version: 66.04
glider: 105
mission: 6
dive: 207
start: 7 29 109 18 4 4
data:
$ID,105
$MISSION,6
$DIVE,207
$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,-1631718.1
$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,26
$R_STBD_OVSHOOT,30
$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
$GPS1,175606,6215.349,-1112.148,29,1.0,30,-10.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-61.0
$GPS2,180344,6215.313,-1112.163,13,1.1,13,-10.7
$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,101.7,32052,-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,-59.88,0.000,6,0.000,0.000,390,2254,3432
$GC,81,-0.96,-146.6,4.5,-8.7,3,102,11.68,2.53,0.00,0.000,4,0.133,0.037,2583,838,3433
$GC,398,-0.96,-146.6,38.4,-7.5,17,403,0.00,2.45,0.00,0.000,6,0.000,0.031,2584,2253,3434
$GC,720,-0.96,-146.6,63.2,-8.2,33,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2253,3435
$GC,1029,-0.96,-146.6,90.3,-8.6,48,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2253,3436
$GC,1340,-0.96,-146.6,114.2,-7.5,63,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2253,3436
$GC,1648,-0.96,-146.6,137.6,-7.9,78,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2253,3436
$GC,1959,-0.96,-146.6,161.1,-7.5,93,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2253,3435
$GC,2266,-0.96,-146.6,185.0,-8.0,108,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2253,3435
$GC,2575,-0.96,-146.6,209.6,-8.1,123,2580,0.00,2.58,0.00,0.000,4,0.000,0.061,2584,3647,3435
$GC,2622,-0.96,-146.6,213.5,-8.5,125,2627,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2230,3435
$GC,2952,-0.96,-146.6,239.9,-7.9,141,2956,0.00,2.58,0.00,0.000,4,0.000,0.052,2583,3654,3435
$GC,3030,-0.96,-146.6,246.9,-8.1,144,3037,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2251,3435
$GC,3346,-0.96,-146.6,272.3,-8.0,160,3350,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3654,3434
$GC,3408,-0.96,-146.6,277.5,-8.4,163,3412,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2248,3434
$GC,3737,-0.96,-146.6,302.8,-7.6,179,3741,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3650,3434
$GC,3809,-0.96,-146.6,308.8,-7.9,182,3814,0.00,2.42,0.00,0.000,6,0.000,0.030,2584,2249,3434
$GC,4130,-0.96,-146.6,331.0,-6.8,198,4134,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3651,3434
$GC,4193,-0.96,-146.6,335.5,-6.8,201,4197,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2243,3434
$GC,4519,-0.96,-146.6,356.3,-6.0,217,4524,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3641,3433
$GC,4587,-0.96,-146.6,360.7,-6.6,220,4591,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2249,3433
$GC,4914,-0.96,-146.6,381.4,-6.5,236,4918,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3652,3432
$GC,4986,-0.96,-146.6,386.7,-7.8,239,4991,0.00,2.42,0.00,0.000,6,0.000,0.030,2583,2250,3433
$GC,5306,-0.96,-146.6,408.4,-6.9,255,5311,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3654,3432
$GC,5356,-0.96,-146.6,412.1,-7.1,257,5361,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2251,3432
$GC,5677,-0.96,-146.6,435.0,-7.1,273,5681,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3654,3432
$GC,5776,-0.96,-146.6,442.6,-7.3,277,5782,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2249,3432
$GC,6093,-0.96,-146.6,463.2,-6.3,293,6097,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3654,3431
$GC,6165,-0.96,-146.6,468.1,-7.1,296,6170,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2251,3431
$GC,6486,-0.96,-146.6,486.5,-5.7,312,6490,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3657,3431
