version: 66.04
glider: 105
mission: 6
dive: 91
start: 6 24 109 19 41 58
data:
$ID,105
$MISSION,6
$DIVE,91
$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,-1629648.2
$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,24
$R_STBD_OVSHOOT,29
$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
$GPS1,193524,6336.961,-1329.499,25,1.2,43,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-62.6
$GPS2,194138,6336.972,-1329.453,15,1.3,15,-12.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,LW
$TGT_LATLONG,6345.000,-1322.000
$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,34.8,16072,-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,-60.28,0.000,6,0.000,0.000,388,2240,3431
$GC,81,-0.96,-146.6,4.5,-8.5,3,102,11.55,2.50,0.00,0.000,4,0.129,0.036,2584,835,3433
$GC,333,-0.96,-146.6,36.5,-11.7,14,337,0.00,2.47,0.00,0.000,6,0.000,0.034,2584,2258,3433
$GC,654,-0.96,-146.6,72.5,-8.5,30,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2258,3434
$GC,965,-0.96,-146.6,77.7,0.4,45,969,0.00,2.50,0.00,0.000,4,0.000,0.038,2584,829,3435
$GC,1087,-0.96,-146.6,80.1,-3.7,50,1094,0.00,2.47,0.00,0.000,6,0.000,0.035,2584,2256,3435
$GC,1405,-0.96,-146.6,105.4,-11.1,66,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2256,3435
$GC,1713,-0.96,-146.6,131.2,-5.8,81,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2256,3435
$GC,2022,-0.96,-146.6,149.8,-6.8,96,2030,0.00,2.50,0.00,0.000,4,0.000,0.040,2584,830,3435
$GC,2065,-0.96,-146.6,153.2,-7.8,97,2071,0.00,2.47,0.00,0.000,6,0.000,0.035,2584,2253,3435
$GC,2380,-0.96,-146.6,180.8,-9.3,113,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2253,3435
$GC,2692,-0.96,-146.6,203.1,-5.8,128,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2253,3434
$GC,2999,-0.96,-146.6,218.4,-4.6,143,3004,0.00,2.47,0.00,0.000,4,0.000,0.041,2584,838,3434
$GC,3050,-0.96,-146.6,220.8,-4.9,145,3054,0.00,2.47,0.00,0.000,6,0.000,0.036,2584,2258,3434
$GC,3368,-0.96,-146.6,236.0,-5.4,160,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2258,3434
$GC,3674,-0.96,-146.6,255.5,-6.8,175,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2258,3434
$GC,3983,-0.96,-146.6,278.3,-7.6,190,3988,0.00,2.53,0.00,0.000,4,0.000,0.041,2584,838,3434
$GC,4024,-0.96,-146.6,281.4,-7.8,191,4030,0.00,2.45,0.00,0.000,6,0.000,0.036,2583,2246,3434
$GC,4339,-0.96,-146.6,304.0,-6.8,207,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2246,3434
$GC,4649,-0.96,-146.6,323.9,-6.0,222,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2246,3434
$GC,4959,-0.96,-146.6,341.3,-5.8,237,4963,0.00,2.47,0.00,0.000,4,0.000,0.042,2584,838,3433
$GC,4998,-0.96,-146.6,343.9,-6.6,239,5003,0.00,2.47,0.00,0.000,6,0.000,0.037,2584,2261,3434
$GC,5327,-0.96,-146.6,366.7,-7.8,255,5331,0.00,2.50,0.00,0.000,4,0.000,0.042,2584,839,3433
$GC,5359,-0.96,-146.6,369.5,-8.0,256,5366,0.00,2.47,0.00,0.000,6,0.000,0.036,2584,2259,3433
$GC,5675,-0.96,-146.6,393.4,-7.6,272,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2259,3433
$GC,5985,-0.96,-146.6,416.3,-6.7,287,5986,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2259,3433
$GC,6294,-0.96,-146.6,437.6,-6.9,302,6298,0.00,2.50,0.00,0.000,4,0.000,0.041,2584,837,3433
$GC,6333,-0.96,-146.6,440.5,-7.5,304,6338,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2247,3433
$GC,6660,-0.96,-146.6,466.7,-8.6,320,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3432
$GC,6969,-0.96,-146.6,494.0,-8.7,335,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3433
$GC,7281,-0.96,-146.6,521.1,-8.5,350,7285,0.00,2.47,0.00,0.000,4,0.000,0.042,2584,838,3432
