version: 66.04
glider: 105
mission: 6
dive: 273
start: 8 13 109 22 2 0
data:
$ID,105
$MISSION,6
$DIVE,273
$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,-1632885.8
$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,28
$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
$GPS1,215207,6133.761,-940.758,34,1.1,34,-9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-65.3
$GPS2,220138,6133.700,-940.623,15,1.2,15,-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,134.7,44117,-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,-146.6,0.0,0.0,0,85,0.00,0.00,-68.15,0.000,6,0.000,0.000,391,2244,3431
$GC,88,-0.96,-146.6,3.5,-5.8,3,110,11.68,2.60,0.00,0.000,4,0.133,0.053,2586,3656,3432
$GC,447,-0.96,-146.6,44.7,-8.2,19,452,0.00,2.45,0.00,0.000,6,0.000,0.029,2586,2231,3434
$GC,779,-0.96,-146.6,71.2,-7.5,35,784,0.00,2.60,0.00,0.000,4,0.000,0.051,2586,3651,3434
$GC,937,-0.96,-146.6,83.0,-9.0,42,941,0.00,2.38,0.00,0.000,6,0.000,0.029,2586,2252,3434
$GC,1265,-0.96,-146.6,107.7,-5.2,58,1269,0.00,2.45,0.00,0.000,4,0.000,0.041,2586,848,3434
$GC,1309,-0.96,-146.6,110.3,-5.4,60,1314,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2255,3435
$GC,1630,-0.96,-146.6,137.5,-10.2,76,1634,0.00,2.53,0.00,0.000,4,0.000,0.056,2586,3650,3434
$GC,1737,-0.96,-146.6,148.4,-9.4,81,1741,0.00,2.38,0.00,0.000,6,0.000,0.029,2585,2254,3435
$GC,2063,-0.96,-146.6,171.9,-6.1,97,2068,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3637,3434
$GC,2157,-0.96,-146.6,178.2,-6.9,101,2161,0.00,2.38,0.00,0.000,6,0.000,0.030,2585,2249,3434
$GC,2478,-0.96,-146.6,198.7,-6.7,117,2482,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3647,3434
$GC,2539,-0.96,-146.6,203.6,-7.5,120,2544,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2245,3434
$GC,2868,-0.96,-146.6,227.8,-7.1,136,2872,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3645,3434
$GC,2940,-0.96,-146.6,233.5,-7.8,139,2944,0.00,2.38,0.00,0.000,6,0.000,0.030,2586,2251,3433
$GC,3256,-0.96,-146.6,254.8,-6.4,154,3260,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3651,3433
$GC,3311,-0.96,-146.6,258.7,-7.2,156,3317,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2247,3433
$GC,3627,-0.96,-146.6,277.9,-6.3,172,3632,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3647,3433
$GC,3700,-0.96,-146.6,282.9,-7.0,175,3704,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2238,3432
$GC,4016,-0.96,-146.6,301.9,-5.8,190,4020,0.00,2.55,0.00,0.000,4,0.000,0.053,2586,3651,3433
$GC,4093,-0.96,-146.6,307.4,-7.1,193,4099,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2247,3432
$GC,4408,-0.96,-146.6,329.1,-6.8,209,4413,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3647,3432
$GC,4493,-0.96,-146.6,336.0,-8.6,213,4498,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2238,3431
$GC,4820,-0.96,-146.6,360.9,-7.6,229,4824,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3651,3432
$GC,4886,-0.96,-146.6,366.7,-9.1,232,4891,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2247,3431
$GC,5210,-0.96,-146.6,394.4,-8.4,248,5215,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3647,3430
$GC,5284,-0.96,-146.6,401.2,-9.4,251,5288,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2238,3430
$GC,5600,-0.96,-146.6,428.2,-8.5,266,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2238,3430
$GC,5912,-0.96,-146.6,454.3,-8.6,281,5916,0.00,2.55,0.00,0.000,4,0.000,0.053,2586,3648,3430
$GC,6006,-0.96,-146.6,463.2,-9.2,285,6011,0.00,2.38,0.00,0.000,6,0.000,0.030,2586,2253,3429
$GC,6322,-0.96,-146.6,488.5,-7.8,300,6327,0.00,2.50,0.00,0.000,4,0.000,0.051,2586,3648,3429
