version: 66.04
glider: 105
mission: 6
dive: 140
start: 7 9 109 13 43 34
data:
$ID,105
$MISSION,6
$DIVE,140
$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,-1630513
$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,32
$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
$GPS1,133631,6232.750,-1227.991,41,1.1,42,-11.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-63.2
$GPS2,134314,6232.734,-1227.980,13,1.1,13,-11.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,GE
$TGT_LATLONG,6230.000,-1210.000
$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,119.7,16188,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.96,-146.6,0.0,0.0,0,78,0.00,0.00,-57.60,0.000,6,0.000,0.000,391,2246,3431
$GC,81,-0.96,-146.6,4.9,-9.0,3,102,11.60,2.53,0.00,0.000,4,0.130,0.040,2584,838,3433
$GC,426,-0.96,-146.6,38.9,-6.2,18,431,0.00,2.45,0.00,0.000,6,0.000,0.034,2584,2245,3434
$GC,743,-0.96,-146.6,58.2,-6.5,33,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2245,3435
$GC,1051,-0.96,-146.6,79.7,-7.3,48,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2245,3435
$GC,1361,-0.96,-146.6,102.6,-7.4,63,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2245,3435
$GC,1671,-0.96,-146.6,124.1,-6.9,78,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2245,3435
$GC,1979,-0.96,-146.6,146.0,-6.9,93,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2245,3435
$GC,2288,-0.96,-146.6,166.9,-6.7,108,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2245,3435
$GC,2598,-0.96,-146.6,186.9,-6.5,123,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2245,3435
$GC,2907,-0.96,-146.6,206.9,-6.5,138,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2245,3435
$GC,3216,-0.96,-146.6,227.8,-7.1,153,3220,0.00,2.47,0.00,0.000,4,0.000,0.043,2584,839,3435
$GC,3255,-0.96,-146.6,230.6,-7.9,155,3260,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2252,3435
$GC,3582,-0.96,-146.6,254.0,-7.3,171,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3434
$GC,3893,-0.96,-146.6,276.6,-7.2,186,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2252,3434
$GC,4201,-0.96,-146.6,299.8,-7.6,201,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3434
$GC,4509,-0.96,-146.6,322.1,-7.0,216,4514,0.00,2.50,0.00,0.000,4,0.000,0.044,2584,832,3434
$GC,4559,-0.96,-146.6,325.7,-7.4,218,4564,0.00,2.50,0.00,0.000,6,0.000,0.035,2584,2250,3434
$GC,4880,-0.96,-146.6,347.7,-7.0,234,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2250,3433
$GC,5189,-0.96,-146.6,369.3,-7.1,249,5193,0.00,2.50,0.00,0.000,4,0.000,0.044,2584,833,3433
$GC,5233,-0.96,-146.6,372.6,-7.2,251,5238,0.00,2.50,0.00,0.000,6,0.000,0.035,2584,2253,3433
$GC,5559,-0.96,-146.6,395.3,-6.9,267,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2253,3433
$GC,5871,-0.96,-146.6,416.5,-6.8,282,5875,0.00,2.50,0.00,0.000,4,0.000,0.045,2584,839,3433
$GC,5903,-0.96,-146.6,419.0,-7.2,283,5910,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2256,3433
$GC,6219,-0.96,-146.6,439.0,-6.1,299,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2255,3432
$GC,6531,-0.96,-146.6,457.9,-5.9,314,6535,0.00,2.50,0.00,0.000,4,0.000,0.044,2585,839,3432
$GC,6571,-0.96,-146.6,460.6,-6.5,316,6575,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2256,3433
$GC,6898,-0.96,-146.6,480.5,-6.2,332,6899,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2256,3432
$GC,7207,-0.96,-146.6,500.2,-6.5,347,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2256,3432
$GC,7515,-0.96,-146.6,520.6,-6.7,362,7519,0.00,2.50,0.00,0.000,4,0.000,0.044,2584,835,3432
