version: 66.04
glider: 105
mission: 6
dive: 179
start: 7 21 109 8 39 35
data:
$ID,105
$MISSION,6
$DIVE,179
$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,-1631229.8
$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,23
$R_STBD_OVSHOOT,27
$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
$GPS1,082907,6218.629,-1147.798,26,1.8,27,-11.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-54.3
$GPS2,083916,6218.689,-1147.901,14,2.2,33,-11.1
$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,152.5,4004,-23.3,-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,-1.72,-39.0,0.0,0.0,0,65,0.00,0.00,-48.08,0.000,6,0.000,0.000,388,2241,2992
$GC,68,-1.73,-51.7,1.9,-4.7,2,90,10.73,2.55,-1.12,0.000,4,0.129,0.053,2416,831,3045
$GC,249,-1.73,-51.7,24.7,-11.4,10,254,0.00,2.47,0.00,0.000,6,0.000,0.035,2416,2253,3046
$GC,576,-1.73,-51.7,63.7,-11.1,26,580,0.00,2.50,0.00,0.000,4,0.000,0.041,2415,834,3046
$GC,603,-1.73,-51.7,66.5,-10.1,27,607,0.00,2.47,0.00,0.000,6,0.000,0.034,2415,2259,3046
$GC,920,-1.73,-51.7,95.7,-9.0,42,924,0.00,2.50,0.00,0.000,4,0.000,0.053,2416,3648,3046
$GC,1059,-1.73,-51.7,109.1,-10.0,48,1063,0.00,2.42,0.00,0.000,6,0.000,0.030,2416,2228,3046
$GC,1375,-1.73,-51.7,138.1,-9.3,63,1379,0.00,2.55,0.00,0.000,4,0.000,0.050,2415,3648,3047
$GC,1552,-1.73,-51.7,157.0,-11.0,71,1556,0.00,2.40,0.00,0.000,6,0.000,0.031,2415,2243,3046
$GC,1873,-1.73,-51.7,188.0,-9.3,87,1877,0.00,2.53,0.00,0.000,4,0.000,0.052,2415,3648,3046
$GC,1979,-1.73,-51.7,198.9,-10.2,92,1983,0.00,2.38,0.00,0.000,6,0.000,0.031,2416,2252,3046
$GC,2305,-1.73,-51.7,229.4,-9.4,108,2310,0.00,2.53,0.00,0.000,4,0.000,0.052,2416,3651,3046
$GC,2405,-1.73,-51.7,240.0,-10.9,112,2411,0.00,2.40,0.00,0.000,6,0.000,0.031,2415,2251,3046
$GC,2721,-1.73,-51.7,270.5,-9.9,128,2726,0.00,2.53,0.00,0.000,4,0.000,0.052,2416,3650,3046
$GC,2794,-1.73,-51.7,278.1,-11.0,131,2798,0.00,2.40,0.00,0.000,6,0.000,0.031,2416,2246,3046
$GC,3110,-1.73,-51.7,308.7,-9.8,146,3114,0.00,2.53,0.00,0.000,4,0.000,0.053,2416,3648,3046
$GC,3232,-1.73,-51.7,321.7,-10.6,151,3238,0.00,2.40,0.00,0.000,6,0.000,0.031,2416,2244,3045
$GC,3550,-1.73,-51.7,353.2,-10.0,167,3554,0.00,2.55,0.00,0.000,4,0.000,0.053,2416,3654,3045
$GC,3701,-1.73,-51.7,369.5,-10.8,174,3705,0.00,2.40,0.00,0.000,6,0.000,0.031,2415,2249,3045
$GC,4027,-1.73,-51.7,402.3,-10.0,190,4031,0.00,2.53,0.00,0.000,4,0.000,0.051,2415,3654,3045
$GC,4184,-1.73,-51.7,419.7,-11.0,197,4189,0.00,2.42,0.00,0.000,6,0.000,0.031,2416,2254,3045
$GC,4510,-1.73,-51.7,452.7,-10.1,213,4515,0.00,2.53,0.00,0.000,4,0.000,0.051,2416,3648,3045
$GC,4645,-1.73,-51.7,467.4,-11.6,219,4649,0.00,2.40,0.00,0.000,6,0.000,0.031,2415,2239,3045
$GC,4971,-1.73,-51.7,499.4,-9.7,235,4976,0.00,2.53,0.00,0.000,4,0.000,0.052,2415,3648,3044
$GC,5060,-1.73,-51.7,508.6,-10.1,239,5064,0.00,2.38,0.00,0.000,6,0.000,0.031,2416,2252,3044
$GC,5381,-1.73,-51.7,538.8,-9.3,255,5385,0.00,2.50,0.00,0.000,4,0.000,0.051,2415,3651,3044
$GC,5504,-1.73,-51.7,551.3,-10.4,260,5510,0.00,2.40,0.00,0.000,6,0.000,0.031,2415,2246,3044