$GC,6379,-0.96,-146.6,493.2,-8.6,302,6385,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2240,3429
$GC,6694,-0.96,-146.6,516.0,-7.0,318,6699,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3646,3429
$GC,6759,-0.96,-146.6,520.7,-8.3,321,6763,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2242,3428
$GC,7085,-0.96,-146.6,543.0,-6.6,337,7090,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3637,3429
$GC,7191,-0.96,-146.6,550.6,-7.5,341,7197,0.00,2.38,0.00,0.000,6,0.000,0.032,2586,2252,3428
$GC,7506,-0.96,-146.6,571.7,-6.4,357,7511,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3638,3429
$GC,7619,-0.96,-146.6,579.7,-7.1,362,7623,0.00,2.38,0.00,0.000,6,0.000,0.032,2586,2251,3429
$GC,7947,-0.96,-146.6,600.4,-6.2,378,7951,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3651,3429
$GC,8014,-0.96,-146.6,605.1,-7.1,381,8018,0.00,2.40,0.00,0.000,6,0.000,0.032,2586,2251,3429
$GC,8336,-0.96,-146.6,624.4,-5.9,397,8340,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3651,3429
$GC,8398,-0.96,-146.6,628.4,-6.0,400,8402,0.00,2.40,0.00,0.000,6,0.000,0.032,2586,2250,3428
$GC,8728,-0.96,-146.6,647.8,-5.7,416,8732,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3652,3429
$GC,8782,-0.96,-146.6,651.4,-6.7,418,8789,0.00,2.42,0.00,0.000,6,0.000,0.032,2586,2236,3429
$GC,9101,-0.96,-146.6,669.0,-5.6,434,9105,0.00,2.55,0.00,0.000,4,0.000,0.053,2586,3647,3428
$GC,9144,-0.96,-146.6,671.9,-6.2,436,9149,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2246,3428
$GC,9467,-0.96,-146.6,691.1,-6.1,452,9471,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3646,3428
$GC,9516,-0.96,-146.6,694.4,-7.2,454,9520,0.00,2.40,0.00,0.000,6,0.000,0.032,2586,2250,3428
$GC,9832,-0.96,-146.6,713.8,-6.1,469,9833,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2250,3428
$GC,10142,-0.96,-146.6,732.8,-5.8,484,10146,0.00,2.50,0.00,0.000,4,0.000,0.052,2586,3647,3427
$GC,10191,-0.96,-146.6,736.2,-6.8,486,10197,0.00,2.42,0.00,0.000,6,0.000,0.032,2586,2253,3427
$GC,10513,-0.96,-146.6,756.2,-6.5,502,10517,0.00,2.50,0.00,0.000,4,0.000,0.052,2586,3647,3427
$GC,10602,-0.96,-146.6,762.8,-7.5,506,10606,0.00,2.40,0.00,0.000,6,0.000,0.032,2586,2252,3428
$GC,10922,-0.96,-146.6,785.5,-6.9,522,10923,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2252,3427
$GC,11232,-0.96,-146.6,804.6,-5.8,537,11236,0.00,2.50,0.00,0.000,4,0.000,0.052,2586,3647,3428
$GC,11332,-0.96,-146.6,810.3,-6.1,541,11339,0.00,2.40,0.00,0.000,6,0.000,0.033,2586,2239,3427
$GC,11649,-0.96,-146.6,825.7,-4.9,557,11653,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3651,3427
$GC,11721,-0.96,-146.6,830.4,-6.1,560,11725,0.00,2.40,0.00,0.000,6,0.000,0.033,2586,2254,3427
$GC,12036,-0.96,-146.6,853.2,-7.1,575,12037,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2253,3427
$GC,12349,-0.96,-146.6,875.4,-6.5,590,12353,0.00,2.50,0.00,0.000,4,0.000,0.053,2586,3647,3427
$GC,12421,-0.96,-146.6,880.4,-7.1,593,12426,0.00,2.42,0.00,0.000,6,0.000,0.033,2586,2254,3426
$GC,12742,-0.96,-146.6,899.9,-6.4,609,12746,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3652,3426
$GC,12825,-0.96,-146.6,906.5,-8.6,612,12831,0.00,2.42,0.00,0.000,6,0.000,0.033,2586,2239,3426
$GC,13141,-0.96,-146.6,929.1,-6.3,628,13146,0.00,2.55,0.00,0.000,4,0.000,0.055,2586,3648,3426
$GC,13181,-0.96,-146.6,931.7,-7.0,630,13186,0.00,2.40,0.00,0.000,6,0.000,0.034,2586,2253,3426
$GC,13508,-0.96,-146.6,952.0,-6.9,646,13509,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2253,3426
$GC,13817,-0.96,-146.6,974.5,-7.8,661,13821,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3651,3426
