version: 66.04
glider: 105
mission: 6
dive: 206
start: 7 29 109 10 11 45
data:
$ID,105
$MISSION,6
$DIVE,206
$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,-1631703.6
$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,26
$R_STBD_OVSHOOT,43
$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
$GPS1,100337,6215.437,-1120.495,31,1.7,32,-10.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-59.0
$GPS2,101125,6215.424,-1120.513,11,1.1,16,-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,101.9,39255,-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,-59.95,0.000,6,0.000,0.000,380,2269,3430
$GC,81,-0.96,-146.6,4.6,-9.0,3,102,11.77,2.55,0.00,0.000,4,0.134,0.037,2586,841,3432
$GC,263,-0.96,-146.6,26.0,-6.8,11,268,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2243,3433
$GC,592,-0.96,-146.6,45.8,-7.1,27,596,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3655,3434
$GC,635,-0.96,-146.6,49.4,-7.9,29,640,0.00,2.42,0.00,0.000,6,0.000,0.028,2586,2231,3434
$GC,957,-0.96,-146.6,75.9,-9.4,45,962,0.00,2.58,0.00,0.000,4,0.000,0.051,2586,3654,3435
$GC,1091,-0.96,-146.6,88.9,-8.9,51,1095,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2250,3434
$GC,1413,-0.96,-146.6,112.6,-6.6,67,1417,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3652,3434
$GC,1484,-0.96,-146.6,117.8,-7.0,70,1489,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2242,3435
$GC,1800,-0.96,-146.6,140.4,-7.6,85,1805,0.00,2.55,0.00,0.000,4,0.000,0.052,2586,3652,3435
$GC,1878,-0.96,-146.6,146.5,-7.6,88,1885,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2243,3435
$GC,2195,-0.96,-146.6,169.3,-7.0,104,2199,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3650,3434
$GC,2289,-0.96,-146.6,176.4,-6.9,108,2293,0.00,2.38,0.00,0.000,6,0.000,0.029,2586,2252,3434
$GC,2608,-0.96,-146.6,197.7,-6.6,123,2612,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3652,3434
$GC,2657,-0.96,-146.6,201.5,-7.4,125,2661,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2247,3434
$GC,2972,-0.96,-146.6,220.8,-5.9,140,2977,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3649,3434
$GC,3068,-0.96,-146.6,226.8,-6.1,144,3072,0.00,2.42,0.00,0.000,6,0.000,0.029,2586,2247,3434
$GC,3388,-0.96,-146.6,245.8,-6.0,160,3392,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3648,3434
$GC,3459,-0.96,-146.6,250.5,-6.4,163,3463,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2241,3433
$GC,3775,-0.96,-146.6,269.2,-6.3,178,3779,0.00,2.55,0.00,0.000,4,0.000,0.052,2586,3654,3433
$GC,3830,-0.96,-146.6,273.1,-7.0,180,3837,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2249,3433
$GC,4146,-0.96,-146.6,292.3,-6.0,196,4151,0.00,2.55,0.00,0.000,4,0.000,0.051,2586,3648,3433
$GC,4214,-0.96,-146.6,296.6,-6.3,199,4218,0.00,2.38,0.00,0.000,6,0.000,0.029,2586,2250,3433
$GC,4541,-0.96,-146.6,317.4,-6.9,215,4545,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3654,3432
$GC,4607,-0.96,-146.6,322.7,-7.7,218,4612,0.00,2.42,0.00,0.000,6,0.000,0.030,2586,2251,3432
$GC,4933,-0.96,-146.6,345.1,-6.9,234,4938,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3655,3432
$GC,4978,-0.96,-146.6,348.4,-7.1,236,4982,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2251,3432
$GC,5304,-0.96,-146.6,371.0,-7.0,252,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2251,3431
$GC,5615,-0.96,-146.6,393.6,-6.9,267,5620,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3657,3431
$GC,5710,-0.96,-146.6,401.2,-7.5,271,5714,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3431
$GC,6026,-0.96,-146.6,423.9,-7.5,286,6031,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3651,3431
