version: 66.04
glider: 105
mission: 6
dive: 125
start: 7 4 109 17 22 46
data:
$ID,105
$MISSION,6
$DIVE,125
$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,-1630238.2
$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,39
$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
$GPS1,171607,6258.183,-1330.128,33,1.0,34,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-60.8
$GPS2,172226,6258.246,-1330.167,12,1.4,12,-12.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IE
$TGT_LATLONG,6245.000,-1320.000
$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,172.9,26003,-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,-58.95,0.000,6,0.000,0.000,384,2269,3431
$GC,81,-0.96,-146.6,5.1,-9.9,3,102,11.57,2.55,0.00,0.000,4,0.128,0.035,2584,833,3432
$GC,225,-0.96,-146.6,27.7,-9.0,9,229,0.00,2.45,0.00,0.000,6,0.000,0.033,2583,2240,3432
$GC,541,-0.96,-146.6,55.5,-7.3,24,545,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3650,3434
$GC,674,-0.96,-146.6,65.3,-7.0,30,678,0.00,2.42,0.00,0.000,6,0.000,0.027,2583,2219,3433
$GC,996,-0.96,-146.6,88.6,-7.6,46,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2219,3435
$GC,1304,-0.96,-146.6,113.0,-7.8,61,1309,0.00,2.60,0.00,0.000,4,0.000,0.053,2584,3653,3435
$GC,1371,-0.96,-146.6,118.4,-7.3,64,1375,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2252,3434
$GC,1693,-0.96,-146.6,141.9,-7.4,80,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2252,3435
$GC,2002,-0.96,-146.6,164.3,-6.9,95,2006,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3650,3434
$GC,2058,-0.96,-146.6,168.5,-7.8,97,2064,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2248,3434
$GC,2373,-0.96,-146.6,191.1,-7.0,113,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2248,3434
$GC,2685,-0.96,-146.6,212.1,-6.7,128,2689,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3656,3434
$GC,2747,-0.96,-146.6,216.9,-7.5,131,2751,0.00,2.40,0.00,0.000,6,0.000,0.028,2583,2240,3433
$GC,3073,-0.96,-146.6,239.9,-7.4,147,3077,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3650,3433
$GC,3135,-0.96,-146.6,244.8,-8.0,150,3139,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2249,3433
$GC,3461,-0.96,-146.6,268.7,-7.3,166,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2249,3434
$GC,3772,-0.96,-146.6,291.9,-7.4,181,3776,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3650,3433
$GC,3849,-0.96,-146.6,298.0,-7.2,184,3856,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2247,3433
$GC,4165,-0.96,-146.6,318.9,-6.5,200,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2248,3433
$GC,4477,-0.96,-146.6,338.1,-6.0,215,4481,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3649,3432
$GC,4543,-0.96,-146.6,342.8,-6.6,218,4548,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2251,3432
$GC,4864,-0.96,-146.6,362.2,-6.0,234,4869,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3655,3432
$GC,4904,-0.96,-146.6,364.7,-6.7,236,4909,0.00,2.40,0.00,0.000,6,0.000,0.028,2583,2237,3432
$GC,5232,-0.96,-146.6,384.0,-5.7,252,5236,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3650,3432
$GC,5293,-0.96,-146.6,387.9,-6.2,255,5297,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2251,3432
$GC,5620,-0.96,-146.6,407.8,-6.2,271,5625,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3650,3432
$GC,5676,-0.96,-146.6,411.6,-6.9,273,5683,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2240,3432
$GC,5992,-0.96,-146.6,430.7,-5.9,289,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2239,3431
$GC,6302,-0.96,-146.6,450.4,-6.0,304,6306,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3650,3432
$GC,6364,-0.96,-146.6,454.4,-6.9,307,6368,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2250,3431
$GC,6693,-0.96,-146.6,476.0,-6.8,323,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2249,3431
