version: 66.04
glider: 105
mission: 6
dive: 86
start: 6 23 109 7 17 5
data:
$ID,105
$MISSION,6
$DIVE,86
$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,-1629551.2
$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,2350
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,27
$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
$GPS1,071107,6306.567,-1327.799,38,1.7,38,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-57.4
$GPS2,071644,6306.602,-1327.708,14,1.7,14,-12.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,KW
$TGT_LATLONG,6325.000,-1325.000
$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,16.1,34148,-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,-58.95,0.000,6,0.000,0.000,391,2341,3431
$GC,80,-0.96,-146.6,5.3,-10.7,3,102,11.70,2.50,0.00,0.000,4,0.135,0.035,2583,932,3433
$GC,336,-0.96,-146.6,39.1,-9.0,14,341,0.00,2.47,0.00,0.000,6,0.000,0.034,2584,2356,3433
$GC,652,-0.96,-146.6,55.4,-6.7,29,657,0.00,2.47,0.00,0.000,4,0.000,0.036,2584,935,3434
$GC,739,-0.96,-146.6,62.0,-8.4,33,743,0.00,2.47,0.00,0.000,6,0.000,0.033,2584,2358,3434
$GC,1065,-0.96,-146.6,84.5,-6.4,49,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2358,3434
$GC,1376,-0.96,-146.6,106.0,-7.6,64,1380,0.00,2.47,0.00,0.000,4,0.000,0.037,2584,941,3434
$GC,1442,-0.96,-146.6,111.4,-8.0,67,1446,0.00,2.47,0.00,0.000,6,0.000,0.035,2584,2358,3434
$GC,1763,-0.96,-146.6,132.4,-5.5,83,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2358,3434
$GC,2072,-0.96,-146.6,153.8,-7.1,98,2077,0.00,2.50,0.00,0.000,4,0.000,0.039,2584,945,3434
$GC,2144,-0.96,-146.6,159.3,-7.4,101,2148,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2351,3434
$GC,2464,-0.96,-146.6,182.8,-7.3,117,2468,0.00,2.47,0.00,0.000,4,0.000,0.039,2583,936,3434
$GC,2519,-0.96,-146.6,186.8,-7.1,119,2525,0.00,2.47,0.00,0.000,6,0.000,0.035,2584,2356,3434
$GC,2836,-0.96,-146.6,205.9,-6.0,135,2840,0.00,2.47,0.00,0.000,4,0.000,0.039,2584,941,3434
$GC,2868,-0.96,-146.6,208.1,-6.7,136,2874,0.00,2.47,0.00,0.000,6,0.000,0.036,2584,2358,3434
$GC,3184,-0.96,-146.6,227.9,-6.3,152,3188,0.00,2.50,0.00,0.000,4,0.000,0.039,2584,944,3434
$GC,3229,-0.96,-146.6,230.8,-6.8,154,3234,0.00,2.47,0.00,0.000,6,0.000,0.037,2584,2347,3434
$GC,3560,-0.96,-146.6,251.7,-6.4,170,3565,0.00,2.45,0.00,0.000,4,0.000,0.039,2584,942,3434
$GC,3623,-0.96,-146.6,255.6,-5.8,173,3627,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2348,3434
$GC,3951,-0.96,-146.6,278.5,-6.8,189,3956,0.00,2.47,0.00,0.000,4,0.000,0.039,2584,933,3434
$GC,4007,-0.96,-146.6,282.7,-7.7,191,4013,0.00,2.47,0.00,0.000,6,0.000,0.036,2584,2353,3434
$GC,4323,-0.96,-146.6,303.4,-6.5,207,4327,0.00,2.47,0.00,0.000,4,0.000,0.040,2584,936,3434
$GC,4367,-0.96,-146.6,306.5,-6.6,209,4372,0.00,2.47,0.00,0.000,6,0.000,0.036,2584,2354,3434
$GC,4689,-0.96,-146.6,326.6,-5.8,225,4694,0.00,2.50,0.00,0.000,4,0.000,0.040,2584,941,3433
$GC,4730,-0.96,-146.6,328.9,-6.5,226,4736,0.00,2.47,0.00,0.000,6,0.000,0.036,2583,2361,3433
$GC,5045,-0.96,-146.6,347.0,-6.0,242,5050,0.00,2.47,0.00,0.000,4,0.000,0.039,2584,942,3433
$GC,5078,-0.96,-146.6,349.1,-6.2,243,5085,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2352,3433
$GC,5395,-0.96,-146.6,368.8,-6.6,259,5399,0.00,2.47,0.00,0.000,4,0.000,0.040,2583,937,3433
$GC,5434,-0.96,-146.6,371.6,-7.1,261,5439,0.00,2.47,0.00,0.000,6,0.000,0.035,2584,2359,3433
$GC,5761,-0.96,-146.6,395.3,-7.4,277,5766,0.00,2.47,0.00,0.000,4,0.000,0.040,2584,942,3433
$GC,5806,-0.96,-146.6,398.9,-8.0,279,5810,0.00,2.45,0.00,0.000,6,0.000,0.037,2583,2352,3433
$GC,6129,-0.96,-146.6,424.3,-8.4,295,6133,0.00,2.47,0.00,0.000,4,0.000,0.041,2584,937,3433
