version: 66.04
glider: 105
mission: 6
dive: 169
start: 7 18 109 11 9 46
data:
$ID,105
$MISSION,6
$DIVE,169
$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,-1630992.9
$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,22
$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
$GPS1,105707,6214.945,-1144.112,32,1.4,32,-11.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-56.3
$GPS2,110926,6214.861,-1144.079,12,1.9,12,-11.0
$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,359.7,4040,-23.1,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.70,-39.7,0.0,0.0,0,66,0.00,0.00,-46.50,0.000,6,0.000,0.000,391,2240,2995
$GC,69,-1.72,-56.1,2.3,-4.3,2,91,10.70,2.62,-1.50,0.000,4,0.128,0.064,2416,3658,3062
$GC,430,-1.72,-56.1,55.5,-12.4,18,434,0.00,2.42,0.00,0.000,6,0.000,0.031,2416,2230,3062
$GC,756,-1.72,-56.1,90.4,-9.6,34,760,0.00,2.58,0.00,0.000,4,0.000,0.050,2416,3664,3063
$GC,1006,-1.72,-56.1,116.9,-10.7,45,1011,0.00,2.42,0.00,0.000,6,0.000,0.031,2416,2251,3064
$GC,1324,-1.72,-56.1,149.8,-10.7,60,1329,0.00,2.53,0.00,0.000,4,0.000,0.051,2416,3659,3064
$GC,1436,-1.72,-56.1,163.1,-11.6,65,1441,0.00,2.42,0.00,0.000,6,0.000,0.032,2416,2246,3064
$GC,1763,-1.72,-56.1,198.2,-10.6,81,1767,0.00,2.55,0.00,0.000,4,0.000,0.052,2416,3664,3064
$GC,1880,-1.72,-56.1,211.5,-11.6,86,1884,0.00,2.42,0.00,0.000,6,0.000,0.032,2416,2249,3063
$GC,2195,-1.72,-56.1,244.1,-10.7,101,2200,0.00,2.55,0.00,0.000,4,0.000,0.052,2416,3651,3063
$GC,2308,-1.72,-56.1,257.1,-11.4,106,2313,0.00,2.40,0.00,0.000,6,0.000,0.032,2416,2248,3063
$GC,2635,-1.72,-56.1,292.1,-10.6,122,2640,0.00,2.53,0.00,0.000,4,0.000,0.051,2416,3658,3063
$GC,2775,-1.72,-56.1,307.9,-11.2,128,2779,0.00,2.42,0.00,0.000,6,0.000,0.032,2416,2249,3062
$GC,3093,-1.72,-56.1,340.7,-10.3,143,3097,0.00,2.55,0.00,0.000,4,0.000,0.051,2416,3666,3062
$GC,3173,-1.72,-56.1,349.7,-10.8,146,3180,0.00,2.45,0.00,0.000,6,0.000,0.032,2416,2235,3062
$GC,3488,-1.72,-56.1,383.7,-10.7,162,3493,0.00,2.55,0.00,0.000,4,0.000,0.051,2416,3659,3062
$GC,3641,-1.72,-56.1,400.5,-11.3,169,3646,0.00,2.45,0.00,0.000,6,0.000,0.033,2416,2249,3062
$GC,3973,-1.72,-56.1,434.8,-10.2,185,3977,0.00,2.53,0.00,0.000,4,0.000,0.051,2416,3660,3062
$GC,4136,-1.72,-56.1,452.2,-10.8,192,4141,0.00,2.42,0.00,0.000,6,0.000,0.032,2416,2246,3062
$GC,4452,-1.72,-56.1,482.8,-9.3,207,4457,0.00,2.55,0.00,0.000,4,0.000,0.051,2416,3651,3061
$GC,4569,-1.72,-56.1,494.7,-10.3,212,4573,0.00,2.40,0.00,0.000,6,0.000,0.033,2416,2249,3061
$GC,4890,-1.72,-56.1,524.0,-9.1,228,4894,0.00,2.53,0.00,0.000,4,0.000,0.051,2416,3661,3061
$GC,5070,-1.72,-56.1,541.6,-9.6,236,5074,0.00,2.42,0.00,0.000,6,0.000,0.032,2416,2246,3061
$GC,5393,-1.72,-56.1,570.9,-9.1,252,5397,0.00,2.55,0.00,0.000,4,0.000,0.051,2416,3667,3060
$GC,5517,-1.72,-56.1,583.5,-10.2,257,5524,0.00,2.42,0.00,0.000,6,0.000,0.032,2416,2248,3060
$GC,5833,-1.72,-56.1,614.1,-9.8,273,5837,0.00,2.53,0.00,0.000,4,0.000,0.051,2416,3660,3060
$GC,5978,-1.72,-56.1,629.5,-10.4,279,5985,0.00,2.42,0.00,0.000,6,0.000,0.033,2416,2245,3060
$GC,6295,-1.72,-56.1,660.2,-9.6,295,6299,0.00,2.55,0.00,0.000,4,0.000,0.053,2416,3666,3060
$GC,6446,-1.72,-56.1,675.5,-10.1,302,6451,0.00,2.42,0.00,0.000,6,0.000,0.033,2416,2248,3060
$GC,6773,-1.72,-56.1,705.3,-9.1,318,6778,0.00,2.53,0.00,0.000,4,0.000,0.051,2416,3660,3060
$GC,6813,-1.72,-56.1,709.1,-9.4,320,6817,0.00,2.42,0.00,0.000,6,0.000,0.033,2416,2244,3059
$GC,7139,-1.72,-56.1,737.2,-8.1,336,7144,0.00,2.55,0.00,0.000,4,0.000,0.054,2416,3660,3060
$GC,7247,-1.72,-56.1,747.0,-9.2,341,7252,0.00,2.45,0.00,0.000,6,0.000,0.034,2416,2252,3060
$GC,7580,-1.72,-56.1,775.6,-8.0,357,7585,0.00,2.47,0.00,0.000,4,0.000,0.045,2416,858,3059
