version: 66.04
glider: 105
mission: 6
dive: 128
start: 7 5 109 17 34 46
data:
$ID,105
$MISSION,6
$DIVE,128
$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,-1630300.1
$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,24
$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
$GPS1,172453,6253.396,-1329.403,25,1.3,41,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-57.1
$GPS2,173426,6253.385,-1329.563,14,1.7,14,-12.2
$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,164.6,17519,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-58.12,0.000,6,0.000,0.000,380,2246,3432
$GC,82,-0.96,-146.6,5.1,-10.0,3,103,11.60,2.50,0.00,0.000,4,0.128,0.036,2584,835,3433
$GC,283,-0.96,-146.6,28.0,-7.0,12,287,0.00,2.45,0.00,0.000,6,0.000,0.033,2585,2248,3434
$GC,609,-0.96,-146.6,51.1,-6.4,28,613,0.00,2.47,0.00,0.000,4,0.000,0.038,2585,831,3435
$GC,704,-0.96,-146.6,57.1,-6.4,32,708,0.00,2.47,0.00,0.000,6,0.000,0.035,2585,2249,3435
$GC,1019,-0.96,-146.6,78.0,-7.1,47,1024,0.00,2.55,0.00,0.000,4,0.000,0.058,2584,3651,3435
$GC,1065,-0.96,-146.6,81.5,-7.3,49,1069,0.00,2.42,0.00,0.000,6,0.000,0.028,2584,2220,3435
$GC,1386,-0.96,-146.6,104.4,-7.4,65,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2220,3435
$GC,1696,-0.96,-146.6,127.8,-7.4,80,1700,0.00,2.60,0.00,0.000,4,0.000,0.053,2585,3654,3435
$GC,1762,-0.96,-146.6,133.3,-8.5,83,1766,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2255,3435
$GC,2082,-0.96,-146.6,156.9,-7.3,99,2087,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3652,3435
$GC,2132,-0.96,-146.6,160.9,-7.9,101,2137,0.00,2.40,0.00,0.000,6,0.000,0.028,2585,2257,3435
$GC,2453,-0.96,-146.6,184.2,-7.3,117,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2255,3435
$GC,2762,-0.96,-146.6,207.1,-7.2,132,2767,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3648,3435
$GC,2817,-0.96,-146.6,211.4,-7.8,134,2821,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2251,3434
$GC,3133,-0.96,-146.6,233.4,-6.9,149,3137,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3661,3435
$GC,3172,-0.96,-146.6,236.3,-7.4,151,3177,0.00,2.40,0.00,0.000,6,0.000,0.028,2585,2244,3434
$GC,3499,-0.96,-146.6,259.4,-7.3,167,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2244,3434
$GC,3808,-0.96,-146.6,282.4,-7.5,182,3813,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3652,3434
$GC,3876,-0.96,-146.6,287.8,-8.2,185,3881,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2252,3434
$GC,4200,-0.96,-146.6,311.0,-6.9,201,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2252,3434
$GC,4508,-0.96,-146.6,332.1,-6.6,216,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3433
$GC,4816,-0.96,-146.6,352.6,-6.7,231,4821,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3652,3433
$GC,4889,-0.96,-146.6,358.1,-7.9,234,4893,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2251,3433
$GC,5204,-0.96,-146.6,380.5,-7.0,249,5209,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3658,3432
$GC,5257,-0.96,-146.6,384.3,-8.1,251,5261,0.00,2.40,0.00,0.000,6,0.000,0.028,2584,2245,3432
$GC,5572,-0.96,-146.6,406.4,-6.9,266,5577,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3652,3432
$GC,5606,-0.96,-146.6,408.8,-7.1,267,5612,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2251,3432
$GC,5922,-0.96,-146.6,429.6,-6.5,283,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3432
$GC,6230,-0.96,-146.6,449.6,-6.8,298,6235,0.00,2.55,0.00,0.000,4,0.000,0.055,2584,3657,3431
$GC,6280,-0.96,-146.6,453.4,-7.2,300,6284,0.00,2.40,0.00,0.000,6,0.000,0.028,2585,2246,3432
