version: 66.04
glider: 105
mission: 6
dive: 135
start: 7 7 109 22 56 58
data:
$ID,105
$MISSION,6
$DIVE,135
$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,-1630437.2
$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,25
$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
$GPS1,225025,6238.343,-1304.855,43,1.6,44,-11.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-61.3
$GPS2,225638,6238.335,-1304.843,15,2.0,15,-11.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HE
$TGT_LATLONG,6235.000,-1245.000
$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,122.0,18013,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-57.88,0.000,6,0.000,0.000,385,2257,3431
$GC,81,-0.96,-146.6,5.5,-10.9,3,102,11.65,2.55,0.00,0.000,4,0.131,0.039,2585,834,3432
$GC,220,-0.96,-146.6,27.8,-8.5,9,225,0.00,2.45,0.00,0.000,6,0.000,0.031,2585,2243,3432
$GC,542,-0.96,-146.6,53.3,-6.9,25,546,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3651,3433
$GC,614,-0.96,-146.6,59.2,-8.3,28,618,0.00,2.42,0.00,0.000,6,0.000,0.029,2585,2230,3433
$GC,931,-0.96,-146.6,84.6,-9.1,43,935,0.00,2.58,0.00,0.000,4,0.000,0.052,2585,3651,3434
$GC,1042,-0.96,-146.6,95.6,-9.7,48,1046,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2243,3434
$GC,1364,-0.96,-146.6,123.3,-8.6,64,1368,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3651,3434
$GC,1404,-0.96,-146.6,127.2,-9.6,66,1408,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2248,3434
$GC,1730,-0.96,-146.6,157.2,-9.1,82,1734,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3651,3434
$GC,1785,-0.96,-146.6,162.4,-9.6,84,1791,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3434
$GC,2101,-0.96,-146.6,185.9,-6.7,100,2105,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3650,3434
$GC,2145,-0.96,-146.6,189.1,-6.5,102,2149,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2241,3433
$GC,2466,-0.96,-146.6,210.0,-6.7,118,2471,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3651,3433
$GC,2522,-0.96,-146.6,214.1,-7.1,120,2528,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2247,3433
$GC,2839,-0.96,-146.6,237.2,-7.7,136,2844,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3654,3433
$GC,2884,-0.96,-146.6,241.1,-8.6,138,2888,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2251,3433
$GC,3207,-0.96,-146.6,265.6,-7.4,154,3211,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3651,3433
$GC,3257,-0.96,-146.6,269.7,-7.5,156,3261,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2246,3433
$GC,3574,-0.96,-146.6,290.0,-6.2,171,3579,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3654,3432
$GC,3630,-0.96,-146.6,293.8,-6.9,173,3636,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3432
$GC,3946,-0.96,-146.6,313.4,-6.3,189,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3432
$GC,4254,-0.96,-146.6,333.4,-6.7,204,4259,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3651,3432
$GC,4332,-0.96,-146.6,339.0,-7.3,207,4338,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2246,3432
$GC,4651,-0.96,-146.6,358.8,-6.2,223,4655,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3655,3432
$GC,4700,-0.96,-146.6,362.4,-6.9,225,4704,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3432
$GC,5015,-0.96,-146.6,381.6,-6.3,240,5017,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2250,3432
$GC,5328,-0.96,-146.6,401.4,-6.5,255,5332,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3650,3432
$GC,5405,-0.96,-146.6,407.4,-7.3,258,5412,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2240,3431
$GC,5721,-0.96,-146.6,427.8,-6.5,274,5725,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3650,3431
$GC,5770,-0.96,-146.6,431.5,-7.3,276,5775,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2251,3431