$GC,7612,-1.72,-56.1,778.4,-7.9,358,7617,0.00,2.42,0.00,0.000,6,0.000,0.035,2416,2261,3059
$GC,7928,-1.72,-56.1,802.9,-7.7,373,7932,0.00,2.47,0.00,0.000,4,0.000,0.054,2416,3650,3059
$GC,8074,-1.72,-56.1,814.9,-8.8,379,8080,0.00,2.40,0.00,0.000,6,0.000,0.034,2416,2250,3058
$GC,8392,-1.72,-56.1,839.0,-7.6,395,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2250,3059
$GC,8698,-1.72,-56.1,862.9,-7.6,410,8702,0.00,2.53,0.00,0.000,4,0.000,0.054,2416,3655,3058
$GC,8828,-1.72,-56.1,873.0,-7.6,416,8832,0.00,2.42,0.00,0.000,6,0.000,0.035,2416,2249,3059
$GC,9155,-1.72,-56.1,896.6,-7.4,432,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2249,3058
$GC,9464,-1.72,-56.1,921.3,-8.4,447,9465,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2250,3057
$GC,9776,-1.72,-56.1,948.3,-9.1,462,9780,0.00,2.55,0.00,0.000,4,0.000,0.058,2416,3653,3056
$GC,9817,-1.72,-56.1,952.2,-9.2,464,9821,0.00,2.45,0.00,0.000,6,0.000,0.037,2416,2242,3056
$STATE,10100,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10100,begin apogee
$GC,10108,-0.36,0.0,977.5,9.1,478,10163,1.48,0.00,50.83,1.411,6,0.084,0.000,2721,1468,2832
$STATE,10164,end apogee,CONTROL_FINISHED_OK
$STATE,10164,begin climb
$GC,10167,1.72,56.1,979.1,0.0,481,10230,2.05,2.30,52.08,1.381,4,0.043,0.066,3177,271,2602
$GC,10460,1.72,56.1,959.5,8.2,494,10464,0.00,2.05,0.00,0.000,6,0.000,0.036,3177,1459,2599
$GC,10787,1.72,57.9,939.1,5.8,510,10792,0.00,2.50,0.00,0.000,4,0.000,0.049,3177,2854,2597
$GC,10894,1.73,59.7,933.3,5.8,515,10905,0.00,2.50,3.95,0.838,6,0.000,0.044,3177,1455,2587
$GC,11227,1.73,59.7,910.8,7.3,531,11230,0.00,2.20,0.00,0.000,4,0.000,0.065,3176,258,2587
$GC,11439,1.73,59.7,893.3,8.9,540,11444,0.00,2.10,0.00,0.000,6,0.000,0.038,3177,1457,2586
$GC,11761,1.73,59.7,867.2,8.1,556,11764,0.00,2.17,0.00,0.000,4,0.000,0.061,3177,262,2585
$GC,11799,1.73,59.7,864.2,7.2,557,11805,0.00,2.05,0.00,0.000,6,0.000,0.038,3177,1455,2585
$GC,12117,1.73,64.1,844.0,5.6,573,12124,0.00,0.00,5.12,0.994,6,0.000,0.000,3177,1455,2570
$GC,12427,1.75,77.5,830.5,4.6,588,12448,0.00,2.25,13.85,1.268,4,0.000,0.061,3177,262,2515
$GC,12590,1.75,77.5,820.8,6.9,595,12594,0.00,2.08,0.00,0.000,6,0.000,0.038,3177,1460,2513
$GC,12918,1.75,77.5,799.3,6.6,611,12922,0.00,2.50,0.00,0.000,4,0.000,0.050,3177,2857,2512
$GC,13220,1.75,77.5,778.5,7.2,624,13226,0.00,2.50,0.00,0.000,6,0.000,0.040,3177,1445,2512
$GC,13536,1.75,77.5,756.3,6.5,640,13539,0.00,2.12,0.00,0.000,4,0.000,0.058,3176,263,2512
$GC,13811,1.75,77.5,736.2,7.5,652,13815,0.00,2.03,0.00,0.000,6,0.000,0.034,3177,1459,2512
$GC,14138,1.75,77.5,716.1,6.5,668,14139,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1460,2512
$GC,14447,1.75,77.5,693.9,7.4,683,14448,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1460,2512
$GC,14759,1.75,77.5,670.8,7.3,698,14763,0.00,2.45,0.00,0.000,4,0.000,0.046,3177,2856,2513
$GC,14876,1.75,77.5,661.9,8.1,703,14880,0.00,2.45,0.00,0.000,6,0.000,0.039,3177,1451,2512
$GC,15194,1.75,77.5,639.2,7.1,718,15195,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1451,2513
$GC,15501,1.75,77.5,617.5,7.1,733,15502,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1450,2513
$GC,15810,1.75,77.5,596.8,6.6,748,15811,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1451,2514
$GC,16119,1.75,77.5,577.0,6.2,763,16120,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1450,2515
$GC,16429,1.75,79.1,558.5,5.8,778,16430,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1450,2516
$GC,16740,1.76,85.1,541.3,5.4,793,16751,0.00,0.00,8.82,0.986,6,0.000,0.000,3177,1450,2484
$GC,17049,1.76,85.1,522.7,6.2,808,17050,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1450,2484
