version: 66.04
glider: 105
mission: 6
dive: 209
start: 7 30 109 9 1 16
data:
$ID,105
$MISSION,6
$DIVE,209
$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,-1631747.8
$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,25
$R_STBD_OVSHOOT,32
$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
$GPS1,085406,6215.566,-1058.683,40,1.2,40,-10.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-61.3
$GPS2,090056,6215.584,-1058.810,13,1.6,13,-10.6
$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,103.6,20560,-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,-59.38,0.000,6,0.000,0.000,391,2251,3432
$GC,81,-0.96,-146.6,5.0,-9.9,3,102,11.65,2.58,0.00,0.000,4,0.133,0.051,2583,3650,3433
$GC,439,-0.96,-146.6,45.0,-7.8,19,444,0.00,2.45,0.00,0.000,6,0.000,0.030,2583,2234,3435
$GC,772,-0.96,-146.6,68.3,-7.7,35,776,0.00,2.58,0.00,0.000,4,0.000,0.051,2583,3653,3436
$GC,928,-0.96,-146.6,80.5,-7.5,42,933,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2249,3436
$GC,1250,-0.96,-146.6,102.3,-6.7,58,1255,0.00,2.55,0.00,0.000,4,0.000,0.052,2583,3642,3436
$GC,1344,-0.96,-146.6,109.5,-7.8,62,1349,0.00,2.38,0.00,0.000,6,0.000,0.030,2583,2251,3436
$GC,1666,-0.96,-146.6,132.1,-7.1,78,1670,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3647,3436
$GC,1732,-0.96,-146.6,137.5,-8.2,81,1737,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2245,3436
$GC,2053,-0.96,-146.6,160.9,-7.1,97,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2245,3436
$GC,2364,-0.96,-146.6,184.1,-7.7,112,2368,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3650,3436
$GC,2474,-0.96,-146.6,193.4,-8.3,117,2478,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3435
$GC,2795,-0.96,-146.6,216.3,-6.8,133,2800,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3649,3435
$GC,2845,-0.96,-146.6,219.9,-7.2,135,2850,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2250,3435
$GC,3161,-0.96,-146.6,240.3,-6.7,150,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2249,3434
$GC,3470,-0.96,-146.6,261.7,-7.0,165,3474,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3648,3434
$GC,3559,-0.96,-146.6,268.7,-7.9,169,3563,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2243,3434
$GC,3880,-0.96,-146.6,292.7,-7.5,185,3884,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3651,3434
$GC,3948,-0.96,-146.6,298.1,-8.4,188,3952,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3433
$GC,4269,-0.96,-146.6,321.8,-7.0,204,4274,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3650,3433
$GC,4318,-0.96,-146.6,325.6,-7.4,206,4322,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3433
$GC,4640,-0.96,-146.6,348.2,-7.0,222,4645,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3647,3433
$GC,4707,-0.96,-146.6,353.0,-7.3,225,4711,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2240,3433
$GC,5034,-0.96,-146.6,374.9,-6.8,241,5039,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3650,3433
$GC,5106,-0.96,-146.6,380.5,-8.0,244,5110,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2246,3433
$GC,5426,-0.96,-146.6,404.9,-7.8,260,5431,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3642,3433
$GC,5498,-0.96,-146.6,411.2,-8.7,263,5503,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2236,3433
$GC,5820,-0.96,-146.6,436.2,-7.9,279,5824,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3651,3433
$GC,5908,-0.96,-146.6,443.5,-8.3,283,5913,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3432
$GC,6230,-0.96,-146.6,467.3,-7.2,299,6234,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3650,3432
$GC,6285,-0.96,-146.6,471.7,-7.8,301,6292,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2238,3432
