version: 66.04
glider: 105
mission: 6
dive: 56
start: 6 15 109 14 32 27
data:
$ID,105
$MISSION,6
$DIVE,56
$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,440
$T_MISSION,480
$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,270
$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,-1629047.4
$T_RSLEEP,2
$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,2476
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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
$GPS1,141955,6205.842,-956.934,42,1.0,42,-9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-62.6
$GPS2,143208,6205.847,-956.868,16,1.9,16,-9.9
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6205.847,-1019.945
$TGT_RADIUS,1852.000
$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,279.9,20000,-13.9,-7.500
$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,14,begin dive
$GC,17,-1.17,-146.6,0.0,0.0,0,78,0.00,0.00,-59.25,0.000,6,0.000,0.000,397,2482,3430
$GC,82,-1.17,-146.6,3.9,-7.2,3,102,11.43,2.55,0.00,0.000,4,0.133,0.034,2536,1054,3432
$GC,255,-1.17,-146.6,27.7,-10.2,10,262,0.00,2.47,0.00,0.000,6,0.000,0.033,2536,2476,3433
$GC,571,-1.17,-146.6,57.8,-9.0,26,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2476,3433
$GC,881,-1.17,-146.6,87.9,-9.3,41,885,0.00,2.45,0.00,0.000,4,0.000,0.035,2536,1062,3433
$GC,914,-1.17,-146.6,91.1,-9.5,42,921,0.00,2.45,0.00,0.000,6,0.000,0.033,2536,2475,3433
$GC,1230,-1.17,-146.6,121.6,-9.6,58,1234,0.00,2.45,0.00,0.000,4,0.000,0.035,2536,1061,3433
$GC,1280,-1.17,-146.6,126.6,-9.4,60,1284,0.00,2.47,0.00,0.000,6,0.000,0.035,2536,2477,3433
$GC,1596,-1.17,-146.6,155.5,-9.1,75,1600,0.00,2.47,0.00,0.000,4,0.000,0.036,2536,1056,3433
$GC,1622,-1.17,-146.6,158.1,-9.2,76,1627,0.00,2.47,0.00,0.000,6,0.000,0.035,2536,2479,3433
$GC,1938,-1.17,-146.6,187.4,-9.5,91,1943,0.00,2.50,0.00,0.000,4,0.000,0.038,2536,1062,3433
$GC,1991,-1.17,-146.6,192.3,-9.7,93,1995,0.00,2.47,0.00,0.000,6,0.000,0.036,2536,2476,3433
$GC,2311,-1.17,-146.6,222.6,-9.7,109,2316,0.00,2.50,0.00,0.000,4,0.000,0.038,2536,1061,3433
$GC,2360,-1.17,-146.6,227.5,-9.5,111,2365,0.00,2.47,0.00,0.000,6,0.000,0.037,2536,2477,3433
$GC,2682,-1.17,-146.6,258.6,-9.7,127,2687,0.00,2.47,0.00,0.000,4,0.000,0.038,2536,1058,3433
$GC,2726,-1.17,-146.6,263.0,-9.7,129,2731,0.00,2.50,0.00,0.000,6,0.000,0.037,2536,2484,3432
$GC,3050,-1.17,-146.6,291.4,-8.4,145,3054,0.00,2.47,0.00,0.000,4,0.000,0.039,2536,1065,3432
$GC,3122,-1.17,-146.6,297.8,-8.3,148,3127,0.00,2.50,0.00,0.000,6,0.000,0.038,2536,2472,3432
$GC,3442,-1.17,-146.6,323.9,-7.8,164,3447,0.00,2.45,0.00,0.000,4,0.000,0.039,2536,1064,3432
$GC,3498,-1.17,-146.6,328.4,-8.0,166,3504,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2480,3432
$GC,3814,-1.17,-146.6,352.7,-7.6,182,3818,0.00,2.50,0.00,0.000,4,0.000,0.040,2536,1069,3432