$GC,17356,1.76,85.1,502.9,6.4,823,17357,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1450,2484
$GC,17665,1.76,85.1,482.7,6.7,838,17666,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1450,2484
$GC,17974,1.76,85.1,462.8,6.4,853,17975,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1450,2485
$GC,18283,1.76,85.1,442.7,6.5,868,18284,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1450,2485
$GC,18595,1.76,85.1,421.6,6.9,883,18597,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1450,2485
$GC,18902,1.76,85.1,400.6,6.9,898,18903,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1450,2485
$GC,19211,1.76,85.1,379.3,7.0,913,19212,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1450,2485
$GC,19521,1.76,85.1,357.7,6.9,928,19522,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1450,2485
$GC,19830,1.76,85.1,336.2,6.9,943,19831,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1450,2485
$GC,20141,1.76,85.1,314.8,7.0,958,20143,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1450,2485
$GC,20448,1.76,85.1,293.1,7.2,973,20450,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1450,2485
$GC,20757,1.76,85.1,271.4,6.9,988,20762,0.00,2.50,0.00,0.000,4,0.000,0.045,3177,2861,2485
$GC,20846,1.76,85.1,265.0,7.1,992,20850,0.00,2.45,0.00,0.000,6,0.000,0.038,3177,1453,2486
$GC,21167,1.76,85.1,241.9,7.3,1008,21169,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1453,2485
$GC,21476,1.76,85.1,219.2,7.4,1023,21477,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1453,2486
$GC,21785,1.76,85.1,195.6,7.9,1038,21786,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1453,2486
$GC,22095,1.76,85.1,171.9,7.5,1053,22099,0.00,2.47,0.00,0.000,4,0.000,0.044,3177,2857,2486
$GC,22208,1.76,85.1,163.7,7.7,1058,22212,0.00,2.45,0.00,0.000,6,0.000,0.038,3177,1448,2486
$GC,22531,1.77,95.7,145.2,4.9,1074,22548,0.00,0.00,10.90,0.805,6,0.000,0.000,3177,1447,2441
$GC,22859,1.80,119.9,131.9,3.6,1090,22883,0.00,0.00,21.60,0.843,6,0.000,0.000,3177,1448,2343
$GC,23188,1.80,119.9,114.3,6.5,1106,23189,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1448,2340
$GC,23497,1.80,119.9,85.6,10.9,1121,23500,0.00,2.12,0.00,0.000,4,0.000,0.058,3177,261,2340
$GC,23602,1.80,119.9,72.1,13.3,1125,23608,0.00,2.05,0.00,0.000,6,0.000,0.034,3177,1457,2340
$GC,23920,1.80,119.9,35.6,9.2,1141,23921,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1456,2340
$GC,24227,1.80,119.9,13.9,6.9,1156,24229,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1457,2340
$STATE,24370,end climb,SURFACE_DEPTH_REACHED
$STATE,24370,begin surface coast
$FINISH,0.2,1.019063
$STATE,24411,end surface coast,CONTROL_FINISHED_OK
$STATE,24412,begin surface
$SM_CCo,24435,116.25,0.763,0,0,1609,300.00
$SM_GC,1.03,0.00,0.00,116.25,0.000,0.000,0.763,390,2254,1609,-11.08,0.08,300.00
$IRIDIUM_FIX,6153.50,-1147.61,121098,111153
$TT8_MAMPS,0.026845
$HUMID,1830
$INTERNAL_PRESSURE,8.13832
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,975.8,11.3
$24V_AH,23.2,42.742
$10V_AH,10.1,24.262
$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,26.250,152.400,167.150,116.250,0.000,77.416,85.557,314.860,9.250,0.000,0.000,12.512,2198.203,18665.301,445.395,2796.874,1180.590,0.000,1790.364,0.000,2978.094,0.000,64.511,0.000
$DEVICE_MAMPS,128.089,65.962,1411.280,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,894.200,938.826,624.839,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60049,1165
$CAP_FILE_SIZE,172104,0
$CFSIZE,260165632,245727232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,180709,180006,6216.205,-1145.765,28,1.8,28,-11.0