$GC,6600,-0.96,-146.6,494.8,-7.2,317,6605,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3648,3432
$GC,6686,-0.96,-146.6,501.2,-7.7,321,6690,0.00,2.38,0.00,0.000,6,0.000,0.031,2583,2254,3432
$GC,7012,-0.96,-146.6,524.2,-7.0,337,7016,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3651,3432
$GC,7067,-0.96,-146.6,528.5,-7.8,339,7074,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2250,3432
$GC,7387,-0.96,-146.6,550.7,-7.2,355,7391,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3648,3432
$GC,7449,-0.96,-146.6,555.6,-8.1,358,7453,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2244,3432
$GC,7775,-0.96,-146.6,577.6,-6.5,374,7779,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3654,3432
$GC,7837,-0.96,-146.6,581.7,-6.7,377,7842,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2252,3432
$GC,8167,-0.96,-146.6,602.0,-6.2,393,8171,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3652,3432
$GC,8233,-0.96,-146.6,606.6,-6.6,396,8237,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3432
$GC,8555,-0.96,-146.6,626.9,-6.1,412,8559,0.00,2.50,0.00,0.000,4,0.000,0.053,2583,3648,3432
$GC,8632,-0.96,-146.6,632.3,-7.7,415,8639,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2227,3432
$GC,8949,-0.96,-146.6,649.2,-4.9,431,8950,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2227,3432
$GC,9260,-0.96,-146.6,665.9,-6.1,446,9264,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3648,3432
$GC,9371,-0.96,-146.6,673.8,-7.1,451,9375,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2247,3431
$GC,9692,-0.96,-146.6,693.6,-5.9,467,9696,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3648,3431
$GC,9747,-0.96,-146.6,697.2,-7.3,469,9753,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2252,3431
$GC,10063,-0.96,-146.6,716.4,-6.2,485,10068,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3651,3431
$GC,10159,-0.96,-146.6,722.9,-6.9,489,10163,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3430
$GC,10477,-0.96,-146.6,741.6,-5.9,504,10481,0.00,2.47,0.00,0.000,4,0.000,0.046,2583,843,3430
$GC,10557,-0.96,-146.6,746.5,-5.9,507,10564,0.00,2.42,0.00,0.000,6,0.000,0.034,2583,2259,3430
$GC,10873,-0.96,-146.6,764.0,-5.9,523,10874,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2260,3430
$GC,11183,-0.96,-146.6,783.0,-6.9,538,11184,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2259,3430
$GC,11492,-0.96,-146.6,803.2,-5.8,553,11493,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2260,3430
$GC,11801,-0.96,-146.6,817.9,-4.3,568,11805,0.00,2.50,0.00,0.000,4,0.000,0.047,2583,850,3429
$GC,11828,-0.96,-146.6,819.3,-5.5,569,11832,0.00,2.45,0.00,0.000,6,0.000,0.037,2583,2257,3429
$GC,12145,-0.96,-146.6,840.9,-7.0,584,12149,0.00,2.53,0.00,0.000,4,0.000,0.059,2583,3653,3429
$GC,12184,-0.96,-146.6,843.8,-8.4,586,12188,0.00,2.42,0.00,0.000,6,0.000,0.035,2583,2246,3429
$GC,12513,-0.96,-146.6,864.9,-6.3,602,12515,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2246,3428
$GC,12821,-0.96,-146.6,882.1,-5.5,617,12825,0.00,2.55,0.00,0.000,4,0.000,0.059,2583,3647,3428
$GC,12944,-0.96,-146.6,889.6,-6.0,622,12950,0.00,2.42,0.00,0.000,6,0.000,0.035,2583,2251,3428
$GC,13260,-0.96,-146.6,908.7,-6.5,638,13264,0.00,2.55,0.00,0.000,4,0.000,0.059,2583,3647,3427
$GC,13315,-0.96,-146.6,912.7,-6.6,640,13322,0.00,2.42,0.00,0.000,6,0.000,0.035,2583,2244,3427
$STATE,13339,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13339,begin apogee
$GC,13347,-0.36,0.0,914.5,6.7,642,13483,0.65,0.00,130.75,1.398,6,0.066,0.000,2723,1465,2832
$STATE,13484,end apogee,CONTROL_FINISHED_OK
$STATE,13484,begin climb
$GC,13487,0.96,146.6,918.9,0.0,649,13626,1.30,2.28,131.60,1.361,4,0.053,0.066,3007,263,2233
