version: 66.04
glider: 105
mission: 6
dive: 124
start: 7 4 109 9 32 16
data:
$ID,105
$MISSION,6
$DIVE,124
$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,-1630224.9
$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,23
$R_STBD_OVSHOOT,36
$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
$GPS1,092524,6259.549,-1330.698,24,1.1,42,-12.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-59.0
$GPS2,093156,6259.557,-1330.712,15,1.1,15,-12.3
$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,173.7,28448,-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,14,begin dive
$GC,17,-0.96,-146.6,0.0,0.0,0,83,0.00,0.00,-63.90,0.000,6,0.000,0.000,393,2262,3431
$GC,86,-0.96,-146.6,3.7,-6.7,3,107,11.50,2.55,0.00,0.000,4,0.127,0.036,2585,828,3433
$GC,134,-0.96,-146.6,17.4,-11.1,5,139,0.00,2.47,0.00,0.000,6,0.000,0.035,2586,2244,3433
$GC,456,-0.96,-146.6,42.7,-7.1,21,460,0.00,2.47,0.00,0.000,4,0.000,0.038,2586,831,3435
$GC,496,-0.96,-146.6,45.7,-8.1,23,500,0.00,2.50,0.00,0.000,6,0.000,0.034,2586,2251,3435
$GC,828,-0.96,-146.6,71.1,-6.8,39,832,0.00,2.55,0.00,0.000,4,0.000,0.058,2586,3655,3435
$GC,877,-0.96,-146.6,75.0,-7.1,41,882,0.00,2.42,0.00,0.000,6,0.000,0.028,2585,2227,3435
$GC,1193,-0.96,-146.6,96.7,-6.4,56,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2228,3435
$GC,1503,-0.96,-146.6,117.7,-6.7,71,1507,0.00,2.60,0.00,0.000,4,0.000,0.054,2585,3658,3435
$GC,1596,-0.96,-146.6,124.4,-7.0,75,1601,0.00,2.40,0.00,0.000,6,0.000,0.028,2586,2251,3435
$GC,1912,-0.96,-146.6,144.0,-6.4,90,1917,0.00,2.58,0.00,0.000,4,0.000,0.054,2586,3651,3435
$GC,1962,-0.96,-146.6,147.6,-7.3,92,1966,0.00,2.40,0.00,0.000,6,0.000,0.028,2586,2240,3435
$GC,2282,-0.96,-146.6,170.1,-7.2,108,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2240,3434
$GC,2591,-0.96,-146.6,192.7,-7.4,123,2596,0.00,2.58,0.00,0.000,4,0.000,0.055,2586,3654,3434
$GC,2654,-0.96,-146.6,197.6,-8.4,126,2659,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2257,3434
$GC,2986,-0.96,-146.6,222.1,-7.4,142,2990,0.00,2.53,0.00,0.000,4,0.000,0.055,2586,3651,3434
$GC,3030,-0.96,-146.6,225.5,-7.4,144,3034,0.00,2.40,0.00,0.000,6,0.000,0.028,2586,2255,3434
$GC,3356,-0.96,-146.6,248.8,-7.2,160,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2255,3434
$GC,3665,-0.96,-146.6,270.7,-7.0,175,3669,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3660,3434
$GC,3772,-0.96,-146.6,278.8,-7.3,180,3776,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2249,3434
$GC,4100,-0.96,-146.6,301.7,-7.0,196,4104,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3657,3434
$GC,4162,-0.96,-146.6,306.5,-7.5,199,4166,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2243,3434
$GC,4488,-0.96,-146.6,329.3,-6.6,215,4492,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3651,3433
$GC,4537,-0.96,-146.6,332.9,-7.5,217,4541,0.00,2.38,0.00,0.000,6,0.000,0.029,2585,2252,3433
$GC,4853,-0.96,-146.6,352.9,-6.6,232,4857,0.00,2.55,0.00,0.000,4,0.000,0.055,2586,3660,3432
$GC,4897,-0.96,-146.6,356.3,-8.1,234,4901,0.00,2.40,0.00,0.000,6,0.000,0.028,2585,2245,3432
$GC,5218,-0.96,-146.6,377.2,-6.5,250,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2244,3433
$GC,5530,-0.96,-146.6,396.6,-5.7,265,5534,0.00,2.55,0.00,0.000,4,0.000,0.056,2586,3651,3432
$GC,5585,-0.96,-146.6,400.9,-7.2,267,5591,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2241,3432
$GC,5903,-0.96,-146.6,418.4,-5.6,283,5908,0.00,2.55,0.00,0.000,4,0.000,0.055,2586,3651,3433
$GC,5970,-0.96,-146.6,423.2,-6.9,286,5975,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2255,3432
$GC,6296,-0.96,-146.6,443.5,-6.2,302,6301,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3652,3432