$GC,3874,-1.17,-146.6,357.7,-8.1,184,3880,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2483,3432
$GC,4190,-1.17,-146.6,381.6,-7.5,200,4194,0.00,2.47,0.00,0.000,4,0.000,0.041,2536,1066,3432
$GC,4246,-1.17,-146.6,385.9,-7.9,202,4252,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2480,3432
$GC,4562,-1.17,-146.6,410.4,-8.0,218,4566,0.00,2.47,0.00,0.000,4,0.000,0.041,2536,1065,3432
$GC,4617,-1.17,-146.6,414.9,-8.3,220,4623,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2483,3432
$GC,4933,-1.17,-146.6,440.2,-8.2,236,4938,0.00,2.50,0.00,0.000,4,0.000,0.040,2536,1071,3431
$GC,4971,-1.17,-146.6,443.6,-8.8,237,4977,0.00,2.45,0.00,0.000,6,0.000,0.038,2536,2476,3431
$GC,5286,-1.17,-146.6,469.0,-7.8,253,5290,0.00,2.47,0.00,0.000,4,0.000,0.040,2536,1061,3431
$GC,5342,-1.17,-146.6,473.6,-8.2,255,5348,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2478,3431
$GC,5659,-1.17,-146.6,499.0,-7.9,271,5663,0.00,2.47,0.00,0.000,4,0.000,0.040,2536,1062,3431
$GC,5720,-1.17,-146.6,504.2,-7.9,274,5725,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2481,3431
$GC,6047,-1.17,-146.6,531.0,-8.1,290,6051,0.00,2.47,0.00,0.000,4,0.000,0.040,2536,1065,3431
$GC,6097,-1.17,-146.6,535.0,-8.4,292,6102,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2468,3431
$GC,6418,-1.17,-146.6,560.6,-7.8,308,6422,0.00,2.45,0.00,0.000,4,0.000,0.041,2536,1066,3431
$GC,6484,-1.17,-146.6,565.9,-7.7,311,6488,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2484,3431
$GC,6807,-1.17,-146.6,590.8,-8.1,327,6811,0.00,2.47,0.00,0.000,4,0.000,0.040,2536,1066,3430
$GC,6873,-1.17,-146.6,596.6,-8.5,330,6877,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2483,3431
$GC,7195,-1.17,-146.6,626.7,-9.6,346,7199,0.00,2.47,0.00,0.000,4,0.000,0.040,2536,1066,3430
$GC,7259,-1.17,-146.6,632.7,-9.5,349,7263,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2483,3430
$GC,7585,-1.17,-146.6,661.0,-8.3,365,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2483,3430
$GC,7894,-1.17,-146.6,686.4,-8.6,380,7898,0.00,2.50,0.00,0.000,4,0.000,0.041,2536,1057,3430
$GC,7934,-1.17,-146.6,690.0,-9.2,382,7938,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2482,3430
$GC,8260,-1.17,-146.6,717.7,-7.6,398,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2482,3430
$GC,8572,-1.17,-146.6,739.6,-7.7,413,8576,0.00,2.50,0.00,0.000,4,0.000,0.043,2535,1060,3429
$GC,8621,-1.17,-146.6,743.9,-8.2,415,8625,0.00,2.50,0.00,0.000,6,0.000,0.040,2536,2482,3429
$GC,8937,-1.17,-146.6,767.6,-7.0,430,8941,0.00,2.50,0.00,0.000,4,0.000,0.044,2536,1066,3429
$GC,8969,-1.17,-146.6,770.4,-8.2,431,8975,0.00,2.50,0.00,0.000,6,0.000,0.042,2536,2481,3428
$GC,9288,-1.17,-146.6,793.7,-6.7,447,9292,0.00,2.50,0.00,0.000,4,0.000,0.045,2536,1069,3427
$GC,9374,-1.17,-146.6,799.9,-6.1,451,9378,0.00,2.50,0.00,0.000,6,0.000,0.044,2536,2476,3427
