version: 66.04
glider: 105
mission: 6
dive: 270
start: 8 13 109 1 43 58
data:
$ID,105
$MISSION,6
$DIVE,270
$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,-1632837.2
$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,23
$R_STBD_OVSHOOT,36
$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
$GPS1,013707,6146.379,-928.387,41,0.8,41,-9.6
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-63.6
$GPS2,014338,6146.393,-928.451,14,1.0,14,-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,162.3,55028,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-56.90,0.000,6,0.000,0.000,396,2262,3430
$GC,80,-0.96,-146.6,5.9,-11.3,3,101,11.65,2.53,0.00,0.000,4,0.133,0.048,2584,3644,3432
$GC,408,-0.96,-146.6,57.6,-13.6,17,415,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2227,3433
$GC,725,-0.96,-146.6,90.3,-8.0,33,729,0.00,2.58,0.00,0.000,4,0.000,0.051,2584,3650,3434
$GC,802,-0.96,-146.6,95.8,-6.9,36,809,0.00,2.42,0.00,0.000,6,0.000,0.030,2584,2232,3434
$GC,1118,-0.96,-146.6,110.8,-4.1,52,1123,0.00,2.55,0.00,0.000,4,0.000,0.051,2584,3643,3434
$GC,1182,-0.96,-146.6,114.4,-6.0,55,1186,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2251,3434
$GC,1508,-0.96,-146.6,135.0,-7.1,71,1512,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3650,3434
$GC,1580,-0.96,-146.6,140.3,-7.3,74,1584,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2248,3434
$GC,1895,-0.96,-146.6,160.0,-6.4,89,1900,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3645,3434
$GC,1996,-0.96,-146.6,167.9,-8.4,93,2003,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2239,3435
$GC,2312,-0.96,-146.6,191.3,-7.4,109,2316,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3647,3434
$GC,2425,-0.96,-146.6,200.3,-8.1,114,2429,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2247,3434
$GC,2745,-0.96,-146.6,224.7,-7.9,130,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3434
$GC,3056,-0.96,-146.6,248.5,-7.6,145,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3434
$GC,3364,-0.96,-146.6,271.0,-4.7,160,3368,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3647,3434
$GC,3499,-0.96,-146.6,281.6,-6.6,166,3504,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2252,3433
$GC,3826,-0.96,-146.6,306.0,-7.5,182,3830,0.00,2.50,0.00,0.000,4,0.000,0.052,2584,3643,3433
$GC,3920,-0.96,-146.6,312.9,-7.0,186,3925,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2241,3433
$GC,4238,-0.96,-146.6,333.7,-7.4,201,4242,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3642,3432
$GC,4287,-0.96,-146.6,337.6,-7.1,203,4292,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2244,3432
$GC,4604,-0.96,-146.6,356.9,-6.2,218,4608,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3641,3432
$GC,4666,-0.96,-146.6,361.2,-6.8,221,4670,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2244,3432
$GC,4992,-0.96,-146.6,380.5,-5.8,237,4996,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3642,3432
$GC,5104,-0.96,-146.6,387.6,-6.1,242,5109,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2248,3432
$GC,5431,-0.96,-146.6,402.8,-3.9,258,5435,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3648,3432
$GC,5550,-0.96,-146.6,408.3,-4.4,263,5554,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2246,3432
$GC,5865,-0.96,-146.6,423.5,-5.0,278,5869,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3642,3431
$GC,5954,-0.96,-146.6,429.4,-6.9,282,5959,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2248,3431
$GC,6282,-0.96,-146.6,450.2,-6.5,298,6286,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3648,3431
$GC,6345,-0.96,-146.6,454.2,-6.2,301,6349,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3432
