version: 66.04
glider: 105
mission: 6
dive: 139
start: 7 9 109 5 55 16
data:
$ID,105
$MISSION,6
$DIVE,139
$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,-1630498.8
$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,26
$R_STBD_OVSHOOT,32
$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
$GPS1,054837,6233.292,-1235.076,36,1.0,36,-11.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-61.1
$GPS2,055456,6233.285,-1235.024,12,1.5,12,-11.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,GE
$TGT_LATLONG,6230.000,-1210.000
$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,117.5,22248,-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,-57.97,0.000,6,0.000,0.000,392,2268,3430
$GC,81,-0.96,-146.6,5.6,-11.1,3,102,11.60,2.55,0.00,0.000,4,0.131,0.038,2585,840,3432
$GC,439,-0.96,-146.6,43.0,-6.9,19,444,0.00,2.47,0.00,0.000,6,0.000,0.032,2585,2246,3433
$GC,772,-0.96,-146.6,64.5,-6.5,35,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2246,3434
$GC,1082,-0.96,-146.6,85.3,-6.8,50,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2246,3433
$GC,1390,-0.96,-146.6,109.0,-7.9,65,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2246,3434
$GC,1699,-0.96,-146.6,133.5,-8.1,80,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2246,3434
$GC,2008,-0.96,-146.6,157.3,-7.4,95,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2246,3434
$GC,2318,-0.96,-146.6,179.5,-7.0,110,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2246,3433
$GC,2628,-0.96,-146.6,200.4,-6.8,125,2632,0.00,2.50,0.00,0.000,4,0.000,0.043,2585,832,3433
$GC,2667,-0.96,-146.6,203.2,-6.8,127,2672,0.00,2.47,0.00,0.000,6,0.000,0.035,2585,2254,3433
$GC,2994,-0.96,-146.6,224.9,-6.3,143,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2255,3433
$GC,3303,-0.96,-146.6,244.4,-6.6,158,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2255,3433
$GC,3613,-0.96,-146.6,264.1,-6.5,173,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2255,3432
$GC,3922,-0.96,-146.6,285.1,-6.9,188,3926,0.00,2.50,0.00,0.000,4,0.000,0.044,2584,840,3432
$GC,3961,-0.96,-146.6,287.9,-7.3,190,3965,0.00,2.42,0.00,0.000,6,0.000,0.035,2585,2248,3432
$GC,4287,-0.96,-146.6,310.7,-7.1,206,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3432
$GC,4598,-0.96,-146.6,332.0,-6.7,221,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3432
$GC,4906,-0.96,-146.6,352.9,-6.7,236,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3432
$GC,5215,-0.96,-146.6,373.9,-6.8,251,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3431
$GC,5526,-0.96,-146.6,396.0,-7.3,266,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3431
$GC,5834,-0.96,-146.6,417.7,-6.9,281,5838,0.00,2.50,0.00,0.000,4,0.000,0.045,2585,833,3431
$GC,5873,-0.96,-146.6,420.4,-6.7,283,5878,0.00,2.45,0.00,0.000,6,0.000,0.035,2585,2255,3431
$GC,6200,-0.96,-146.6,442.4,-6.6,299,6201,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2255,3431
$GC,6509,-0.96,-146.6,463.5,-6.9,314,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2255,3431
$GC,6818,-0.96,-146.6,484.6,-6.8,329,6823,0.00,2.50,0.00,0.000,4,0.000,0.044,2585,840,3430
$GC,6858,-0.96,-146.6,487.3,-6.8,331,6863,0.00,2.45,0.00,0.000,6,0.000,0.035,2585,2257,3430
$GC,7185,-0.96,-146.6,509.5,-6.7,347,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2257,3430
$GC,7494,-0.96,-146.6,530.6,-6.9,362,7498,0.00,2.50,0.00,0.000,4,0.000,0.044,2585,840,3430
$GC,7544,-0.96,-146.6,534.2,-7.4,364,7548,0.00,2.45,0.00,0.000,6,0.000,0.034,2585,2253,3430
$GC,7861,-0.96,-146.6,556.8,-7.1,379,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2253,3430