$GC,6541,-0.96,-146.6,490.0,-6.1,314,6548,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2240,3431
$GC,6857,-0.96,-146.6,507.7,-5.5,330,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2240,3431
$GC,7166,-0.96,-146.6,525.0,-5.7,345,7175,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3648,3430
$GC,7283,-0.96,-146.6,532.0,-6.0,350,7287,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2247,3430
$GC,7610,-0.96,-146.6,551.9,-6.5,366,7614,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3650,3430
$GC,7671,-0.96,-146.6,556.3,-7.3,369,7676,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3430
$GC,7998,-0.96,-146.6,579.5,-7.3,385,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2249,3430
$GC,8307,-0.96,-146.6,602.5,-7.3,400,8312,0.00,2.55,0.00,0.000,4,0.000,0.052,2583,3647,3430
$GC,8419,-0.96,-146.6,611.1,-8.2,405,8424,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2247,3430
$GC,8747,-0.96,-146.6,633.8,-6.8,421,8751,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3650,3430
$GC,8809,-0.96,-146.6,638.4,-7.8,424,8813,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2252,3430
$GC,9135,-0.96,-146.6,661.3,-7.3,440,9139,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3656,3430
$GC,9174,-0.96,-146.6,664.4,-8.8,442,9178,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2236,3430
$GC,9500,-0.96,-146.6,689.8,-7.7,458,9504,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3650,3430
$GC,9566,-0.96,-146.6,695.2,-8.7,461,9570,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2251,3430
$GC,9886,-0.96,-146.6,719.0,-7.5,477,9891,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3648,3430
$GC,9941,-0.96,-146.6,723.3,-7.7,479,9946,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3429
$GC,10258,-0.96,-146.6,741.9,-5.3,494,10262,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3652,3429
$GC,10330,-0.96,-146.6,746.0,-5.7,497,10335,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2236,3429
$GC,10649,-0.96,-146.6,762.2,-5.0,512,10650,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2236,3429
$GC,10956,-0.96,-146.6,777.4,-5.0,527,10960,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3656,3429
$GC,11157,-0.96,-146.6,789.4,-6.7,536,11162,0.00,2.45,0.00,0.000,6,0.000,0.033,2583,2255,3429
$GC,11483,-0.96,-146.6,808.6,-6.5,552,11484,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2255,3429
$GC,11795,-0.96,-146.6,828.7,-6.7,567,11796,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2254,3429
$GC,12103,-0.96,-146.6,850.7,-7.9,582,12104,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2255,3429
$GC,12411,-0.96,-146.6,873.4,-6.6,597,12415,0.00,2.53,0.00,0.000,4,0.000,0.055,2583,3648,3428
$GC,12459,-0.96,-146.6,876.7,-7.1,599,12464,0.00,2.42,0.00,0.000,6,0.000,0.034,2583,2242,3429
$GC,12776,-0.96,-146.6,894.9,-5.7,614,12780,0.00,2.58,0.00,0.000,4,0.000,0.058,2583,3652,3428
$GC,12819,-0.96,-146.6,897.9,-7.0,616,12824,0.00,2.45,0.00,0.000,6,0.000,0.034,2583,2255,3428
$GC,13146,-0.96,-146.6,918.5,-6.4,632,13147,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2255,3427
$GC,13455,-0.96,-146.6,936.8,-4.7,647,13460,0.00,2.55,0.00,0.000,4,0.000,0.058,2584,3654,3426
$GC,13528,-0.96,-146.6,941.1,-5.8,650,13533,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2237,3426
$GC,13844,-0.96,-146.6,957.5,-5.5,665,13848,0.00,2.58,0.00,0.000,4,0.000,0.059,2583,3649,3425
$GC,13916,-0.96,-146.6,961.8,-5.5,668,13921,0.00,2.42,0.00,0.000,6,0.000,0.035,2583,2252,3425
$STATE,13962,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13962,begin apogee
$GC,13970,-0.36,0.0,964.7,6.0,670,14105,0.65,0.00,130.90,1.424,6,0.070,0.000,2721,1455,2832