$GC,13881,-0.96,-146.6,980.0,-9.3,664,13885,0.00,2.42,0.00,0.000,6,0.000,0.034,2586,2239,3426
$STATE,13957,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13957,begin apogee
$GC,13966,-0.36,0.0,987.2,8.8,668,14101,0.62,0.00,130.70,1.409,6,0.064,0.000,2721,1467,2832
$STATE,14101,end apogee,CONTROL_FINISHED_OK
$STATE,14102,begin climb
$GC,14104,0.96,146.6,994.7,0.0,675,14245,1.33,2.28,131.77,1.374,4,0.061,0.061,3007,271,2234
$GC,14276,1.03,197.1,991.3,4.6,683,14328,0.00,2.05,46.40,1.330,6,0.000,0.035,3007,1464,2028
$GC,14646,1.03,197.1,962.6,6.5,701,14650,0.00,2.47,0.00,0.000,4,0.000,0.045,3007,2854,2020
$GC,14685,1.07,229.4,960.0,5.1,703,14721,0.10,2.50,29.75,1.305,6,0.048,0.040,3057,1447,1896
$GC,15036,1.07,229.4,929.7,10.2,719,15038,0.12,0.00,0.00,0.000,6,0.078,0.000,3030,1447,1891
$GC,15341,1.07,229.4,902.6,8.1,734,15345,0.00,2.50,0.00,0.000,4,0.000,0.044,3030,2857,1889
$GC,15403,1.07,229.4,897.7,6.8,737,15407,0.00,2.50,0.00,0.000,6,0.000,0.039,3030,1456,1889
$GC,15734,1.07,229.4,874.1,7.5,753,15735,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1456,1889
$GC,16044,1.07,229.4,850.8,7.4,768,16048,0.00,2.47,0.00,0.000,4,0.000,0.044,3030,2852,1888
$GC,16107,1.07,229.4,846.0,7.5,771,16112,0.00,2.47,0.00,0.000,6,0.000,0.039,3030,1447,1886
$GC,16434,1.07,229.4,817.7,8.9,787,16439,0.00,2.50,0.00,0.000,4,0.000,0.043,3030,2842,1887
$GC,16461,1.07,229.4,815.0,10.1,788,16465,0.00,2.45,0.00,0.000,6,0.000,0.038,3030,1447,1887
$GC,16783,1.07,229.4,785.6,9.0,804,16788,0.00,2.47,0.00,0.000,4,0.000,0.042,3030,2851,1887
$GC,16811,1.07,229.4,782.9,8.7,805,16816,0.00,2.45,0.00,0.000,6,0.000,0.039,3030,1464,1887
$GC,17132,1.07,229.4,754.7,8.7,821,17136,0.00,2.45,0.00,0.000,4,0.000,0.041,3030,2855,1886
$GC,17159,1.07,229.4,752.1,9.6,822,17163,0.00,2.47,0.00,0.000,6,0.000,0.038,3030,1445,1886
$GC,17474,1.07,229.4,724.5,8.6,837,17479,0.00,2.50,0.00,0.000,4,0.000,0.041,3030,2851,1886
$GC,17513,1.07,229.4,721.1,8.6,838,17520,0.00,2.45,0.00,0.000,6,0.000,0.038,3030,1460,1886
$GC,17829,1.07,229.4,694.9,8.1,854,17830,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1460,1886
$GC,18138,1.07,229.4,670.2,8.0,869,18142,0.00,2.45,0.00,0.000,4,0.000,0.041,3030,2857,1886
$GC,18196,1.07,229.4,665.7,9.1,871,18202,0.00,2.45,0.00,0.000,6,0.000,0.037,3030,1451,1886
$GC,18511,1.07,229.4,639.5,8.4,887,18513,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1451,1886
$GC,18820,1.07,229.4,612.8,8.3,902,18824,0.00,2.47,0.00,0.000,4,0.000,0.042,3030,2857,1886
$GC,18870,1.07,229.4,608.4,9.3,904,18874,0.00,2.45,0.00,0.000,6,0.000,0.038,3030,1456,1886
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$STATE,26741,end climb,SURFACE_DEPTH_REACHED
$STATE,26741,begin surface coast
$FINISH,0.3,1.004767
$STATE,26781,end surface coast,CONTROL_FINISHED_OK
$STATE,26781,begin surface
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$TT8_MAMPS,0.026845
$HUMID,1925
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$TCM_TEMP,17.80
$XPDR_PINGS,0
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$24V_AH,23.1,57.991
$10V_AH,10.1,35.060
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$DEVICE_SECS,25.650,282.675,410.225,0.000,0.000,52.143,71.914,239.831,8.500,0.000,0.000,15.717,2419.655,20296.863,578.657,2941.023,1189.594,0.000,2149.606,0.000,3148.887,0.000,57.282,0.000
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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,66312,1287
$CAP_FILE_SIZE,207172,0
$CFSIZE,260165632,238043136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,140809,053100,6130.020,-930.987,37,1.1,38,-9.5