$GC,8169,-0.96,-146.6,578.6,-7.1,394,8173,0.00,2.50,0.00,0.000,4,0.000,0.044,2585,834,3430
$GC,8208,-0.96,-146.6,581.4,-7.7,396,8213,0.00,2.45,0.00,0.000,6,0.000,0.035,2585,2248,3430
$GC,8535,-0.96,-146.6,602.8,-6.5,412,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3430
$GC,8845,-0.96,-146.6,622.1,-5.9,427,8849,0.00,2.50,0.00,0.000,4,0.000,0.044,2585,833,3430
$GC,8889,-0.96,-146.6,624.9,-6.6,429,8898,0.00,2.47,0.00,0.000,6,0.000,0.035,2584,2262,3430
$GC,9220,-0.96,-146.6,644.6,-6.0,445,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2262,3430
$GC,9529,-0.96,-146.6,663.6,-6.0,460,9533,0.00,2.50,0.00,0.000,4,0.000,0.044,2585,843,3430
$GC,9595,-0.96,-146.6,667.9,-6.5,463,9600,0.00,2.42,0.00,0.000,6,0.000,0.035,2585,2246,3430
$GC,9919,-0.96,-146.6,686.1,-5.5,479,9920,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2246,3430
$GC,10226,-0.96,-146.6,703.8,-5.6,494,10227,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2246,3429
$GC,10535,-0.96,-146.6,722.8,-6.3,509,10536,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2246,3429
$GC,10845,-0.96,-146.6,742.0,-6.2,524,10849,0.00,2.47,0.00,0.000,4,0.000,0.044,2585,843,3428
$GC,10880,-0.96,-146.6,744.1,-6.3,525,10886,0.00,2.45,0.00,0.000,6,0.000,0.036,2585,2256,3429
$GC,11198,-0.96,-146.6,763.5,-6.1,541,11199,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2255,3429
$GC,11505,-0.96,-146.6,782.7,-6.6,556,11509,0.00,2.50,0.00,0.000,4,0.000,0.045,2585,843,3429
$GC,11544,-0.96,-146.6,785.4,-6.7,558,11548,0.00,2.45,0.00,0.000,6,0.000,0.035,2585,2256,3428
$GC,11870,-0.96,-146.6,807.6,-6.9,574,11871,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2257,3428
$GC,12179,-0.96,-146.6,828.0,-6.6,589,12183,0.00,2.50,0.00,0.000,4,0.000,0.045,2585,844,3428
$GC,12245,-0.96,-146.6,832.4,-6.5,592,12250,0.00,2.42,0.00,0.000,6,0.000,0.035,2585,2247,3428
$GC,12569,-0.96,-146.6,852.6,-6.3,608,12570,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2247,3428
$GC,12876,-0.96,-146.6,873.0,-6.9,623,12880,0.00,2.55,0.00,0.000,4,0.000,0.058,2585,3659,3428
$GC,13027,-0.96,-146.6,884.0,-6.8,630,13032,0.00,2.42,0.00,0.000,6,0.000,0.034,2585,2239,3427
$GC,13357,-0.96,-146.6,905.4,-5.9,646,13361,0.00,2.42,0.00,0.000,4,0.000,0.049,2585,853,3427
$GC,13429,-0.96,-146.6,910.0,-5.8,649,13434,0.00,2.42,0.00,0.000,6,0.000,0.038,2585,2258,3427
$GC,13748,-0.96,-146.6,927.6,-5.5,664,13752,0.00,2.50,0.00,0.000,4,0.000,0.061,2585,3648,3426
$GC,13792,-0.96,-146.6,930.5,-5.9,666,13796,0.00,2.40,0.00,0.000,6,0.000,0.035,2585,2255,3426
$GC,14115,-0.96,-146.6,948.3,-5.3,682,14120,0.00,2.55,0.00,0.000,4,0.000,0.061,2585,3654,3425
$GC,14210,-0.96,-146.6,953.6,-5.5,686,14214,0.00,2.42,0.00,0.000,6,0.000,0.036,2585,2254,3425
$STATE,14440,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14441,begin apogee
$GC,14449,-0.36,0.0,966.3,5.8,697,14584,0.62,0.00,130.10,1.427,6,0.065,0.000,2720,1458,2832
$STATE,14585,end apogee,CONTROL_FINISHED_OK
$STATE,14585,begin climb
$GC,14588,0.96,146.6,970.2,0.0,704,14728,1.30,2.25,132.25,1.380,4,0.051,0.066,3006,265,2232
$GC,15010,0.96,146.6,947.6,6.9,722,15014,0.00,2.05,0.00,0.000,6,0.000,0.035,3006,1469,2224
$GC,15332,0.99,168.5,929.4,5.4,738,15358,0.00,2.55,19.35,1.306,4,0.000,0.051,3005,2842,2144
$GC,15453,1.01,187.4,922.6,5.5,743,15478,0.00,2.50,18.77,1.299,6,0.000,0.044,3006,1464,2068
$GC,15795,1.01,187.4,899.2,7.7,760,15799,0.00,2.47,0.00,0.000,4,0.000,0.048,3006,2851,2062
$GC,15867,1.01,187.4,893.5,7.4,763,15872,0.00,2.50,0.00,0.000,6,0.000,0.044,3005,1461,2061
$GC,16188,1.01,187.4,869.9,7.2,779,16189,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1461,2060
