version: 66.04
glider: 105
mission: 6
dive: 111
start: 6 30 109 8 35 4
data:
$ID,105
$MISSION,6
$DIVE,111
$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,-1630017
$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,28
$R_STBD_OVSHOOT,35
$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
$GPS1,082836,6329.026,-1323.999,30,0.9,31,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-63.0
$GPS2,083444,6329.033,-1323.974,13,0.9,13,-12.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,KE
$TGT_LATLONG,6325.000,-1325.000
$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,198.9,7517,-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,-59.05,0.000,6,0.000,0.000,390,2256,3431
$GC,81,-0.96,-146.6,4.9,-9.4,3,98,11.77,0.00,0.00,0.000,6,0.131,0.000,2582,2256,3433
$GC,408,-0.96,-146.6,59.0,-13.5,19,413,0.00,2.53,0.00,0.000,4,0.000,0.055,2582,3644,3433
$GC,441,-0.96,-146.6,63.9,-13.4,20,448,0.00,2.40,0.00,0.000,6,0.000,0.027,2583,2230,3433
$GC,757,-0.96,-146.6,96.2,-8.7,36,761,0.00,2.58,0.00,0.000,4,0.000,0.054,2582,3650,3434
$GC,807,-0.96,-146.6,100.7,-9.2,38,811,0.00,2.38,0.00,0.000,6,0.000,0.028,2582,2253,3434
$GC,1123,-0.96,-146.6,126.2,-7.4,53,1127,0.00,2.45,0.00,0.000,4,0.000,0.040,2583,848,3435
$GC,1155,-0.96,-146.6,128.8,-7.3,54,1162,0.00,2.42,0.00,0.000,6,0.000,0.034,2582,2243,3435
$GC,1473,-0.96,-146.6,149.6,-6.5,70,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2243,3435
$GC,1780,-0.96,-146.6,169.5,-6.4,85,1784,0.00,2.45,0.00,0.000,4,0.000,0.040,2583,849,3435
$GC,1837,-0.96,-146.6,173.2,-6.5,87,1843,0.00,2.45,0.00,0.000,6,0.000,0.035,2582,2258,3435
$GC,2153,-0.96,-146.6,194.4,-6.9,103,2157,0.00,2.53,0.00,0.000,4,0.000,0.060,2582,3651,3435
$GC,2196,-0.96,-146.6,197.7,-7.1,105,2201,0.00,2.38,0.00,0.000,6,0.000,0.029,2582,2254,3435
$GC,2518,-0.96,-146.6,218.9,-6.4,121,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2253,3434
$GC,2828,-0.96,-146.6,236.2,-5.1,136,2833,0.00,2.55,0.00,0.000,4,0.000,0.054,2582,3642,3434
$GC,2918,-0.96,-146.6,241.1,-5.2,140,2922,0.00,2.38,0.00,0.000,6,0.000,0.029,2582,2246,3435
$GC,3245,-0.96,-146.6,255.9,-4.3,156,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2245,3435
$GC,3554,-0.96,-146.6,268.6,-4.3,171,3559,0.00,2.58,0.00,0.000,4,0.000,0.055,2582,3648,3434
$GC,3600,-0.96,-146.6,270.8,-5.1,173,3604,0.00,2.40,0.00,0.000,6,0.000,0.030,2582,2254,3434
$GC,3932,-0.96,-146.6,285.7,-4.8,189,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2254,3434
$GC,4243,-0.96,-146.6,301.0,-5.2,204,4248,0.00,2.53,0.00,0.000,4,0.000,0.054,2582,3651,3434
$GC,4294,-0.96,-146.6,304.2,-6.0,206,4298,0.00,2.38,0.00,0.000,6,0.000,0.029,2582,2252,3434