$GC,6601,-0.96,-146.6,476.7,-7.5,316,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2245,3432
$GC,6910,-0.96,-146.6,499.1,-7.2,331,6915,0.00,2.55,0.00,0.000,4,0.000,0.055,2584,3654,3432
$GC,6960,-0.96,-146.6,503.0,-7.6,333,6965,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2256,3432
$GC,7282,-0.96,-146.6,525.4,-7.0,349,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2255,3431
$GC,7590,-0.96,-146.6,546.6,-6.9,364,7594,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3653,3431
$GC,7656,-0.96,-146.6,551.5,-7.5,367,7660,0.00,2.38,0.00,0.000,6,0.000,0.029,2585,2253,3431
$GC,7976,-0.96,-146.6,574.3,-7.1,383,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2252,3431
$GC,8287,-0.96,-146.6,593.6,-6.0,398,8291,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3653,3431
$GC,8349,-0.96,-146.6,597.3,-5.7,401,8354,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2238,3431
$GC,8676,-0.96,-146.6,616.1,-5.5,417,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2238,3431
$GC,8986,-0.96,-146.6,632.9,-5.4,432,8987,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2238,3431
$GC,9298,-0.96,-146.6,650.4,-5.9,447,9302,0.00,2.58,0.00,0.000,4,0.000,0.055,2584,3660,3431
$GC,9415,-0.96,-146.6,658.1,-5.9,452,9420,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2252,3431
$GC,9731,-0.96,-146.6,677.0,-6.2,467,9732,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2252,3430
$GC,10040,-0.96,-146.6,695.8,-5.9,482,10045,0.00,2.53,0.00,0.000,4,0.000,0.056,2585,3653,3430
$GC,10105,-0.96,-146.6,700.0,-7.3,485,10110,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2239,3430
$GC,10439,-0.96,-146.6,720.8,-6.4,501,10443,0.00,2.58,0.00,0.000,4,0.000,0.056,2585,3661,3430
$GC,10494,-0.96,-146.6,724.5,-6.4,503,10500,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2252,3430
$GC,10810,-0.96,-146.6,742.1,-5.4,519,10815,0.00,2.45,0.00,0.000,4,0.000,0.043,2585,848,3430
$GC,10851,-0.96,-146.6,744.4,-5.6,521,10855,0.00,2.42,0.00,0.000,6,0.000,0.035,2585,2254,3430
$GC,11177,-0.96,-146.6,765.0,-6.8,537,11181,0.00,2.45,0.00,0.000,4,0.000,0.041,2585,855,3430
$GC,11216,-0.96,-146.6,767.7,-7.2,539,11221,0.00,2.42,0.00,0.000,6,0.000,0.036,2584,2250,3430
$GC,11544,-0.96,-146.6,790.8,-6.9,555,11545,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2250,3429
$GC,11852,-0.96,-146.6,812.0,-6.4,570,11853,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2250,3429
$GC,12162,-0.96,-146.6,831.1,-6.2,585,12166,0.00,2.55,0.00,0.000,4,0.000,0.057,2584,3650,3429
$GC,12207,-0.96,-146.6,834.1,-6.6,587,12211,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2240,3429
$GC,12535,-0.96,-146.6,854.8,-6.3,603,12539,0.00,2.58,0.00,0.000,4,0.000,0.057,2584,3658,3429
$GC,12579,-0.96,-146.6,858.0,-6.6,605,12583,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2255,3429
$GC,12900,-0.96,-146.6,876.4,-5.4,621,12904,0.00,2.45,0.00,0.000,4,0.000,0.044,2585,851,3429
$GC,13024,-0.96,-146.6,882.8,-4.7,626,13030,0.00,2.45,0.00,0.000,6,0.000,0.038,2585,2257,3429
$GC,13339,-0.96,-146.6,899.7,-5.2,642,13344,0.00,2.53,0.00,0.000,4,0.000,0.060,2584,3651,3428
$GC,13417,-0.96,-146.6,904.2,-6.1,645,13424,0.00,2.40,0.00,0.000,6,0.000,0.032,2585,2254,3428
$GC,13734,-0.96,-146.6,921.8,-5.6,661,13735,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2253,3428
$GC,14046,-0.96,-146.6,938.2,-5.3,676,14050,0.00,2.58,0.00,0.000,4,0.000,0.061,2584,3658,3427
$GC,14085,-0.96,-146.6,940.6,-6.3,678,14090,0.00,2.42,0.00,0.000,6,0.000,0.034,2585,2250,3427
$GC,14412,-0.96,-146.6,959.9,-6.2,694,14417,0.00,2.60,0.00,0.000,4,0.000,0.064,2585,3647,3426
