version: 66.04
glider: 105
mission: 6
dive: 120
start: 7 3 109 4 2 28
data:
$ID,105
$MISSION,6
$DIVE,120
$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,-1630165.8
$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,25
$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
$GPS1,035607,6303.928,-1333.969,37,1.2,37,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-61.9
$GPS2,040208,6303.999,-1334.109,12,1.3,12,-12.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IE
$TGT_LATLONG,6245.000,-1320.000
$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,173.6,37164,-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,-146.6,0.0,0.0,0,76,0.00,0.00,-58.67,0.000,6,0.000,0.000,392,2240,3431
$GC,79,-0.96,-146.6,3.4,-5.3,3,100,11.65,2.50,0.00,0.000,4,0.133,0.035,2585,826,3432
$GC,261,-0.96,-146.6,28.6,-8.5,11,265,0.00,2.47,0.00,0.000,6,0.000,0.034,2586,2252,3433
$GC,589,-0.96,-146.6,59.3,-9.7,27,593,0.00,2.55,0.00,0.000,4,0.000,0.059,2586,3652,3434
$GC,632,-0.96,-146.6,63.3,-8.9,29,637,0.00,2.40,0.00,0.000,6,0.000,0.027,2585,2230,3434
$GC,954,-0.96,-146.6,90.6,-8.2,45,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2230,3435
$GC,1263,-0.96,-146.6,114.5,-7.7,60,1268,0.00,2.60,0.00,0.000,4,0.000,0.054,2586,3644,3434
$GC,1309,-0.96,-146.6,118.0,-7.7,62,1313,0.00,2.38,0.00,0.000,6,0.000,0.028,2586,2241,3435
$GC,1636,-0.96,-146.6,140.8,-7.4,78,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2241,3435
$GC,1944,-0.96,-146.6,164.8,-7.8,93,1948,0.00,2.58,0.00,0.000,4,0.000,0.055,2585,3657,3435
$GC,2007,-0.96,-146.6,169.7,-7.7,96,2012,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2254,3435
$GC,2334,-0.96,-146.6,195.0,-8.0,112,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2254,3434
$GC,2643,-0.96,-146.6,218.5,-7.1,127,2647,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3657,3434
$GC,2676,-0.96,-146.6,221.2,-8.0,128,2683,0.00,2.40,0.00,0.000,6,0.000,0.028,2586,2241,3434
$GC,2992,-0.96,-146.6,243.0,-6.9,144,2997,0.00,2.58,0.00,0.000,4,0.000,0.055,2586,3645,3434
$GC,3038,-0.96,-146.6,246.4,-8.1,146,3043,0.00,2.38,0.00,0.000,6,0.000,0.028,2586,2244,3434
$GC,3365,-0.96,-146.6,268.6,-6.9,162,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2244,3434
$GC,3675,-0.96,-146.6,290.6,-7.4,177,3679,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3651,3433
$GC,3763,-0.96,-146.6,297.7,-7.9,181,3767,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2254,3433
$GC,4086,-0.96,-146.6,321.8,-7.6,197,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2254,3433
$GC,4393,-0.96,-146.6,345.4,-7.9,212,4397,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3651,3433
$GC,4477,-0.96,-146.6,352.4,-8.8,216,4481,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2251,3433
$GC,4803,-0.96,-146.6,378.4,-7.9,232,4807,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3658,3433
$GC,4847,-0.96,-146.6,382.0,-8.6,234,4851,0.00,2.40,0.00,0.000,6,0.000,0.028,2586,2245,3433
$GC,5167,-0.96,-146.6,403.9,-6.3,250,5172,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3651,3432
$GC,5206,-0.96,-146.6,406.4,-6.2,252,5211,0.00,2.38,0.00,0.000,6,0.000,0.028,2586,2247,3433
$GC,5533,-0.96,-146.6,428.1,-6.0,268,5537,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3652,3432
$GC,5572,-0.96,-146.6,431.0,-7.9,270,5577,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2252,3432
$GC,5899,-0.96,-146.6,453.1,-6.5,286,5904,0.00,2.53,0.00,0.000,4,0.000,0.055,2585,3651,3432
$GC,5932,-0.96,-146.6,455.6,-6.8,287,5939,0.00,2.38,0.00,0.000,6,0.000,0.028,2586,2252,3432
$GC,6251,-0.96,-146.6,475.9,-6.5,303,6256,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3651,3432
