version: 66.04
glider: 105
mission: 6
dive: 205
start: 7 29 109 2 47 20
data:
$ID,105
$MISSION,6
$DIVE,205
$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,-1631686.6
$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
$GPS1,024007,6218.527,-1126.003,26,1.6,27,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-60.5
$GPS2,024701,6218.501,-1125.931,13,1.5,18,-10.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DE
$TGT_LATLONG,6215.000,-1035.000
$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,109.2,44395,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.17,0.000,6,0.000,0.000,391,2250,3431
$GC,81,-0.96,-146.6,4.7,-9.1,3,94,11.68,0.00,0.00,0.000,6,0.133,0.000,2585,2250,3433
$GC,412,-0.96,-146.6,44.4,-9.1,19,417,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3655,3434
$GC,535,-0.96,-146.6,55.4,-8.6,24,541,0.00,2.42,0.00,0.000,6,0.000,0.029,2585,2224,3434
$GC,851,-0.96,-146.6,77.6,-6.7,40,856,0.00,2.60,0.00,0.000,4,0.000,0.051,2585,3645,3435
$GC,941,-0.96,-146.6,84.5,-7.8,44,945,0.00,2.38,0.00,0.000,6,0.000,0.029,2585,2254,3435
$GC,1268,-0.96,-146.6,110.1,-8.1,60,1272,0.00,2.53,0.00,0.000,4,0.000,0.051,2585,3651,3435
$GC,1323,-0.96,-146.6,115.0,-8.6,62,1329,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2249,3435
$GC,1639,-0.96,-146.6,140.2,-7.9,78,1643,0.00,2.53,0.00,0.000,4,0.000,0.051,2585,3650,3435
$GC,1701,-0.96,-146.6,145.3,-8.4,81,1705,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2244,3435
$GC,2028,-0.96,-146.6,169.9,-7.4,97,2032,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3651,3435
$GC,2095,-0.96,-146.6,175.2,-7.7,100,2100,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2253,3435
$GC,2422,-0.96,-146.6,197.9,-6.7,116,2426,0.00,2.53,0.00,0.000,4,0.000,0.051,2585,3650,3435
$GC,2483,-0.96,-146.6,202.5,-7.3,119,2488,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2247,3434
$GC,2810,-0.96,-146.6,224.5,-6.9,135,2814,0.00,2.53,0.00,0.000,4,0.000,0.051,2585,3648,3434
$GC,2904,-0.96,-146.6,231.6,-7.8,139,2909,0.00,2.42,0.00,0.000,6,0.000,0.030,2584,2249,3434
$GC,3225,-0.96,-146.6,253.7,-6.9,155,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2249,3434
$GC,3534,-0.96,-146.6,274.7,-6.7,170,3538,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3649,3434
$GC,3641,-0.96,-146.6,282.5,-7.7,175,3645,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2246,3434
$GC,3969,-0.96,-146.6,304.8,-6.9,191,3973,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3648,3434
$GC,4031,-0.96,-146.6,309.4,-7.1,194,4035,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2243,3434
$GC,4357,-0.96,-146.6,332.3,-6.9,210,4361,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3651,3434
$GC,4406,-0.96,-146.6,336.1,-7.7,212,4410,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2248,3433
$GC,4723,-0.96,-146.6,358.7,-7.1,227,4727,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3651,3433
$GC,4772,-0.96,-146.6,362.7,-7.9,229,4777,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2246,3433
$GC,5090,-0.96,-146.6,384.9,-7.0,244,5095,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3653,3433
$GC,5171,-0.96,-146.6,391.1,-7.8,247,5178,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3433
$GC,5489,-0.96,-146.6,413.6,-6.9,263,5493,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3651,3433
$GC,5534,-0.96,-146.6,417.1,-7.7,265,5538,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2247,3433
$GC,5857,-0.96,-146.6,439.7,-7.2,281,5861,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3648,3432
$GC,5923,-0.96,-146.6,444.8,-7.7,284,5927,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2245,3432