$STATE,14105,end apogee,CONTROL_FINISHED_OK
$STATE,14106,begin climb
$GC,14108,0.96,146.6,969.3,0.0,677,14249,1.30,2.25,132.73,1.384,4,0.052,0.067,3006,268,2233
$GC,14346,0.96,146.6,958.0,6.4,687,14351,0.00,2.08,0.00,0.000,6,0.000,0.037,3006,1455,2227
$GC,14673,0.96,146.6,937.8,6.4,703,14677,0.00,2.50,0.00,0.000,4,0.000,0.048,3006,2856,2223
$GC,14812,0.96,146.6,928.1,7.1,709,14816,0.00,2.50,0.00,0.000,6,0.000,0.043,3005,1455,2222
$GC,15127,0.96,146.6,907.7,6.1,724,15132,0.00,2.22,0.00,0.000,4,0.000,0.065,3006,263,2221
$GC,15166,0.96,146.6,905.3,6.5,725,15173,0.00,2.08,0.00,0.000,6,0.000,0.037,3006,1455,2220
$GC,15482,0.98,162.8,887.0,5.6,741,15503,0.00,2.58,13.82,1.287,4,0.000,0.048,3006,2861,2167
$GC,15617,0.98,162.8,878.1,6.7,747,15621,0.00,2.53,0.00,0.000,6,0.000,0.042,3006,1445,2166
$GC,15943,0.98,162.8,855.9,6.5,763,15948,0.00,2.53,0.00,0.000,4,0.000,0.047,3006,2843,2164
$GC,16004,0.98,162.8,852.0,6.9,765,16010,0.00,2.47,0.00,0.000,6,0.000,0.041,3006,1449,2163
$GC,16323,1.06,222.8,836.2,4.4,781,16386,0.10,2.62,56.78,1.362,4,0.047,0.047,3058,2852,1922
$GC,16425,1.06,222.8,828.8,7.9,785,16434,0.10,2.53,0.00,0.000,6,0.071,0.041,3033,1464,1918
$GC,16742,1.06,222.8,803.0,8.8,801,16746,0.00,2.20,0.00,0.000,4,0.000,0.062,3033,262,1914
$GC,16775,1.06,222.8,799.8,10.0,802,16779,0.00,2.05,0.00,0.000,6,0.000,0.034,3033,1468,1914
$GC,17096,1.06,222.8,774.5,7.4,818,17101,0.00,2.47,0.00,0.000,4,0.000,0.047,3033,2843,1913
$GC,17129,1.06,222.8,772.1,6.5,819,17133,0.00,2.47,0.00,0.000,6,0.000,0.040,3032,1446,1912
$GC,17447,1.06,222.8,749.4,7.2,834,17448,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1447,1912
$GC,17754,1.06,222.8,727.2,7.6,849,17758,0.00,2.50,0.00,0.000,4,0.000,0.044,3033,2858,1912
$GC,17786,1.06,222.8,724.5,7.5,850,17793,0.00,2.47,0.00,0.000,6,0.000,0.038,3033,1454,1911
$GC,18103,1.06,222.8,699.1,8.2,866,18108,0.00,2.50,0.00,0.000,4,0.000,0.044,3033,2851,1911
$GC,18153,1.06,222.8,694.9,8.6,868,18158,0.00,2.45,0.00,0.000,6,0.000,0.038,3033,1453,1911
$GC,18474,1.06,222.8,667.8,8.5,884,18479,0.00,2.47,0.00,0.000,4,0.000,0.043,3033,2857,1911
$GC,18508,1.06,222.8,664.8,8.5,885,18514,0.00,2.47,0.00,0.000,6,0.000,0.038,3033,1447,1911
$GC,18826,1.06,222.8,639.0,8.2,901,18827,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1448,1911
$GC,19134,1.06,222.8,614.7,7.6,916,19138,0.00,2.47,0.00,0.000,4,0.000,0.041,3033,2858,1911
$GC,19189,1.06,222.8,610.2,8.1,918,19196,0.00,2.45,0.00,0.000,6,0.000,0.036,3033,1452,1911
$GC,19505,1.06,222.8,585.5,8.2,934,19510,0.00,2.47,0.00,0.000,4,0.000,0.041,3033,2845,1912
$GC,19551,1.06,222.8,581.8,8.5,936,19556,0.00,2.42,0.00,0.000,6,0.000,0.038,3032,1454,1912
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$STATE,27727,end climb,SURFACE_DEPTH_REACHED
$STATE,27728,begin surface coast
$FINISH,0.1,1.018645
$STATE,27771,end surface coast,CONTROL_FINISHED_OK
$STATE,27771,begin surface
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$HUMID,1868
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$24V_AH,23.1,47.141
$10V_AH,10.1,28.815
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$DEVICE_SECS,25.325,277.900,366.775,25.675,0.000,28.157,27.152,260.472,7.750,0.000,0.000,13.852,2484.893,21069.793,564.063,3017.646,1131.826,0.000,2156.760,0.000,3232.211,0.000,52.568,0.000
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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,69400,1334
$CAP_FILE_SIZE,205736,0
$CFSIZE,260165632,242524160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,300709,014907,6215.319,-1104.782,40,1.4,41,-10.6