$GC,6296,-0.96,-146.6,479.5,-7.6,305,6300,0.00,2.40,0.00,0.000,6,0.000,0.028,2586,2236,3431
$GC,6618,-0.96,-146.6,503.3,-7.7,321,6622,0.00,2.58,0.00,0.000,4,0.000,0.055,2585,3654,3432
$GC,6673,-0.96,-146.6,508.1,-8.3,323,6679,0.00,2.38,0.00,0.000,6,0.000,0.029,2586,2255,3431
$GC,6989,-0.96,-146.6,533.2,-7.4,339,6993,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3653,3431
$GC,7033,-0.96,-146.6,536.7,-7.3,341,7037,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2240,3432
$GC,7354,-0.96,-146.6,559.2,-7.0,357,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2240,3431
$GC,7663,-0.96,-146.6,579.8,-6.2,372,7667,0.00,2.58,0.00,0.000,4,0.000,0.056,2586,3655,3431
$GC,7712,-0.96,-146.6,583.2,-6.8,374,7716,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2249,3431
$GC,8028,-0.96,-146.6,602.3,-6.4,389,8029,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2250,3431
$GC,8337,-0.96,-146.6,620.8,-5.8,404,8338,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3431
$GC,8646,-0.96,-146.6,637.1,-5.5,419,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2249,3431
$GC,8956,-0.96,-146.6,652.5,-4.8,434,8958,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2249,3431
$GC,9265,-0.96,-146.6,668.0,-4.6,449,9269,0.00,2.55,0.00,0.000,4,0.000,0.055,2586,3652,3430
$GC,9343,-0.96,-146.6,672.3,-5.1,452,9349,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2249,3430
$GC,9658,-0.96,-146.6,690.1,-6.3,468,9659,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2248,3430
$GC,9968,-0.96,-146.6,707.2,-5.8,483,9973,0.00,2.55,0.00,0.000,4,0.000,0.056,2586,3654,3430
$GC,10013,-0.96,-146.6,709.6,-6.5,485,10017,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3430
$GC,10336,-0.96,-146.6,722.0,-3.2,501,10338,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2249,3430
$GC,10644,-0.96,-146.6,732.8,-3.5,516,10645,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2250,3430
$GC,10953,-0.96,-146.6,744.9,-4.2,531,10954,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2250,3430
$GC,11264,-0.96,-146.6,757.8,-4.3,546,11269,0.00,2.55,0.00,0.000,4,0.000,0.057,2585,3653,3429
$GC,11355,-0.96,-146.6,762.5,-4.2,550,11359,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3429
$GC,11680,-0.96,-146.6,777.3,-5.5,566,11684,0.00,2.55,0.00,0.000,4,0.000,0.055,2586,3659,3429
$GC,11825,-0.96,-146.6,787.4,-8.0,572,11831,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2252,3430
$GC,12140,-0.96,-146.6,813.0,-9.3,588,12145,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3645,3430
$GC,12208,-0.96,-146.6,819.6,-10.4,591,12213,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2236,3429
$GC,12535,-0.96,-146.6,849.3,-9.3,607,12539,0.00,2.58,0.00,0.000,4,0.000,0.056,2586,3656,3429
$GC,12736,-0.96,-146.6,860.5,-3.9,616,12741,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2257,3429
$GC,13063,-0.96,-146.6,869.8,-2.0,632,13067,0.00,2.53,0.00,0.000,4,0.000,0.056,2585,3651,3429
$GC,13169,-0.96,-146.6,874.5,-7.8,637,13174,0.00,2.42,0.00,0.000,6,0.000,0.032,2585,2252,3429
$GC,13501,-0.96,-146.6,903.5,-9.3,653,13502,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2249,3429
$GC,13811,-0.96,-146.6,930.2,-9.4,668,13812,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2249,3429
$GC,14119,-0.96,-146.6,961.8,-9.4,683,14124,0.00,2.55,0.00,0.000,4,0.000,0.059,2586,3651,3428
$GC,14220,-0.96,-146.6,971.1,-8.3,687,14226,0.00,2.42,0.00,0.000,6,0.000,0.035,2585,2251,3428
$STATE,14429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14429,begin apogee
$GC,14437,-0.36,0.0,990.8,10.3,698,14573,0.62,0.00,131.35,1.412,6,0.061,0.000,2722,1460,2832
$STATE,14574,end apogee,CONTROL_FINISHED_OK
