version: 66.04
glider: 105
mission: 6
dive: 87
start: 6 23 109 13 57 45
data:
$ID,105
$MISSION,6
$DIVE,87
$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,-1629586.8
$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,28
$R_STBD_OVSHOOT,30
$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
$GPS1,135106,6313.043,-1325.752,39,1.5,39,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-58.9
$GPS2,135727,6313.090,-1325.734,14,2.2,33,-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,13.9,22065,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,80,0.00,0.00,-61.97,0.000,6,0.000,0.000,393,2348,3432
$GC,83,-0.96,-146.6,3.9,-7.1,3,104,11.57,2.60,0.00,0.000,4,0.132,0.053,2583,3758,3434
$GC,442,-0.96,-146.6,38.0,-5.8,19,447,0.00,2.45,0.00,0.000,6,0.000,0.028,2584,2327,3434
$GC,774,-0.96,-146.6,55.7,-4.9,35,779,0.00,2.60,0.00,0.000,4,0.000,0.054,2584,3742,3435
$GC,1059,-0.96,-146.6,76.6,-8.9,47,1066,0.00,2.35,0.00,0.000,6,0.000,0.028,2583,2355,3435
$GC,1376,-0.96,-146.6,99.6,-6.6,63,1381,0.00,2.45,0.00,0.000,4,0.000,0.040,2583,947,3435
$GC,1409,-0.96,-146.6,102.1,-6.6,64,1416,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2348,3435
$GC,1726,-0.96,-146.6,118.9,-5.0,80,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2348,3435
$GC,2036,-0.96,-146.6,139.2,-7.2,95,2040,0.00,2.42,0.00,0.000,4,0.000,0.039,2584,957,3435
$GC,2101,-0.96,-146.6,144.5,-7.9,98,2106,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2351,3435
$GC,2423,-0.96,-146.6,168.8,-7.5,114,2427,0.00,2.42,0.00,0.000,4,0.000,0.039,2584,958,3435
$GC,2486,-0.96,-146.6,173.6,-8.1,117,2490,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2354,3435
$GC,2815,-0.96,-146.6,199.0,-7.4,133,2819,0.00,2.45,0.00,0.000,4,0.000,0.039,2584,950,3435
$GC,2859,-0.96,-146.6,202.9,-7.8,135,2863,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2354,3435
$GC,3183,-0.96,-146.6,225.6,-6.0,151,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2354,3435
$GC,3489,-0.96,-146.6,246.4,-6.7,166,3493,0.00,2.45,0.00,0.000,4,0.000,0.039,2584,954,3434
$GC,3529,-0.96,-146.6,249.1,-6.3,168,3533,0.00,2.42,0.00,0.000,6,0.000,0.036,2584,2349,3434
$GC,3856,-0.96,-146.6,268.2,-5.6,184,3860,0.00,2.45,0.00,0.000,4,0.000,0.040,2584,948,3434
$GC,3906,-0.96,-146.6,271.0,-5.2,186,3911,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2351,3434
$GC,4224,-0.96,-146.6,287.2,-5.4,201,4228,0.00,2.45,0.00,0.000,4,0.000,0.040,2584,948,3434
$GC,4267,-0.96,-146.6,289.8,-6.1,203,4272,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2352,3434
$GC,4591,-0.96,-146.6,310.3,-6.9,219,4595,0.00,2.45,0.00,0.000,4,0.000,0.040,2584,954,3434