$GC,7560,-0.96,-146.6,523.8,-7.0,364,7564,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2246,3432
$GC,7880,-0.96,-146.6,546.5,-7.2,380,7881,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2246,3432
$GC,8189,-0.96,-146.6,569.4,-7.5,395,8190,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2246,3431
$GC,8501,-0.96,-146.6,592.3,-7.5,410,8505,0.00,2.50,0.00,0.000,4,0.000,0.044,2584,831,3431
$GC,8557,-0.96,-146.6,596.9,-7.9,412,8563,0.00,2.47,0.00,0.000,6,0.000,0.035,2584,2260,3431
$GC,8873,-0.96,-146.6,619.1,-6.8,428,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2260,3431
$GC,9182,-0.96,-146.6,639.2,-6.3,443,9186,0.00,2.50,0.00,0.000,4,0.000,0.044,2584,840,3431
$GC,9221,-0.96,-146.6,641.7,-6.3,445,9225,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2255,3431
$GC,9547,-0.96,-146.6,661.7,-6.1,461,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2255,3431
$GC,9857,-0.96,-146.6,681.5,-6.5,476,9862,0.00,2.53,0.00,0.000,4,0.000,0.044,2585,840,3431
$GC,9912,-0.96,-146.6,685.4,-7.3,478,9916,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2252,3430
$GC,10228,-0.96,-146.6,707.0,-6.8,493,10229,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2252,3431
$GC,10539,-0.96,-146.6,726.5,-6.0,508,10543,0.00,2.50,0.00,0.000,4,0.000,0.044,2585,837,3431
$GC,10588,-0.96,-146.6,729.9,-6.0,510,10593,0.00,2.45,0.00,0.000,6,0.000,0.035,2585,2247,3431
$GC,10904,-0.96,-146.6,748.8,-6.0,525,10906,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2246,3430
$GC,11216,-0.96,-146.6,766.0,-5.3,540,11220,0.00,2.50,0.00,0.000,4,0.000,0.045,2584,833,3430
$GC,11266,-0.96,-146.6,769.0,-5.7,542,11270,0.00,2.47,0.00,0.000,6,0.000,0.035,2585,2260,3430
$GC,11584,-0.96,-146.6,785.6,-5.3,557,11585,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2260,3430
$GC,11891,-0.96,-146.6,803.0,-5.9,572,11895,0.00,2.53,0.00,0.000,4,0.000,0.046,2584,834,3430
$GC,11930,-0.96,-146.6,805.4,-6.1,574,11934,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2245,3430
$GC,12256,-0.96,-146.6,826.5,-7.1,590,12257,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2245,3430
$GC,12565,-0.96,-146.6,848.6,-6.9,605,12569,0.00,2.50,0.00,0.000,4,0.000,0.046,2584,836,3429
$GC,12612,-0.96,-146.6,851.7,-6.3,607,12616,0.00,2.47,0.00,0.000,6,0.000,0.036,2585,2259,3429
$GC,12933,-0.96,-146.6,870.6,-5.4,623,12934,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2260,3429
$GC,13243,-0.96,-146.6,886.7,-5.4,638,13247,0.00,2.53,0.00,0.000,4,0.000,0.047,2585,838,3428
$GC,13305,-0.96,-146.6,890.2,-5.2,641,13310,0.00,2.47,0.00,0.000,6,0.000,0.038,2584,2252,3428
$GC,13632,-0.96,-146.6,909.3,-5.8,657,13637,0.00,2.55,0.00,0.000,4,0.000,0.061,2585,3654,3428
$GC,13672,-0.96,-146.6,911.8,-6.6,659,13676,0.00,2.45,0.00,0.000,6,0.000,0.035,2585,2233,3428
$GC,13999,-0.96,-146.6,930.4,-5.7,675,14000,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2233,3428
$GC,14308,-0.96,-146.6,947.7,-5.3,690,14313,0.00,2.60,0.00,0.000,4,0.000,0.060,2584,3656,3427
$GC,14353,-0.96,-146.6,950.5,-6.5,692,14357,0.00,2.42,0.00,0.000,6,0.000,0.035,2585,2255,3426
$GC,14676,-0.96,-146.6,969.7,-6.6,708,14680,0.00,2.55,0.00,0.000,4,0.000,0.062,2584,3650,3425
$GC,14738,-0.96,-146.6,974.3,-7.7,711,14742,0.00,2.42,0.00,0.000,6,0.000,0.036,2584,2254,3425
$STATE,14959,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14959,begin apogee
$GC,14967,-0.36,0.0,987.6,4.8,722,15102,0.62,0.00,131.45,1.438,6,0.062,0.000,2721,1458,2832
$STATE,15103,end apogee,CONTROL_FINISHED_OK
$STATE,15103,begin climb
$GC,15106,0.96,146.6,989.5,0.0,729,15245,1.30,2.28,132.15,1.401,4,0.049,0.068,3007,263,2233
