version: 66.04
glider: 105
mission: 6
dive: 272
start: 8 13 109 14 39 22
data:
$ID,105
$MISSION,6
$DIVE,272
$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,-1632869.4
$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,33
$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
$GPS1,143227,6139.071,-939.886,41,2.9,60,-9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-61.2
$GPS2,143902,6139.057,-940.044,14,2.0,14,-9.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$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,144.4,50113,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-76.07,0.000,6,0.000,0.000,395,2239,3430
$GC,101,-0.96,-146.6,6.0,-8.2,4,122,11.70,2.45,0.00,0.000,4,0.133,0.037,2582,831,3431
$GC,401,-0.96,-146.6,47.8,-10.0,17,406,0.00,2.47,0.00,0.000,6,0.000,0.034,2583,2246,3432
$GC,718,-0.96,-146.6,60.6,-1.7,32,723,0.00,2.50,0.00,0.000,4,0.000,0.040,2582,840,3432
$GC,764,-0.96,-146.6,62.7,-5.1,34,768,0.00,2.45,0.00,0.000,6,0.000,0.033,2582,2255,3432
$GC,1092,-0.96,-146.6,90.4,-11.2,50,1096,0.00,2.53,0.00,0.000,4,0.000,0.057,2582,3650,3433
$GC,1272,-0.96,-146.6,112.2,-11.0,58,1276,0.00,2.42,0.00,0.000,6,0.000,0.028,2582,2226,3433
$GC,1594,-0.96,-146.6,140.5,-7.0,74,1598,0.00,2.58,0.00,0.000,4,0.000,0.051,2582,3650,3433
$GC,1747,-0.96,-146.6,149.8,-5.3,81,1755,0.00,2.40,0.00,0.000,6,0.000,0.029,2582,2241,3433
$GC,2082,-0.96,-146.6,173.0,-7.6,97,2087,0.00,2.58,0.00,0.000,4,0.000,0.053,2582,3647,3433
$GC,2174,-0.96,-146.6,180.9,-8.9,101,2178,0.00,2.38,0.00,0.000,6,0.000,0.029,2583,2250,3432
$GC,2500,-0.96,-146.6,205.5,-6.6,117,2505,0.00,2.55,0.00,0.000,4,0.000,0.052,2582,3647,3432
$GC,2596,-0.96,-146.6,212.4,-7.6,121,2600,0.00,2.38,0.00,0.000,6,0.000,0.029,2582,2249,3432
$GC,2917,-0.96,-146.6,235.1,-7.6,137,2921,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3653,3432
$GC,3017,-0.96,-146.6,243.6,-8.3,141,3024,0.00,2.40,0.00,0.000,6,0.000,0.030,2582,2247,3431
$GC,3333,-0.96,-146.6,270.4,-9.1,157,3337,0.00,2.53,0.00,0.000,4,0.000,0.052,2582,3650,3432
$GC,3455,-0.96,-146.6,281.5,-8.8,162,3461,0.00,2.40,0.00,0.000,6,0.000,0.030,2582,2241,3431
$GC,3771,-0.96,-146.6,302.8,-6.8,178,3775,0.00,2.55,0.00,0.000,4,0.000,0.053,2582,3650,3431
$GC,3815,-0.96,-146.6,306.1,-7.3,180,3819,0.00,2.40,0.00,0.000,6,0.000,0.030,2582,2244,3430
$GC,4136,-0.96,-146.6,327.6,-7.0,196,4141,0.00,2.55,0.00,0.000,4,0.000,0.054,2582,3651,3429
$GC,4203,-0.96,-146.6,333.1,-8.0,199,4208,0.00,2.42,0.00,0.000,6,0.000,0.030,2583,2250,3429
$GC,4529,-0.96,-146.6,358.4,-7.7,215,4534,0.00,2.53,0.00,0.000,4,0.000,0.052,2582,3650,3429
$GC,4596,-0.96,-146.6,363.5,-7.9,218,4601,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2247,3429
$GC,4920,-0.96,-146.6,386.1,-7.2,234,4924,0.00,2.55,0.00,0.000,4,0.000,0.053,2582,3657,3429
$GC,4992,-0.96,-146.6,391.9,-8.1,237,4997,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2256,3428
$GC,5312,-0.96,-146.6,416.0,-7.7,253,5317,0.00,2.53,0.00,0.000,4,0.000,0.052,2582,3651,3428
$GC,5446,-0.96,-146.6,426.9,-8.3,259,5450,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2250,3428
$GC,5770,-0.96,-146.6,450.9,-7.5,275,5774,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3651,3428
$GC,5900,-0.96,-146.6,462.2,-8.8,281,5905,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2249,3428
$GC,6227,-0.96,-146.6,486.3,-7.0,297,6232,0.00,2.55,0.00,0.000,4,0.000,0.053,2582,3644,3428
$GC,6305,-0.96,-146.6,492.2,-7.6,300,6309,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3428
$GC,6621,-0.96,-146.6,513.7,-6.2,315,6626,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3650,3427