$GC,7320,-0.96,-146.6,524.7,-8.5,352,7325,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2251,3432
$GC,7653,-0.96,-146.6,550.7,-7.5,368,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3432
$GC,7961,-0.96,-146.6,573.0,-7.0,383,7965,0.00,2.47,0.00,0.000,4,0.000,0.042,2584,839,3432
$GC,7989,-0.96,-146.6,574.9,-7.6,384,7994,0.00,2.47,0.00,0.000,6,0.000,0.037,2584,2260,3432
$GC,8312,-0.96,-146.6,596.3,-6.0,400,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2261,3432
$GC,8619,-0.96,-146.6,612.6,-5.3,415,8623,0.00,2.50,0.00,0.000,4,0.000,0.042,2584,838,3432
$GC,8703,-0.96,-146.6,618.2,-6.4,419,8707,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2247,3432
$GC,9029,-0.96,-146.6,640.9,-7.5,435,9030,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3432
$GC,9338,-0.96,-146.6,664.5,-8.5,450,9343,0.00,2.47,0.00,0.000,4,0.000,0.042,2584,838,3432
$GC,9416,-0.96,-146.6,671.3,-8.2,453,9423,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2253,3432
$GC,9733,-0.96,-146.6,691.8,-5.3,469,9737,0.00,2.47,0.00,0.000,4,0.000,0.042,2584,840,3432
$GC,9783,-0.96,-146.6,694.1,-4.7,471,9787,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2249,3432
$GC,10100,-0.96,-146.6,704.4,-2.8,486,10101,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2249,3432
$GC,10408,-0.96,-146.6,715.2,-3.8,501,10410,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2249,3432
$GC,10717,-0.96,-146.6,734.6,-7.4,516,10721,0.00,2.47,0.00,0.000,4,0.000,0.042,2584,839,3432
$GC,10801,-0.96,-146.6,741.2,-8.1,520,10805,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2248,3432
$GC,11128,-0.96,-146.6,763.9,-6.2,536,11129,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2248,3431
$GC,11437,-0.96,-146.6,780.4,-5.0,551,11438,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2248,3431
$GC,11746,-0.96,-146.6,792.3,-4.6,566,11751,0.00,2.53,0.00,0.000,4,0.000,0.044,2584,836,3431
$GC,11802,-0.96,-146.6,795.4,-5.4,568,11806,0.00,2.47,0.00,0.000,6,0.000,0.037,2584,2257,3431
$GC,12117,-0.96,-146.6,811.2,-5.5,583,12119,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2257,3430
$GC,12429,-0.96,-146.6,829.7,-5.9,598,12433,0.00,2.50,0.00,0.000,4,0.000,0.044,2584,840,3430
$GC,12474,-0.96,-146.6,833.0,-7.0,600,12478,0.00,2.47,0.00,0.000,6,0.000,0.038,2584,2258,3430
$GC,12796,-0.96,-146.6,856.1,-7.8,616,12797,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2258,3430
$GC,13104,-0.96,-146.6,876.9,-6.6,631,13108,0.00,2.53,0.00,0.000,4,0.000,0.045,2584,832,3430
$GC,13172,-0.96,-146.6,881.2,-6.5,634,13177,0.00,2.47,0.00,0.000,6,0.000,0.040,2584,2246,3429
$GC,13499,-0.96,-146.6,900.3,-6.8,650,13503,0.00,2.50,0.00,0.000,4,0.000,0.046,2584,838,3429
$GC,13527,-0.96,-146.6,902.5,-6.7,651,13531,0.00,2.47,0.00,0.000,6,0.000,0.040,2584,2253,3429
$GC,13843,-0.96,-146.6,921.1,-6.1,666,13844,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2253,3428
$GC,14152,-0.96,-146.6,936.6,-5.3,681,14156,0.00,2.53,0.00,0.000,4,0.000,0.048,2583,837,3427
$GC,14220,-0.96,-146.6,939.8,-5.4,684,14224,0.00,2.50,0.00,0.000,6,0.000,0.042,2584,2256,3427
$GC,14541,-0.96,-146.6,955.3,-4.5,700,14542,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2256,3426
$GC,14850,-0.96,-146.6,973.2,-6.4,715,14851,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2256,3426
$STATE,14889,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14889,begin apogee
$GC,14897,-0.36,0.0,975.5,6.0,717,15033,0.65,0.00,131.50,1.410,6,0.065,0.000,2724,1455,2832
$STATE,15033,end apogee,CONTROL_FINISHED_OK
$STATE,15033,begin climb
$GC,15036,0.96,146.6,981.9,0.0,724,15176,1.27,2.25,132.80,1.371,4,0.048,0.062,3007,262,2233
