version: 66.04
glider: 105
mission: 6
dive: 144
start: 7 10 109 21 51 3
data:
$ID,105
$MISSION,6
$DIVE,144
$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,-1630578.2
$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,38
$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
$GPS1,214431,6222.812,-1216.789,39,1.4,40,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-60.8
$GPS2,215043,6222.795,-1216.785,11,1.5,17,-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,202.2,14700,-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,-60.12,0.000,6,0.000,0.000,391,2259,3432
$GC,81,-0.96,-146.6,5.0,-9.7,3,102,11.57,2.55,0.00,0.000,4,0.130,0.039,2584,834,3433
$GC,271,-0.96,-146.6,32.1,-8.4,11,275,0.00,2.45,0.00,0.000,6,0.000,0.031,2584,2245,3434
$GC,587,-0.96,-146.6,55.1,-7.0,26,591,0.00,2.55,0.00,0.000,4,0.000,0.057,2584,3651,3434
$GC,649,-0.96,-146.6,59.3,-6.3,29,653,0.00,2.42,0.00,0.000,6,0.000,0.030,2584,2230,3434
$GC,975,-0.96,-146.6,80.8,-7.0,45,980,0.00,2.58,0.00,0.000,4,0.000,0.053,2584,3651,3435
$GC,1038,-0.96,-146.6,85.4,-7.4,48,1042,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2244,3435
$GC,1365,-0.96,-146.6,112.2,-8.8,64,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2244,3435
$GC,1674,-0.96,-146.6,138.5,-8.1,79,1678,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3651,3435
$GC,1746,-0.96,-146.6,144.4,-8.0,82,1750,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2248,3435
$GC,2062,-0.96,-146.6,166.7,-6.8,97,2066,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3646,3434
$GC,2112,-0.96,-146.6,170.3,-7.4,99,2117,0.00,2.38,0.00,0.000,6,0.000,0.030,2584,2251,3435
$GC,2433,-0.96,-146.6,191.8,-6.6,115,2438,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3654,3435
$GC,2486,-0.96,-146.6,195.4,-7.0,117,2490,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2244,3434
$GC,2801,-0.96,-146.6,216.3,-6.7,132,2806,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3651,3434
$GC,2846,-0.96,-146.6,219.6,-7.7,134,2851,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2248,3435
$GC,3178,-0.96,-146.6,242.2,-7.0,150,3182,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3651,3434
$GC,3217,-0.96,-146.6,245.1,-8.2,152,3221,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2247,3434
$GC,3543,-0.96,-146.6,269.0,-7.5,168,3548,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3651,3434
$GC,3593,-0.96,-146.6,272.9,-7.7,170,3597,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2249,3434
$GC,3909,-0.96,-146.6,295.4,-7.0,185,3914,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3653,3434
$GC,3965,-0.96,-146.6,299.8,-7.7,187,3976,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2247,3434
$GC,4280,-0.96,-146.6,322.4,-7.3,203,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3434
$GC,4590,-0.96,-146.6,345.6,-7.6,218,4594,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3654,3433
$GC,4651,-0.96,-146.6,350.6,-8.4,221,4656,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2247,3433
$GC,4981,-0.96,-146.6,375.2,-7.2,237,4986,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3654,3433
$GC,5022,-0.96,-146.6,378.4,-8.1,239,5026,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2244,3433
$GC,5348,-0.96,-146.6,402.0,-7.2,255,5353,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3644,3432
$GC,5403,-0.96,-146.6,406.4,-7.6,257,5407,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2251,3432
$GC,5721,-0.96,-146.6,430.1,-7.6,272,5726,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3657,3432
$GC,5771,-0.96,-146.6,434.3,-8.0,274,5776,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2251,3432