$GC,4658,-0.96,-146.6,315.5,-7.7,222,4663,0.00,2.47,0.00,0.000,6,0.000,0.037,2584,2352,3434
$GC,4984,-0.96,-146.6,338.8,-7.1,238,4988,0.00,2.45,0.00,0.000,4,0.000,0.040,2584,954,3434
$GC,5039,-0.96,-146.6,343.0,-7.4,240,5045,0.00,2.42,0.00,0.000,6,0.000,0.036,2584,2351,3433
$GC,5355,-0.96,-146.6,367.2,-7.7,256,5360,0.00,2.47,0.00,0.000,4,0.000,0.041,2583,957,3433
$GC,5411,-0.96,-146.6,371.9,-8.6,258,5416,0.00,2.42,0.00,0.000,6,0.000,0.036,2584,2352,3433
$GC,5727,-0.96,-146.6,398.5,-8.5,273,5731,0.00,2.45,0.00,0.000,4,0.000,0.040,2584,954,3433
$GC,5777,-0.96,-146.6,402.9,-8.2,275,5781,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2341,3433
$GC,6097,-0.96,-146.6,426.8,-7.2,291,6102,0.00,2.42,0.00,0.000,4,0.000,0.041,2584,958,3433
$GC,6165,-0.96,-146.6,431.8,-7.4,294,6170,0.00,2.42,0.00,0.000,6,0.000,0.036,2583,2352,3433
$GC,6486,-0.96,-146.6,452.8,-6.2,310,6491,0.00,2.45,0.00,0.000,4,0.000,0.041,2584,954,3433
$GC,6571,-0.96,-146.6,458.3,-6.8,314,6575,0.00,2.42,0.00,0.000,6,0.000,0.037,2584,2349,3433
$GC,6897,-0.96,-146.6,478.1,-5.9,330,6902,0.00,2.45,0.00,0.000,4,0.000,0.041,2584,952,3433
$GC,6930,-0.96,-146.6,480.1,-5.7,331,6937,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2358,3433
$GC,7249,-0.96,-146.6,500.4,-7.1,347,7253,0.00,2.45,0.00,0.000,4,0.000,0.040,2584,958,3433
$GC,7298,-0.96,-146.6,504.4,-8.0,349,7302,0.00,2.42,0.00,0.000,6,0.000,0.035,2583,2352,3433
$GC,7614,-0.96,-146.6,529.2,-8.3,364,7618,0.00,2.45,0.00,0.000,4,0.000,0.041,2584,954,3433
$GC,7676,-0.96,-146.6,534.3,-7.9,367,7680,0.00,2.45,0.00,0.000,6,0.000,0.038,2583,2358,3433
$GC,8003,-0.96,-146.6,559.0,-7.4,383,8007,0.00,2.45,0.00,0.000,4,0.000,0.040,2584,958,3433
$GC,8065,-0.96,-146.6,563.7,-7.2,386,8069,0.00,2.42,0.00,0.000,6,0.000,0.036,2584,2352,3433
$GC,8391,-0.96,-146.6,585.9,-6.4,402,8395,0.00,2.45,0.00,0.000,4,0.000,0.040,2584,952,3432
$GC,8440,-0.96,-146.6,589.2,-6.6,404,8444,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2357,3432
$GC,8758,-0.96,-146.6,610.0,-7.3,419,8762,0.00,2.45,0.00,0.000,4,0.000,0.040,2584,958,3432
$GC,8799,-0.96,-146.6,613.2,-8.1,421,8803,0.00,2.42,0.00,0.000,6,0.000,0.037,2584,2353,3432
$GC,9125,-0.96,-146.6,634.5,-6.4,437,9129,0.00,2.45,0.00,0.000,4,0.000,0.040,2584,954,3432
$GC,9191,-0.96,-146.6,639.1,-6.8,440,9195,0.00,2.45,0.00,0.000,6,0.000,0.038,2584,2358,3432
$GC,9513,-0.96,-146.6,660.6,-7.0,456,9517,0.00,2.45,0.00,0.000,4,0.000,0.040,2583,958,3432
$GC,9591,-0.96,-146.6,666.3,-6.7,459,9597,0.00,2.42,0.00,0.000,6,0.000,0.037,2584,2353,3432
$GC,9906,-0.96,-146.6,686.9,-5.8,475,9911,0.00,2.45,0.00,0.000,4,0.000,0.040,2583,953,3432
$GC,9973,-0.96,-146.6,690.4,-5.3,478,9978,0.00,2.45,0.00,0.000,6,0.000,0.038,2584,2357,3432