$GC,6684,-0.96,-146.6,517.8,-6.2,318,6688,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3427
$GC,7010,-0.96,-146.6,537.5,-6.2,334,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2251,3427
$GC,7320,-0.96,-146.6,556.7,-6.0,349,7325,0.00,2.55,0.00,0.000,4,0.000,0.052,2583,3650,3427
$GC,7432,-0.96,-146.6,564.0,-6.7,354,7436,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3427
$GC,7761,-0.96,-146.6,582.5,-6.0,370,7765,0.00,2.53,0.00,0.000,4,0.000,0.052,2582,3653,3427
$GC,7823,-0.96,-146.6,586.5,-6.9,373,7827,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3427
$GC,8149,-0.96,-146.6,606.8,-6.6,389,8153,0.00,2.53,0.00,0.000,4,0.000,0.052,2582,3654,3426
$GC,8206,-0.96,-146.6,611.0,-7.6,391,8213,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2252,3426
$GC,8522,-0.96,-146.6,633.2,-6.9,407,8523,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2252,3426
$GC,8834,-0.96,-146.6,654.9,-7.0,422,8838,0.00,2.53,0.00,0.000,4,0.000,0.052,2582,3654,3426
$GC,8928,-0.96,-146.6,662.4,-7.9,426,8932,0.00,2.42,0.00,0.000,6,0.000,0.031,2582,2239,3426
$GC,9244,-0.96,-146.6,684.2,-7.1,441,9248,0.00,2.58,0.00,0.000,4,0.000,0.054,2583,3649,3426
$GC,9333,-0.96,-146.6,691.1,-7.9,445,9338,0.00,2.40,0.00,0.000,6,0.000,0.032,2583,2251,3426
$GC,9661,-0.96,-146.6,714.4,-6.7,461,9665,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3651,3426
$GC,9725,-0.96,-146.6,719.2,-7.5,464,9729,0.00,2.40,0.00,0.000,6,0.000,0.032,2582,2251,3426
$GC,10051,-0.96,-146.6,743.5,-7.3,480,10055,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3650,3425
$GC,10117,-0.96,-146.6,748.8,-8.0,483,10122,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2251,3426
$GC,10441,-0.96,-146.6,770.6,-6.6,499,10442,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2246,3425
$GC,10748,-0.96,-146.6,792.5,-7.1,514,10752,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3652,3425
$GC,10805,-0.96,-146.6,796.3,-7.2,516,10812,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2238,3425
$GC,11121,-0.96,-146.6,817.0,-6.4,532,11122,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2237,3426
$GC,11433,-0.96,-146.6,836.7,-6.3,547,11437,0.00,2.58,0.00,0.000,4,0.000,0.055,2583,3656,3425
$GC,11569,-0.96,-146.6,846.2,-7.5,553,11573,0.00,2.42,0.00,0.000,6,0.000,0.033,2583,2249,3425
$GC,11889,-0.96,-146.6,869.3,-7.8,569,11894,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3644,3425
$GC,11958,-0.96,-146.6,875.2,-9.6,572,11962,0.00,2.40,0.00,0.000,6,0.000,0.033,2583,2251,3425
$GC,12284,-0.96,-146.6,904.7,-9.2,588,12288,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3650,3425
$GC,12391,-0.96,-146.6,914.5,-9.6,593,12395,0.00,2.45,0.00,0.000,6,0.000,0.033,2583,2242,3425
$GC,12722,-0.96,-146.6,941.4,-8.0,609,12727,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3649,3425
$GC,12948,-0.96,-146.6,961.5,-10.0,619,12952,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2239,3424
$GC,13269,-0.96,-146.6,984.8,-6.8,635,13273,0.00,2.45,0.00,0.000,4,0.000,0.046,2583,846,3424
$GC,13302,-0.96,-146.6,987.3,-7.7,636,13308,0.00,2.45,0.00,0.000,6,0.000,0.035,2583,2261,3424
$STATE,13350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13350,begin apogee
$GC,13358,-0.36,0.0,990.9,7.8,639,13492,0.65,0.00,130.88,1.407,6,0.066,0.000,2722,1459,2832
$STATE,13493,end apogee,CONTROL_FINISHED_OK
$STATE,13493,begin climb
$GC,13496,0.96,146.6,995.9,0.0,646,13633,1.30,0.00,132.40,1.374,6,0.055,0.000,3005,1459,2234
$GC,13932,1.07,229.3,979.2,3.7,667,14016,0.12,2.58,75.00,1.352,4,0.046,0.043,3060,2857,1895
$GC,14095,1.07,229.3,969.4,6.2,674,14100,0.15,2.50,0.00,0.000,6,0.071,0.039,3029,1453,1892
