version: 66.04
glider: 105
mission: 6
dive: 103
start: 6 27 109 18 28 16
data:
$ID,105
$MISSION,6
$DIVE,103
$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,-1629868.8
$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,2250
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,31
$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
$GPS1,182131,6348.635,-1324.281,40,1.6,40,-12.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-62.2
$GPS2,182756,6348.589,-1324.414,11,1.5,11,-12.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,LE
$TGT_LATLONG,6345.000,-1322.000
$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,176.0,6934,-11.9,-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,-1.01,-129.9,0.0,0.0,0,77,0.00,0.00,-57.25,0.000,6,0.000,0.000,385,2249,3362
$GC,80,-1.01,-129.9,5.0,-9.7,3,101,11.65,2.53,0.00,0.000,4,0.132,0.035,2577,829,3363
$GC,336,-1.01,-129.9,32.4,-7.8,14,340,0.00,2.47,0.00,0.000,6,0.000,0.035,2577,2246,3365
$GC,652,-1.01,-129.9,56.3,-7.5,29,656,0.00,2.55,0.00,0.000,4,0.000,0.058,2577,3652,3365
$GC,785,-1.01,-129.9,67.0,-8.0,35,789,0.00,2.42,0.00,0.000,6,0.000,0.028,2577,2226,3364
$GC,1107,-1.01,-129.9,90.3,-7.5,51,1111,0.00,2.60,0.00,0.000,4,0.000,0.053,2577,3658,3365
$GC,1184,-1.01,-129.9,96.6,-8.5,54,1191,0.00,2.40,0.00,0.000,6,0.000,0.028,2577,2249,3365
$GC,1501,-1.01,-129.9,120.1,-7.5,70,1506,0.00,2.55,0.00,0.000,4,0.000,0.054,2577,3654,3365
$GC,1573,-1.01,-129.9,125.9,-7.9,73,1577,0.00,2.40,0.00,0.000,6,0.000,0.028,2577,2239,3365
$GC,1893,-1.01,-129.9,150.0,-8.0,88,1897,0.00,2.58,0.00,0.000,4,0.000,0.055,2577,3653,3365
$GC,1933,-1.01,-129.9,153.7,-9.0,90,1937,0.00,2.38,0.00,0.000,6,0.000,0.028,2577,2255,3365
$GC,2261,-1.01,-129.9,179.1,-7.5,106,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2255,3365
$GC,2568,-1.01,-129.9,203.5,-8.2,121,2573,0.00,2.55,0.00,0.000,4,0.000,0.054,2577,3661,3365
$GC,2636,-1.01,-129.9,209.5,-8.9,124,2640,0.00,2.40,0.00,0.000,6,0.000,0.028,2577,2248,3364
$GC,2957,-1.01,-129.9,235.9,-8.3,140,2962,0.00,2.55,0.00,0.000,4,0.000,0.054,2577,3652,3364
$GC,3007,-1.01,-129.9,240.4,-8.7,142,3012,0.00,2.42,0.00,0.000,6,0.000,0.028,2577,2247,3364
$GC,3328,-1.01,-129.9,267.2,-8.2,158,3332,0.00,2.55,0.00,0.000,4,0.000,0.055,2577,3653,3364
$GC,3367,-1.01,-129.9,270.5,-8.6,160,3371,0.00,2.38,0.00,0.000,6,0.000,0.028,2577,2252,3364
$GC,3693,-1.01,-129.9,295.2,-7.1,176,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2251,3364
$GC,4002,-1.01,-129.9,316.7,-6.7,191,4007,0.00,2.55,0.00,0.000,4,0.000,0.055,2577,3648,3363
$GC,4047,-1.01,-129.9,319.8,-6.8,193,4052,0.00,2.40,0.00,0.000,6,0.000,0.028,2577,2248,3363
$GC,4379,-1.01,-129.9,340.3,-6.3,209,4383,0.00,2.55,0.00,0.000,4,0.000,0.055,2577,3657,3363