$GC,10295,-0.96,-146.6,704.7,-4.1,494,10299,0.00,2.45,0.00,0.000,4,0.000,0.040,2584,956,3432
$GC,10375,-0.96,-146.6,708.1,-4.2,497,10382,0.00,2.42,0.00,0.000,6,0.000,0.037,2584,2352,3432
$GC,10691,-0.96,-146.6,724.6,-6.0,513,10692,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2353,3432
$GC,11000,-0.96,-146.6,748.9,-9.2,528,11005,0.00,2.47,0.00,0.000,4,0.000,0.041,2584,958,3432
$GC,11091,-0.96,-146.6,757.3,-9.3,532,11095,0.00,2.42,0.00,0.000,6,0.000,0.037,2584,2350,3432
$GC,11420,-0.96,-146.6,785.0,-8.2,548,11421,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2351,3431
$GC,11726,-0.96,-146.6,809.3,-7.7,563,11731,0.00,2.45,0.00,0.000,4,0.000,0.042,2584,956,3432
$GC,11776,-0.96,-146.6,813.3,-7.4,565,11781,0.00,2.45,0.00,0.000,6,0.000,0.038,2584,2354,3431
$GC,12093,-0.96,-146.6,836.5,-6.6,580,12094,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2354,3431
$GC,12401,-0.96,-146.6,856.5,-6.3,595,12405,0.00,2.45,0.00,0.000,4,0.000,0.042,2584,958,3431
$GC,12524,-0.96,-146.6,864.7,-6.1,600,12530,0.00,2.45,0.00,0.000,6,0.000,0.039,2584,2357,3431
$GC,12842,-0.96,-146.6,882.9,-4.4,616,12843,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2357,3430
$GC,13149,-0.96,-146.6,898.7,-7.3,631,13153,0.00,2.47,0.00,0.000,4,0.000,0.044,2584,955,3430
$GC,13215,-0.96,-146.6,903.4,-9.0,634,13220,0.00,2.47,0.00,0.000,6,0.000,0.041,2584,2349,3430
$STATE,13480,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13480,begin apogee
$GC,13488,-0.36,0.0,927.6,10.6,647,13622,0.65,0.00,131.18,1.361,6,0.067,0.000,2724,1471,2832
$STATE,13623,end apogee,CONTROL_FINISHED_OK
$STATE,13623,begin climb
$GC,13626,0.96,146.6,935.0,0.0,654,13766,1.33,2.30,132.52,1.322,4,0.050,0.064,3013,266,2233
$GC,13851,0.96,146.6,919.0,6.9,665,13855,0.00,2.08,0.00,0.000,6,0.000,0.037,3013,1467,2227
$GC,14183,0.96,146.6,888.1,9.3,681,14187,0.00,2.22,0.00,0.000,4,0.000,0.060,3012,263,2224
$GC,14274,0.96,146.6,879.7,9.6,685,14278,0.00,2.05,0.00,0.000,6,0.000,0.037,3013,1455,2222
$GC,14608,1.05,215.1,861.1,4.1,701,14675,0.00,2.58,61.40,1.309,4,0.000,0.048,3013,2851,1954
$GC,14799,1.05,215.1,848.5,8.1,710,14803,0.00,2.47,0.00,0.000,6,0.000,0.041,3013,1455,1948
$GC,15125,1.05,215.1,825.4,7.1,726,15127,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1454,1946
$GC,15435,1.05,215.1,804.3,6.6,741,15439,0.00,2.53,0.00,0.000,4,0.000,0.048,3013,2855,1944
$GC,15551,1.05,215.1,795.6,7.1,746,15556,0.00,2.45,0.00,0.000,6,0.000,0.038,3013,1453,1943
$GC,15867,1.05,215.1,771.0,7.6,761,15871,0.00,2.50,0.00,0.000,4,0.000,0.044,3013,2856,1943
$GC,15917,1.05,215.1,767.1,6.9,763,15921,0.00,2.47,0.00,0.000,6,0.000,0.037,3013,1449,1943