$GC,6391,-0.96,-146.6,449.9,-6.6,306,6400,0.00,2.38,0.00,0.000,6,0.000,0.028,2586,2251,3432
$GC,6716,-0.96,-146.6,468.7,-5.5,322,6720,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3652,3433
$GC,6760,-0.96,-146.6,471.5,-6.0,324,6765,0.00,2.38,0.00,0.000,6,0.000,0.028,2586,2252,3432
$GC,7082,-0.96,-146.6,489.4,-5.9,340,7083,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2252,3432
$GC,7391,-0.96,-146.6,508.6,-6.0,355,7395,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3653,3432
$GC,7447,-0.96,-146.6,512.5,-7.7,357,7453,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2238,3432
$GC,7762,-0.96,-146.6,532.9,-6.9,373,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2237,3432
$GC,8074,-0.96,-146.6,553.0,-6.3,388,8078,0.00,2.58,0.00,0.000,4,0.000,0.054,2586,3660,3431
$GC,8168,-0.96,-146.6,559.5,-7.0,392,8172,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2252,3431
$GC,8484,-0.96,-146.6,579.5,-6.8,407,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2252,3431
$GC,8793,-0.96,-146.6,602.8,-7.8,422,8797,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3653,3431
$GC,8848,-0.96,-146.6,607.3,-8.3,424,8854,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2246,3431
$GC,9164,-0.96,-146.6,631.7,-7.6,440,9165,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2246,3431
$GC,9473,-0.96,-146.6,653.3,-6.6,455,9477,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3657,3431
$GC,9561,-0.96,-146.6,659.6,-6.9,459,9565,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2252,3431
$GC,9883,-0.96,-146.6,679.4,-5.9,475,9884,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2252,3431
$GC,10192,-0.96,-146.6,697.1,-5.6,490,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2252,3431
$GC,10501,-0.96,-146.6,714.5,-5.7,505,10506,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3653,3431
$GC,10574,-0.96,-146.6,719.0,-6.4,508,10578,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2251,3431
$GC,10892,-0.96,-146.6,735.5,-5.1,523,10893,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2251,3431
$GC,11199,-0.96,-146.6,751.5,-5.1,538,11200,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2251,3431
$GC,11508,-0.96,-146.6,768.4,-5.5,553,11509,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2250,3431
$GC,11820,-0.96,-146.6,786.6,-6.0,568,11821,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3430
$GC,12126,-0.96,-146.6,805.1,-6.3,583,12131,0.00,2.55,0.00,0.000,4,0.000,0.056,2586,3654,3430
$GC,12240,-0.96,-146.6,813.2,-7.4,588,12244,0.00,2.42,0.00,0.000,6,0.000,0.032,2586,2238,3430
$GC,12561,-0.96,-146.6,836.3,-7.8,604,12562,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2237,3430
$GC,12870,-0.96,-146.6,860.2,-8.3,619,12875,0.00,2.58,0.00,0.000,4,0.000,0.058,2586,3654,3429
$GC,13079,-0.96,-146.6,879.3,-9.3,628,13084,0.00,2.42,0.00,0.000,6,0.000,0.033,2586,2245,3429
$GC,13395,-0.96,-146.6,908.5,-8.1,643,13396,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2244,3429
$GC,13704,-0.96,-146.6,926.9,-4.9,658,13705,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2244,3428
$GC,14016,-0.96,-146.6,944.4,-5.8,673,14020,0.00,2.58,0.00,0.000,4,0.000,0.061,2586,3651,3427
$GC,14110,-0.96,-146.6,951.7,-8.0,677,14115,0.00,2.42,0.00,0.000,6,0.000,0.035,2586,2251,3427
$GC,14426,-0.96,-146.6,973.7,-7.3,692,14431,0.00,2.50,0.00,0.000,4,0.000,0.051,2586,855,3426
$GC,14459,-0.96,-146.6,976.0,-6.2,693,14463,0.00,2.45,0.00,0.000,6,0.000,0.040,2586,2251,3426
$STATE,14731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14731,begin apogee