$GC,6672,-0.96,-146.6,478.1,-8.3,317,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2248,3431
$GC,6982,-0.96,-146.6,503.5,-6.4,332,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2245,3431
$GC,7291,-0.96,-146.6,525.2,-7.9,347,7295,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3642,3430
$GC,7363,-0.96,-146.6,532.2,-9.8,350,7367,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2237,3430
$GC,7679,-0.96,-146.6,565.3,-10.5,365,7683,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3644,3430
$GC,7773,-0.96,-146.6,573.9,-8.3,369,7778,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2254,3430
$GC,8090,-0.96,-146.6,595.0,-6.0,384,8094,0.00,2.50,0.00,0.000,4,0.000,0.052,2584,3644,3430
$GC,8179,-0.96,-146.6,600.6,-6.6,388,8183,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2248,3430
$GC,8502,-0.96,-146.6,617.1,-5.2,404,8506,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3646,3429
$GC,8574,-0.96,-146.6,622.1,-7.2,407,8579,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2252,3429
$GC,8896,-0.96,-146.6,650.9,-10.9,423,8897,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3429
$GC,9205,-0.96,-146.6,692.7,-14.2,438,9209,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3645,3430
$GC,9226,-0.96,-146.6,694.6,-9.0,439,9231,0.00,2.42,0.00,0.000,6,0.000,0.032,2584,2250,3430
$GC,9553,-0.96,-146.6,756.1,-16.0,455,9558,0.00,2.50,0.00,0.000,4,0.000,0.046,2584,845,3430
$GC,9585,-0.96,-146.6,759.5,-11.1,456,9590,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2239,3430
$GC,9906,-0.96,-146.6,789.0,-10.7,472,9911,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3651,3430
$GC,10149,-0.96,-146.6,807.4,-4.7,483,10153,0.00,2.42,0.00,0.000,6,0.000,0.034,2584,2240,3430
$GC,10475,-0.96,-146.6,826.0,-5.6,499,10480,0.00,2.58,0.00,0.000,4,0.000,0.058,2584,3649,3429
$GC,10605,-0.96,-146.6,826.1,1.0,505,10610,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2245,3429
$GC,10936,-0.96,-146.6,841.7,-4.2,521,10940,0.00,2.47,0.00,0.000,4,0.000,0.050,2584,850,3428
$GC,11205,-0.96,-146.6,860.9,-8.3,533,11209,0.00,2.47,0.00,0.000,6,0.000,0.041,2584,2257,3427
$STATE,11255,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11255,begin apogee
$GC,11263,-0.36,0.0,865.8,9.9,536,11399,0.65,0.00,129.50,1.370,6,0.070,0.000,2722,1462,2832
$STATE,11399,end apogee,CONTROL_FINISHED_OK
$STATE,11399,begin climb
$GC,11402,0.96,146.6,872.4,0.0,543,11541,1.33,2.28,131.05,1.330,4,0.061,0.066,3007,263,2233
$GC,11769,0.96,146.6,858.3,6.8,559,11773,0.00,2.08,0.00,0.000,6,0.000,0.039,3006,1459,2224
$GC,12104,0.96,146.6,826.3,8.5,575,12105,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1459,2220
$GC,12410,1.17,315.5,815.5,1.4,590,12572,0.20,2.62,150.75,1.348,4,0.032,0.051,3089,2854,1544
$GC,12651,1.17,315.5,801.3,6.6,601,12656,0.17,2.50,0.00,0.000,6,0.071,0.045,3052,1455,1537
$GC,12972,1.17,315.5,781.8,6.9,617,12977,0.00,2.53,0.00,0.000,4,0.000,0.050,3052,2858,1531
$GC,13035,1.17,315.5,776.7,9.5,620,13039,0.00,2.50,0.00,0.000,6,0.000,0.043,3052,1454,1530
$GC,13361,1.17,315.5,738.0,10.7,636,13365,0.00,2.17,0.00,0.000,4,0.000,0.064,3051,264,1528
$GC,13389,1.17,315.5,734.5,11.6,637,13393,0.00,2.05,0.00,0.000,6,0.000,0.035,3052,1459,1528
$GC,13716,1.17,315.5,694.0,12.1,653,13721,0.00,2.22,0.00,0.000,4,0.000,0.060,3052,260,1527
$GC,13771,1.17,315.5,686.2,13.6,655,13775,0.00,2.05,0.00,0.000,6,0.000,0.034,3052,1456,1527
$GC,14093,1.17,315.5,652.6,9.4,671,14098,0.00,2.50,0.00,0.000,4,0.000,0.044,3053,2846,1526
$GC,14125,1.17,315.5,650.0,7.1,672,14130,0.00,2.47,0.00,0.000,6,0.000,0.039,3052,1445,1526
$GC,14444,1.23,363.9,632.4,4.7,687,14488,0.00,0.00,42.25,1.211,6,0.000,0.000,3052,1445,1348