$GC,6243,-0.96,-146.6,467.2,-7.0,300,6248,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3651,3432
$GC,6313,-0.96,-146.6,472.3,-7.8,303,6317,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2248,3431
$GC,6634,-0.96,-146.6,494.7,-6.9,319,6638,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3645,3431
$GC,6711,-0.96,-146.6,500.5,-7.3,322,6715,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2250,3431
$GC,7031,-0.96,-146.6,523.2,-7.0,338,7036,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3653,3431
$GC,7109,-0.96,-146.6,529.3,-7.7,341,7115,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2238,3431
$GC,7427,-0.96,-146.6,551.8,-7.1,357,7432,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3651,3431
$GC,7483,-0.96,-146.6,556.3,-7.6,359,7489,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2252,3431
$GC,7798,-0.96,-146.6,577.5,-6.6,375,7803,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3640,3431
$GC,7854,-0.96,-146.6,581.4,-7.0,377,7858,0.00,2.40,0.00,0.000,6,0.000,0.032,2585,2241,3431
$GC,8170,-0.96,-146.6,601.2,-6.2,392,8175,0.00,2.58,0.00,0.000,4,0.000,0.056,2585,3647,3431
$GC,8208,-0.96,-146.6,603.9,-6.8,393,8215,0.00,2.42,0.00,0.000,6,0.000,0.033,2585,2253,3431
$GC,8524,-0.96,-146.6,624.3,-6.5,409,8528,0.00,2.50,0.00,0.000,4,0.000,0.053,2584,3648,3430
$GC,8567,-0.96,-146.6,627.6,-7.3,411,8572,0.00,2.42,0.00,0.000,6,0.000,0.033,2585,2253,3431
$GC,8893,-0.96,-146.6,649.7,-6.7,427,8895,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2253,3430
$GC,9206,-0.96,-146.6,671.2,-6.9,442,9210,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3650,3430
$GC,9290,-0.96,-146.6,677.7,-7.6,446,9295,0.00,2.40,0.00,0.000,6,0.000,0.033,2584,2252,3430
$GC,9620,-0.96,-146.6,699.4,-6.5,462,9624,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3654,3430
$GC,9697,-0.96,-146.6,704.9,-7.2,465,9704,0.00,2.42,0.00,0.000,6,0.000,0.033,2585,2240,3430
$GC,10014,-0.96,-146.6,722.9,-5.4,481,10018,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3649,3430
$GC,10080,-0.96,-146.6,726.8,-5.9,484,10084,0.00,2.40,0.00,0.000,6,0.000,0.033,2585,2252,3430
$GC,10401,-0.96,-146.6,744.3,-5.9,500,10406,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3651,3429
$GC,10454,-0.96,-146.6,747.6,-6.7,502,10458,0.00,2.42,0.00,0.000,6,0.000,0.033,2584,2237,3429
$GC,10769,-0.96,-146.6,768.9,-7.3,517,10774,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3648,3429
$GC,10825,-0.96,-146.6,773.6,-8.7,519,10832,0.00,2.40,0.00,0.000,6,0.000,0.033,2585,2249,3429
$GC,11141,-0.96,-146.6,800.3,-8.4,535,11145,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3649,3429
$GC,11281,-0.96,-146.6,812.3,-8.7,541,11286,0.00,2.42,0.00,0.000,6,0.000,0.034,2585,2238,3429
$GC,11599,-0.96,-146.6,833.3,-6.3,556,11603,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3648,3429
$GC,11689,-0.96,-146.6,839.5,-6.2,560,11693,0.00,2.40,0.00,0.000,6,0.000,0.034,2585,2254,3428
$GC,12010,-0.96,-146.6,859.0,-5.5,576,12012,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2253,3429
$GC,12319,-0.96,-146.6,874.1,-5.1,591,12324,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3649,3429
$GC,12491,-0.96,-146.6,886.7,-8.0,598,12497,0.00,2.42,0.00,0.000,6,0.000,0.035,2585,2247,3429
$GC,12807,-0.96,-146.6,906.4,-5.2,614,12811,0.00,2.55,0.00,0.000,4,0.000,0.057,2585,3650,3428
$GC,12869,-0.96,-146.6,909.8,-5.5,617,12873,0.00,2.42,0.00,0.000,6,0.000,0.036,2585,2251,3428
$GC,13195,-0.96,-146.6,927.7,-5.2,633,13197,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3428
$STATE,13440,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13440,begin apogee