$GC,13866,0.96,146.6,899.0,7.7,665,13870,0.00,2.05,0.00,0.000,6,0.000,0.035,3007,1458,2224
$GC,14188,0.98,163.2,881.3,5.5,681,14210,0.00,2.55,14.70,1.253,4,0.000,0.048,3007,2853,2166
$GC,14301,0.98,163.2,874.5,6.5,686,14305,0.00,2.50,0.00,0.000,6,0.000,0.042,3007,1446,2164
$GC,14627,0.98,163.2,851.0,7.9,702,14631,0.00,2.53,0.00,0.000,4,0.000,0.048,3007,2859,2162
$GC,14699,0.98,163.2,845.1,7.8,705,14704,0.00,2.53,0.00,0.000,6,0.000,0.041,3007,1456,2161
$GC,15020,0.98,163.2,822.6,6.5,721,15024,0.00,2.17,0.00,0.000,4,0.000,0.064,3007,264,2160
$GC,15089,0.98,163.2,817.9,7.1,724,15092,0.00,2.05,0.00,0.000,6,0.000,0.036,3006,1456,2160
$GC,15421,0.99,170.4,799.2,5.8,740,15435,0.00,2.53,7.20,1.111,4,0.000,0.047,3007,2852,2136
$GC,15585,0.99,170.4,789.3,6.4,747,15589,0.00,2.47,0.00,0.000,6,0.000,0.041,3007,1450,2135
$GC,15906,1.00,172.7,770.2,5.9,763,15907,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1450,2134
$GC,16215,1.00,172.7,749.9,6.5,778,16220,0.00,2.53,0.00,0.000,4,0.000,0.046,3007,2854,2133
$GC,16298,1.00,172.7,744.1,6.7,781,16305,0.00,2.45,0.00,0.000,6,0.000,0.039,3007,1454,2133
$GC,16614,1.00,172.7,721.7,7.0,797,16617,0.00,2.15,0.00,0.000,4,0.000,0.060,3007,265,2133
$GC,16686,1.00,172.7,716.5,7.7,800,16691,0.00,2.05,0.00,0.000,6,0.000,0.033,3007,1458,2134
$GC,17013,1.01,180.1,697.3,5.8,816,17028,0.00,2.50,10.00,1.130,4,0.000,0.044,3007,2852,2097
$GC,17084,1.01,180.1,692.6,6.4,818,17089,0.00,2.47,0.00,0.000,6,0.000,0.038,3007,1453,2095
$GC,17405,1.01,180.1,668.9,7.5,834,17409,0.00,2.47,0.00,0.000,4,0.000,0.044,3007,2851,2095
$GC,17462,1.01,180.1,664.7,7.5,836,17469,0.00,2.45,0.00,0.000,6,0.000,0.038,3007,1447,2095
$GC,17778,1.01,187.6,644.8,5.8,852,17794,0.00,2.55,8.30,1.045,4,0.000,0.042,3007,2850,2067
$GC,17851,1.03,202.4,640.4,5.6,855,17873,0.00,2.45,15.50,1.137,6,0.000,0.037,3007,1449,2005
$GC,18200,1.03,202.4,617.7,7.0,872,18204,0.00,2.50,0.00,0.000,4,0.000,0.043,3007,2852,2003
$GC,18272,1.03,202.4,612.4,7.2,875,18277,0.00,2.47,0.00,0.000,6,0.000,0.038,3006,1455,2002
$GC,18593,1.03,202.4,589.9,6.8,891,18597,0.00,2.47,0.00,0.000,4,0.000,0.041,3007,2859,2002
$GC,18642,1.03,202.4,586.5,7.0,893,18647,0.00,2.47,0.00,0.000,6,0.000,0.036,3007,1446,2002
$GC,18961,1.03,202.4,566.0,6.3,908,18965,0.00,2.50,0.00,0.000,4,0.000,0.041,3007,2858,2002
$GC,18993,1.03,202.4,563.5,6.1,909,19000,0.00,2.45,0.00,0.000,6,0.000,0.037,3007,1450,2002
$GC,19309,1.03,202.4,543.0,6.5,925,19313,0.00,2.50,0.00,0.000,4,0.000,0.042,3007,2856,2002
$GC,19387,1.03,202.4,537.6,6.6,928,19393,0.00,2.45,0.00,0.000,6,0.000,0.038,3007,1455,2002
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$STATE,26746,end climb,SURFACE_DEPTH_REACHED
$STATE,26746,begin surface coast
$FINISH,0.2,1.001378
$STATE,26790,end surface coast,CONTROL_FINISHED_OK
$STATE,26790,begin surface
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$SM_GC,1.13,0.00,0.00,34.90,0.000,0.000,0.765,393,2264,1609,-11.07,0.40,300.00
$IRIDIUM_FIX,6148.92,-1059.58,241098,020211
$TT8_MAMPS,0.027612
$HUMID,1881
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$TCM_TEMP,14.60
$XPDR_PINGS,0
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$24V_AH,23.1,47.458
$10V_AH,10.1,29.058
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$DEVICE_SECS,25.175,292.675,358.200,34.900,0.000,31.334,28.951,211.963,7.250,0.000,0.000,13.490,2453.562,20048.285,581.866,3068.098,1099.509,0.000,2193.255,0.000,3273.797,0.000,49.333,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1035.082,978.406,723.521,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66236,1288
$CAP_FILE_SIZE,207051,0
$CFSIZE,260165632,242356224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,300709,163006,6215.607,-1054.697,39,1.0,40,-10.5