$GC,6999,-0.96,-146.6,496.2,-6.3,338,7004,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3650,3431
$GC,7065,-0.96,-146.6,500.8,-6.8,341,7070,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2251,3431
$GC,7387,-0.96,-146.6,521.4,-6.3,357,7391,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3650,3431
$GC,7459,-0.96,-146.6,526.3,-7.0,360,7463,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2249,3431
$GC,7774,-0.96,-146.6,547.1,-6.7,375,7778,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3650,3431
$GC,7823,-0.96,-146.6,550.8,-7.8,377,7827,0.00,2.40,0.00,0.000,6,0.000,0.028,2583,2237,3431
$GC,8138,-0.96,-146.6,572.5,-6.9,392,8143,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3651,3431
$GC,8178,-0.96,-146.6,575.6,-7.7,394,8182,0.00,2.38,0.00,0.000,6,0.000,0.029,2583,2254,3431
$GC,8504,-0.96,-146.6,597.0,-6.3,410,8508,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3658,3431
$GC,8553,-0.96,-146.6,600.5,-7.2,412,8558,0.00,2.42,0.00,0.000,6,0.000,0.029,2583,2252,3431
$GC,8874,-0.96,-146.6,620.0,-5.9,428,8875,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2252,3431
$GC,9183,-0.96,-146.6,638.3,-6.0,443,9187,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3652,3430
$GC,9222,-0.96,-146.6,640.8,-7.1,445,9226,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2240,3430
$GC,9549,-0.96,-146.6,659.4,-5.6,461,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2240,3430
$GC,9861,-0.96,-146.6,676.4,-5.6,476,9865,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3651,3430
$GC,9945,-0.96,-146.6,681.6,-6.6,480,9950,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2257,3430
$GC,10278,-0.96,-146.6,700.8,-5.5,496,10283,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3650,3430
$GC,10340,-0.96,-146.6,704.6,-5.8,498,10346,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2241,3430
$GC,10655,-0.96,-146.6,720.8,-5.4,514,10656,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2241,3430
$GC,10967,-0.96,-146.6,737.2,-5.4,529,10971,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3650,3430
$GC,11052,-0.96,-146.6,742.3,-6.1,533,11056,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2240,3430
$GC,11381,-0.96,-146.6,762.6,-6.5,549,11385,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3650,3429
$GC,11442,-0.96,-146.6,767.1,-7.6,552,11447,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2242,3430
$GC,11769,-0.96,-146.6,789.9,-7.5,568,11773,0.00,2.42,0.00,0.000,4,0.000,0.044,2583,852,3429
$GC,11802,-0.96,-146.6,792.5,-8.8,569,11808,0.00,2.45,0.00,0.000,6,0.000,0.037,2583,2259,3429
$GC,12120,-0.96,-146.6,817.8,-8.2,585,12121,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2259,3429
$GC,12426,-0.96,-146.6,840.3,-6.6,600,12430,0.00,2.47,0.00,0.000,4,0.000,0.044,2584,853,3429
$GC,12470,-0.96,-146.6,843.3,-6.0,602,12476,0.00,2.47,0.00,0.000,6,0.000,0.038,2583,2250,3428
$GC,12797,-0.96,-146.6,859.9,-4.6,618,12799,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2250,3428
$GC,13110,-0.96,-146.6,875.8,-5.5,633,13114,0.00,2.47,0.00,0.000,4,0.000,0.045,2584,847,3428
$GC,13137,-0.96,-146.6,877.7,-6.2,634,13142,0.00,2.47,0.00,0.000,6,0.000,0.037,2584,2246,3428
$GC,13458,-0.96,-146.6,897.0,-6.7,650,13462,0.00,2.55,0.00,0.000,4,0.000,0.059,2584,3659,3428
$GC,13579,-0.96,-146.6,906.0,-7.7,655,13586,0.00,2.42,0.00,0.000,6,0.000,0.034,2584,2255,3428
$GC,13896,-0.96,-146.6,928.4,-8.3,671,13897,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2254,3427
$GC,14205,-0.96,-146.6,950.4,-7.8,686,14209,0.00,2.55,0.00,0.000,4,0.000,0.060,2583,3653,3426
$GC,14276,-0.96,-146.6,955.3,-6.8,689,14281,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2249,3426
$STATE,14428,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14428,begin apogee