$GC,6172,-0.96,-146.6,428.5,-9.0,297,6177,0.00,2.47,0.00,0.000,6,0.000,0.036,2583,2355,3433
$GC,6494,-0.96,-146.6,457.1,-8.8,313,6499,0.00,2.47,0.00,0.000,4,0.000,0.041,2584,941,3433
$GC,6544,-0.96,-146.6,461.4,-8.2,315,6548,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2354,3433
$GC,6863,-0.96,-146.6,482.6,-6.0,330,6867,0.00,2.47,0.00,0.000,4,0.000,0.041,2584,938,3433
$GC,6935,-0.96,-146.6,486.7,-5.3,333,6940,0.00,2.47,0.00,0.000,6,0.000,0.036,2584,2345,3432
$GC,7256,-0.96,-146.6,501.0,-4.4,349,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2346,3432
$GC,7565,-0.96,-146.6,514.2,-4.3,364,7570,0.00,2.45,0.00,0.000,4,0.000,0.040,2584,942,3432
$GC,7638,-0.96,-146.6,517.5,-4.4,367,7643,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2353,3432
$GC,7956,-0.96,-146.6,531.9,-4.8,382,7961,0.00,2.47,0.00,0.000,4,0.000,0.040,2584,938,3432
$GC,8001,-0.96,-146.6,534.3,-5.9,384,8005,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2351,3432
$GC,8322,-0.96,-146.6,553.8,-7.1,400,8326,0.00,2.50,0.00,0.000,4,0.000,0.041,2584,939,3432
$GC,8405,-0.96,-146.6,560.1,-7.5,403,8411,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2350,3432
$GC,8721,-0.96,-146.6,583.5,-7.2,419,8725,0.00,2.45,0.00,0.000,4,0.000,0.041,2584,942,3432
$GC,8783,-0.96,-146.6,587.7,-6.6,422,8787,0.00,2.45,0.00,0.000,6,0.000,0.036,2583,2353,3432
$GC,9109,-0.96,-146.6,608.2,-5.9,438,9114,0.00,2.47,0.00,0.000,4,0.000,0.041,2584,937,3432
$GC,9154,-0.96,-146.6,611.1,-6.1,440,9158,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2350,3432
$GC,9476,-0.96,-146.6,629.0,-5.5,456,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2350,3432
$GC,9785,-0.96,-146.6,645.9,-5.9,471,9789,0.00,2.45,0.00,0.000,4,0.000,0.041,2584,943,3432
$GC,9874,-0.96,-146.6,652.2,-7.5,475,9878,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2353,3432
$GC,10196,-0.96,-146.6,678.9,-9.2,491,10200,0.00,2.47,0.00,0.000,4,0.000,0.041,2584,939,3431
$GC,10273,-0.96,-146.6,686.1,-9.2,494,10280,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2349,3431
$GC,10589,-0.96,-146.6,707.4,-5.6,510,10594,0.00,2.45,0.00,0.000,4,0.000,0.041,2584,942,3431
$GC,10668,-0.96,-146.6,711.8,-5.3,513,10674,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2351,3431
$GC,10984,-0.96,-146.6,730.7,-6.6,529,10988,0.00,2.47,0.00,0.000,4,0.000,0.041,2584,938,3431
$GC,11033,-0.96,-146.6,734.3,-7.1,531,11038,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2350,3431
$GC,11351,-0.96,-146.6,756.9,-7.3,546,11355,0.00,2.47,0.00,0.000,4,0.000,0.041,2584,938,3431
$GC,11429,-0.96,-146.6,762.5,-6.9,549,11435,0.00,2.45,0.00,0.000,6,0.000,0.038,2584,2349,3431
$GC,11744,-0.96,-146.6,781.2,-5.8,565,11746,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2350,3430
$GC,12054,-0.96,-146.6,796.3,-4.4,580,12058,0.00,2.47,0.00,0.000,4,0.000,0.043,2584,942,3430
$GC,12087,-0.96,-146.6,797.8,-4.9,581,12093,0.00,2.45,0.00,0.000,6,0.000,0.038,2584,2354,3430
$GC,12404,-0.96,-146.6,814.2,-5.8,597,12408,0.00,2.47,0.00,0.000,4,0.000,0.042,2584,943,3430
$GC,12453,-0.96,-146.6,817.5,-6.2,599,12458,0.00,2.45,0.00,0.000,6,0.000,0.038,2584,2352,3430
$GC,12769,-0.96,-146.6,836.8,-5.8,614,12774,0.00,2.50,0.00,0.000,4,0.000,0.044,2584,948,3429
$GC,12802,-0.96,-146.6,838.7,-6.2,615,12806,0.00,2.45,0.00,0.000,6,0.000,0.038,2584,2349,3430
$GC,13118,-0.96,-146.6,854.7,-4.6,630,13122,0.00,2.47,0.00,0.000,4,0.000,0.044,2584,942,3429
$GC,13203,-0.96,-146.6,857.8,-3.6,634,13207,0.00,2.45,0.00,0.000,6,0.000,0.039,2584,2349,3429
$GC,13529,-0.96,-146.6,873.9,-5.2,650,13534,0.00,2.47,0.00,0.000,4,0.000,0.045,2584,945,3428
