version: 66.04
glider: 105
mission: 6
dive: 333
start: 8 27 109 4 5 10
data:
$ID,105
$MISSION,6
$DIVE,333
$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,-1634047.5
$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,26
$R_STBD_OVSHOOT,28
$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
$GPS1,035807,6138.549,-855.118,35,1.0,35,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-62.1
$GPS2,040450,6138.532,-855.091,15,1.9,15,-9.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$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,129.9,30932,-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,-58.95,0.000,6,0.000,0.000,396,2248,3432
$GC,81,-0.96,-146.6,5.0,-10.4,3,102,11.70,2.60,0.00,0.000,4,0.133,0.052,2587,3651,3434
$GC,439,-0.96,-146.6,49.5,-8.4,19,444,0.00,2.45,0.00,0.000,6,0.000,0.029,2587,2237,3435
$GC,772,-0.96,-146.6,68.7,-5.4,35,776,0.00,2.58,0.00,0.000,4,0.000,0.053,2587,3652,3436
$GC,1113,-0.96,-146.6,91.7,-7.5,50,1118,0.00,2.42,0.00,0.000,6,0.000,0.030,2586,2253,3436
$GC,1434,-0.96,-146.6,113.6,-7.0,66,1439,0.00,2.55,0.00,0.000,4,0.000,0.052,2586,3658,3437
$GC,1592,-0.96,-146.6,124.4,-6.4,73,1596,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2246,3436
$GC,1913,-0.96,-146.6,146.6,-7.4,89,1918,0.00,2.58,0.00,0.000,4,0.000,0.053,2587,3648,3436
$GC,2035,-0.96,-146.6,155.8,-7.7,94,2040,0.00,2.42,0.00,0.000,6,0.000,0.030,2587,2250,3436
$GC,2356,-0.96,-146.6,178.2,-6.8,110,2360,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3651,3436
$GC,2468,-0.96,-146.6,186.6,-7.6,115,2473,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2246,3436
$GC,2792,-0.96,-146.6,210.7,-7.3,131,2796,0.00,2.55,0.00,0.000,4,0.000,0.051,2586,3658,3436
$GC,2871,-0.96,-146.6,217.0,-7.3,134,2877,0.00,2.42,0.00,0.000,6,0.000,0.031,2587,2239,3436
$GC,3186,-0.96,-146.6,239.2,-6.6,150,3190,0.00,2.58,0.00,0.000,4,0.000,0.054,2586,3658,3436
$GC,3258,-0.96,-146.6,244.2,-6.8,153,3262,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3435
$GC,3574,-0.96,-146.6,263.8,-6.4,168,3578,0.00,2.55,0.00,0.000,4,0.000,0.051,2586,3650,3435
$GC,3641,-0.96,-146.6,268.4,-6.5,171,3646,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2247,3435
$GC,3968,-0.96,-146.6,288.1,-6.1,187,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2247,3434
$GC,4278,-0.96,-146.6,306.5,-5.7,202,4282,0.00,2.53,0.00,0.000,4,0.000,0.052,2587,3651,3434
$GC,4372,-0.96,-146.6,312.4,-6.5,206,4376,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2249,3435
$GC,4690,-0.96,-146.6,330.5,-5.8,221,4694,0.00,2.53,0.00,0.000,4,0.000,0.052,2587,3651,3434
$GC,4784,-0.96,-146.6,336.9,-6.4,225,4788,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2247,3433
