version: 66.04
glider: 105
mission: 6
dive: 94
start: 6 25 109 16 57 9
data:
$ID,105
$MISSION,6
$DIVE,94
$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,-1629714.9
$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,40
$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
$GPS1,165054,6348.230,-1323.857,42,1.3,59,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-62.6
$GPS2,165649,6348.184,-1324.032,11,1.3,16,-12.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NW
$TGT_LATLONG,6356.000,-1345.000
$TGT_RADIUS,2500.000
$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,322.9,22376,-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,-59.75,0.000,6,0.000,0.000,391,2255,3430
$GC,81,-0.96,-146.6,4.4,-8.0,3,102,11.62,2.55,0.00,0.000,4,0.131,0.052,2585,3638,3432
$GC,439,-0.96,-146.6,40.0,-7.8,19,444,0.00,2.42,0.00,0.000,6,0.000,0.028,2585,2233,3432
$GC,771,-0.96,-146.6,62.9,-6.6,35,775,0.00,2.55,0.00,0.000,4,0.000,0.051,2585,3642,3433
$GC,1088,-0.96,-146.6,86.7,-7.5,49,1092,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2244,3433
$GC,1404,-0.96,-146.6,112.0,-8.4,64,1408,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3637,3434
$GC,1454,-0.96,-146.6,116.8,-9.6,66,1458,0.00,2.35,0.00,0.000,6,0.000,0.028,2585,2254,3434
$GC,1770,-0.96,-146.6,144.0,-7.9,81,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2253,3434
$GC,2080,-0.96,-146.6,162.3,-5.1,96,2084,0.00,2.50,0.00,0.000,4,0.000,0.054,2585,3637,3434
$GC,2119,-0.96,-146.6,164.4,-5.1,98,2123,0.00,2.35,0.00,0.000,6,0.000,0.028,2585,2248,3433
$GC,2445,-0.96,-146.6,184.2,-6.7,114,2449,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3638,3434
$GC,2508,-0.96,-146.6,188.8,-7.4,117,2512,0.00,2.35,0.00,0.000,6,0.000,0.028,2585,2254,3434
$GC,2837,-0.96,-146.6,213.2,-7.8,133,2841,0.00,2.50,0.00,0.000,4,0.000,0.054,2585,3635,3434
$GC,2887,-0.96,-146.6,217.7,-8.6,135,2891,0.00,2.35,0.00,0.000,6,0.000,0.028,2585,2248,3433
$GC,3202,-0.96,-146.6,243.8,-8.3,150,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3433
$GC,3511,-0.96,-146.6,265.9,-6.3,165,3515,0.00,2.53,0.00,0.000,4,0.000,0.056,2585,3639,3433
$GC,3561,-0.96,-146.6,269.1,-6.3,167,3565,0.00,2.38,0.00,0.000,6,0.000,0.029,2585,2242,3433
$GC,3878,-0.96,-146.6,282.5,-3.7,182,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2242,3433
$GC,4186,-0.96,-146.6,295.3,-4.8,197,4190,0.00,2.53,0.00,0.000,4,0.000,0.055,2585,3637,3433
$GC,4253,-0.96,-146.6,299.3,-5.8,200,4257,0.00,2.35,0.00,0.000,6,0.000,0.028,2585,2250,3433
$GC,4574,-0.96,-146.6,322.3,-8.6,216,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2250,3433
$GC,4887,-0.96,-146.6,350.6,-9.5,231,4891,0.00,2.53,0.00,0.000,4,0.000,0.055,2585,3641,3433
$GC,4971,-0.96,-146.6,359.2,-9.8,235,4976,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2249,3433
$GC,5303,-0.96,-146.6,388.4,-8.4,251,5308,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3638,3433
$GC,5370,-0.96,-146.6,394.0,-8.1,254,5375,0.00,2.35,0.00,0.000,6,0.000,0.028,2585,2248,3432
$GC,5698,-0.96,-146.6,416.5,-6.2,270,5702,0.00,2.53,0.00,0.000,4,0.000,0.056,2585,3639,3432
$GC,5769,-0.96,-146.6,421.1,-6.2,273,5774,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2255,3432
$GC,6090,-0.96,-146.6,439.5,-5.0,289,6095,0.00,2.50,0.00,0.000,4,0.000,0.055,2585,3635,3432
$GC,6186,-0.96,-146.6,444.1,-4.6,293,6190,0.00,2.35,0.00,0.000,6,0.000,0.028,2585,2249,3433
$GC,6502,-0.96,-146.6,457.9,-4.6,308,6506,0.00,2.53,0.00,0.000,4,0.000,0.055,2584,3644,3432
$GC,6542,-0.96,-146.6,459.9,-5.8,310,6546,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2243,3433
$GC,6870,-0.96,-146.6,480.1,-7.1,326,6874,0.00,2.53,0.00,0.000,4,0.000,0.055,2585,3637,3432
$GC,6936,-0.96,-146.6,485.8,-8.6,329,6940,0.00,2.35,0.00,0.000,6,0.000,0.028,2585,2251,3432