$GC,6087,-0.96,-146.6,458.5,-7.6,289,6092,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3653,3432
$GC,6125,-0.96,-146.6,461.7,-8.0,290,6132,0.00,2.42,0.00,0.000,6,0.000,0.033,2583,2253,3432
$GC,6441,-0.96,-146.6,485.3,-7.5,306,6446,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3644,3432
$GC,6486,-0.96,-146.6,488.8,-8.0,308,6491,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2255,3432
$GC,6818,-0.96,-146.6,513.6,-7.4,324,6822,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3652,3432
$GC,6874,-0.96,-146.6,518.0,-8.6,326,6880,0.00,2.40,0.00,0.000,6,0.000,0.032,2583,2252,3432
$GC,7189,-0.96,-146.6,540.3,-7.0,342,7191,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2252,3432
$GC,7501,-0.96,-146.6,561.1,-6.7,357,7506,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3654,3431
$GC,7588,-0.96,-146.6,567.3,-7.5,361,7592,0.00,2.42,0.00,0.000,6,0.000,0.033,2584,2240,3432
$GC,7916,-0.96,-146.6,588.8,-6.6,377,7921,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3653,3431
$GC,7961,-0.96,-146.6,592.1,-7.3,379,7965,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2252,3431
$GC,8284,-0.96,-146.6,613.2,-6.6,395,8288,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3655,3431
$GC,8323,-0.96,-146.6,616.2,-7.5,397,8327,0.00,2.42,0.00,0.000,6,0.000,0.033,2584,2237,3431
$GC,8652,-0.96,-146.6,637.4,-6.5,413,8656,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3651,3431
$GC,8714,-0.96,-146.6,641.8,-6.8,416,8718,0.00,2.40,0.00,0.000,6,0.000,0.033,2584,2251,3431
$GC,9040,-0.96,-146.6,663.4,-6.7,432,9044,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3653,3431
$GC,9083,-0.96,-146.6,666.6,-7.4,434,9088,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2252,3431
$GC,9407,-0.96,-146.6,687.7,-6.4,450,9412,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3657,3430
$GC,9452,-0.96,-146.6,691.0,-6.7,452,9456,0.00,2.42,0.00,0.000,6,0.000,0.033,2584,2244,3430
$GC,9775,-0.96,-146.6,712.6,-6.7,468,9779,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3651,3431
$GC,9830,-0.96,-146.6,716.8,-7.1,470,9837,0.00,2.42,0.00,0.000,6,0.000,0.033,2584,2238,3430
$GC,10147,-0.96,-146.6,739.6,-7.4,486,10151,0.00,2.55,0.00,0.000,4,0.000,0.055,2584,3651,3430
$GC,10192,-0.96,-146.6,743.6,-8.7,488,10196,0.00,2.40,0.00,0.000,6,0.000,0.033,2584,2255,3431
$GC,10515,-0.96,-146.6,768.0,-7.5,504,10519,0.00,2.47,0.00,0.000,4,0.000,0.046,2584,844,3430
$GC,10548,-0.96,-146.6,770.7,-7.5,505,10554,0.00,2.47,0.00,0.000,6,0.000,0.035,2584,2269,3430
$GC,10864,-0.96,-146.6,791.7,-6.4,521,10865,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2269,3430
$GC,11174,-0.96,-146.6,813.0,-6.9,536,11175,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2269,3430
$GC,11482,-0.96,-146.6,833.3,-6.1,551,11483,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2269,3429
$GC,11792,-0.96,-146.6,848.5,-5.0,566,11796,0.00,2.53,0.00,0.000,4,0.000,0.047,2584,846,3429
$GC,11820,-0.96,-146.6,850.0,-5.3,567,11824,0.00,2.45,0.00,0.000,6,0.000,0.038,2584,2256,3429
$GC,12138,-0.96,-146.6,867.8,-5.9,582,12142,0.00,2.53,0.00,0.000,4,0.000,0.058,2584,3654,3429
$GC,12211,-0.96,-146.6,872.5,-6.0,585,12215,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2255,3429
$GC,12527,-0.96,-146.6,891.4,-6.2,600,12531,0.00,2.50,0.00,0.000,4,0.000,0.049,2584,839,3428
$GC,12559,-0.96,-146.6,893.6,-6.9,601,12566,0.00,2.45,0.00,0.000,6,0.000,0.038,2584,2245,3428
$GC,12876,-0.96,-146.6,911.9,-5.6,617,12877,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2245,3428
$GC,13184,-0.96,-146.6,928.7,-5.2,632,13186,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2245,3427
$STATE,13471,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13471,begin apogee