$GC,6116,-0.96,-146.6,431.3,-8.1,290,6121,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2252,3430
$GC,6448,-0.96,-146.6,456.9,-7.7,306,6453,0.00,2.55,0.00,0.000,4,0.000,0.053,2586,3648,3430
$GC,6500,-0.96,-146.6,461.0,-8.2,308,6504,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2247,3430
$GC,6821,-0.96,-146.6,484.3,-7.1,324,6825,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3645,3430
$GC,6875,-0.96,-146.6,488.5,-7.4,326,6879,0.00,2.40,0.00,0.000,6,0.000,0.032,2586,2244,3430
$GC,7191,-0.96,-146.6,510.5,-6.8,341,7196,0.00,2.58,0.00,0.000,4,0.000,0.055,2586,3650,3430
$GC,7242,-0.96,-146.6,514.2,-7.8,343,7246,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2251,3430
$GC,7562,-0.96,-146.6,535.2,-6.1,359,7567,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3650,3430
$GC,7609,-0.96,-146.6,538.2,-6.7,361,7614,0.00,2.40,0.00,0.000,6,0.000,0.032,2586,2249,3430
$GC,7936,-0.96,-146.6,558.8,-6.3,377,7941,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3648,3430
$GC,7987,-0.96,-146.6,562.3,-7.4,379,7991,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2249,3430
$GC,8308,-0.96,-146.6,582.7,-6.2,395,8312,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3651,3429
$GC,8374,-0.96,-146.6,587.4,-7.0,398,8379,0.00,2.40,0.00,0.000,6,0.000,0.032,2586,2252,3429
$GC,8698,-0.96,-146.6,608.8,-6.7,414,8702,0.00,2.50,0.00,0.000,4,0.000,0.052,2586,3650,3430
$GC,8742,-0.96,-146.6,612.2,-7.9,416,8746,0.00,2.40,0.00,0.000,6,0.000,0.032,2586,2250,3429
$GC,9063,-0.96,-146.6,634.7,-7.0,432,9067,0.00,2.50,0.00,0.000,4,0.000,0.052,2586,3650,3429
$GC,9118,-0.96,-146.6,638.8,-7.7,434,9124,0.00,2.40,0.00,0.000,6,0.000,0.032,2586,2252,3429
$GC,9434,-0.96,-146.6,660.2,-6.8,450,9439,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3655,3429
$GC,9474,-0.96,-146.6,662.8,-7.1,452,9478,0.00,2.42,0.00,0.000,6,0.000,0.033,2586,2240,3429
$GC,9800,-0.96,-146.6,685.4,-7.4,468,9805,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3651,3429
$GC,9885,-0.96,-146.6,692.2,-8.3,472,9889,0.00,2.40,0.00,0.000,6,0.000,0.032,2586,2253,3429
$GC,10211,-0.96,-146.6,718.9,-8.3,488,10215,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3656,3429
$GC,10266,-0.96,-146.6,723.8,-9.8,490,10274,0.00,2.45,0.00,0.000,6,0.000,0.033,2586,2253,3429
$GC,10582,-0.96,-146.6,749.7,-8.1,506,10587,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3654,3429
$GC,10637,-0.96,-146.6,754.3,-8.0,508,10642,0.00,2.45,0.00,0.000,6,0.000,0.034,2586,2251,3429
$GC,10959,-0.96,-146.6,776.2,-6.4,524,10960,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2251,3429
$GC,11267,-0.96,-146.6,796.1,-6.6,539,11271,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3650,3428
$GC,11330,-0.96,-146.6,800.5,-7.0,542,11334,0.00,2.42,0.00,0.000,6,0.000,0.034,2586,2238,3429
$GC,11659,-0.96,-146.6,820.3,-5.6,558,11663,0.00,2.55,0.00,0.000,4,0.000,0.055,2586,3648,3428
$GC,11765,-0.96,-146.6,826.7,-5.8,563,11770,0.00,2.40,0.00,0.000,6,0.000,0.033,2586,2253,3428
$GC,12093,-0.96,-146.6,842.7,-4.9,579,12094,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2253,3428
$GC,12402,-0.96,-146.6,858.1,-5.6,594,12403,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2253,3428
$GC,12713,-0.96,-146.6,879.1,-7.2,609,12717,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3650,3428
$GC,12954,-0.96,-146.6,896.4,-6.9,620,12958,0.00,2.42,0.00,0.000,6,0.000,0.035,2586,2246,3427
$GC,13282,-0.96,-146.6,915.3,-5.8,636,13283,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2245,3428
$GC,13591,-0.96,-146.6,932.2,-5.5,651,13596,0.00,2.50,0.00,0.000,4,0.000,0.051,2586,853,3427
$GC,13630,-0.96,-146.6,934.5,-5.4,652,13636,0.00,2.45,0.00,0.000,6,0.000,0.039,2586,2257,3426
