version: 66.04
glider: 105
mission: 6
dive: 155
start: 7 14 109 7 29 34
data:
$ID,105
$MISSION,6
$DIVE,155
$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,-1630783.2
$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,26
$R_STBD_OVSHOOT,26
$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
$GPS1,072237,6216.571,-1145.278,26,1.2,26,-11.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-59.1
$GPS2,072916,6120.223,-1554.069,16,2.3,35,-12.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,EE
$TGT_LATLONG,6217.000,-1145.000
$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,76.8,238922,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,78,0.00,0.00,-58.90,0.000,6,0.000,0.000,394,2242,3431
$GC,81,-0.96,-146.6,4.6,-8.4,3,102,11.57,2.53,0.00,0.000,4,0.130,0.038,2584,831,3433
$GC,163,-0.96,-146.6,20.2,-8.8,6,169,0.00,2.47,0.00,0.000,6,0.000,0.035,2583,2252,3434
$GC,480,-0.96,-146.6,48.3,-8.6,22,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2252,3435
$GC,788,-0.96,-146.6,72.3,-7.3,37,792,0.00,2.55,0.00,0.000,4,0.000,0.058,2584,3651,3435
$GC,837,-0.96,-146.6,76.3,-7.9,39,842,0.00,2.42,0.00,0.000,6,0.000,0.030,2583,2232,3435
$GC,1153,-0.96,-146.6,98.5,-7.1,54,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2232,3436
$GC,1463,-0.96,-146.6,120.5,-7.3,69,1468,0.00,2.60,0.00,0.000,4,0.000,0.052,2583,3650,3435
$GC,1503,-0.96,-146.6,123.7,-8.4,70,1510,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2244,3435
$GC,1819,-0.96,-146.6,147.7,-7.6,86,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2244,3435
$GC,2128,-0.96,-146.6,171.2,-7.6,101,2133,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3651,3434
$GC,2173,-0.96,-146.6,174.8,-8.4,103,2182,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3434
$GC,2504,-0.96,-146.6,200.3,-7.9,119,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2248,3434
$GC,2812,-0.96,-146.6,224.1,-7.5,134,2817,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3645,3433
$GC,2868,-0.96,-146.6,228.7,-8.0,136,2872,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2236,3433
$GC,3185,-0.96,-146.6,252.2,-7.4,151,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2235,3433
$GC,3493,-0.96,-146.6,274.6,-7.0,166,3498,0.00,2.58,0.00,0.000,4,0.000,0.053,2583,3658,3433
$GC,3588,-0.96,-146.6,282.0,-7.6,170,3592,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2253,3433
$GC,3909,-0.96,-146.6,305.1,-7.1,186,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2252,3433
$GC,4218,-0.96,-146.6,327.6,-7.2,201,4223,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3650,3433
$GC,4269,-0.96,-146.6,331.4,-7.5,203,4273,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2241,3432
$GC,4589,-0.96,-146.6,354.3,-7.2,219,4590,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2241,3433
$GC,4902,-0.96,-146.6,376.3,-7.1,234,4906,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3651,3433
$GC,4968,-0.96,-146.6,381.8,-7.7,237,4973,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2252,3433
$GC,5294,-0.96,-146.6,404.0,-6.7,253,5299,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3654,3433
$GC,5339,-0.96,-146.6,407.4,-8.0,255,5343,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3432
$GC,5660,-0.96,-146.6,428.6,-6.6,271,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2247,3433
$GC,5969,-0.96,-146.6,448.2,-6.1,286,5974,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3650,3432
$GC,6059,-0.96,-146.6,454.3,-6.8,290,6064,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2247,3432
$GC,6392,-0.96,-146.6,475.2,-6.3,306,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3432
$GC,6703,-0.96,-146.6,494.1,-5.9,321,6708,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3651,3432