$GC,13614,-0.96,-146.6,880.0,-8.5,654,13618,0.00,2.47,0.00,0.000,6,0.000,0.041,2584,2355,3428
$STATE,13856,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13856,begin apogee
$GC,13864,-0.36,0.0,902.0,7.4,666,13999,0.62,0.00,130.48,1.351,6,0.062,0.000,2720,1459,2832
$STATE,13999,end apogee,CONTROL_FINISHED_OK
$STATE,14000,begin climb
$GC,14002,0.96,146.6,903.0,0.0,673,14142,1.30,2.25,132.10,1.310,4,0.054,0.063,3006,264,2232
$GC,14335,0.96,146.6,889.4,6.5,687,14339,0.00,2.08,0.00,0.000,6,0.000,0.036,3005,1471,2225
$GC,14657,1.13,281.5,878.3,2.3,703,14786,0.17,2.28,122.85,1.311,4,0.036,0.062,3067,264,1683
$GC,14914,1.13,281.5,864.5,6.3,715,14918,0.00,2.05,0.00,0.000,6,0.000,0.037,3067,1454,1675
$GC,15241,1.13,281.5,835.2,11.3,731,15242,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1454,1672
$GC,15550,1.13,281.5,798.6,11.3,746,15555,0.00,2.50,0.00,0.000,4,0.000,0.049,3067,2846,1670
$GC,15618,1.13,281.5,791.4,10.2,749,15622,0.00,2.45,0.00,0.000,6,0.000,0.040,3067,1453,1669
$GC,15939,1.13,281.5,760.8,8.4,765,15944,0.00,2.50,0.00,0.000,4,0.000,0.048,3067,2848,1669
$GC,15972,1.17,312.7,758.7,5.1,766,16007,0.00,2.45,27.75,1.236,6,0.000,0.039,3067,1452,1556
$GC,16329,1.17,312.7,734.6,10.3,784,16333,0.00,2.15,0.00,0.000,4,0.000,0.058,3067,264,1551
$GC,16435,1.17,312.7,720.4,13.4,788,16441,0.00,2.05,0.00,0.000,6,0.000,0.035,3067,1459,1550
$GC,16753,1.17,312.7,676.2,14.3,804,16754,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1460,1550
$GC,17060,1.17,312.7,635.4,12.0,819,17061,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1460,1549
$GC,17369,1.17,312.7,604.5,9.9,834,17370,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1460,1549
$GC,17678,1.17,312.7,572.8,10.7,849,17680,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1460,1549
$GC,17988,1.17,312.7,540.1,9.9,864,17989,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1460,1549
$GC,18299,1.17,312.7,511.0,9.4,879,18303,0.00,2.15,0.00,0.000,4,0.000,0.054,3067,262,1549
$GC,18345,1.17,312.7,506.1,12.1,881,18349,0.00,2.03,0.00,0.000,6,0.000,0.031,3067,1468,1550
$GC,18680,1.17,312.7,471.6,10.4,897,18681,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1470,1549
$GC,18987,1.17,312.7,437.8,11.1,912,18988,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1470,1549
$GC,19296,1.17,312.7,404.0,10.7,927,19297,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1470,1549
$GC,19605,1.17,312.7,374.8,9.0,942,19606,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1470,1550
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$STATE,23461,end climb,SURFACE_DEPTH_REACHED
$STATE,23461,begin surface coast
$FINISH,0.1,1.027043
$STATE,23481,end surface coast,CONTROL_FINISHED_OK
$STATE,23481,begin surface
$SM_CCo,23565,0.00,0.000,0,0,1545,315.46
$SM_GC,1.01,11.62,0.00,0.00,0.028,0.000,0.000,393,2347,1545,-10.99,-0.08,315.46
$IRIDIUM_FIX,6235.17,-1338.04,170998,000042
$TT8_MAMPS,0.026845
$HUMID,1828
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,850.9,59.8
$24V_AH,23.2,30.617
$10V_AH,10.1,14.441
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$DEVICE_SECS,25.425,202.025,413.175,0.000,0.000,23.916,26.316,161.422,7.500,0.000,0.000,16.613,2061.745,17967.818,552.783,2445.855,869.806,0.000,1830.322,0.000,2636.587,0.000,50.839,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,925.227,863.619,632.146,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56807,1130
$CAP_FILE_SIZE,164519,0
$CFSIZE,260165632,252575744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,230609,135106,6313.043,-1325.752,39,1.5,39,-12.3