$GC,6091,-0.96,-146.6,452.3,-6.5,292,6095,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3653,3431
$GC,6153,-0.96,-146.6,456.6,-6.8,295,6157,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2249,3431
$GC,6485,-0.96,-146.6,478.0,-6.5,311,6490,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3647,3431
$GC,6536,-0.96,-146.6,481.7,-7.1,313,6540,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2246,3431
$GC,6856,-0.96,-146.6,503.0,-6.5,329,6860,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3654,3430
$GC,6896,-0.96,-146.6,505.8,-7.3,331,6900,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2248,3430
$GC,7222,-0.96,-146.6,526.2,-6.2,347,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3431
$GC,7532,-0.96,-146.6,544.6,-5.9,362,7536,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3651,3430
$GC,7618,-0.96,-146.6,550.2,-7.1,366,7622,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2248,3430
$GC,7944,-0.96,-146.6,570.4,-6.1,382,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3430
$GC,8253,-0.96,-146.6,589.3,-6.4,397,8257,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3651,3430
$GC,8348,-0.96,-146.6,596.1,-7.1,401,8352,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2249,3430
$GC,8665,-0.96,-146.6,616.6,-6.6,416,8666,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2250,3430
$GC,8974,-0.96,-146.6,637.4,-6.5,431,8978,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3650,3430
$GC,9068,-0.96,-146.6,644.3,-7.6,435,9072,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3430
$GC,9384,-0.96,-146.6,666.2,-7.3,450,9388,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3653,3430
$GC,9434,-0.96,-146.6,670.1,-7.3,452,9438,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3430
$GC,9750,-0.96,-146.6,693.1,-7.2,467,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2250,3430
$GC,10059,-0.96,-146.6,714.3,-6.5,482,10060,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2249,3429
$GC,10371,-0.96,-146.6,736.0,-6.7,497,10375,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3651,3429
$GC,10420,-0.96,-146.6,739.7,-6.8,499,10424,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2249,3429
$GC,10736,-0.96,-146.6,761.1,-6.6,514,10741,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3647,3429
$GC,10791,-0.96,-146.6,764.7,-6.9,516,10795,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2251,3429
$GC,11106,-0.96,-146.6,784.4,-6.9,531,11108,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3429
$GC,11417,-0.96,-146.6,808.2,-7.1,546,11422,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3659,3429
$GC,11508,-0.96,-146.6,815.2,-7.8,550,11512,0.00,2.42,0.00,0.000,6,0.000,0.032,2585,2251,3429
$GC,11831,-0.96,-146.6,837.1,-7.6,566,11832,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2250,3429
$GC,12138,-0.96,-146.6,858.4,-6.2,581,12139,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2250,3428
$GC,12447,-0.96,-146.6,875.1,-4.7,596,12452,0.00,2.55,0.00,0.000,4,0.000,0.058,2585,3650,3428
$GC,12515,-0.96,-146.6,879.4,-6.2,599,12520,0.00,2.42,0.00,0.000,6,0.000,0.035,2585,2248,3428
$GC,12837,-0.96,-146.6,898.8,-7.8,615,12841,0.00,2.47,0.00,0.000,4,0.000,0.048,2585,846,3427
$GC,12893,-0.96,-146.6,902.6,-8.0,617,12899,0.00,2.45,0.00,0.000,6,0.000,0.038,2586,2249,3427
$STATE,13082,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13083,begin apogee
$GC,13091,-0.36,0.0,911.4,4.4,627,13226,0.62,0.00,129.98,1.369,6,0.064,0.000,2721,1462,2832
$STATE,13226,end apogee,CONTROL_FINISHED_OK
$STATE,13226,begin climb
$GC,13229,0.96,146.6,916.0,0.0,634,13365,1.33,0.00,131.27,1.332,6,0.054,0.000,3010,1462,2234