$GC,5100,-0.96,-146.6,357.1,-6.6,240,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2247,3434
$GC,5409,-0.96,-146.6,379.3,-7.2,255,5414,0.00,2.55,0.00,0.000,4,0.000,0.052,2586,3642,3433
$GC,5526,-0.96,-146.6,388.8,-8.1,260,5530,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2242,3433
$GC,5848,-0.96,-146.6,415.0,-8.2,276,5852,0.00,2.55,0.00,0.000,4,0.000,0.054,2587,3651,3433
$GC,5920,-0.96,-146.6,421.7,-9.5,279,5925,0.00,2.42,0.00,0.000,6,0.000,0.031,2587,2253,3433
$GC,6240,-0.96,-146.6,448.5,-8.5,295,6245,0.00,2.55,0.00,0.000,4,0.000,0.054,2587,3658,3433
$GC,6296,-0.96,-146.6,453.5,-8.8,297,6303,0.00,2.42,0.00,0.000,6,0.000,0.032,2586,2249,3433
$GC,6612,-0.96,-146.6,477.7,-7.4,313,6617,0.00,2.55,0.00,0.000,4,0.000,0.053,2587,3644,3432
$GC,6689,-0.96,-146.6,484.2,-8.4,316,6694,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2242,3433
$GC,7007,-0.96,-146.6,508.8,-7.9,331,7011,0.00,2.58,0.00,0.000,4,0.000,0.055,2587,3658,3433
$GC,7101,-0.96,-146.6,517.1,-8.3,335,7105,0.00,2.42,0.00,0.000,6,0.000,0.032,2586,2250,3433
$GC,7417,-0.96,-146.6,540.3,-6.9,350,7421,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3651,3432
$GC,7483,-0.96,-146.6,545.4,-7.5,353,7488,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2237,3432
$GC,7807,-0.96,-146.6,567.6,-7.0,369,7811,0.00,2.58,0.00,0.000,4,0.000,0.054,2587,3658,3432
$GC,7869,-0.96,-146.6,572.3,-7.2,372,7873,0.00,2.42,0.00,0.000,6,0.000,0.032,2586,2248,3432
$GC,8195,-0.96,-146.6,596.0,-7.5,388,8199,0.00,2.55,0.00,0.000,4,0.000,0.053,2586,3658,3432
$GC,8302,-0.96,-146.6,604.6,-8.0,393,8306,0.00,2.42,0.00,0.000,6,0.000,0.032,2587,2249,3432
$GC,8629,-0.96,-146.6,627.0,-6.3,409,8634,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3651,3432
$GC,8752,-0.96,-146.6,636.1,-7.3,414,8758,0.00,2.40,0.00,0.000,6,0.000,0.032,2587,2250,3431
$GC,9068,-0.96,-146.6,658.4,-7.0,430,9072,0.00,2.47,0.00,0.000,4,0.000,0.045,2587,843,3431
$GC,9124,-0.96,-146.6,662.5,-7.5,432,9130,0.00,2.45,0.00,0.000,6,0.000,0.035,2587,2256,3431
$GC,9440,-0.96,-146.6,682.7,-5.8,448,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2256,3431
$GC,9749,-0.96,-146.6,699.1,-5.0,463,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2256,3431
$GC,10059,-0.96,-146.6,716.6,-6.0,478,10063,0.00,2.50,0.00,0.000,4,0.000,0.046,2587,850,3431
$GC,10098,-0.96,-146.6,719.1,-7.5,480,10102,0.00,2.45,0.00,0.000,6,0.000,0.036,2586,2248,3430
$GC,10427,-0.96,-146.6,736.5,-4.8,496,10431,0.00,2.55,0.00,0.000,4,0.000,0.058,2587,3654,3430
$GC,10489,-0.96,-146.6,740.1,-5.6,499,10493,0.00,2.42,0.00,0.000,6,0.000,0.034,2587,2251,3430