$GC,4612,-0.96,-146.6,321.5,-5.9,221,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2251,3434
$GC,4919,-0.96,-146.6,341.1,-6.6,236,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2250,3434
$GC,5228,-0.96,-146.6,361.3,-6.6,251,5233,0.00,2.55,0.00,0.000,4,0.000,0.054,2582,3645,3433
$GC,5273,-0.96,-146.6,364.3,-6.9,253,5278,0.00,2.40,0.00,0.000,6,0.000,0.029,2582,2251,3433
$GC,5605,-0.96,-146.6,386.4,-6.8,269,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2251,3433
$GC,5915,-0.96,-146.6,407.0,-6.7,284,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2250,3433
$GC,6224,-0.96,-146.6,426.1,-6.4,299,6228,0.00,2.53,0.00,0.000,4,0.000,0.054,2582,3650,3433
$GC,6318,-0.96,-146.6,432.9,-7.3,303,6323,0.00,2.38,0.00,0.000,6,0.000,0.028,2582,2249,3433
$GC,6634,-0.96,-146.6,451.5,-6.2,318,6638,0.00,2.55,0.00,0.000,4,0.000,0.054,2582,3655,3433
$GC,6683,-0.96,-146.6,455.2,-7.0,320,6688,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2240,3433
$GC,6999,-0.96,-146.6,477.1,-6.8,335,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2240,3433
$GC,7310,-0.96,-146.6,497.6,-6.7,350,7315,0.00,2.55,0.00,0.000,4,0.000,0.056,2583,3651,3433
$GC,7395,-0.96,-146.6,503.9,-7.3,354,7400,0.00,2.38,0.00,0.000,6,0.000,0.029,2582,2252,3432
$GC,7723,-0.96,-146.6,525.7,-6.5,370,7728,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3647,3432
$GC,7783,-0.96,-146.6,530.3,-6.9,372,7789,0.00,2.38,0.00,0.000,6,0.000,0.029,2582,2250,3432
$GC,8102,-0.96,-146.6,551.1,-6.6,388,8106,0.00,2.53,0.00,0.000,4,0.000,0.054,2582,3651,3432
$GC,8146,-0.96,-146.6,554.6,-7.1,390,8151,0.00,2.38,0.00,0.000,6,0.000,0.029,2582,2252,3432
$GC,8471,-0.96,-146.6,573.9,-5.5,406,8475,0.00,2.45,0.00,0.000,4,0.000,0.041,2582,844,3432
$GC,8499,-0.96,-146.6,575.6,-5.9,407,8504,0.00,2.45,0.00,0.000,6,0.000,0.035,2582,2258,3432
$GC,8815,-0.96,-146.6,592.4,-5.0,422,8819,0.00,2.47,0.00,0.000,4,0.000,0.041,2582,846,3432
$GC,8849,-0.96,-146.6,594.1,-4.7,423,8855,0.00,2.45,0.00,0.000,6,0.000,0.036,2582,2258,3432
$GC,9167,-0.96,-146.6,609.9,-5.9,439,9168,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2258,3432
$GC,9473,-0.96,-146.6,628.3,-6.2,454,9478,0.00,2.47,0.00,0.000,4,0.000,0.041,2582,844,3432
$GC,9523,-0.96,-146.6,631.6,-6.8,456,9528,0.00,2.45,0.00,0.000,6,0.000,0.038,2582,2249,3432
$GC,9843,-0.96,-146.6,650.6,-4.7,471,9847,0.00,2.53,0.00,0.000,4,0.000,0.057,2582,3653,3432
$GC,9909,-0.96,-146.6,654.9,-6.6,474,9913,0.00,2.40,0.00,0.000,6,0.000,0.029,2582,2241,3431
$GC,10231,-0.96,-146.6,674.1,-5.8,490,10235,0.00,2.55,0.00,0.000,4,0.000,0.056,2582,3652,3432
$GC,10275,-0.96,-146.6,676.9,-6.5,492,10280,0.00,2.40,0.00,0.000,6,0.000,0.030,2582,2240,3432