$GC,6770,-0.96,-146.6,498.7,-6.6,324,6774,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2247,3431
$GC,7092,-0.96,-146.6,516.4,-5.3,340,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3431
$GC,7401,-0.96,-146.6,532.7,-5.4,355,7405,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3653,3431
$GC,7445,-0.96,-146.6,535.4,-5.6,357,7450,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2251,3431
$GC,7772,-0.96,-146.6,552.7,-5.4,373,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2250,3431
$GC,8081,-0.96,-146.6,570.1,-5.9,388,8086,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3648,3431
$GC,8126,-0.96,-146.6,572.9,-5.9,390,8131,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2256,3431
$GC,8461,-0.96,-146.6,594.3,-6.9,406,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2255,3430
$GC,8768,-0.96,-146.6,616.1,-7.0,421,8772,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3658,3430
$GC,8830,-0.96,-146.6,620.5,-6.9,424,8834,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2258,3430
$GC,9161,-0.96,-146.6,641.8,-6.1,440,9165,0.00,2.50,0.00,0.000,4,0.000,0.053,2583,3651,3430
$GC,9205,-0.96,-146.6,644.7,-6.4,442,9210,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2252,3430
$GC,9532,-0.96,-146.6,662.8,-5.5,458,9536,0.00,2.50,0.00,0.000,4,0.000,0.052,2583,3651,3430
$GC,9616,-0.96,-146.6,668.1,-6.4,462,9620,0.00,2.40,0.00,0.000,6,0.000,0.033,2584,2250,3430
$GC,9942,-0.96,-146.6,687.0,-5.9,478,9947,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3659,3430
$GC,9987,-0.96,-146.6,690.2,-7.3,480,9991,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2249,3430
$GC,10308,-0.96,-146.6,709.0,-5.5,496,10313,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3653,3430
$GC,10353,-0.96,-146.6,711.7,-6.3,498,10357,0.00,2.42,0.00,0.000,6,0.000,0.033,2583,2237,3429
$GC,10674,-0.96,-146.6,729.1,-5.4,514,10676,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2237,3429
$GC,10983,-0.96,-146.6,747.9,-6.5,529,10987,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3657,3429
$GC,11083,-0.96,-146.6,755.2,-7.3,533,11090,0.00,2.45,0.00,0.000,6,0.000,0.034,2584,2252,3429
$GC,11398,-0.96,-146.6,777.1,-7.2,549,11402,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3656,3429
$GC,11461,-0.96,-146.6,781.7,-7.6,552,11465,0.00,2.42,0.00,0.000,6,0.000,0.033,2584,2241,3429
$GC,11790,-0.96,-146.6,802.6,-5.8,568,11794,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3651,3429
$GC,11845,-0.96,-146.6,806.1,-6.2,570,11851,0.00,2.40,0.00,0.000,6,0.000,0.034,2584,2254,3429
$GC,12164,-0.96,-146.6,822.0,-5.3,586,12168,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3651,3429
$GC,12248,-0.96,-146.6,827.3,-7.0,590,12253,0.00,2.42,0.00,0.000,6,0.000,0.034,2584,2239,3428
$GC,12578,-0.96,-146.6,849.1,-6.7,606,12582,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3651,3428
$GC,12644,-0.96,-146.6,853.8,-6.3,609,12649,0.00,2.40,0.00,0.000,6,0.000,0.034,2584,2254,3428
$GC,12967,-0.96,-146.6,872.5,-5.6,625,12968,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2253,3427
$GC,13275,-0.96,-146.6,889.8,-5.5,640,13277,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2253,3427
$GC,13585,-0.96,-146.6,907.9,-6.0,655,13586,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2253,3427
$GC,13893,-0.96,-146.6,926.3,-6.0,670,13897,0.00,2.55,0.00,0.000,4,0.000,0.058,2583,3650,3426
$GC,13943,-0.96,-146.6,929.7,-7.3,672,13948,0.00,2.42,0.00,0.000,6,0.000,0.037,2584,2255,3426
$GC,14262,-0.96,-146.6,948.2,-4.6,687,14263,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2255,3426
$STATE,14504,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14504,begin apogee