$GC,13448,-0.36,0.0,941.2,6.5,645,13584,0.62,0.00,131.65,1.394,6,0.063,0.000,2720,1461,2832
$STATE,13585,end apogee,CONTROL_FINISHED_OK
$STATE,13585,begin climb
$GC,13588,0.96,146.6,945.5,0.0,652,13727,1.33,2.28,132.12,1.365,4,0.056,0.066,3007,261,2234
$GC,13825,0.98,162.2,935.9,5.6,662,13845,0.00,2.10,14.85,1.230,6,0.000,0.035,3007,1456,2170
$GC,14173,1.02,189.0,916.3,5.3,679,14203,0.00,2.58,25.33,1.317,4,0.000,0.048,3007,2854,2061
$GC,14299,1.06,221.8,909.1,5.1,684,14337,0.10,2.50,31.25,1.325,6,0.048,0.042,3054,1454,1926
$GC,14661,1.06,221.8,883.5,7.3,702,14663,0.12,0.00,0.00,0.000,6,0.076,0.000,3027,1454,1919
$GC,14969,1.06,221.8,862.3,6.8,717,14973,0.00,2.53,0.00,0.000,4,0.000,0.048,3027,2859,1917
$GC,15046,1.06,221.8,856.9,6.9,720,15053,0.00,2.50,0.00,0.000,6,0.000,0.042,3027,1453,1916
$GC,15365,1.06,221.8,832.6,8.4,736,15366,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1453,1916
$GC,15673,1.06,221.8,806.7,8.2,751,15678,0.00,2.50,0.00,0.000,4,0.000,0.044,3028,2854,1915
$GC,15751,1.06,221.8,800.2,7.8,754,15758,0.00,2.47,0.00,0.000,6,0.000,0.040,3027,1445,1915
$GC,16067,1.06,221.8,775.5,7.6,770,16071,0.00,2.50,0.00,0.000,4,0.000,0.043,3028,2858,1915
$GC,16111,1.06,221.8,772.1,7.3,772,16115,0.00,2.47,0.00,0.000,6,0.000,0.038,3027,1452,1914
$GC,16432,1.06,221.8,747.0,8.0,788,16436,0.00,2.47,0.00,0.000,4,0.000,0.042,3027,2855,1914
$GC,16481,1.06,221.8,742.8,8.0,790,16485,0.00,2.47,0.00,0.000,6,0.000,0.037,3027,1447,1914
$GC,16797,1.06,221.8,715.0,8.9,805,16801,0.00,2.47,0.00,0.000,4,0.000,0.041,3028,2855,1914
$GC,16846,1.06,221.8,710.4,8.3,807,16851,0.00,2.47,0.00,0.000,6,0.000,0.037,3028,1458,1914
$GC,17167,1.06,221.8,680.9,9.4,823,17168,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1458,1914
$GC,17476,1.06,221.8,652.4,8.8,838,17481,0.00,2.47,0.00,0.000,4,0.000,0.041,3027,2863,1914
$GC,17509,1.06,221.8,649.3,9.2,839,17516,0.00,2.47,0.00,0.000,6,0.000,0.036,3027,1447,1915
$GC,17825,1.06,221.8,624.6,7.4,855,17829,0.00,2.47,0.00,0.000,4,0.000,0.041,3028,2856,1914
$GC,17869,1.06,221.8,621.4,7.4,857,17874,0.00,2.47,0.00,0.000,6,0.000,0.036,3027,1458,1914
$GC,18195,1.06,221.8,598.3,6.9,873,18199,0.00,2.45,0.00,0.000,4,0.000,0.040,3027,2857,1915
$GC,18228,1.06,221.8,596.0,6.1,874,18234,0.00,2.45,0.00,0.000,6,0.000,0.036,3027,1452,1915
$GC,18543,1.06,221.8,573.5,7.0,890,18548,0.00,2.47,0.00,0.000,4,0.000,0.041,3028,2863,1915
$GC,18588,1.06,221.8,570.3,7.3,892,18593,0.00,2.47,0.00,0.000,6,0.000,0.036,3027,1464,1915
$GC,18914,1.06,221.8,546.4,7.5,908,18918,0.00,2.45,0.00,0.000,4,0.000,0.040,3027,2864,1916
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$STATE,26005,end climb,SURFACE_DEPTH_REACHED
$STATE,26005,begin surface coast
$FINISH,0.1,1.026899
$STATE,26046,end surface coast,CONTROL_FINISHED_OK
$STATE,26047,begin surface
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$SM_GC,1.10,0.00,0.00,33.20,0.000,0.000,0.769,381,2269,1609,-11.13,0.54,300.00
$IRIDIUM_FIX,6153.50,-1216.67,221098,191918
$TT8_MAMPS,0.026078
$HUMID,1888
$INTERNAL_PRESSURE,8.14809
$TCM_TEMP,17.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,850.8,99.3
$24V_AH,23.1,46.812
$10V_AH,10.1,28.560
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$DEVICE_SECS,25.250,288.950,353.550,33.200,0.000,30.753,30.365,207.340,7.500,0.000,0.000,18.120,2352.667,19630.541,577.491,2877.094,1068.861,0.000,2089.658,0.000,3076.478,0.000,50.946,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,993.364,957.436,700.129,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63201,1252
$CAP_FILE_SIZE,198346,0
$CFSIZE,260165632,242708480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,290709,100337,6215.437,-1120.495,31,1.7,32,-10.8