$GC,10597,-0.96,-146.6,697.3,-7.1,508,10602,0.00,2.55,0.00,0.000,4,0.000,0.056,2582,3651,3431
$GC,10653,-0.96,-146.6,701.7,-8.0,510,10661,0.00,2.40,0.00,0.000,6,0.000,0.030,2582,2258,3431
$GC,10969,-0.96,-146.6,723.6,-8.1,526,10970,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2258,3432
$GC,11278,-0.96,-146.6,746.1,-7.6,541,11283,0.00,2.53,0.00,0.000,4,0.000,0.057,2583,3652,3431
$GC,11462,-0.96,-146.6,766.4,-10.8,549,11467,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2254,3431
$GC,11779,-0.96,-146.6,792.1,-7.8,564,11783,0.00,2.45,0.00,0.000,4,0.000,0.044,2582,849,3431
$GC,11863,-0.96,-146.6,798.6,-7.0,568,11867,0.00,2.45,0.00,0.000,6,0.000,0.038,2582,2258,3431
$GC,12192,-0.96,-146.6,819.1,-5.8,584,12196,0.00,2.50,0.00,0.000,4,0.000,0.044,2583,840,3431
$GC,12225,-0.96,-146.6,821.1,-4.6,585,12232,0.00,2.45,0.00,0.000,6,0.000,0.039,2582,2247,3431
$GC,12542,-0.96,-146.6,838.2,-5.4,601,12543,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2246,3430
$GC,12850,-0.96,-146.6,856.1,-5.8,616,12855,0.00,2.55,0.00,0.000,4,0.000,0.060,2582,3653,3430
$GC,12940,-0.96,-146.6,863.1,-8.8,620,12944,0.00,2.42,0.00,0.000,6,0.000,0.033,2582,2245,3429
$GC,13262,-0.96,-146.6,887.7,-8.0,636,13266,0.00,2.58,0.00,0.000,4,0.000,0.061,2582,3653,3429
$GC,13288,-0.96,-146.6,890.1,-8.3,637,13294,0.00,2.45,0.00,0.000,6,0.000,0.034,2582,2252,3429
$STATE,13607,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13607,begin apogee
$GC,13615,-0.36,0.0,923.8,10.2,653,13751,0.65,0.00,130.50,1.374,6,0.062,0.000,2723,1455,2832
$STATE,13751,end apogee,CONTROL_FINISHED_OK
$STATE,13751,begin climb
$GC,13754,0.96,146.6,933.2,0.0,660,13895,1.27,2.62,131.23,1.341,4,0.043,0.048,3011,2861,2233
$GC,13996,0.99,171.4,925.7,5.3,671,14026,0.00,2.50,22.92,1.262,6,0.000,0.040,3011,1457,2133
$GC,14348,0.99,171.4,909.3,8.1,688,14352,0.00,2.17,0.00,0.000,4,0.000,0.061,3011,264,2126
$GC,14364,0.99,171.4,907.4,9.3,688,14371,0.00,2.10,0.00,0.000,6,0.000,0.038,3012,1456,2126
$GC,14680,0.99,171.4,883.5,9.6,704,14681,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1456,2124
$GC,14990,1.07,229.1,864.9,4.4,719,15053,0.00,2.65,52.80,1.334,4,0.000,0.051,3011,2858,1895
$GC,15182,1.14,287.2,854.6,4.4,727,15243,0.12,2.50,54.38,1.312,6,0.028,0.041,3071,1450,1660
$GC,15560,1.14,287.2,818.4,11.0,746,15565,0.12,2.55,0.00,0.000,4,0.078,0.049,3045,2854,1650
$GC,15604,1.14,287.2,813.6,10.3,748,15608,0.00,2.47,0.00,0.000,6,0.000,0.039,3044,1452,1650
$GC,15925,1.14,287.2,776.8,12.1,764,15927,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1452,1647
$GC,16234,1.14,287.2,741.1,11.6,779,16238,0.00,2.50,0.00,0.000,4,0.000,0.047,3045,2856,1647