$GC,14793,1.25,379.8,611.6,5.6,704,14815,0.00,2.20,15.68,1.113,4,0.000,0.058,3052,261,1282
$GC,14832,1.26,386.4,608.9,5.8,705,14845,0.10,2.05,7.53,0.966,6,0.048,0.035,3085,1456,1256
$GC,15169,1.26,386.4,582.4,8.0,722,15173,0.00,2.17,0.00,0.000,4,0.000,0.058,3085,264,1252
$GC,15247,1.26,386.4,574.7,10.3,725,15252,0.00,2.08,0.00,0.000,6,0.000,0.033,3086,1456,1251
$GC,15568,1.26,386.4,543.7,10.3,741,15572,0.00,2.17,0.00,0.000,4,0.000,0.059,3085,262,1251
$GC,15646,1.26,386.4,534.0,11.7,744,15650,0.00,2.03,0.00,0.000,6,0.000,0.034,3085,1455,1251
$GC,15968,1.26,386.4,489.2,14.8,760,15972,0.00,2.17,0.00,0.000,4,0.000,0.059,3085,261,1250
$GC,16036,1.26,386.4,478.8,15.3,763,16039,0.00,2.05,0.00,0.000,6,0.000,0.034,3086,1456,1250
$GC,16370,1.26,386.4,435.4,12.5,779,16374,0.00,2.17,0.00,0.000,4,0.000,0.058,3085,258,1250
$GC,16398,1.26,386.4,431.6,12.5,780,16403,0.00,2.08,0.00,0.000,6,0.000,0.033,3086,1454,1250
$GC,16725,1.26,386.4,396.1,10.5,796,16729,0.00,2.15,0.00,0.000,4,0.000,0.058,3086,265,1250
$GC,16770,1.26,386.4,391.1,11.1,798,16774,0.00,2.03,0.00,0.000,6,0.000,0.033,3085,1457,1250
$GC,17103,1.26,386.4,359.7,9.1,814,17107,0.00,2.17,0.00,0.000,4,0.000,0.058,3085,261,1250
$GC,17153,1.26,386.4,354.6,10.2,816,17157,0.00,2.03,0.00,0.000,6,0.000,0.033,3086,1456,1250
$GC,17480,1.26,386.4,322.5,10.1,832,17484,0.00,2.17,0.00,0.000,4,0.000,0.058,3085,258,1250
$GC,17541,1.26,386.4,315.3,11.7,834,17547,0.00,2.05,0.00,0.000,6,0.000,0.032,3086,1456,1250
$GC,17860,1.26,386.4,280.4,11.3,850,17863,0.00,2.15,0.00,0.000,4,0.000,0.058,3086,265,1250
$GC,17893,1.26,386.4,276.0,11.9,851,17897,0.00,2.03,0.00,0.000,6,0.000,0.033,3085,1460,1250
$GC,18214,1.26,386.4,239.2,11.8,867,18218,0.00,2.17,0.00,0.000,4,0.000,0.058,3086,258,1250
$GC,18276,1.26,386.4,231.5,12.5,869,18282,0.00,2.08,0.00,0.000,6,0.000,0.033,3086,1454,1250
$GC,18591,1.26,386.4,194.5,11.7,885,18595,0.00,2.15,0.00,0.000,4,0.000,0.058,3086,261,1250
$GC,18640,1.26,386.4,188.5,11.6,887,18644,0.00,2.03,0.00,0.000,6,0.000,0.032,3085,1455,1250
$GC,18968,1.26,386.4,153.2,11.3,903,18972,0.00,2.15,0.00,0.000,4,0.000,0.057,3086,264,1250
$GC,19002,1.26,386.4,148.7,12.2,904,19006,0.00,2.03,0.00,0.000,6,0.000,0.032,3086,1455,1250
$GC,19324,1.26,386.4,103.0,14.9,920,19328,0.00,2.15,0.00,0.000,4,0.000,0.056,3086,262,1251
$GC,19397,1.26,386.4,90.2,16.2,923,19400,0.00,2.03,0.00,0.000,6,0.000,0.031,3085,1455,1251
$GC,19724,1.26,386.4,51.1,11.5,939,19727,0.00,2.15,0.00,0.000,4,0.000,0.055,3086,260,1251
$GC,19796,1.26,386.4,40.3,14.4,942,19800,0.00,2.05,0.00,0.000,6,0.000,0.031,3086,1462,1251
$STATE,20121,end climb,SURFACE_DEPTH_REACHED
$STATE,20121,begin surface coast
$FINISH,0.2,1.003140
$STATE,20143,end surface coast,CONTROL_FINISHED_OK
$STATE,20143,begin surface
$SM_CCo,20227,0.00,0.000,0,0,1250,388.06
$SM_GC,1.15,11.62,0.00,0.00,0.024,0.000,0.000,388,2241,1250,-10.99,-0.25,388.06
$IRIDIUM_FIX,6126.23,-931.48,061198,191920
$TT8_MAMPS,0.026845
$HUMID,1934
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,17.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,776.4,98.8
$24V_AH,23.1,57.440
$10V_AH,10.1,34.696
$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,25.725,203.300,476.750,0.000,0.000,27.375,26.793,202.401,6.750,0.000,0.000,14.374,1857.595,14859.999,560.885,2436.730,894.844,0.000,1851.131,0.000,2566.627,0.000,46.088,0.000
$DEVICE_MAMPS,132.691,65.962,1369.862,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,780.017,731.866,521.876,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50615,959
$CAP_FILE_SIZE,158460,0
$CFSIZE,260165632,238354432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,130809,072207,6142.290,-934.068,25,1.5,25,-9.6