$GC,14411,1.07,229.3,949.2,6.6,689,14416,0.00,2.53,0.00,0.000,4,0.000,0.044,3029,2853,1888
$GC,14478,1.07,229.3,944.6,6.2,692,14482,0.00,2.47,0.00,0.000,6,0.000,0.039,3029,1453,1888
$GC,14805,1.07,229.3,922.6,6.6,708,14809,0.00,2.50,0.00,0.000,4,0.000,0.043,3029,2861,1887
$GC,14889,1.07,229.3,917.2,6.2,712,14894,0.00,2.47,0.00,0.000,6,0.000,0.038,3029,1453,1887
$GC,15216,1.07,229.3,895.0,6.9,728,15217,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1453,1887
$GC,15528,1.07,229.3,872.6,7.4,743,15529,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1453,1886
$GC,15834,1.07,229.3,850.7,7.1,758,15839,0.00,2.50,0.00,0.000,4,0.000,0.042,3029,2864,1886
$GC,15863,1.07,229.3,848.6,6.6,759,15867,0.00,2.47,0.00,0.000,6,0.000,0.038,3029,1451,1885
$GC,16179,1.07,229.3,824.3,7.8,774,16183,0.00,2.47,0.00,0.000,4,0.000,0.042,3029,2858,1885
$GC,16206,1.07,229.3,822.0,7.7,775,16210,0.00,2.45,0.00,0.000,6,0.000,0.038,3029,1448,1884
$GC,16521,1.07,229.3,796.4,7.9,790,16525,0.00,2.47,0.00,0.000,4,0.000,0.041,3029,2858,1885
$GC,16560,1.07,229.3,793.3,7.1,792,16564,0.00,2.47,0.00,0.000,6,0.000,0.037,3029,1447,1885
$GC,16887,1.07,229.3,769.7,6.9,808,16891,0.00,2.47,0.00,0.000,4,0.000,0.041,3029,2861,1884
$GC,16919,1.07,229.3,767.6,6.0,809,16925,0.00,2.47,0.00,0.000,6,0.000,0.037,3029,1447,1885
$GC,17235,1.07,229.3,747.7,6.2,825,17239,0.00,2.47,0.00,0.000,4,0.000,0.041,3029,2859,1884
$GC,17268,1.09,245.0,745.5,5.6,826,17288,0.00,2.45,13.68,1.154,6,0.000,0.037,3029,1456,1832
$GC,17605,1.10,254.0,725.8,5.8,843,17620,0.00,2.53,9.65,1.081,4,0.000,0.042,3029,2860,1796
$GC,17644,1.10,254.0,723.4,6.4,844,17648,0.00,2.47,0.00,0.000,6,0.000,0.037,3029,1452,1795
$GC,17973,1.10,258.3,704.4,5.9,860,17983,0.00,2.53,5.60,0.912,4,0.000,0.040,3029,2861,1778
$GC,18013,1.11,265.6,701.7,5.8,862,18027,0.00,2.47,8.65,1.039,6,0.000,0.037,3029,1452,1748
$GC,18345,1.11,265.6,680.1,6.5,878,18349,0.00,2.47,0.00,0.000,4,0.000,0.041,3029,2858,1746
$GC,18379,1.16,304.9,677.9,4.9,879,18427,0.10,2.47,38.00,1.189,6,0.047,0.037,3080,1448,1587
$GC,18740,1.16,304.9,644.0,9.4,897,18742,0.15,0.00,0.00,0.000,6,0.072,0.000,3047,1448,1582
$GC,19045,1.16,304.9,617.1,8.8,912,19049,0.00,2.53,0.00,0.000,4,0.000,0.041,3047,2863,1581
$GC,19073,1.16,304.9,614.6,8.0,913,19077,0.00,2.47,0.00,0.000,6,0.000,0.037,3047,1455,1581
$GC,19389,1.16,304.9,589.2,7.8,928,19390,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1455,1581
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$GC,24956,1.24,374.6,61.0,11.7,1197,24963,0.00,2.05,0.00,0.000,6,0.000,0.031,3068,1471,1295
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$STATE,25789,end climb,SURFACE_DEPTH_REACHED
$STATE,25789,begin surface coast
$FINISH,0.5,1.016566
$STATE,25811,end surface coast,CONTROL_FINISHED_OK
$STATE,25811,begin surface
$SM_CCo,25894,0.00,0.000,0,0,1292,377.76
$SM_GC,1.29,11.60,0.00,0.00,0.026,0.000,0.000,391,2242,1292,-11.00,-0.23,377.76
$IRIDIUM_FIX,6117.23,-933.70,071198,070701
$TT8_MAMPS,0.026845
$HUMID,1920
$INTERNAL_PRESSURE,8.14809
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,950.2,102.9
$24V_AH,23.1,57.819
$10V_AH,10.1,34.935
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$DEVICE_SECS,26.000,239.025,474.825,0.000,0.000,30.098,25.328,197.787,8.500,0.000,0.000,14.502,2318.635,19485.879,619.334,2834.201,1018.422,0.000,2114.434,0.000,3024.100,0.000,57.440,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,937.298,1004.302,660.142,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63177,1239
$CAP_FILE_SIZE,189320,0
$CFSIZE,260165632,238149632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,130809,215207,6133.761,-940.758,34,1.1,34,-9.6