version: 66.04
glider: 105
mission: 6
dive: 204
start: 7 28 109 19 24 16
data:
$ID,105
$MISSION,6
$DIVE,204
$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,-1631667.9
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,191707,6220.653,-1130.282,39,1.4,39,-10.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-62.1
$GPS2,192356,6220.655,-1130.395,13,1.6,13,-10.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DE
$TGT_LATLONG,6215.000,-1035.000
$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,113.3,48902,-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,-59.85,0.000,6,0.000,0.000,391,2237,3431
$GC,81,-0.96,-146.6,4.8,-9.4,3,102,11.65,2.60,0.00,0.000,4,0.133,0.052,2585,3649,3433
$GC,265,-0.96,-146.6,30.2,-9.2,11,270,0.00,2.42,0.00,0.000,6,0.000,0.029,2585,2227,3433
$GC,588,-0.96,-146.6,54.6,-6.1,27,593,0.00,2.58,0.00,0.000,4,0.000,0.051,2585,3648,3434
$GC,633,-0.96,-146.6,58.0,-8.0,29,637,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2252,3435
$GC,954,-0.96,-146.6,83.5,-8.9,45,958,0.00,2.53,0.00,0.000,4,0.000,0.051,2585,3647,3435
$GC,1003,-0.96,-146.6,88.4,-9.5,47,1008,0.00,2.38,0.00,0.000,6,0.000,0.029,2585,2252,3435
$GC,1320,-0.96,-146.6,113.6,-6.8,62,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2252,3435
$GC,1629,-0.96,-146.6,133.7,-6.5,77,1633,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3648,3435
$GC,1715,-0.96,-146.6,139.5,-6.9,81,1719,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2243,3435
$GC,2042,-0.96,-146.6,161.0,-6.8,97,2046,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3647,3435
$GC,2109,-0.96,-146.6,166.0,-8.1,100,2114,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2246,3435
$GC,2433,-0.96,-146.6,187.9,-6.6,116,2438,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3647,3435
$GC,2483,-0.96,-146.6,191.7,-7.1,118,2487,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2248,3435
$GC,2799,-0.96,-146.6,212.4,-6.9,133,2804,0.00,2.55,0.00,0.000,4,0.000,0.052,2585,3644,3435
$GC,2877,-0.96,-146.6,218.3,-7.8,136,2881,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2243,3434
$GC,3194,-0.96,-146.6,240.4,-7.2,151,3198,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3651,3435
$GC,3243,-0.96,-146.6,244.4,-8.1,153,3247,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2248,3434
$GC,3559,-0.96,-146.6,267.7,-7.4,168,3564,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3643,3435
$GC,3610,-0.96,-146.6,271.8,-8.1,170,3614,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2243,3434
$GC,3934,-0.96,-146.6,295.8,-7.3,186,3938,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3647,3434
$GC,3984,-0.96,-146.6,300.0,-8.0,188,3989,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2247,3434
$GC,4307,-0.96,-146.6,323.7,-7.6,204,4311,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3648,3434
$GC,4362,-0.96,-146.6,328.3,-8.2,206,4368,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2246,3434
$GC,4678,-0.96,-146.6,351.6,-7.5,222,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2246,3433
$GC,4986,-0.96,-146.6,374.7,-7.3,237,4991,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3652,3433
$GC,5109,-0.96,-146.6,384.5,-8.1,242,5113,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3433
$GC,5425,-0.96,-146.6,406.8,-6.8,257,5430,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3648,3433
$GC,5476,-0.96,-146.6,410.5,-6.8,259,5480,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2247,3432
$GC,5797,-0.96,-146.6,431.5,-6.5,275,5801,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3648,3432
$GC,5846,-0.96,-146.6,435.0,-6.7,277,5851,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2251,3432