$STATE,9514,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9515,begin apogee
$GC,9522,-0.36,0.0,810.8,7.7,458,9655,0.88,0.00,129.23,1.290,6,0.069,0.000,2723,1456,2832
$STATE,9656,end apogee,CONTROL_FINISHED_OK
$STATE,9656,begin climb
$GC,9659,1.17,146.6,815.3,0.0,465,9795,1.50,0.00,131.05,1.251,6,0.045,0.000,3057,1457,2234
$GC,10094,1.19,157.1,789.3,7.1,486,10105,0.00,0.00,9.57,1.066,6,0.000,0.000,3057,1457,2190
$GC,10403,1.19,157.1,765.9,7.7,501,10408,0.00,2.55,0.00,0.000,4,0.000,0.051,3057,2866,2187
$GC,10439,1.24,200.9,763.4,6.0,502,10487,0.00,2.53,40.90,1.223,6,0.000,0.042,3057,1446,2012
$GC,10799,1.24,200.9,734.5,8.4,520,10803,0.00,2.58,0.00,0.000,4,0.000,0.049,3057,2867,2005
$GC,10887,1.24,200.9,726.3,8.3,524,10892,0.00,2.53,0.00,0.000,6,0.000,0.041,3057,1452,2004
$GC,11209,1.24,200.9,697.8,8.4,540,11213,0.00,2.53,0.00,0.000,4,0.000,0.047,3057,2865,2002
$GC,11241,1.24,200.9,695.0,8.6,541,11248,0.00,2.50,0.00,0.000,6,0.000,0.041,3057,1446,2002
$GC,11560,1.24,200.9,669.7,7.7,557,11564,0.00,2.53,0.00,0.000,4,0.000,0.046,3057,2868,2002
$GC,11614,1.24,200.9,665.4,7.8,559,11621,0.00,2.47,0.00,0.000,6,0.000,0.039,3057,1452,2001
$GC,11930,1.24,200.9,640.9,7.9,575,11934,0.00,2.53,0.00,0.000,4,0.000,0.044,3057,2873,2001
$GC,11996,1.24,200.9,635.5,7.7,578,12001,0.00,2.47,0.00,0.000,6,0.000,0.038,3057,1453,2000
$GC,12318,1.26,216.7,612.2,7.0,594,12338,0.00,0.00,14.00,1.101,6,0.000,0.000,3057,1452,1947
$GC,12649,1.26,216.7,586.5,8.0,610,12653,0.00,2.50,0.00,0.000,4,0.000,0.041,3057,2865,1945
$GC,12682,1.27,219.9,583.7,7.4,611,12692,0.00,2.47,4.30,0.763,6,0.000,0.035,3057,1444,1934
$GC,13020,1.27,219.9,557.4,7.7,628,13021,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1444,1934
$GC,13329,1.27,219.9,531.5,8.7,643,13333,0.00,2.53,0.00,0.000,4,0.000,0.040,3057,2874,1934
$GC,13361,1.27,219.9,528.5,9.2,644,13368,0.00,2.45,0.00,0.000,6,0.000,0.035,3057,1454,1933
$GC,13677,1.27,219.9,500.1,9.1,660,13678,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1454,1934
$GC,13987,1.27,219.9,472.3,8.8,675,13991,0.00,2.50,0.00,0.000,4,0.000,0.039,3057,2873,1934
$GC,14031,1.27,219.9,468.4,8.7,677,14035,0.00,2.47,0.00,0.000,6,0.000,0.034,3057,1449,1934
$GC,14353,1.27,219.9,440.3,8.9,693,14355,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1449,1934
$GC,14660,1.27,219.9,412.4,9.0,708,14665,0.00,2.50,0.00,0.000,4,0.000,0.039,3057,2873,1935
$GC,14705,1.27,219.9,408.2,8.8,710,14709,0.00,2.47,0.00,0.000,6,0.000,0.034,3057,1448,1935
$GC,15027,1.27,219.9,379.1,9.1,726,15032,0.00,2.50,0.00,0.000,4,0.000,0.038,3057,2874,1935
$GC,15055,1.27,219.9,376.4,9.1,727,15060,0.00,2.50,0.00,0.000,6,0.000,0.035,3057,1454,1935
$GC,15375,1.27,219.9,347.5,8.7,743,15377,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1454,1935