$GC,13663,0.98,158.0,897.9,5.7,655,13678,0.00,2.25,10.48,1.157,4,0.000,0.064,3010,262,2186
$GC,13724,1.00,172.3,894.3,5.6,657,13746,0.00,2.10,14.55,1.212,6,0.000,0.035,3010,1473,2129
$GC,14058,1.06,223.4,878.1,4.6,673,14112,0.00,2.53,47.50,1.317,4,0.000,0.047,3009,2853,1920
$GC,14169,1.09,249.5,872.6,5.3,678,14200,0.12,2.53,25.45,1.270,6,0.041,0.043,3064,1448,1814
$GC,14514,1.09,249.5,847.0,7.7,694,14519,0.12,2.53,0.00,0.000,4,0.077,0.047,3038,2844,1805
$GC,14555,1.09,249.5,843.7,7.4,696,14559,0.00,2.47,0.00,0.000,6,0.000,0.043,3038,1450,1805
$GC,14883,1.09,249.5,816.8,8.4,712,14884,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1450,1803
$GC,15190,1.09,249.5,791.3,8.0,727,15194,0.00,2.50,0.00,0.000,4,0.000,0.046,3038,2851,1802
$GC,15234,1.09,249.5,787.7,7.6,729,15238,0.00,2.47,0.00,0.000,6,0.000,0.040,3038,1452,1802
$GC,15557,1.09,249.5,761.8,8.2,745,15561,0.00,2.47,0.00,0.000,4,0.000,0.044,3038,2846,1801
$GC,15589,1.09,249.5,758.9,7.7,746,15595,0.00,2.45,0.00,0.000,6,0.000,0.040,3038,1449,1801
$GC,15905,1.09,249.5,734.5,7.8,762,15909,0.00,2.47,0.00,0.000,4,0.000,0.044,3038,2846,1801
$GC,15954,1.09,249.5,730.5,8.0,764,15959,0.00,2.45,0.00,0.000,6,0.000,0.038,3038,1451,1800
$GC,16272,1.09,249.5,706.6,7.1,779,16276,0.00,2.47,0.00,0.000,4,0.000,0.043,3038,2853,1800
$GC,16305,1.09,249.5,704.1,7.1,780,16312,0.00,2.45,0.00,0.000,6,0.000,0.038,3038,1450,1800
$GC,16621,1.09,249.5,681.8,7.1,796,16622,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1450,1801
$GC,16930,1.09,249.5,657.8,8.1,811,16935,0.00,2.47,0.00,0.000,4,0.000,0.042,3038,2840,1801
$GC,17008,1.09,249.5,651.6,7.9,814,17013,0.00,2.42,0.00,0.000,6,0.000,0.037,3038,1453,1800
$GC,17326,1.09,249.5,628.1,7.1,829,17330,0.00,2.45,0.00,0.000,4,0.000,0.041,3038,2848,1801
$GC,17370,1.09,249.5,624.6,7.5,831,17374,0.00,2.42,0.00,0.000,6,0.000,0.037,3038,1450,1801
$GC,17693,1.09,249.5,602.4,6.7,847,17697,0.00,2.45,0.00,0.000,4,0.000,0.041,3038,2848,1801
$GC,17726,1.09,249.5,599.9,6.7,848,17732,0.00,2.42,0.00,0.000,6,0.000,0.037,3038,1446,1801
$GC,18041,1.09,249.5,578.6,6.7,864,18045,0.00,2.47,0.00,0.000,4,0.000,0.041,3038,2856,1801
$GC,18085,1.09,249.5,575.5,7.1,866,18089,0.00,2.45,0.00,0.000,6,0.000,0.037,3038,1453,1801
$GC,18406,1.09,249.5,553.0,7.2,882,18410,0.00,2.45,0.00,0.000,4,0.000,0.041,3038,2849,1801
$GC,18455,1.09,249.5,549.3,7.3,884,18459,0.00,2.42,0.00,0.000,6,0.000,0.037,3038,1448,1801
$GC,18771,1.09,249.5,525.2,8.0,899,18775,0.00,2.45,0.00,0.000,4,0.000,0.041,3038,2853,1802
$GC,18827,1.09,249.5,520.7,7.5,901,18833,0.00,2.45,0.00,0.000,6,0.000,0.037,3038,1449,1802
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$STATE,24889,end climb,SURFACE_DEPTH_REACHED
$STATE,24889,begin surface coast
$FINISH,0.3,1.015294
$STATE,24933,end surface coast,CONTROL_FINISHED_OK
$STATE,24933,begin surface
$SM_CCo,24957,31.23,0.766,0,0,1609,300.00
$SM_GC,1.29,0.00,0.00,31.23,0.000,0.000,0.766,393,2251,1609,-11.08,0.03,300.00
$IRIDIUM_FIX,6216.53,-1314.43,011098,151517
$TT8_MAMPS,0.027612
$HUMID,1850
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,13.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,850.5,70.5
$24V_AH,23.2,38.376
$10V_AH,10.1,20.128
$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,25.125,268.250,359.225,31.225,0.000,29.130,25.439,180.430,7.500,0.000,0.000,15.876,2237.649,18924.213,578.649,2638.707,974.415,0.000,1976.800,0.000,2840.887,0.000,50.871,0.000
$DEVICE_MAMPS,131.157,63.661,1369.095,766.233,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,960.063,920.903,641.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59873,1196
$CAP_FILE_SIZE,187158,0
$CFSIZE,260165632,248573952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,0,0
$GPS,080709,055454,6235.078,-1259.514,29,1.1,47,-11.8