$GC,16235,1.05,215.1,745.4,6.2,778,16239,0.00,2.50,0.00,0.000,4,0.000,0.044,3013,2860,1942
$GC,16346,1.05,215.1,737.5,7.1,783,16350,0.00,2.47,0.00,0.000,6,0.000,0.036,3013,1447,1942
$GC,16667,1.05,215.1,714.0,8.1,799,16671,0.00,2.12,0.00,0.000,4,0.000,0.055,3013,267,1942
$GC,16722,1.05,215.1,709.1,8.1,801,16726,0.00,2.03,0.00,0.000,6,0.000,0.031,3013,1471,1942
$GC,17046,1.05,215.1,681.7,8.4,817,17050,0.00,2.45,0.00,0.000,4,0.000,0.047,3013,2848,1942
$GC,17162,1.05,215.1,672.0,6.5,822,17167,0.00,2.42,0.00,0.000,6,0.000,0.036,3013,1451,1942
$GC,17480,1.05,215.1,648.2,7.4,837,17481,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1451,1943
$GC,17787,1.05,215.1,629.2,6.2,852,17791,0.00,2.45,0.00,0.000,4,0.000,0.043,3013,2843,1943
$GC,17864,1.05,215.1,624.3,6.4,855,17871,0.00,2.45,0.00,0.000,6,0.000,0.035,3013,1454,1942
$GC,18180,1.05,215.1,603.2,7.4,871,18185,0.00,2.45,0.00,0.000,4,0.000,0.043,3013,2843,1942
$GC,18236,1.05,215.1,598.9,7.2,873,18243,0.00,2.42,0.00,0.000,6,0.000,0.035,3013,1451,1942
$GC,18551,1.05,215.1,573.4,8.1,889,18556,0.00,2.45,0.00,0.000,4,0.000,0.042,3013,2843,1942
$GC,18596,1.05,215.1,569.7,8.0,891,18600,0.00,2.42,0.00,0.000,6,0.000,0.035,3013,1449,1942
$GC,18917,1.05,215.1,541.6,9.4,907,18922,0.00,2.45,0.00,0.000,4,0.000,0.043,3013,2842,1943
$GC,18973,1.05,215.1,535.7,11.1,909,18979,0.00,2.42,0.00,0.000,6,0.000,0.035,3013,1449,1942
$GC,19291,1.05,215.1,506.1,8.6,925,19295,0.00,2.45,0.00,0.000,4,0.000,0.042,3013,2844,1942
$GC,19346,1.05,215.1,501.3,8.1,927,19352,0.00,2.42,0.00,0.000,6,0.000,0.035,3013,1447,1943
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$STATE,24838,end climb,SURFACE_DEPTH_REACHED
$STATE,24838,begin surface coast
$FINISH,0.3,1.023483
$STATE,24858,end surface coast,CONTROL_FINISHED_OK
$STATE,24859,begin surface
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$IRIDIUM_FIX,6239.86,-1329.93,170998,070745
$TT8_MAMPS,0.027612
$HUMID,1823
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$TCM_TEMP,17.30
$XPDR_PINGS,0
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$24V_AH,23.2,30.781
$10V_AH,10.1,14.558
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$DEVICE_SECS,25.300,250.375,417.050,0.000,0.000,28.174,31.828,166.740,7.500,0.000,0.000,34.837,2241.229,18747.801,567.825,2792.051,965.707,0.000,2022.737,0.000,2962.053,0.000,50.910,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,957.544,932.880,669.529,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59985,1195
$CAP_FILE_SIZE,184402,0
$CFSIZE,260165632,252473344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,230609,205437,6318.755,-1328.992,33,1.7,33,-12.4