$GC,15685,1.27,219.9,320.2,8.6,758,15689,0.00,2.47,0.00,0.000,4,0.000,0.039,3057,2870,1935
$GC,15712,1.27,219.9,317.8,8.0,759,15716,0.00,2.47,0.00,0.000,6,0.000,0.035,3057,1447,1935
$GC,16028,1.27,219.9,291.2,8.5,774,16029,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1448,1935
$GC,16337,1.27,219.9,265.6,8.4,789,16341,0.00,2.50,0.00,0.000,4,0.000,0.039,3057,2873,1935
$GC,16376,1.27,219.9,262.3,8.8,791,16380,0.00,2.45,0.00,0.000,6,0.000,0.035,3058,1455,1935
$GC,16703,1.27,219.9,235.0,8.7,807,16707,0.00,2.47,0.00,0.000,4,0.000,0.038,3058,2873,1935
$GC,16730,1.27,219.9,232.5,7.9,808,16735,0.00,2.47,0.00,0.000,6,0.000,0.034,3057,1462,1935
$GC,17050,1.27,219.9,203.5,9.2,824,17052,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1463,1935
$GC,17360,1.27,219.9,174.5,9.1,839,17364,0.00,2.45,0.00,0.000,4,0.000,0.037,3057,2870,1935
$GC,17403,1.27,219.9,170.3,9.7,841,17408,0.00,2.47,0.00,0.000,6,0.000,0.034,3057,1460,1936
$GC,17731,1.27,219.9,140.0,9.2,857,17736,0.00,2.45,0.00,0.000,4,0.000,0.037,3057,2870,1936
$GC,17760,1.27,219.9,137.2,8.3,858,17764,0.00,2.45,0.00,0.000,6,0.000,0.034,3057,1452,1935
$GC,18076,1.27,219.9,110.0,8.5,873,18080,0.00,2.47,0.00,0.000,4,0.000,0.037,3057,2875,1936
$GC,18102,1.27,219.9,107.6,8.9,874,18107,0.00,2.45,0.00,0.000,6,0.000,0.033,3057,1454,1935
$GC,18419,1.27,219.9,81.4,8.4,889,18420,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1454,1936
$GC,18729,1.27,219.9,54.1,9.3,904,18733,0.00,2.12,0.00,0.000,4,0.000,0.057,3057,260,1937
$GC,18755,1.27,219.9,51.6,9.6,905,18759,0.00,2.03,0.00,0.000,6,0.000,0.028,3057,1497,1937
$GC,19089,1.27,219.9,19.2,9.5,921,19093,0.00,2.30,0.00,0.000,4,0.000,0.037,3058,2839,1936
$GC,19117,1.27,219.9,16.4,9.6,922,19122,0.00,2.40,0.00,0.000,6,0.000,0.033,3058,1448,1936
$STATE,19288,end climb,SURFACE_DEPTH_REACHED
$STATE,19288,begin surface coast
$FINISH,0.5,1.026903
$STATE,19308,end surface coast,CONTROL_FINISHED_OK
$STATE,19308,begin surface
$SM_CCo,19332,51.00,0.750,0,0,1609,300.00
$SM_GC,0.77,0.00,0.00,51.00,0.000,0.000,0.750,395,2457,1609,-11.06,-0.54,300.00
$IRIDIUM_FIX,6144.36,-1001.01,090998,141400
$TT8_MAMPS,0.027612
$HUMID,1826
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,726.3,94.2
$24V_AH,23.2,26.002
$10V_AH,10.1,11.430
$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,25.325,206.225,329.050,51.000,0.000,80.993,175.807,225.748,6.250,0.000,0.000,16.519,1737.819,14759.192,540.205,2006.736,1072.191,0.000,1610.038,0.000,2164.334,0.000,42.842,0.000
$DEVICE_MAMPS,133.458,56.758,1290.094,750.126,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,770.906,677.789,537.354,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47507,931
$CAP_FILE_SIZE,147502,0
$CFSIZE,260165632,254738432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,150609,195637,6205.422,-1002.493,27,1.2,27,-10.0