$GC,14459,-0.96,-146.6,962.4,-4.3,696,14464,0.00,2.42,0.00,0.000,6,0.000,0.035,2585,2243,3426
$STATE,14621,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14621,begin apogee
$GC,14630,-0.36,0.0,973.6,7.2,704,14764,0.62,0.00,131.23,1.414,6,0.064,0.000,2720,1464,2832
$STATE,14765,end apogee,CONTROL_FINISHED_OK
$STATE,14765,begin climb
$GC,14768,0.96,146.6,980.4,0.0,711,14907,1.33,2.28,132.40,1.373,4,0.053,0.064,3010,262,2233
$GC,15097,0.98,158.4,961.6,5.7,726,15112,0.00,2.08,10.88,1.190,6,0.000,0.037,3010,1464,2186
$GC,15425,1.03,200.7,945.1,4.8,741,15470,0.00,2.58,40.03,1.346,4,0.000,0.051,3010,2857,2012
$GC,15545,1.03,203.0,938.6,5.9,746,15549,0.00,2.50,0.00,0.000,6,0.000,0.042,3009,1453,2008
$GC,15863,1.03,203.0,918.8,6.7,761,15867,0.00,2.53,0.00,0.000,4,0.000,0.050,3010,2856,2005
$GC,15903,1.05,214.1,916.2,5.7,763,15925,0.00,2.50,12.70,1.252,6,0.000,0.042,3010,1454,1957
$GC,16237,1.05,219.2,895.7,5.9,779,16247,0.00,2.58,5.80,1.038,4,0.000,0.048,3010,2861,1937
$GC,16277,1.06,224.3,893.1,5.9,781,16290,0.00,2.53,6.50,1.077,6,0.000,0.041,3010,1449,1917
$GC,16608,1.06,224.3,869.7,7.6,797,16612,0.00,2.17,0.00,0.000,4,0.000,0.062,3010,258,1915
$GC,16653,1.06,224.3,866.1,8.2,799,16657,0.00,2.08,0.00,0.000,6,0.000,0.037,3010,1459,1915
$GC,16988,1.06,224.3,841.8,6.9,815,16992,0.00,2.50,0.00,0.000,4,0.000,0.049,3010,2854,1913
$GC,17065,1.06,224.3,836.1,6.8,818,17072,0.00,2.47,0.00,0.000,6,0.000,0.040,3009,1446,1913
$GC,17381,1.06,224.3,814.3,6.8,834,17385,0.00,2.55,0.00,0.000,4,0.000,0.047,3010,2863,1913
$GC,17452,1.06,224.3,808.8,7.2,837,17457,0.00,2.50,0.00,0.000,6,0.000,0.039,3010,1447,1912
$GC,17768,1.06,224.3,782.8,8.3,852,17772,0.00,2.53,0.00,0.000,4,0.000,0.045,3010,2856,1912
$GC,17817,1.06,224.3,778.9,8.4,854,17822,0.00,2.47,0.00,0.000,6,0.000,0.038,3010,1451,1912
$GC,18135,1.06,224.3,753.1,8.5,869,18136,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1451,1912
$GC,18442,1.06,224.3,724.3,9.4,884,18446,0.00,2.53,0.00,0.000,4,0.000,0.046,3010,2860,1912
$GC,18515,1.06,224.3,717.4,11.0,887,18519,0.00,2.47,0.00,0.000,6,0.000,0.037,3010,1449,1912
$GC,18830,1.06,224.3,690.1,8.3,902,18834,0.00,2.50,0.00,0.000,4,0.000,0.044,3009,2856,1912
$GC,18874,1.06,224.3,686.3,7.7,904,18878,0.00,2.45,0.00,0.000,6,0.000,0.037,3010,1454,1912
$GC,19195,1.06,224.3,660.5,8.0,920,19199,0.00,2.50,0.00,0.000,4,0.000,0.044,3010,2857,1912
$GC,19227,1.06,224.3,657.6,8.2,921,19234,0.00,2.45,0.00,0.000,6,0.000,0.038,3010,1454,1912
$GC,19543,1.06,224.3,632.4,7.8,937,19547,0.00,2.50,0.00,0.000,4,0.000,0.045,3010,2860,1912
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$STATE,27891,end climb,SURFACE_DEPTH_REACHED
$STATE,27892,begin surface coast
$FINISH,0.2,1.012402
$STATE,27934,end surface coast,CONTROL_FINISHED_OK
$STATE,27934,begin surface
$SM_CCo,27958,44.28,0.765,0,0,1609,300.00
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$IRIDIUM_FIX,6225.82,-1333.59,290998,171756
$TT8_MAMPS,0.027612
$HUMID,1851
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,875.2,107.3
$24V_AH,23.1,37.307
$10V_AH,10.1,19.281
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$DEVICE_SECS,25.175,298.850,343.900,44.275,0.000,58.541,50.314,254.048,7.750,0.000,0.000,14.407,2519.357,21328.520,579.293,2942.052,1193.991,0.000,2137.025,0.000,3158.438,0.000,52.608,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1074.131,1054.025,727.366,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69625,1343
$CAP_FILE_SIZE,213772,0
$CFSIZE,260165632,249135104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,060709,012237,6251.344,-1328.902,27,1.5,27,-12.2