$GC,15286,0.96,146.6,969.0,6.7,734,15292,0.00,2.10,0.00,0.000,6,0.000,0.037,3007,1471,2226
$GC,15602,1.00,173.7,953.2,5.3,750,15633,0.00,2.30,24.45,1.306,4,0.000,0.062,3007,264,2123
$GC,15661,1.01,180.0,950.5,5.8,752,15673,0.00,2.08,7.05,1.068,6,0.000,0.038,3008,1454,2098
$GC,15994,1.01,180.0,927.1,7.0,769,15996,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1453,2094
$GC,16303,1.01,180.0,905.9,8.0,784,16308,0.00,2.53,0.00,0.000,4,0.000,0.051,3008,2850,2093
$GC,16348,1.01,180.0,902.5,8.3,786,16353,0.00,2.50,0.00,0.000,6,0.000,0.041,3007,1452,2092
$GC,16674,1.01,180.0,880.5,7.3,802,16675,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1452,2091
$GC,16983,1.06,224.9,863.9,4.8,817,17033,0.10,2.62,41.83,1.331,4,0.050,0.048,3053,2850,1915
$GC,17119,1.06,224.9,854.0,8.1,823,17124,0.12,2.47,0.00,0.000,6,0.080,0.040,3028,1455,1911
$GC,17441,1.06,224.9,827.2,8.7,839,17445,0.00,2.50,0.00,0.000,4,0.000,0.047,3028,2856,1908
$GC,17502,1.06,224.9,821.8,8.4,842,17507,0.00,2.50,0.00,0.000,6,0.000,0.040,3028,1446,1908
$GC,17829,1.06,224.9,797.1,6.4,858,17833,0.00,2.15,0.00,0.000,4,0.000,0.059,3028,260,1907
$GC,17907,1.06,224.9,791.6,7.3,861,17911,0.00,2.05,0.00,0.000,6,0.000,0.034,3028,1459,1907
$GC,18228,1.06,224.9,767.9,7.6,877,18232,0.00,2.50,0.00,0.000,4,0.000,0.048,3028,2852,1906
$GC,18323,1.06,224.9,760.2,8.4,881,18327,0.00,2.45,0.00,0.000,6,0.000,0.038,3028,1452,1905
$GC,18641,1.06,224.9,736.7,6.3,896,18645,0.00,2.15,0.00,0.000,4,0.000,0.058,3028,263,1905
$GC,18709,1.06,224.9,731.8,7.0,899,18713,0.00,2.03,0.00,0.000,6,0.000,0.034,3028,1458,1905
$GC,19042,1.06,224.9,707.3,7.8,915,19046,0.00,2.47,0.00,0.000,4,0.000,0.048,3028,2846,1905
$GC,19091,1.06,224.9,703.0,8.6,917,19095,0.00,2.42,0.00,0.000,6,0.000,0.037,3028,1449,1905
$GC,19409,1.06,224.9,677.7,7.6,932,19413,0.00,2.50,0.00,0.000,4,0.000,0.045,3028,2857,1905
$GC,19453,1.06,224.9,674.0,8.8,934,19457,0.00,2.45,0.00,0.000,6,0.000,0.036,3028,1446,1905
$GC,19774,1.06,224.9,648.8,7.8,950,19775,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1446,1905
$GC,20086,1.06,224.9,622.5,9.0,965,20090,0.00,2.47,0.00,0.000,4,0.000,0.043,3028,2848,1905
$GC,20147,1.06,224.9,616.5,9.5,968,20151,0.00,2.42,0.00,0.000,6,0.000,0.035,3028,1448,1905
$GC,20474,1.06,224.9,584.0,10.5,984,20478,0.00,2.47,0.00,0.000,4,0.000,0.043,3028,2856,1905
$GC,20540,1.06,224.9,576.8,11.1,987,20545,0.00,2.47,0.00,0.000,6,0.000,0.036,3028,1453,1905
$GC,20866,1.06,224.9,541.7,10.8,1003,20870,0.00,2.45,0.00,0.000,4,0.000,0.043,3028,2851,1906
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$STATE,27999,end climb,SURFACE_DEPTH_REACHED
$STATE,27999,begin surface coast
$FINISH,0.3,1.013796
$STATE,28040,end surface coast,CONTROL_FINISHED_OK
$STATE,28040,begin surface
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$TT8_MAMPS,0.027612
$HUMID,1815
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$TCM_TEMP,17.30
$XPDR_PINGS,0
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$24V_AH,23.1,31.456
$10V_AH,10.1,15.041
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$DEVICE_SECS,25.025,212.925,373.175,24.250,0.000,26.086,29.762,183.077,8.000,0.000,0.000,15.134,2435.348,21663.521,541.286,2807.629,1006.885,0.000,1998.849,0.000,3031.612,0.000,54.170,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
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$DATA_FILE_SIZE,69418,1349
$CAP_FILE_SIZE,189669,0
$CFSIZE,260165632,252125184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,250609,033124,6343.183,-1326.476,37,2.0,38,-12.6