$GC,16274,1.14,287.2,736.9,10.1,781,16278,0.00,2.47,0.00,0.000,6,0.000,0.038,3045,1452,1646
$GC,16600,1.14,287.2,705.9,9.2,797,16604,0.00,2.50,0.00,0.000,4,0.000,0.046,3045,2856,1646
$GC,16628,1.14,287.2,703.2,10.7,798,16632,0.00,2.47,0.00,0.000,6,0.000,0.038,3045,1452,1645
$GC,16943,1.14,287.2,675.2,8.3,813,16948,0.00,2.50,0.00,0.000,4,0.000,0.045,3045,2859,1645
$GC,16965,1.14,287.2,673.2,8.7,814,16969,0.00,2.47,0.00,0.000,6,0.000,0.038,3044,1452,1645
$GC,17286,1.14,287.2,645.7,8.8,830,17289,0.00,2.15,0.00,0.000,4,0.000,0.058,3045,261,1645
$GC,17313,1.14,287.2,642.8,9.9,831,17317,0.00,2.03,0.00,0.000,6,0.000,0.033,3045,1459,1646
$GC,17641,1.14,287.2,611.6,9.4,847,17645,0.00,2.47,0.00,0.000,4,0.000,0.047,3044,2856,1645
$GC,17662,1.14,287.2,609.4,10.0,848,17667,0.00,2.47,0.00,0.000,6,0.000,0.037,3044,1461,1645
$GC,17988,1.14,287.2,579.8,9.1,864,17990,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1461,1645
$GC,18298,1.14,287.2,550.6,9.5,879,18302,0.00,2.45,0.00,0.000,4,0.000,0.043,3045,2854,1646
$GC,18325,1.14,287.2,547.9,8.8,880,18329,0.00,2.45,0.00,0.000,6,0.000,0.036,3044,1452,1645
$GC,18640,1.14,287.2,518.2,9.3,895,18644,0.00,2.47,0.00,0.000,4,0.000,0.043,3045,2855,1645
$GC,18672,1.14,287.2,514.9,9.1,896,18679,0.00,2.45,0.00,0.000,6,0.000,0.036,3045,1452,1645
$GC,18991,1.14,287.2,483.6,9.7,912,18992,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1453,1646
$GC,19297,1.14,287.2,453.6,9.8,927,19298,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1453,1646
$GC,19606,1.14,287.2,424.3,9.3,942,19607,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1453,1646
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$STATE,24675,end climb,SURFACE_DEPTH_REACHED
$STATE,24676,begin surface coast
$FINISH,1.0,1.026874
$STATE,24695,end surface coast,CONTROL_FINISHED_OK
$STATE,24695,begin surface
$SM_CCo,24721,4.18,0.531,0,0,1609,300.00
$SM_GC,2.09,0.00,0.00,4.18,0.000,0.000,0.531,383,2248,1609,-11.12,-0.06,300.00
$IRIDIUM_FIX,6303.50,-1322.43,240998,010142
$TT8_MAMPS,0.026845
$HUMID,1855
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,825.8,107.0
$24V_AH,23.2,34.483
$10V_AH,10.1,17.203
$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,25.350,223.200,397.150,4.175,0.000,28.067,32.071,172.057,7.250,0.000,0.000,13.219,2172.570,18952.227,542.192,2475.275,942.006,0.000,1868.376,0.000,2680.804,0.000,49.355,0.000
$DEVICE_MAMPS,131.157,61.360,1374.464,530.764,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,989.160,883.178,639.970,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60117,1186
$CAP_FILE_SIZE,175955,0
$CFSIZE,260165632,250626048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,300609,152830,6327.418,-1327.729,41,1.1,41,-12.5