$GC,10816,-0.96,-146.6,755.9,-5.4,515,10817,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2250,3430
$GC,11127,-0.96,-146.6,774.0,-5.9,530,11131,0.00,2.58,0.00,0.000,4,0.000,0.059,2587,3652,3429
$GC,11185,-0.96,-146.6,778.3,-7.3,532,11191,0.00,2.45,0.00,0.000,6,0.000,0.037,2587,2253,3429
$GC,11504,-0.96,-146.6,797.4,-6.3,548,11508,0.00,2.58,0.00,0.000,4,0.000,0.061,2587,3651,3426
$GC,11537,-0.96,-146.6,800.1,-7.7,549,11543,0.00,2.45,0.00,0.000,6,0.000,0.039,2587,2250,3428
$GC,11853,-0.96,-146.6,819.5,-6.1,565,11857,0.00,2.60,0.00,0.000,4,0.000,0.061,2587,3657,3425
$GC,11903,-0.96,-146.6,822.8,-7.4,567,11907,0.00,2.50,0.00,0.000,6,0.000,0.039,2587,2252,3425
$STATE,11976,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11976,begin apogee
$GC,11984,-0.36,0.0,827.4,6.4,571,12118,0.62,0.00,130.62,1.372,6,0.063,0.000,2720,1458,2832
$STATE,12119,end apogee,CONTROL_FINISHED_OK
$STATE,12119,begin climb
$GC,12122,0.96,146.6,829.3,0.0,578,12261,1.35,2.35,131.48,1.324,4,0.053,0.070,3010,262,2233
$GC,12374,0.96,146.6,817.6,6.5,590,12378,0.00,2.10,0.00,0.000,6,0.000,0.038,3010,1469,2226
$GC,12709,0.99,163.3,798.0,5.5,606,12730,0.00,2.55,14.48,1.224,4,0.000,0.053,3010,2848,2165
$GC,12794,0.99,165.0,793.1,6.0,609,12800,0.00,2.50,0.00,0.000,6,0.000,0.047,3010,1454,2163
$GC,13109,0.99,165.0,775.2,6.1,625,13113,0.00,2.53,0.00,0.000,4,0.000,0.051,3010,2851,2161
$GC,13171,0.99,165.0,771.6,6.5,628,13175,0.00,2.50,0.00,0.000,6,0.000,0.047,3010,1454,2161
$GC,13497,0.99,165.0,749.5,7.0,644,13502,0.00,2.55,0.00,0.000,4,0.000,0.052,3010,2847,2159
$GC,13552,0.99,165.0,745.7,6.8,646,13556,0.00,2.50,0.00,0.000,6,0.000,0.047,3010,1454,2159
$GC,13868,0.99,170.1,726.8,5.9,661,13882,0.00,2.58,6.75,1.101,4,0.000,0.051,3010,2854,2137
$GC,13985,1.03,198.8,720.7,5.2,666,14022,0.00,2.53,27.92,1.315,6,0.000,0.045,3010,1451,2020
$GC,14334,1.03,198.8,700.0,6.6,683,14339,0.00,2.53,0.00,0.000,4,0.000,0.051,3010,2847,2015
$GC,14420,1.03,198.8,694.3,6.7,687,14424,0.00,2.47,0.00,0.000,6,0.000,0.044,3010,1454,2014
$GC,14746,1.03,198.8,673.4,6.7,703,14747,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1454,2013
$GC,15058,1.03,198.8,654.2,6.3,718,15063,0.00,2.50,0.00,0.000,4,0.000,0.046,3010,2852,2013
$GC,15099,1.03,198.8,651.4,6.6,720,15103,0.00,2.50,0.00,0.000,6,0.000,0.041,3010,1445,2013
$GC,15428,1.03,198.8,630.2,6.9,736,15429,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1445,2012
$GC,15736,1.03,198.8,610.0,6.3,751,15741,0.00,2.50,0.00,0.000,4,0.000,0.044,3010,2857,2012
$GC,15803,1.03,198.8,605.5,6.9,754,15807,0.00,2.47,0.00,0.000,6,0.000,0.038,3010,1451,2013
$GC,16125,1.03,198.8,585.4,6.6,770,16129,0.00,2.47,0.00,0.000,4,0.000,0.044,3010,2850,2013