$GC,7256,-0.96,-146.6,508.3,-6.3,345,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3432
$GC,7567,-0.96,-146.6,525.6,-5.6,360,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3432
$GC,7875,-0.96,-146.6,544.6,-6.4,375,7879,0.00,2.53,0.00,0.000,4,0.000,0.056,2585,3640,3432
$GC,7919,-0.96,-146.6,547.7,-6.6,377,7924,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2248,3432
$GC,8245,-0.96,-146.6,571.1,-7.3,393,8249,0.00,2.53,0.00,0.000,4,0.000,0.056,2585,3640,3432
$GC,8301,-0.96,-146.6,575.7,-8.2,395,8308,0.00,2.38,0.00,0.000,6,0.000,0.029,2585,2243,3432
$GC,8617,-0.96,-146.6,597.8,-6.3,411,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2242,3432
$GC,8929,-0.96,-146.6,615.9,-5.1,426,8933,0.00,2.53,0.00,0.000,4,0.000,0.056,2585,3637,3431
$GC,8947,-0.96,-146.6,617.2,-5.6,427,8951,0.00,2.35,0.00,0.000,6,0.000,0.030,2585,2252,3431
$GC,9273,-0.96,-146.6,636.8,-6.1,443,9274,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2252,3432
$GC,9582,-0.96,-146.6,654.7,-5.7,458,9587,0.00,2.53,0.00,0.000,4,0.000,0.056,2585,3628,3431
$GC,9651,-0.96,-146.6,658.0,-5.0,461,9655,0.00,2.35,0.00,0.000,6,0.000,0.029,2585,2249,3431
$GC,9977,-0.96,-146.6,678.7,-6.1,477,9981,0.00,2.53,0.00,0.000,4,0.000,0.057,2585,3638,3431
$GC,10062,-0.96,-146.6,684.9,-9.2,481,10066,0.00,2.38,0.00,0.000,6,0.000,0.030,2585,2243,3431
$GC,10392,-0.96,-146.6,697.9,-3.0,497,10396,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3645,3431
$GC,10503,-0.96,-146.6,701.9,-3.6,502,10508,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2255,3431
$GC,10830,-0.96,-146.6,720.1,-7.0,518,10834,0.00,2.50,0.00,0.000,4,0.000,0.056,2585,3637,3431
$GC,10862,-0.96,-146.6,722.5,-7.5,519,10869,0.00,2.38,0.00,0.000,6,0.000,0.031,2585,2240,3431
$GC,11181,-0.96,-146.6,747.0,-7.1,535,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2240,3431
$GC,11488,-0.96,-146.6,764.8,-5.7,550,11489,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2240,3431
$GC,11797,-0.96,-146.6,788.9,-8.4,565,11801,0.00,2.55,0.00,0.000,4,0.000,0.058,2585,3639,3430
$GC,11891,-0.96,-146.6,797.2,-8.9,569,11895,0.00,2.38,0.00,0.000,6,0.000,0.031,2585,2255,3430
$GC,12208,-0.96,-146.6,815.0,-4.4,584,12209,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2255,3429
$GC,12516,-0.96,-146.6,828.9,-4.8,599,12517,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2255,3429
$GC,12825,-0.96,-146.6,846.2,-5.9,614,12830,0.00,2.53,0.00,0.000,4,0.000,0.060,2585,3637,3429
$GC,12910,-0.96,-146.6,851.3,-5.7,618,12915,0.00,2.38,0.00,0.000,6,0.000,0.033,2585,2252,3429
$GC,13237,-0.96,-146.6,868.0,-4.7,634,13238,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2252,3429
$GC,13547,-0.96,-146.6,881.4,-3.6,649,13548,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2253,3429
$GC,13856,-0.96,-146.6,894.6,-4.2,664,13861,0.00,2.55,0.00,0.000,4,0.000,0.061,2585,3627,3428
$GC,13894,-0.96,-146.6,896.8,-4.7,665,13901,0.00,2.38,0.00,0.000,6,0.000,0.035,2585,2248,3428
$GC,14210,-0.96,-146.6,914.6,-6.9,681,14212,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2247,3427
$GC,14519,-0.96,-146.6,938.2,-7.7,696,14521,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2246,3426
$GC,14829,-0.96,-146.6,956.8,-4.3,711,14830,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2246,3426
$GC,15138,-0.96,-146.6,974.4,-5.6,726,15140,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2246,3426
$STATE,15424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15424,begin apogee
$GC,15432,-0.36,0.0,991.0,5.8,740,15568,0.62,0.00,131.70,1.414,6,0.064,0.000,2720,1464,2832
$STATE,15569,end apogee,CONTROL_FINISHED_OK
$STATE,15569,begin climb
$GC,15572,0.96,146.6,995.1,0.0,747,15709,1.30,0.00,133.02,1.378,6,0.051,0.000,3007,1464,2234