$GC,6167,-0.96,-146.6,455.3,-6.3,293,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2250,3432
$GC,6477,-0.96,-146.6,473.4,-5.9,308,6481,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3650,3432
$GC,6543,-0.96,-146.6,477.8,-6.2,311,6547,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2249,3432
$GC,6866,-0.96,-146.6,497.1,-6.2,327,6870,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3647,3431
$GC,6946,-0.96,-146.6,502.8,-8.0,330,6952,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2247,3431
$GC,7261,-0.96,-146.6,523.7,-6.7,346,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2247,3431
$GC,7572,-0.96,-146.6,546.3,-7.7,361,7576,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3648,3431
$GC,7652,-0.96,-146.6,552.9,-8.0,364,7658,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2248,3431
$GC,7968,-0.96,-146.6,576.8,-7.2,380,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2246,3431
$GC,8280,-0.96,-146.6,597.7,-6.6,395,8284,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3647,3430
$GC,8358,-0.96,-146.6,603.2,-6.8,398,8364,0.00,2.40,0.00,0.000,6,0.000,0.032,2585,2249,3430
$GC,8674,-0.96,-146.6,622.6,-5.8,414,8678,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3653,3431
$GC,8729,-0.96,-146.6,626.4,-7.2,416,8735,0.00,2.40,0.00,0.000,6,0.000,0.032,2585,2249,3431
$GC,9045,-0.96,-146.6,644.6,-5.6,432,9049,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3649,3430
$GC,9113,-0.96,-146.6,648.9,-6.4,435,9117,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3430
$GC,9438,-0.96,-146.6,666.9,-5.6,451,9442,0.00,2.50,0.00,0.000,4,0.000,0.053,2584,3647,3430
$GC,9510,-0.96,-146.6,671.7,-6.4,454,9514,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2249,3430
$GC,9826,-0.96,-146.6,691.2,-6.7,469,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3430
$GC,10135,-0.96,-146.6,711.6,-6.6,484,10139,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3648,3430
$GC,10264,-0.96,-146.6,720.8,-7.6,490,10268,0.00,2.40,0.00,0.000,6,0.000,0.033,2585,2252,3430
$GC,10591,-0.96,-146.6,741.9,-6.6,506,10592,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2252,3429
$GC,10900,-0.96,-146.6,762.4,-6.6,521,10904,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3651,3429
$GC,10964,-0.96,-146.6,766.7,-7.2,524,10968,0.00,2.42,0.00,0.000,6,0.000,0.034,2585,2238,3429
$GC,11291,-0.96,-146.6,786.8,-6.0,540,11295,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3648,3429
$GC,11471,-0.96,-146.6,798.1,-6.7,548,11475,0.00,2.40,0.00,0.000,6,0.000,0.033,2585,2255,3429
$GC,11792,-0.96,-146.6,816.0,-5.5,564,11793,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2255,3429
$GC,12101,-0.96,-146.6,832.4,-5.8,579,12105,0.00,2.53,0.00,0.000,4,0.000,0.055,2585,3650,3429
$GC,12240,-0.96,-146.6,842.5,-7.8,585,12245,0.00,2.42,0.00,0.000,6,0.000,0.034,2585,2239,3429
$GC,12557,-0.96,-146.6,861.6,-5.5,600,12558,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2239,3429
$GC,12865,-0.96,-146.6,880.6,-6.1,615,12869,0.00,2.58,0.00,0.000,4,0.000,0.060,2585,3648,3428
$GC,12922,-0.96,-146.6,884.6,-7.9,617,12929,0.00,2.42,0.00,0.000,6,0.000,0.035,2585,2251,3428
$GC,13238,-0.96,-146.6,902.0,-5.8,633,13239,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3427
$STATE,13256,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13256,begin apogee
$GC,13264,-0.36,0.0,903.1,5.3,634,13400,0.62,0.00,131.23,1.374,6,0.061,0.000,2720,1460,2832
$STATE,13401,end apogee,CONTROL_FINISHED_OK
$STATE,13401,begin climb
$GC,13404,0.96,146.6,907.9,0.0,641,13544,1.33,2.28,132.55,1.332,4,0.054,0.066,3010,263,2234
$GC,13675,0.96,146.6,894.6,6.7,653,13679,0.00,2.08,0.00,0.000,6,0.000,0.036,3010,1464,2227