$GC,13946,-0.96,-146.6,952.5,-5.6,668,13947,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2257,3426
$GC,14255,-0.96,-146.6,969.1,-5.7,683,14256,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2257,3425
$STATE,14355,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14355,begin apogee
$GC,14363,-0.36,0.0,975.2,6.0,688,14499,0.62,0.00,130.65,1.435,6,0.066,0.000,2720,1466,2832
$STATE,14499,end apogee,CONTROL_FINISHED_OK
$STATE,14499,begin climb
$GC,14502,0.96,146.6,979.5,0.0,695,14645,1.30,0.00,133.35,1.396,6,0.053,0.000,3006,1466,2233
$GC,14958,0.98,158.8,957.5,5.7,717,14979,0.00,2.60,11.45,1.228,4,0.000,0.047,3005,2859,2182
$GC,15035,0.98,158.8,952.1,6.4,720,15039,0.00,2.55,0.00,0.000,6,0.000,0.043,3006,1457,2181
$GC,15356,0.99,166.3,933.2,5.8,736,15366,0.00,0.00,7.68,1.141,6,0.000,0.000,3005,1457,2154
$GC,15668,1.01,181.5,916.3,5.6,751,15690,0.00,2.60,15.85,1.300,4,0.000,0.048,3005,2862,2089
$GC,15781,1.01,181.5,909.1,6.4,756,15786,0.00,2.53,0.00,0.000,6,0.000,0.042,3005,1452,2087
$GC,16107,1.06,220.4,890.3,4.9,772,16151,0.10,2.60,37.10,1.362,4,0.049,0.048,3059,2846,1932
$GC,16170,1.06,220.4,885.7,7.4,775,16175,0.15,2.50,0.00,0.000,6,0.074,0.044,3028,1455,1931
$GC,16498,1.06,220.4,859.3,8.7,791,16502,0.00,2.50,0.00,0.000,4,0.000,0.046,3028,2858,1926
$GC,16553,1.06,220.4,854.2,9.0,793,16559,0.00,2.50,0.00,0.000,6,0.000,0.040,3028,1451,1925
$GC,16871,1.06,220.4,827.2,8.5,809,16875,0.00,2.50,0.00,0.000,4,0.000,0.045,3028,2857,1925
$GC,16965,1.06,220.4,819.0,8.2,813,16969,0.00,2.47,0.00,0.000,6,0.000,0.039,3028,1453,1924
$GC,17281,1.06,220.4,794.1,8.0,828,17285,0.00,2.50,0.00,0.000,4,0.000,0.044,3028,2857,1924
$GC,17358,1.06,220.4,787.4,8.8,831,17365,0.00,2.47,0.00,0.000,6,0.000,0.038,3028,1452,1923
$GC,17674,1.06,220.4,759.2,9.0,847,17675,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1451,1923
$GC,17986,1.06,220.4,732.5,8.3,862,17990,0.00,2.47,0.00,0.000,4,0.000,0.042,3028,2858,1923
$GC,18026,1.06,220.4,728.9,10.1,864,18030,0.00,2.47,0.00,0.000,6,0.000,0.037,3028,1446,1923
$GC,18352,1.06,220.4,701.7,8.5,880,18356,0.00,2.50,0.00,0.000,4,0.000,0.041,3028,2865,1923
$GC,18396,1.06,220.4,697.9,8.8,882,18401,0.00,2.50,0.00,0.000,6,0.000,0.037,3028,1457,1923
$GC,18722,1.06,220.4,671.2,8.1,898,18726,0.00,2.45,0.00,0.000,4,0.000,0.041,3028,2862,1923
$GC,18762,1.06,220.4,667.9,7.4,900,18766,0.00,2.47,0.00,0.000,6,0.000,0.036,3028,1445,1923
$GC,19089,1.06,220.4,643.1,7.6,916,19093,0.00,2.47,0.00,0.000,4,0.000,0.041,3028,2860,1923
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$STATE,27689,end climb,SURFACE_DEPTH_REACHED
$STATE,27689,begin surface coast
$FINISH,0.2,1.026549
$STATE,27731,end surface coast,CONTROL_FINISHED_OK
$STATE,27732,begin surface
$SM_CCo,27755,35.15,0.759,0,0,1608,300.00
$SM_GC,1.00,0.00,0.00,35.15,0.000,0.000,0.759,390,2254,1608,-11.09,0.11,300.00
$IRIDIUM_FIX,6153.50,-1124.04,231098,020209
$TT8_MAMPS,0.027612
$HUMID,1864
$INTERNAL_PRESSURE,8.13832
$TCM_TEMP,17.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,901.2,83.4
$24V_AH,23.1,46.977
$10V_AH,10.1,28.687
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.325,285.175,356.325,35.150,0.000,23.301,29.759,270.575,8.000,0.000,0.000,16.363,2495.198,21001.869,602.889,2997.768,1150.248,0.000,2168.026,0.000,3218.248,0.000,54.148,0.000
$DEVICE_MAMPS,134.225,55.224,1435.057,758.563,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1057.193,1037.724,727.972,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69372,1332
$CAP_FILE_SIZE,206978,0
$CFSIZE,260165632,242610176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,290709,175606,6215.349,-1112.148,29,1.0,30,-10.7