$GC,14436,-0.36,0.0,967.4,8.3,696,14570,0.62,0.00,130.90,1.407,6,0.062,0.000,2719,1463,2832
$STATE,14571,end apogee,CONTROL_FINISHED_OK
$STATE,14571,begin climb
$GC,14574,0.96,146.6,974.5,0.0,703,14713,1.30,2.25,132.20,1.371,4,0.050,0.062,3007,264,2233
$GC,15046,0.96,146.6,950.9,6.5,723,15052,0.00,2.08,0.00,0.000,6,0.000,0.037,3006,1475,2223
$GC,15365,0.98,162.0,933.9,5.6,739,15386,0.00,2.55,13.32,1.246,4,0.000,0.049,3006,2847,2170
$GC,15470,0.99,168.0,927.7,5.8,743,15484,0.00,2.47,6.97,1.091,6,0.000,0.041,3006,1451,2146
$GC,15807,1.05,217.1,910.6,4.7,760,15859,0.10,2.58,46.40,1.356,4,0.048,0.049,3057,2847,1946
$GC,15943,1.05,217.1,900.7,7.8,766,15948,0.15,2.47,0.00,0.000,6,0.076,0.041,3026,1452,1942
$GC,16262,1.05,217.1,878.1,7.9,781,16266,0.00,2.50,0.00,0.000,4,0.000,0.048,3026,2848,1939
$GC,16328,1.05,217.1,872.2,8.1,784,16332,0.00,2.50,0.00,0.000,6,0.000,0.041,3026,1445,1939
$GC,16649,1.05,217.1,845.6,8.1,800,16653,0.00,2.15,0.00,0.000,4,0.000,0.060,3026,264,1937
$GC,16682,1.05,217.1,842.6,8.9,801,16686,0.00,2.05,0.00,0.000,6,0.000,0.035,3026,1457,1937
$GC,17002,1.05,217.1,816.7,8.2,817,17007,0.00,2.50,0.00,0.000,4,0.000,0.048,3026,2852,1936
$GC,17035,1.05,217.1,814.0,8.5,818,17042,0.00,2.45,0.00,0.000,6,0.000,0.039,3026,1451,1936
$GC,17354,1.05,217.1,789.6,7.6,834,17358,0.00,2.50,0.00,0.000,4,0.000,0.046,3026,2854,1935
$GC,17393,1.05,217.1,786.4,7.6,836,17398,0.00,2.45,0.00,0.000,6,0.000,0.038,3026,1451,1935
$GC,17723,1.05,217.1,762.0,7.5,852,17727,0.00,2.50,0.00,0.000,4,0.000,0.046,3026,2857,1935
$GC,17784,1.05,217.1,757.1,7.8,855,17789,0.00,2.47,0.00,0.000,6,0.000,0.038,3026,1449,1935
$GC,18112,1.05,217.1,730.8,8.2,871,18116,0.00,2.50,0.00,0.000,4,0.000,0.044,3026,2854,1935
$GC,18155,1.05,217.1,727.0,8.6,873,18160,0.00,2.45,0.00,0.000,6,0.000,0.037,3026,1454,1934
$GC,18479,1.05,217.1,699.7,8.6,889,18484,0.00,2.47,0.00,0.000,4,0.000,0.044,3026,2851,1934
$GC,18529,1.05,217.1,695.0,8.4,891,18533,0.00,2.42,0.00,0.000,6,0.000,0.037,3026,1453,1934
$GC,18848,1.05,217.1,669.0,8.2,906,18852,0.00,2.47,0.00,0.000,4,0.000,0.044,3026,2854,1935
$GC,18893,1.05,217.1,665.2,8.1,908,18897,0.00,2.45,0.00,0.000,6,0.000,0.036,3026,1452,1935
$GC,19213,1.05,217.1,640.5,7.7,924,19214,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1452,1935
$GC,19525,1.05,217.1,617.1,7.6,939,19529,0.00,2.47,0.00,0.000,4,0.000,0.044,3026,2853,1935
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$GC,27161,1.09,245.7,53.8,5.2,1308,27192,0.00,2.45,24.58,0.795,6,0.000,0.036,3026,1446,1829
$GC,27515,1.10,258.9,33.4,5.6,1325,27534,0.00,0.00,12.27,0.739,6,0.000,0.000,3026,1446,1775
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$STATE,28003,end climb,SURFACE_DEPTH_REACHED
$STATE,28003,begin surface coast
$FINISH,0.2,1.013777
$STATE,28045,end surface coast,CONTROL_FINISHED_OK
$STATE,28045,begin surface
$SM_CCo,28069,19.08,0.739,0,0,1609,300.00
$SM_GC,0.66,0.00,0.00,19.08,0.000,0.000,0.739,388,2255,1609,-11.09,0.17,300.00
$IRIDIUM_FIX,6235.17,-1331.22,280998,090914
$TT8_MAMPS,0.027612
$HUMID,1846
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,926.6,50.5
$24V_AH,23.2,36.820
$10V_AH,10.1,18.896
$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,25.125,297.650,378.050,19.075,0.000,27.219,30.660,184.060,8.250,0.000,0.000,12.765,2535.207,21251.689,593.504,3005.813,1071.383,0.000,2190.660,0.000,3243.092,0.000,55.662,0.000
$DEVICE_MAMPS,128.089,62.127,1407.445,738.621,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1092.199,1057.000,749.790,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69516,1351
$CAP_FILE_SIZE,211506,0
$CFSIZE,260165632,249409536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,35,0,0
$GPS,050709,011207,6257.484,-1328.332,31,1.0,32,-12.3