$GC,4441,-1.01,-129.9,344.5,-6.9,212,4446,0.00,2.40,0.00,0.000,6,0.000,0.028,2577,2239,3363
$GC,4771,-1.01,-129.9,365.2,-6.3,228,4775,0.00,2.55,0.00,0.000,4,0.000,0.056,2577,3652,3363
$GC,4811,-1.01,-129.9,367.8,-6.3,230,4815,0.00,2.38,0.00,0.000,6,0.000,0.028,2577,2252,3363
$GC,5139,-1.02,-137.0,386.8,-5.8,246,5143,0.00,2.55,0.00,0.000,4,0.000,0.055,2577,3660,3363
$GC,5194,-1.02,-137.0,390.5,-7.3,248,5200,0.00,2.40,0.00,0.000,6,0.000,0.028,2577,2243,3363
$GC,5510,-1.02,-137.0,410.4,-6.4,264,5514,0.00,2.55,0.00,0.000,4,0.000,0.055,2578,3653,3362
$GC,5559,-1.02,-137.0,414.0,-7.5,266,5563,0.00,2.38,0.00,0.000,6,0.000,0.028,2577,2252,3362
$GC,5877,-1.03,-146.6,432.2,-5.4,281,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2252,3363
$GC,6185,-1.03,-146.6,449.1,-5.5,296,6189,0.00,2.53,0.00,0.000,4,0.000,0.054,2577,3654,3362
$GC,6225,-1.03,-146.6,451.5,-5.8,298,6229,0.00,2.38,0.00,0.000,6,0.000,0.028,2577,2251,3362
$GC,6552,-1.03,-146.6,468.5,-5.2,314,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2250,3362
$GC,6860,-1.03,-146.6,487.8,-6.7,329,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2251,3362
$GC,7170,-1.03,-146.6,506.3,-5.8,344,7175,0.00,2.55,0.00,0.000,4,0.000,0.055,2577,3648,3362
$GC,7237,-1.03,-146.6,510.7,-7.0,347,7241,0.00,2.38,0.00,0.000,6,0.000,0.028,2577,2244,3362
$GC,7563,-1.03,-146.6,532.3,-6.7,363,7564,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2243,3362
$GC,7872,-1.03,-146.6,553.2,-6.6,378,7876,0.00,2.55,0.00,0.000,4,0.000,0.055,2577,3654,3362
$GC,7936,-1.03,-146.6,558.0,-8.0,381,7940,0.00,2.38,0.00,0.000,6,0.000,0.029,2577,2254,3362
$GC,8262,-1.03,-146.6,582.2,-7.4,397,8267,0.00,2.55,0.00,0.000,4,0.000,0.054,2577,3650,3362
$GC,8317,-1.03,-146.6,586.3,-7.1,399,8321,0.00,2.38,0.00,0.000,6,0.000,0.028,2577,2247,3362
$GC,8633,-1.03,-146.6,606.7,-5.8,414,8637,0.00,2.55,0.00,0.000,4,0.000,0.055,2577,3660,3362
$GC,8695,-1.03,-146.6,610.2,-5.6,417,8699,0.00,2.40,0.00,0.000,6,0.000,0.029,2577,2249,3362
$GC,9025,-1.03,-146.6,625.4,-4.5,433,9026,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2249,3362
$GC,9331,-1.03,-146.6,642.0,-5.9,448,9335,0.00,2.55,0.00,0.000,4,0.000,0.055,2577,3657,3362
$GC,9380,-1.03,-146.6,645.4,-6.8,450,9384,0.00,2.40,0.00,0.000,6,0.000,0.029,2577,2249,3361
$GC,9697,-1.03,-146.6,665.7,-6.6,465,9698,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2249,3362
$GC,10005,-1.03,-146.6,686.0,-6.2,480,10006,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2249,3361
$GC,10315,-1.03,-146.6,699.3,-2.0,495,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2248,3362
$GC,10624,-1.03,-146.6,719.6,-6.1,510,10629,0.00,2.45,0.00,0.000,4,0.000,0.043,2577,845,3361