$GC,16007,0.98,157.3,974.1,5.7,768,16022,0.00,2.55,9.65,1.170,4,0.000,0.050,3007,2848,2190
$GC,16196,1.03,201.2,963.8,4.8,775,16244,0.00,2.47,41.67,1.344,6,0.000,0.042,3007,1452,2011
$GC,16557,1.08,237.9,947.3,5.0,793,16600,0.12,2.28,34.25,1.334,4,0.044,0.064,3065,253,1861
$GC,16623,1.08,237.9,942.0,8.0,796,16628,0.15,2.08,0.00,0.000,6,0.078,0.038,3034,1452,1860
$GC,16949,1.08,237.9,915.6,8.8,812,16954,0.00,2.50,0.00,0.000,4,0.000,0.049,3034,2846,1855
$GC,16978,1.08,237.9,912.9,10.0,813,16983,0.00,2.47,0.00,0.000,6,0.000,0.041,3034,1449,1855
$GC,17294,1.08,237.9,882.9,9.1,828,17295,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1449,1854
$GC,17603,1.08,237.9,857.8,8.9,843,17607,0.00,2.53,0.00,0.000,4,0.000,0.049,3034,2856,1854
$GC,17642,1.08,237.9,853.9,10.5,845,17647,0.00,2.47,0.00,0.000,6,0.000,0.041,3034,1451,1852
$GC,17969,1.08,237.9,830.3,6.6,861,17973,0.00,2.53,0.00,0.000,4,0.000,0.049,3034,2857,1852
$GC,18036,1.08,237.9,825.6,7.7,864,18040,0.00,2.47,0.00,0.000,6,0.000,0.040,3034,1451,1852
$GC,18357,1.08,237.9,802.0,7.9,880,18360,0.00,2.15,0.00,0.000,4,0.000,0.060,3034,262,1852
$GC,18418,1.08,237.9,796.7,9.3,882,18424,0.00,2.05,0.00,0.000,6,0.000,0.035,3034,1460,1852
$GC,18733,1.08,237.9,768.4,9.9,898,18737,0.00,2.50,0.00,0.000,4,0.000,0.049,3034,2854,1851
$GC,18788,1.08,237.9,762.8,10.1,900,18795,0.00,2.45,0.00,0.000,6,0.000,0.039,3034,1449,1851
$GC,19105,1.08,237.9,725.8,12.5,916,19109,0.00,2.53,0.00,0.000,4,0.000,0.048,3034,2860,1851
$GC,19144,1.08,237.9,720.6,12.8,918,19148,0.00,2.45,0.00,0.000,6,0.000,0.038,3034,1454,1851
$GC,19470,1.08,237.9,687.7,6.6,934,19474,0.00,2.50,0.00,0.000,4,0.000,0.046,3034,2860,1851
$GC,19514,1.09,248.6,685.2,5.7,936,19530,0.00,2.45,9.52,1.088,6,0.000,0.038,3034,1453,1818
$GC,19842,1.09,248.6,661.2,9.4,952,19843,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1454,1816
$GC,20149,1.09,248.6,633.3,7.8,967,20150,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1454,1816
$GC,20458,1.09,248.6,611.3,6.3,982,20462,0.00,2.50,0.00,0.000,4,0.000,0.044,3034,2854,1816
$GC,20507,1.11,268.3,608.3,5.5,984,20532,0.00,2.45,19.52,1.129,6,0.000,0.037,3033,1453,1738
$GC,20850,1.11,268.3,586.2,6.7,1001,20854,0.00,2.15,0.00,0.000,4,0.000,0.057,3034,259,1734
$GC,20896,1.11,268.3,582.9,7.1,1003,20899,0.00,2.03,0.00,0.000,6,0.000,0.032,3034,1459,1734
$GC,21229,1.13,278.5,562.2,5.7,1019,21245,0.00,2.50,10.68,1.020,4,0.000,0.045,3034,2846,1695
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$GC,27078,1.22,351.6,45.1,10.8,1301,27082,0.15,2.12,0.00,0.000,4,0.074,0.054,3061,264,1391
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$STATE,27515,end climb,SURFACE_DEPTH_REACHED
$STATE,27515,begin surface coast
$FINISH,0.9,1.027127
$STATE,27536,end surface coast,CONTROL_FINISHED_OK
$STATE,27536,begin surface
$SM_CCo,27621,0.00,0.000,0,0,1387,354.46
$SM_GC,1.07,11.50,0.00,0.00,0.022,0.000,0.000,393,2244,1387,-10.99,-0.17,354.46
$IRIDIUM_FIX,6322.64,-1325.58,190998,101057
$TT8_MAMPS,0.026845
$HUMID,1831
$INTERNAL_PRESSURE,8.07973
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,925.7,79.3
$24V_AH,23.1,31.912
$10V_AH,10.1,15.380
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$DEVICE_SECS,25.625,225.475,456.825,0.000,0.000,24.255,28.205,168.752,8.250,0.000,0.000,16.377,2422.019,21101.516,581.347,2869.807,995.255,0.000,2091.581,0.000,3094.333,0.000,55.745,0.000
$DEVICE_MAMPS,131.157,63.661,1414.348,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1096.454,1024.440,698.768,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66325,1323
$CAP_FILE_SIZE,194286,0
$CFSIZE,260165632,251891712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,260609,003837,6350.384,-1330.050,29,1.4,30,-12.7