$GC,16497,1.01,187.4,848.4,6.9,794,16502,0.00,2.47,0.00,0.000,4,0.000,0.048,3006,2856,2059
$GC,16607,1.01,187.4,840.7,7.5,799,16612,0.00,2.50,0.00,0.000,6,0.000,0.041,3006,1444,2059
$GC,16934,1.01,187.4,818.3,6.9,815,16935,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1443,2057
$GC,17246,1.01,187.4,797.9,6.5,830,17250,0.00,2.50,0.00,0.000,4,0.000,0.045,3006,2856,2057
$GC,17295,1.01,187.4,794.2,7.1,832,17300,0.00,2.47,0.00,0.000,6,0.000,0.039,3006,1449,2057
$GC,17611,1.04,207.3,775.8,5.5,847,17636,0.00,2.60,17.85,1.253,4,0.000,0.046,3006,2860,1986
$GC,17693,1.07,235.8,771.1,5.2,850,17727,0.12,2.47,28.27,1.268,6,0.040,0.038,3062,1455,1870
$GC,18050,1.07,235.8,741.8,8.6,868,18055,0.15,2.50,0.00,0.000,4,0.074,0.045,3031,2846,1864
$GC,18090,1.07,235.8,738.7,6.9,870,18094,0.00,2.45,0.00,0.000,6,0.000,0.039,3030,1449,1864
$GC,18418,1.07,235.8,715.0,7.5,886,18422,0.00,2.50,0.00,0.000,4,0.000,0.044,3031,2850,1863
$GC,18467,1.07,235.8,711.1,7.4,888,18472,0.00,2.45,0.00,0.000,6,0.000,0.038,3031,1455,1863
$GC,18783,1.07,235.8,686.3,8.0,903,18787,0.00,2.47,0.00,0.000,4,0.000,0.044,3031,2854,1862
$GC,18827,1.07,235.8,682.7,7.4,905,18832,0.00,2.47,0.00,0.000,6,0.000,0.038,3031,1446,1862
$GC,19149,1.07,235.8,655.9,8.3,921,19153,0.00,2.45,0.00,0.000,4,0.000,0.043,3031,2848,1862
$GC,19204,1.07,235.8,651.3,7.7,923,19212,0.00,2.45,0.00,0.000,6,0.000,0.038,3031,1458,1862
$GC,19519,1.07,235.8,625.0,8.6,939,19524,0.00,2.45,0.00,0.000,4,0.000,0.043,3031,2850,1863
$GC,19552,1.07,235.8,622.1,8.3,940,19559,0.00,2.42,0.00,0.000,6,0.000,0.038,3031,1452,1863
$GC,19869,1.07,235.8,595.4,8.5,956,19874,0.00,2.50,0.00,0.000,4,0.000,0.043,3031,2851,1863
$GC,19914,1.07,235.8,591.4,8.4,958,19919,0.00,2.47,0.00,0.000,6,0.000,0.038,3031,1455,1862
$GC,20245,1.07,235.8,563.7,8.0,974,20250,0.00,2.45,0.00,0.000,4,0.000,0.044,3030,2848,1862
$GC,20286,1.07,235.8,560.5,7.5,976,20290,0.00,2.42,0.00,0.000,6,0.000,0.038,3031,1450,1863
$GC,20612,1.07,235.8,535.0,7.7,992,20616,0.00,2.47,0.00,0.000,4,0.000,0.043,3031,2852,1863
$GC,20661,1.07,235.8,531.1,7.1,994,20665,0.00,2.45,0.00,0.000,6,0.000,0.038,3031,1451,1863
$GC,20977,1.07,235.8,507.4,7.5,1009,20982,0.00,2.50,0.00,0.000,4,0.000,0.042,3031,2847,1863
$GC,21026,1.07,235.8,503.4,8.6,1011,21030,0.00,2.42,0.00,0.000,6,0.000,0.037,3031,1445,1863
$GC,21347,1.07,235.8,478.6,7.8,1027,21351,0.00,2.47,0.00,0.000,4,0.000,0.041,3030,2849,1863
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$STATE,27481,end climb,SURFACE_DEPTH_REACHED
$STATE,27481,begin surface coast
$FINISH,0.3,1.002265
$STATE,27525,end surface coast,CONTROL_FINISHED_OK
$STATE,27525,begin surface
$SM_CCo,27549,43.50,0.770,0,0,1609,300.00
$SM_GC,1.55,0.00,0.00,43.50,0.000,0.000,0.770,391,2246,1609,-11.08,-0.11,300.00
$IRIDIUM_FIX,6207.28,-1241.85,021098,212149
$TT8_MAMPS,0.026845
$HUMID,1858
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,13.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,875.0,100.9
$24V_AH,23.1,39.031
$10V_AH,10.1,20.636
$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,25.075,238.850,346.600,43.500,0.000,24.603,26.070,188.336,7.750,0.000,0.000,12.232,2439.122,21112.680,548.649,2822.055,1036.336,0.000,2024.224,0.000,3056.040,0.000,52.583,0.000
$DEVICE_MAMPS,131.157,65.962,1427.387,770.068,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1070.529,1046.677,730.701,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69308,1324
$CAP_FILE_SIZE,194445,0
$CFSIZE,260165632,248213504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,090709,133631,6232.750,-1227.991,41,1.1,42,-11.5