$GC,10680,-1.03,-146.6,721.9,-4.5,512,10686,0.00,2.45,0.00,0.000,6,0.000,0.036,2576,2260,3361
$GC,10996,-1.03,-146.6,739.3,-5.3,528,11000,0.00,2.50,0.00,0.000,4,0.000,0.058,2577,3650,3361
$GC,11103,-1.03,-146.6,746.9,-8.1,533,11107,0.00,2.40,0.00,0.000,6,0.000,0.031,2577,2238,3361
$GC,11429,-1.03,-146.6,772.5,-7.6,549,11430,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2237,3361
$GC,11738,-1.03,-146.6,799.5,-8.5,564,11743,0.00,2.58,0.00,0.000,4,0.000,0.057,2577,3641,3361
$GC,11810,-1.03,-146.6,805.4,-8.1,567,11815,0.00,2.40,0.00,0.000,6,0.000,0.031,2577,2255,3361
$GC,12137,-1.03,-146.6,824.8,-4.9,583,12142,0.00,2.53,0.00,0.000,4,0.000,0.056,2577,3650,3361
$GC,12250,-1.03,-146.6,830.8,-5.2,588,12254,0.00,2.40,0.00,0.000,6,0.000,0.031,2577,2251,3360
$GC,12577,-1.03,-146.6,845.6,-4.4,604,12578,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2251,3360
$GC,12887,-1.03,-146.6,860.7,-5.3,619,12888,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2251,3360
$GC,13195,-1.03,-146.6,877.5,-5.1,634,13199,0.00,2.55,0.00,0.000,4,0.000,0.058,2577,3649,3359
$GC,13284,-1.03,-146.6,881.6,-4.2,638,13289,0.00,2.40,0.00,0.000,6,0.000,0.032,2577,2254,3359
$GC,13606,-1.03,-146.6,893.6,-3.9,654,13607,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2254,3359
$GC,13915,-1.03,-146.6,907.4,-5.3,669,13916,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2254,3358
$GC,14226,-1.03,-146.6,929.4,-7.5,684,14231,0.00,2.47,0.00,0.000,4,0.000,0.048,2577,846,3358
$GC,14299,-1.03,-146.6,935.0,-7.2,687,14304,0.00,2.45,0.00,0.000,6,0.000,0.038,2577,2241,3358
$GC,14619,-1.03,-146.6,956.7,-6.1,703,14624,0.00,2.50,0.00,0.000,4,0.000,0.047,2577,849,3357
$GC,14671,-1.03,-146.6,959.9,-5.5,705,14675,0.00,2.45,0.00,0.000,6,0.000,0.039,2577,2256,3357
$GC,14992,-1.03,-146.6,979.7,-6.3,721,14996,0.00,2.50,0.00,0.000,4,0.000,0.046,2577,845,3357
$GC,15036,-1.03,-146.6,982.3,-5.5,723,15040,0.00,2.47,0.00,0.000,6,0.000,0.040,2577,2257,3357
$STATE,15150,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,15150,begin apogee
$GC,15158,-0.36,0.0,988.9,5.6,729,15279,0.68,0.00,117.03,1.416,6,0.064,0.000,2723,1459,2832
$STATE,15279,end apogee,CONTROL_FINISHED_OK
$STATE,15279,begin climb
$GC,15282,1.03,146.6,991.6,0.0,735,15424,1.38,2.25,134.10,1.380,4,0.051,0.062,3025,264,2233
$GC,15499,1.03,146.6,982.1,7.0,744,15503,0.00,2.08,0.00,0.000,6,0.000,0.035,3025,1472,2227
$GC,15825,1.03,146.6,956.9,9.1,760,15830,0.00,2.47,0.00,0.000,4,0.000,0.050,3025,2845,2222
$GC,15859,1.03,146.6,953.8,9.1,761,15865,0.00,2.47,0.00,0.000,6,0.000,0.042,3025,1451,2222
$GC,16176,1.03,146.6,927.3,7.9,777,16181,0.00,2.53,0.00,0.000,4,0.000,0.050,3025,2853,2221
$GC,16217,1.03,146.6,924.3,7.1,779,16221,0.00,2.47,0.00,0.000,6,0.000,0.041,3025,1452,2220