$GC,14739,-0.36,0.0,990.7,5.9,706,14874,0.62,0.00,131.25,1.435,6,0.063,0.000,2722,1457,2832
$STATE,14875,end apogee,CONTROL_FINISHED_OK
$STATE,14875,begin climb
$GC,14878,0.96,146.6,996.3,0.0,713,15019,1.30,2.60,132.68,1.388,4,0.052,0.049,3008,2859,2232
$GC,15278,1.03,200.2,976.1,4.5,730,15333,0.00,2.55,48.47,1.358,6,0.000,0.043,3008,1456,2016
$GC,15645,1.08,238.4,955.8,5.0,748,15688,0.12,2.60,35.55,1.348,4,0.041,0.049,3066,2858,1858
$GC,15757,1.08,238.4,945.7,8.5,753,15762,0.15,2.50,0.00,0.000,6,0.072,0.042,3034,1454,1855
$GC,16085,1.08,238.4,921.4,7.2,769,16089,0.00,2.53,0.00,0.000,4,0.000,0.050,3034,2859,1852
$GC,16129,1.08,238.4,917.4,8.5,771,16134,0.00,2.50,0.00,0.000,6,0.000,0.042,3034,1449,1851
$GC,16453,1.08,238.4,892.9,7.5,787,16458,0.00,2.55,0.00,0.000,4,0.000,0.048,3034,2865,1850
$GC,16509,1.08,238.4,888.4,7.5,789,16515,0.00,2.53,0.00,0.000,6,0.000,0.041,3034,1449,1850
$GC,16827,1.08,238.4,864.1,8.2,805,16831,0.00,2.55,0.00,0.000,4,0.000,0.048,3034,2863,1849
$GC,16882,1.08,238.4,859.5,7.3,807,16888,0.00,2.50,0.00,0.000,6,0.000,0.040,3035,1454,1848
$GC,17200,1.08,238.4,837.4,6.9,823,17201,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1454,1848
$GC,17506,1.08,238.4,813.3,7.6,838,17507,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1454,1848
$GC,17816,1.08,238.4,791.6,6.5,853,17820,0.00,2.50,0.00,0.000,4,0.000,0.046,3034,2860,1847
$GC,17842,1.08,238.4,789.9,6.8,854,17847,0.00,2.47,0.00,0.000,6,0.000,0.038,3034,1452,1847
$GC,18158,1.11,266.9,771.6,5.2,869,18186,0.00,0.00,25.73,1.262,6,0.000,0.000,3034,1452,1744
$GC,18490,1.12,270.0,752.5,5.9,885,18499,0.00,2.53,4.15,0.808,4,0.000,0.045,3034,2861,1731
$GC,18540,1.12,270.0,749.3,6.8,887,18545,0.00,2.50,0.00,0.000,6,0.000,0.038,3034,1464,1731
$GC,18866,1.12,270.0,728.6,6.8,903,18870,0.00,2.47,0.00,0.000,4,0.000,0.044,3034,2861,1730
$GC,18906,1.12,270.0,725.7,7.5,905,18910,0.00,2.47,0.00,0.000,6,0.000,0.037,3034,1450,1730
$GC,19232,1.12,270.0,702.5,7.3,921,19237,0.00,2.53,0.00,0.000,4,0.000,0.044,3034,2863,1730
$GC,19272,1.12,270.0,699.5,7.0,923,19277,0.00,2.47,0.00,0.000,6,0.000,0.037,3035,1453,1729
$GC,19601,1.12,270.0,675.9,7.2,939,19606,0.00,2.50,0.00,0.000,4,0.000,0.043,3035,2860,1729
$GC,19634,1.12,270.0,673.1,7.4,940,19641,0.00,2.47,0.00,0.000,6,0.000,0.037,3034,1449,1729
$GC,19951,1.12,270.0,648.3,8.4,956,19955,0.00,2.53,0.00,0.000,4,0.000,0.044,3034,2863,1730
$GC,19983,1.12,270.0,645.2,8.7,957,19989,0.00,2.47,0.00,0.000,6,0.000,0.037,3034,1449,1729
$GC,20301,1.12,270.0,617.4,8.7,973,20305,0.00,2.53,0.00,0.000,4,0.000,0.044,3034,2865,1729
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$STATE,27662,end climb,SURFACE_DEPTH_REACHED
$STATE,27662,begin surface coast
$FINISH,0.3,1.002599
$STATE,27711,end surface coast,CONTROL_FINISHED_OK
$STATE,27711,begin surface
$SM_CCo,27735,20.67,0.753,0,0,1609,300.00
$SM_GC,0.59,0.00,0.00,20.67,0.000,0.000,0.753,384,2269,1609,-11.12,0.54,300.00
$IRIDIUM_FIX,6239.86,-1221.94,280998,010152
$TT8_MAMPS,0.027612
$HUMID,1864
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,925.9,77.4
$24V_AH,23.1,36.662
$10V_AH,10.1,18.768
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$DEVICE_SECS,25.075,266.450,377.825,20.675,0.000,24.424,27.601,203.931,8.250,0.000,0.000,15.270,2468.106,21194.600,579.161,2849.875,1048.818,0.000,2086.695,0.000,3070.104,0.000,55.753,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1097.371,1025.683,730.575,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69366,1332
$CAP_FILE_SIZE,200281,0
$CFSIZE,260165632,249507840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,040709,171607,6258.183,-1330.128,33,1.0,34,-12.3