$GC,13479,-0.36,0.0,945.4,6.2,646,13614,0.62,0.00,130.68,1.407,6,0.061,0.000,2719,1452,2832
$STATE,13615,end apogee,CONTROL_FINISHED_OK
$STATE,13615,begin climb
$GC,13618,0.96,146.6,949.8,0.0,653,13756,1.33,2.25,131.30,1.366,4,0.050,0.067,3010,265,2233
$GC,13848,0.96,146.6,940.6,6.4,663,13855,0.00,2.10,0.00,0.000,6,0.000,0.038,3011,1457,2227
$GC,14164,1.00,172.8,922.9,5.3,679,14194,0.00,2.60,23.60,1.304,4,0.000,0.048,3011,2855,2126
$GC,14262,1.01,185.6,917.3,5.7,683,14283,0.00,2.53,13.00,1.226,6,0.000,0.044,3010,1451,2074
$GC,14605,1.01,185.6,895.7,6.8,700,14609,0.00,2.53,0.00,0.000,4,0.000,0.048,3010,2858,2069
$GC,14637,1.01,185.6,893.2,7.2,701,14643,0.00,2.53,0.00,0.000,6,0.000,0.044,3011,1449,2069
$GC,14953,1.01,185.6,867.9,8.0,717,14954,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1449,2068
$GC,15264,1.01,185.6,844.7,7.0,732,15269,0.00,2.53,0.00,0.000,4,0.000,0.047,3011,2863,2066
$GC,15351,1.01,185.6,838.9,6.8,736,15355,0.00,2.50,0.00,0.000,6,0.000,0.041,3011,1451,2066
$GC,15677,1.01,186.2,818.2,6.0,752,15678,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1450,2065
$GC,15989,1.03,196.6,800.3,5.7,767,16004,0.00,2.58,10.07,1.185,4,0.000,0.045,3011,2863,2029
$GC,16095,1.03,196.6,793.3,6.4,771,16100,0.00,2.50,0.00,0.000,6,0.000,0.040,3011,1452,2028
$GC,16421,1.03,196.6,770.1,7.3,787,16425,0.00,2.50,0.00,0.000,4,0.000,0.045,3011,2860,2027
$GC,16470,1.03,196.6,766.4,6.7,789,16475,0.00,2.47,0.00,0.000,6,0.000,0.038,3011,1455,2027
$GC,16786,1.03,196.6,742.7,7.7,804,16791,0.00,2.50,0.00,0.000,4,0.000,0.044,3011,2854,2027
$GC,16846,1.03,196.6,737.9,8.0,806,16852,0.00,2.47,0.00,0.000,6,0.000,0.039,3010,1448,2026
$GC,17162,1.03,196.6,713.0,8.0,822,17167,0.00,2.55,0.00,0.000,4,0.000,0.044,3011,2857,2027
$GC,17240,1.03,196.6,706.9,8.0,825,17244,0.00,2.47,0.00,0.000,6,0.000,0.038,3011,1446,2027
$GC,17557,1.03,196.6,683.7,7.4,840,17562,0.00,2.50,0.00,0.000,4,0.000,0.042,3011,2859,2027
$GC,17607,1.03,196.6,679.8,7.3,842,17612,0.00,2.47,0.00,0.000,6,0.000,0.038,3011,1448,2027
$GC,17923,1.03,196.6,659.4,6.2,857,17928,0.00,2.53,0.00,0.000,4,0.000,0.044,3011,2856,2027
$GC,17991,1.04,205.8,655.3,5.7,860,18005,0.00,2.45,9.55,1.072,6,0.000,0.038,3011,1453,1993
$GC,18322,1.07,235.5,636.6,5.2,876,18358,0.10,2.58,28.62,1.171,4,0.047,0.043,3062,2856,1871
$GC,18398,1.07,235.5,631.1,7.5,879,18402,0.15,2.47,0.00,0.000,6,0.077,0.038,3032,1455,1869
$GC,18715,1.07,235.5,609.2,7.1,894,18720,0.00,2.47,0.00,0.000,4,0.000,0.043,3032,2857,1868
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$STATE,26739,end climb,SURFACE_DEPTH_REACHED
$STATE,26739,begin surface coast
$FINISH,0.2,1.013178
$STATE,26781,end surface coast,CONTROL_FINISHED_OK
$STATE,26781,begin surface
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$SM_GC,1.25,0.00,0.00,29.38,0.000,0.000,0.762,391,2262,1608,-11.09,0.34,300.00
$IRIDIUM_FIX,6202.67,-1216.08,041098,141403
$TT8_MAMPS,0.026845
$HUMID,1859
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,17.40
$XPDR_PINGS,0
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$24V_AH,23.1,39.828
$10V_AH,10.1,21.275
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$DEVICE_SECS,25.125,304.925,363.450,29.375,0.000,25.145,29.581,175.663,8.000,0.000,0.000,17.073,2417.370,20290.877,581.124,2871.011,1034.942,0.000,2121.678,0.000,3077.520,0.000,54.067,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1042.697,980.151,715.017,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66236,1283
$CAP_FILE_SIZE,203406,0
$CFSIZE,260165632,247767040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,110709,051937,6217.988,-1218.550,38,1.3,39,-11.3