.00,130.85,1.423,6,0.064,0.000,2720,1457,2832
$STATE,14202,end apogee,CONTROL_FINISHED_OK
$STATE,14202,begin climb
$GC,14204,0.96,146.6,968.7,0.0,682,14344,1.33,2.28,131.82,1.384,4,0.051,0.068,3011,262,2233
$GC,14374,1.00,177.8,962.8,5.1,689,14414,0.00,2.10,28.77,1.310,6,0.000,0.038,3011,1471,2106
$GC,14724,1.00,177.8,939.6,7.0,706,14728,0.00,2.47,0.00,0.000,4,0.000,0.048,3011,2851,2097
$GC,14757,1.00,177.8,937.0,7.0,707,14763,0.00,2.50,0.00,0.000,6,0.000,0.046,3011,1452,2097
$GC,15072,1.00,177.8,914.8,7.0,723,15076,0.00,2.50,0.00,0.000,4,0.000,0.048,3011,2848,2096
$GC,15155,1.00,177.8,909.1,6.2,727,15160,0.00,2.47,0.00,0.000,6,0.000,0.045,3011,1455,2095
$GC,15483,1.00,177.8,886.6,7.0,743,15487,0.00,2.50,0.00,0.000,4,0.000,0.048,3011,2853,2094
$GC,15512,1.00,177.8,884.7,6.2,744,15517,0.00,2.50,0.00,0.000,6,0.000,0.044,3011,1455,2094
$GC,15828,1.00,177.8,864.5,6.2,759,15832,0.00,2.50,0.00,0.000,4,0.000,0.047,3011,2853,2092
$GC,15877,1.00,177.8,861.4,6.1,761,15882,0.00,2.53,0.00,0.000,6,0.000,0.043,3011,1456,2093
$GC,16198,1.02,194.8,842.9,5.5,777,16220,0.00,2.58,14.45,1.277,4,0.000,0.048,3011,2842,2036
$GC,16259,1.03,197.2,839.3,5.9,779,16265,0.00,2.50,0.00,0.000,6,0.000,0.043,3011,1449,2035
$GC,16577,1.03,197.2,819.5,6.8,795,16582,0.00,2.50,0.00,0.000,4,0.000,0.045,3011,2850,2034
$GC,16627,1.03,197.2,815.7,7.5,797,16632,0.00,2.47,0.00,0.000,6,0.000,0.041,3011,1448,2033
$GC,16943,1.03,197.2,792.7,7.3,812,16948,0.00,2.53,0.00,0.000,4,0.000,0.045,3011,2848,2033
$GC,16981,1.03,197.2,789.6,7.2,813,16988,0.00,2.45,0.00,0.000,6,0.000,0.041,3011,1452,2033
$GC,17297,1.03,197.2,766.5,7.5,829,17301,0.00,2.47,0.00,0.000,4,0.000,0.044,3011,2851,2033
$GC,17352,1.03,197.2,762.3,9.1,831,17358,0.00,2.47,0.00,0.000,6,0.000,0.040,3011,1451,2032
$GC,17670,1.03,197.2,738.2,7.6,847,17674,0.00,2.50,0.00,0.000,4,0.000,0.043,3011,2855,2032
$GC,17697,1.03,197.2,735.8,6.4,848,17702,0.00,2.50,0.00,0.000,6,0.000,0.040,3011,1455,2033
$GC,18017,1.03,197.2,712.6,7.1,864,18018,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1455,2032
$GC,18327,1.03,197.2,690.4,7.2,879,18331,0.00,2.45,0.00,0.000,4,0.000,0.043,3011,2854,2033
$GC,18383,1.03,197.2,686.4,7.9,881,18389,0.00,2.47,0.00,0.000,6,0.000,0.038,3011,1446,2033
$GC,18698,1.03,197.2,663.3,7.2,897,18703,0.00,2.50,0.00,0.000,4,0.000,0.042,3011,2857,2033
$GC,18748,1.03,197.2,659.5,6.5,899,18753,0.00,2.47,0.00,0.000,6,0.000,0.038,3011,1445,2033
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$STATE,27805,end climb,SURFACE_DEPTH_REACHED
$STATE,27805,begin surface coast
$FINISH,0.2,1.013134
$STATE,27848,end surface coast,CONTROL_FINISHED_OK
$STATE,27850,begin surface
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$IRIDIUM_FIX,6202.67,-1220.63,041098,060631
$TT8_MAMPS,0.026845
$HUMID,1864
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$TCM_TEMP,17.50
$XPDR_PINGS,0
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$24V_AH,23.1,39.671
$10V_AH,10.1,21.152
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$DEVICE_SECS,25.350,309.425,416.025,0.000,0.000,29.066,30.811,180.332,8.500,0.000,0.000,13.202,2499.651,21183.889,599.266,2936.772,1080.031,0.000,2196.740,0.000,3179.854,0.000,58.582,0.000
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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,69452,1337
$CAP_FILE_SIZE,210105,0
$CFSIZE,260165632,247848960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,100709,214431,6222.812,-1216.789,39,1.4,40,-11.3