$STATE,14574,begin climb
$GC,14577,0.96,146.6,1002.5,0.0,705,14717,1.30,2.30,132.35,1.378,4,0.049,0.066,3009,265,2233
$GC,14899,1.12,270.2,1002.2,2.6,719,15018,0.15,2.08,111.78,1.371,6,0.036,0.038,3078,1458,1729
$GC,15339,1.12,270.2,971.3,8.7,741,15344,0.17,2.53,0.00,0.000,4,0.072,0.049,3042,2857,1719
$GC,15379,1.12,270.2,968.1,7.5,743,15383,0.00,2.50,0.00,0.000,6,0.000,0.043,3042,1452,1718
$GC,15705,1.12,270.2,940.7,9.7,759,15709,0.00,2.53,0.00,0.000,4,0.000,0.049,3042,2857,1717
$GC,15737,1.12,270.2,937.2,10.9,760,15744,0.00,2.50,0.00,0.000,6,0.000,0.042,3042,1452,1716
$GC,16056,1.12,270.2,898.9,12.3,776,16057,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1452,1714
$GC,16364,1.12,270.2,861.1,11.8,791,16368,0.00,2.17,0.00,0.000,4,0.000,0.062,3042,262,1715
$GC,16391,1.12,270.2,857.2,13.3,792,16397,0.00,2.08,0.00,0.000,6,0.000,0.035,3041,1457,1714
$GC,16718,1.12,270.2,806.2,16.9,808,16719,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1457,1713
$GC,17027,1.12,270.2,766.5,11.9,823,17031,0.00,2.50,0.00,0.000,4,0.000,0.047,3042,2852,1712
$GC,17049,1.12,270.2,763.9,11.3,824,17053,0.00,2.45,0.00,0.000,6,0.000,0.039,3041,1452,1712
$GC,17370,1.12,270.2,733.1,7.7,840,17374,0.00,2.47,0.00,0.000,4,0.000,0.044,3041,2852,1712
$GC,17403,1.12,270.2,730.3,7.8,841,17409,0.00,2.45,0.00,0.000,6,0.000,0.037,3042,1448,1712
$GC,17721,1.12,270.2,704.7,8.2,857,17722,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1448,1712
$GC,18027,1.12,270.2,683.6,6.8,872,18032,0.00,2.50,0.00,0.000,4,0.000,0.044,3042,2860,1712
$GC,18072,1.12,270.2,680.7,7.8,874,18076,0.00,2.47,0.00,0.000,6,0.000,0.036,3042,1446,1711
$GC,18392,1.12,270.2,658.5,6.6,890,18396,0.00,2.50,0.00,0.000,4,0.000,0.043,3042,2854,1712
$GC,18424,1.12,270.2,656.2,7.2,891,18431,0.00,2.45,0.00,0.000,6,0.000,0.036,3042,1451,1712
$GC,18743,1.12,270.2,633.0,7.7,907,18744,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1451,1712
$GC,19049,1.12,270.2,607.2,8.5,922,19053,0.00,2.47,0.00,0.000,4,0.000,0.044,3041,2852,1713
$GC,19089,1.12,270.2,603.9,8.2,924,19093,0.00,2.42,0.00,0.000,6,0.000,0.038,3042,1454,1713
$GC,19415,1.12,270.2,579.1,8.1,940,19419,0.00,2.47,0.00,0.000,4,0.000,0.044,3042,2858,1713
$GC,19459,1.12,270.2,575.3,8.7,942,19464,0.00,2.47,0.00,0.000,6,0.000,0.036,3041,1456,1712
$GC,19785,1.12,270.2,549.1,8.2,958,19789,0.00,2.47,0.00,0.000,4,0.000,0.044,3042,2857,1713
$GC,19806,1.12,270.2,547.2,8.7,959,19810,0.00,2.45,0.00,0.000,6,0.000,0.037,3041,1455,1713
$GC,20128,1.12,270.2,524.8,6.9,975,20132,0.00,2.47,0.00,0.000,4,0.000,0.044,3041,2860,1713
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$STATE,25901,end climb,SURFACE_DEPTH_REACHED
$STATE,25901,begin surface coast
$FINISH,0.2,1.014237
$STATE,25942,end surface coast,CONTROL_FINISHED_OK
$STATE,25942,begin surface
$SM_CCo,25966,17.90,0.740,0,0,1609,300.00
$SM_GC,0.62,0.00,0.00,17.90,0.000,0.000,0.740,388,2261,1609,-11.10,0.31,300.00
$IRIDIUM_FIX,6239.86,-1331.04,260998,212158
$TT8_MAMPS,0.026845
$HUMID,1854
$INTERNAL_PRESSURE,8.13832
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,975.2,68.8
$24V_AH,23.2,35.979
$10V_AH,10.1,18.290
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$DEVICE_SECS,25.325,243.700,375.475,17.900,0.000,23.565,38.465,165.071,8.750,0.000,0.000,12.753,2311.783,19829.891,540.266,2675.726,981.677,0.000,1952.056,0.000,2884.912,0.000,58.946,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,996.317,965.379,678.864,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63192,1257
$CAP_FILE_SIZE,187118,0
$CFSIZE,260165632,249856000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,030709,111655,6302.691,-1334.566,42,1.1,42,-12.4