$GC,16169,1.03,198.8,582.5,6.1,772,16173,0.00,2.45,0.00,0.000,6,0.000,0.038,3010,1453,2012
$GC,16492,1.03,198.8,562.5,6.3,788,16496,0.00,2.47,0.00,0.000,4,0.000,0.044,3010,2855,2014
$GC,16541,1.03,198.8,559.1,6.0,790,16546,0.00,2.45,0.00,0.000,6,0.000,0.038,3010,1454,2013
$GC,16857,1.03,198.8,539.9,6.4,805,16862,0.00,2.47,0.00,0.000,4,0.000,0.042,3010,2852,2014
$GC,16907,1.03,198.8,536.7,6.1,807,16912,0.00,2.47,0.00,0.000,6,0.000,0.038,3010,1459,2014
$GC,17228,1.03,198.8,515.5,6.8,823,17232,0.00,2.47,0.00,0.000,4,0.000,0.042,3010,2857,2015
$GC,17291,1.03,198.8,511.1,6.7,826,17295,0.00,2.47,0.00,0.000,6,0.000,0.038,3010,1459,2014
$GC,17623,1.03,198.8,488.2,6.7,842,17627,0.00,2.45,0.00,0.000,4,0.000,0.042,3010,2858,2015
$GC,17662,1.03,198.8,485.6,6.2,844,17666,0.00,2.45,0.00,0.000,6,0.000,0.038,3010,1453,2015
$GC,17990,1.03,198.8,465.1,6.0,860,17994,0.00,2.47,0.00,0.000,4,0.000,0.043,3011,2855,2016
$GC,18029,1.06,224.4,462.8,5.3,862,18060,0.00,2.45,23.70,1.065,6,0.000,0.038,3010,1452,1916
$GC,18385,1.07,232.9,442.6,5.8,879,18400,0.10,2.53,8.93,0.939,4,0.048,0.042,3064,2850,1881
$GC,18439,1.07,232.9,438.6,7.9,881,18444,0.12,2.50,0.00,0.000,6,0.066,0.038,3034,1461,1881
$GC,18760,1.07,232.9,416.8,7.0,897,18764,0.00,2.45,0.00,0.000,4,0.000,0.042,3034,2850,1880
$GC,18804,1.07,232.9,413.4,7.1,899,18808,0.00,2.45,0.00,0.000,6,0.000,0.038,3034,1451,1880
$GC,19127,1.07,232.9,390.9,7.1,915,19131,0.00,2.50,0.00,0.000,4,0.000,0.042,3034,2858,1880
$GC,19166,1.07,232.9,388.0,7.3,917,19170,0.00,2.45,0.00,0.000,6,0.000,0.038,3034,1454,1880
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$STATE,24829,end climb,SURFACE_DEPTH_REACHED
$STATE,24830,begin surface coast
$FINISH,0.1,1.026499
$STATE,24873,end surface coast,CONTROL_FINISHED_OK
$STATE,24873,begin surface
$SM_CCo,24898,19.58,0.749,0,0,1608,300.00
$SM_GC,0.55,0.00,0.00,19.58,0.000,0.000,0.749,390,2242,1608,-11.09,-0.25,300.00
$IRIDIUM_FIX,6117.23,-847.52,201198,212103
$TT8_MAMPS,0.027612
$HUMID,1913
$INTERNAL_PRESSURE,8.17739
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.3,61.1
$24V_AH,22.9,67.466
$10V_AH,10.1,40.575
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$DEVICE_SECS,25.250,264.750,380.000,19.575,0.000,25.993,31.021,194.910,7.000,0.000,0.000,15.581,2278.924,18567.043,566.408,2870.661,1030.137,0.000,2069.412,0.000,3060.970,0.000,48.922,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,995.770,897.147,689.243,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60067,1191
$CAP_FILE_SIZE,191374,0
$CFSIZE,260165632,234147840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,270809,110136,6135.380,-855.677,28,1.5,28,-9.2