$GC,15377,1.00,176.6,974.6,5.2,740,15409,0.00,2.08,27.38,1.328,6,0.000,0.037,3007,1459,2112
$GC,15732,1.00,176.6,950.4,6.7,758,15737,0.00,2.53,0.00,0.000,4,0.000,0.049,3007,2860,2104
$GC,15805,1.00,176.6,945.6,7.0,761,15809,0.00,2.50,0.00,0.000,6,0.000,0.044,3007,1455,2104
$GC,16121,1.02,190.7,926.7,5.6,776,16141,0.00,0.00,13.07,1.272,6,0.000,0.000,3007,1455,2054
$GC,16453,1.04,209.7,909.4,5.5,792,16479,0.00,2.62,18.70,1.324,4,0.000,0.049,3007,2857,1976
$GC,16545,1.04,210.2,903.5,6.0,796,16550,0.00,2.53,0.00,0.000,6,0.000,0.043,3007,1450,1975
$GC,16869,1.04,210.2,881.4,7.3,812,16873,0.00,2.53,0.00,0.000,4,0.000,0.049,3007,2856,1973
$GC,16913,1.04,210.2,877.9,6.8,814,16917,0.00,2.53,0.00,0.000,6,0.000,0.044,3007,1446,1972
$GC,17233,1.04,210.2,854.9,6.8,830,17234,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1446,1972
$GC,17545,1.04,210.2,835.2,6.5,845,17546,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1446,1971
$GC,17852,1.04,210.2,814.5,6.8,860,17856,0.00,2.53,0.00,0.000,4,0.000,0.046,3007,2856,1971
$GC,17940,1.04,210.2,807.8,7.1,864,17944,0.00,2.50,0.00,0.000,6,0.000,0.041,3007,1446,1971
$GC,18263,1.04,210.2,783.7,7.4,880,18267,0.00,2.53,0.00,0.000,4,0.000,0.045,3007,2860,1971
$GC,18307,1.04,210.2,780.3,7.9,882,18311,0.00,2.47,0.00,0.000,6,0.000,0.039,3007,1455,1970
$GC,18630,1.04,210.2,758.8,6.4,898,18634,0.00,2.47,0.00,0.000,4,0.000,0.046,3007,2856,1970
$GC,18670,1.04,210.5,756.1,6.0,900,18674,0.00,2.47,0.00,0.000,6,0.000,0.038,3007,1449,1970
$GC,18999,1.04,210.5,735.4,6.4,916,19003,0.00,2.53,0.00,0.000,4,0.000,0.045,3007,2861,1970
$GC,19040,1.04,210.5,732.3,7.7,918,19044,0.00,2.47,0.00,0.000,6,0.000,0.038,3007,1452,1970
$GC,19366,1.04,210.5,710.9,6.4,934,19371,0.00,2.50,0.00,0.000,4,0.000,0.045,3007,2850,1971
$GC,19393,1.05,213.7,709.0,5.9,935,19404,0.00,2.45,4.45,0.841,6,0.000,0.039,3007,1448,1960
$GC,19720,1.05,213.7,688.2,6.2,951,19724,0.00,2.53,0.00,0.000,4,0.000,0.044,3007,2862,1959
$GC,19769,1.05,213.7,684.9,6.5,953,19774,0.00,2.47,0.00,0.000,6,0.000,0.038,3007,1450,1959
$GC,20088,1.05,213.7,665.6,6.3,968,20092,0.00,2.50,0.00,0.000,4,0.000,0.044,3007,2857,1960
$GC,20143,1.06,224.0,662.0,5.7,970,20160,0.10,2.45,11.40,1.104,6,0.047,0.038,3061,1456,1918
$GC,20478,1.06,224.0,632.7,9.1,987,20483,0.15,2.50,0.00,0.000,4,0.074,0.043,3029,2857,1916
$GC,20518,1.06,224.0,629.1,7.8,989,20522,0.00,2.47,0.00,0.000,6,0.000,0.038,3028,1449,1915
$GC,20844,1.06,224.0,602.6,8.3,1005,20848,0.00,2.50,0.00,0.000,4,0.000,0.044,3029,2857,1915
$GC,20896,1.06,224.0,598.4,8.5,1007,20900,0.00,2.47,0.00,0.000,6,0.000,0.038,3029,1445,1915
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$STATE,29089,end climb,SURFACE_DEPTH_REACHED
$STATE,29089,begin surface coast
$FINISH,0.3,1.026680
$STATE,29135,end surface coast,CONTROL_FINISHED_OK
$STATE,29135,begin surface
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$IRIDIUM_FIX,6207.28,-1232.74,031098,060633
$TT8_MAMPS,0.027612
$HUMID,1855
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$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,925.7,71.5
$24V_AH,23.1,39.192
$10V_AH,10.1,20.766
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$DEVICE_SECS,25.100,257.875,338.600,50.775,0.000,29.152,26.701,209.801,8.250,0.000,0.000,13.614,2568.652,22479.438,565.545,2890.344,1098.846,0.000,2082.437,0.000,3130.709,0.000,55.723,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72569,1404
$CAP_FILE_SIZE,204810,0
$CFSIZE,260165632,248111104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,090709,215137,6230.974,-1223.961,32,1.7,32,-11.5