$GC,13999,1.06,222.6,877.4,3.9,669,14075,0.00,2.58,69.35,1.322,4,0.000,0.049,3010,2842,1923
$GC,14120,1.06,222.6,867.7,7.1,674,14128,0.00,2.50,0.00,0.000,6,0.000,0.042,3009,1449,1919
$GC,14436,1.06,222.6,845.1,7.1,690,14441,0.00,2.50,0.00,0.000,4,0.000,0.047,3010,2853,1914
$GC,14503,1.06,222.6,840.4,7.6,693,14507,0.00,2.50,0.00,0.000,6,0.000,0.041,3010,1450,1913
$GC,14824,1.06,222.6,815.8,8.4,709,14829,0.00,2.53,0.00,0.000,4,0.000,0.047,3010,2844,1911
$GC,14891,1.06,222.6,810.2,8.3,712,14895,0.00,2.47,0.00,0.000,6,0.000,0.041,3010,1452,1911
$GC,15218,1.06,222.6,784.0,7.9,728,15219,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1452,1910
$GC,15526,1.06,222.6,763.1,6.3,743,15530,0.00,2.50,0.00,0.000,4,0.000,0.044,3010,2858,1910
$GC,15604,1.06,222.6,758.2,6.3,746,15610,0.00,2.47,0.00,0.000,6,0.000,0.038,3009,1453,1909
$GC,15919,1.06,222.6,739.1,6.0,762,15924,0.00,2.47,0.00,0.000,4,0.000,0.043,3010,2854,1909
$GC,15975,1.06,223.6,735.6,6.0,764,15982,0.00,2.47,0.00,0.000,6,0.000,0.038,3010,1447,1908
$GC,16291,1.06,223.6,716.0,6.2,780,16295,0.00,2.47,0.00,0.000,4,0.000,0.042,3010,2858,1909
$GC,16340,1.06,223.6,712.8,6.4,782,16345,0.00,2.50,0.00,0.000,6,0.000,0.038,3010,1449,1908
$GC,16661,1.06,223.6,691.4,7.2,798,16665,0.00,2.47,0.00,0.000,4,0.000,0.041,3010,2854,1908
$GC,16734,1.06,223.6,686.2,7.1,801,16739,0.00,2.45,0.00,0.000,6,0.000,0.037,3010,1456,1908
$GC,17050,1.06,223.6,662.6,7.7,816,17054,0.00,2.47,0.00,0.000,4,0.000,0.041,3010,2860,1909
$GC,17112,1.06,223.6,657.7,7.2,819,17117,0.00,2.47,0.00,0.000,6,0.000,0.036,3009,1462,1909
$GC,17444,1.06,223.6,631.4,7.9,835,17448,0.00,2.45,0.00,0.000,4,0.000,0.041,3009,2857,1909
$GC,17471,1.06,223.6,629.2,8.6,836,17475,0.00,2.45,0.00,0.000,6,0.000,0.037,3010,1453,1909
$GC,17789,1.06,223.6,603.4,8.4,851,17791,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1453,1909
$GC,18096,1.06,223.6,579.0,7.7,866,18100,0.00,2.45,0.00,0.000,4,0.000,0.041,3010,2856,1909
$GC,18168,1.06,223.6,573.2,8.8,869,18173,0.00,2.47,0.00,0.000,6,0.000,0.036,3010,1456,1909
$GC,18489,1.06,223.6,549.3,7.1,885,18493,0.00,2.45,0.00,0.000,4,0.000,0.041,3009,2857,1909
$GC,18538,1.06,223.6,545.6,6.7,887,18542,0.00,2.45,0.00,0.000,6,0.000,0.035,3010,1454,1909
$GC,18856,1.06,223.6,524.5,6.5,902,18860,0.00,2.45,0.00,0.000,4,0.000,0.040,3010,2855,1910
$GC,18918,1.06,223.6,520.3,6.3,905,18922,0.00,2.45,0.00,0.000,6,0.000,0.036,3010,1449,1910
$GC,19244,1.06,223.6,499.0,6.4,921,19248,0.00,2.47,0.00,0.000,4,0.000,0.040,3010,2861,1910
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$STATE,25978,end climb,SURFACE_DEPTH_REACHED
$STATE,25978,begin surface coast
$FINISH,0.0,1.014591
$STATE,26022,end surface coast,CONTROL_FINISHED_OK
$STATE,26022,begin surface
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$SM_GC,1.02,0.00,0.00,37.20,0.000,0.000,0.769,391,2250,1608,-11.08,0.03,300.00
$IRIDIUM_FIX,6153.50,-1114.97,221098,121242
$TT8_MAMPS,0.027612
$HUMID,1883
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$TCM_TEMP,14.00
$XPDR_PINGS,0
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$24V_AH,23.1,46.654
$10V_AH,10.1,28.439
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$DEVICE_SECS,25.175,273.650,345.625,37.200,0.000,32.984,38.307,202.019,7.500,0.000,0.000,13.058,2358.156,19656.133,559.000,2841.847,1070.862,0.000,2060.954,0.000,3046.267,0.000,50.865,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.825,981.372,696.029,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63259,1249
$CAP_FILE_SIZE,196202,0
$CFSIZE,260165632,242798592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,290709,024007,6218.527,-1126.003,26,1.6,27,-10.8