$GC,16543,1.03,146.6,902.4,6.5,795,16547,0.00,2.17,0.00,0.000,4,0.000,0.061,3025,263,2220
$GC,16581,1.03,146.6,899.6,7.2,796,16588,0.00,2.05,0.00,0.000,6,0.000,0.035,3025,1457,2219
$GC,16900,1.03,146.6,876.4,7.8,812,16901,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1457,2219
$GC,17206,1.03,146.6,852.0,8.6,827,17211,0.00,2.50,0.00,0.000,4,0.000,0.048,3025,2854,2218
$GC,17251,1.03,146.6,847.2,12.0,829,17255,0.00,2.45,0.00,0.000,6,0.000,0.039,3025,1451,2217
$GC,17571,1.03,146.6,822.0,8.0,845,17575,0.00,2.50,0.00,0.000,4,0.000,0.048,3025,2853,2217
$GC,17638,1.03,149.7,817.6,5.9,848,17642,0.00,2.45,0.00,0.000,6,0.000,0.039,3025,1453,2217
$GC,17958,1.11,217.2,801.7,3.9,864,18029,0.00,2.62,63.30,1.304,4,0.000,0.048,3025,2854,1945
$GC,18095,1.12,222.2,794.7,5.8,870,18105,0.00,2.47,5.45,0.932,6,0.000,0.038,3025,1455,1926
$GC,18418,1.14,240.9,776.5,5.4,885,18439,0.10,0.00,18.45,1.212,6,0.048,0.000,3070,1455,1850
$GC,18747,1.14,240.9,751.0,7.8,901,18749,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1455,1845
$GC,19056,1.14,240.9,724.6,9.5,916,19057,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1455,1844
$GC,19364,1.14,240.9,691.4,10.8,931,19368,0.00,2.53,0.00,0.000,4,0.000,0.048,3070,2857,1844
$GC,19464,1.14,240.9,680.6,11.5,935,19470,0.00,2.45,0.00,0.000,6,0.000,0.038,3070,1455,1843
$GC,19782,1.14,240.9,653.6,7.4,951,19786,0.00,2.50,0.00,0.000,4,0.000,0.047,3070,2858,1843
$GC,19844,1.14,240.9,648.9,7.8,954,19848,0.00,2.45,0.00,0.000,6,0.000,0.038,3070,1453,1842
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$STATE,27923,end climb,SURFACE_DEPTH_REACHED
$STATE,27923,begin surface coast
$FINISH,0.6,1.027206
$STATE,27944,end surface coast,CONTROL_FINISHED_OK
$STATE,27944,begin surface
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$SM_GC,1.10,0.00,0.00,24.27,0.000,0.000,0.752,392,2250,1609,-11.08,0.00,300.00
$IRIDIUM_FIX,6322.64,-1331.45,210998,111135
$TT8_MAMPS,0.027612
$HUMID,1819
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$TCM_TEMP,17.30
$XPDR_PINGS,0
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$24V_AH,23.1,33.150
$10V_AH,10.1,16.227
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$DEVICE_SECS,25.325,252.825,358.025,24.275,0.000,33.009,46.173,175.545,9.250,0.000,0.000,11.483,2483.593,21459.576,540.255,2853.643,1033.204,0.000,2037.588,0.000,3077.155,0.000,64.616,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1104.906,1022.417,717.088,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69501,1348
$CAP_FILE_SIZE,200465,0
$CFSIZE,260165632,251281408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,280609,021606,6345.606,-1326.460,36,0.9,37,-12.6