$GC,14512,-0.36,0.0,962.9,5.7,699,14648,0.62,0.00,131.07,1.416,6,0.063,0.000,2719,1452,2832
$STATE,14648,end apogee,CONTROL_FINISHED_OK
$STATE,14648,begin climb
$GC,14651,0.96,146.6,967.0,0.0,706,14793,1.33,2.25,133.75,1.381,4,0.051,0.067,3010,266,2233
$GC,14823,1.01,183.1,959.7,5.0,713,14865,0.00,2.08,33.92,1.325,6,0.000,0.038,3010,1458,2084
$GC,15194,1.01,183.1,936.6,7.2,731,15199,0.00,2.53,0.00,0.000,4,0.000,0.050,3011,2860,2075
$GC,15272,1.01,183.1,930.8,6.8,734,15279,0.00,2.53,0.00,0.000,6,0.000,0.044,3010,1450,2074
$GC,15588,1.01,183.1,910.3,6.3,750,15589,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1451,2072
$GC,15900,1.01,183.1,889.9,6.6,765,15904,0.00,2.53,0.00,0.000,4,0.000,0.049,3010,2860,2071
$GC,15984,1.01,183.1,884.1,6.8,769,15989,0.00,2.50,0.00,0.000,6,0.000,0.044,3010,1453,2071
$GC,16312,1.05,213.4,865.9,5.2,785,16344,0.00,2.60,26.85,1.344,4,0.000,0.047,3010,2861,1961
$GC,16388,1.07,229.4,861.8,5.6,788,16410,0.00,2.55,16.65,1.279,6,0.000,0.042,3010,1456,1896
$GC,16723,1.07,229.4,841.2,6.9,804,16725,0.10,0.00,0.00,0.000,6,0.050,0.000,3051,1456,1890
$GC,17030,1.07,229.4,814.0,8.8,819,17034,0.00,2.50,0.00,0.000,4,0.000,0.047,3052,2857,1888
$GC,17069,1.07,229.4,810.7,9.0,821,17074,0.00,2.50,0.00,0.000,6,0.000,0.040,3052,1446,1888
$GC,17396,1.07,229.4,782.2,9.1,837,17401,0.00,2.50,0.00,0.000,4,0.000,0.044,3052,2856,1887
$GC,17446,1.07,229.4,777.4,9.4,839,17451,0.00,2.47,0.00,0.000,6,0.000,0.038,3052,1453,1887
$GC,17762,1.07,229.4,748.2,9.2,854,17763,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1453,1887
$GC,18074,1.07,229.4,718.0,9.9,869,18078,0.00,2.50,0.00,0.000,4,0.000,0.044,3052,2861,1887
$GC,18109,1.07,229.4,714.4,10.0,870,18115,0.00,2.47,0.00,0.000,6,0.000,0.038,3052,1453,1887
$GC,18425,1.07,229.4,683.5,9.5,886,18426,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1453,1887
$GC,18737,1.07,229.4,654.9,9.1,901,18738,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1453,1887
$GC,19043,1.07,229.4,627.1,8.9,916,19048,0.00,2.47,0.00,0.000,4,0.000,0.044,3052,2857,1887
$GC,19083,1.07,229.4,623.4,8.9,918,19088,0.00,2.47,0.00,0.000,6,0.000,0.038,3052,1444,1887
$GC,19412,1.07,229.4,593.8,8.8,934,19413,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1444,1887
$GC,19718,1.07,229.4,567.0,8.5,949,19723,0.00,2.50,0.00,0.000,4,0.000,0.042,3052,2862,1888
$GC,19774,1.07,229.4,562.1,8.5,951,19780,0.00,2.47,0.00,0.000,6,0.000,0.037,3052,1446,1888
$GC,20092,1.07,229.4,534.8,8.7,967,20093,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1446,1888
$GC,20398,1.07,229.4,508.8,8.3,982,20403,0.00,2.47,0.00,0.000,4,0.000,0.041,3052,2860,1888
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$STATE,26492,end climb,SURFACE_DEPTH_REACHED
$STATE,26492,begin surface coast
$FINISH,0.3,1.026802
$STATE,26513,end surface coast,CONTROL_FINISHED_OK
$STATE,26513,begin surface
$SM_CCo,26537,45.40,0.769,0,0,1610,300.00
$SM_GC,1.01,0.00,0.00,45.40,0.000,0.000,0.769,392,2264,1610,-11.08,0.40,300.00
$IRIDIUM_FIX,6153.50,-1152.13,081098,000003
$TT8_MAMPS,0.027612
$HUMID,1866
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,900.5,71.2
$24V_AH,23.1,41.245
$10V_AH,10.1,22.611
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$DEVICE_SECS,25.200,235.275,342.250,45.400,0.000,31.428,27.239,181.917,8.000,0.000,0.000,36.765,2331.504,20396.209,544.885,2695.839,1004.325,0.000,1963.904,0.000,2902.854,0.000,54.128,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1034.715,1017.272,696.397,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66248,1275
$CAP_FILE_SIZE,185569,0
$CFSIZE,260165632,246857728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,140709,145406,6216.829,-1138.636,44,1.5,49,-11.0