$GC,5821,-1.73,-51.7,580.3,-9.1,276,5825,0.00,2.53,0.00,0.000,4,0.000,0.052,2416,3654,3044
$GC,5977,-1.73,-51.7,595.8,-9.6,283,5981,0.00,2.40,0.00,0.000,6,0.000,0.031,2416,2249,3043
$GC,6299,-1.73,-51.7,625.1,-9.2,299,6303,0.00,2.53,0.00,0.000,4,0.000,0.051,2416,3654,3043
$GC,6500,-1.73,-51.7,644.7,-10.1,308,6504,0.00,2.40,0.00,0.000,6,0.000,0.032,2415,2249,3043
$GC,6821,-1.73,-51.7,673.6,-9.3,324,6825,0.00,2.50,0.00,0.000,4,0.000,0.051,2415,3650,3043
$GC,6984,-1.73,-51.7,689.8,-10.1,331,6988,0.00,2.40,0.00,0.000,6,0.000,0.031,2416,2246,3043
$GC,7302,-1.73,-51.7,718.8,-9.5,346,7306,0.00,2.53,0.00,0.000,4,0.000,0.053,2415,3648,3043
$GC,7643,-1.73,-51.7,752.4,-9.4,361,7647,0.00,2.40,0.00,0.000,6,0.000,0.032,2415,2249,3042
$GC,7960,-1.73,-51.7,779.6,-8.4,376,7965,0.00,2.53,0.00,0.000,4,0.000,0.053,2415,3653,3042
$GC,8090,-1.73,-51.7,790.6,-8.6,382,8095,0.00,2.42,0.00,0.000,6,0.000,0.034,2416,2256,3042
$GC,8422,-1.73,-51.7,817.7,-8.1,398,8426,0.00,2.50,0.00,0.000,4,0.000,0.054,2415,3648,3042
$GC,8628,-1.73,-51.7,835.6,-8.8,407,8633,0.00,2.40,0.00,0.000,6,0.000,0.034,2415,2252,3042
$GC,8945,-1.73,-51.7,862.3,-8.4,422,8949,0.00,2.53,0.00,0.000,4,0.000,0.055,2416,3651,3042
$GC,9000,-1.73,-51.7,867.3,-8.8,424,9006,0.00,2.42,0.00,0.000,6,0.000,0.035,2415,2248,3042
$GC,9316,-1.73,-51.7,891.3,-7.1,440,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2246,3041
$GC,9624,-1.73,-51.7,915.8,-7.7,455,9629,0.00,2.55,0.00,0.000,4,0.000,0.057,2416,3654,3041
$STATE,9752,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9752,begin apogee
$GC,9763,-0.36,0.0,926.6,8.7,461,9815,1.45,0.00,46.97,1.376,6,0.077,0.000,2719,1467,2832
$STATE,9816,end apogee,CONTROL_FINISHED_OK
$STATE,9816,begin climb
$GC,9818,1.73,51.7,928.7,0.0,464,9874,2.08,2.30,47.80,1.347,4,0.046,0.064,3181,264,2621
$GC,10213,1.73,51.7,905.2,6.1,481,10219,0.00,2.10,0.00,0.000,6,0.000,0.040,3181,1454,2618
$GC,10528,1.74,57.5,889.4,5.4,497,10541,0.00,2.55,6.28,1.062,4,0.000,0.050,3181,2856,2596
$GC,10880,1.74,62.2,868.9,5.5,512,10891,0.00,2.50,5.62,1.021,6,0.000,0.044,3180,1452,2577
$GC,11218,1.74,62.2,847.7,6.3,529,11219,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1452,2576
$GC,11527,1.74,62.2,827.8,6.4,544,11531,0.00,2.53,0.00,0.000,4,0.000,0.050,3181,2858,2575
$GC,11840,1.74,62.2,808.4,6.1,558,11844,0.00,2.50,0.00,0.000,6,0.000,0.043,3181,1452,2574
$GC,12160,1.74,62.2,787.9,6.5,574,12165,0.00,2.20,0.00,0.000,4,0.000,0.064,3181,260,2574
$GC,12503,1.74,62.2,765.9,6.2,589,12507,0.00,2.05,0.00,0.000,6,0.000,0.037,3180,1457,2574
$GC,12830,1.76,74.7,750.8,4.7,605,12844,0.00,0.00,12.02,1.200,6,0.000,0.000,3181,1457,2527
$GC,13141,1.76,74.7,732.0,6.7,620,13142,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1457,2527
$GC,13448,1.76,74.7,710.6,7.3,635,13452,0.00,2.50,0.00,0.000,4,0.000,0.048,3180,2857,2526
$GC,13774,1.76,74.7,686.9,7.3,649,13780,0.00,2.47,0.00,0.000,6,0.000,0.040,3181,1451,2526
$GC,14089,1.76,74.7,663.0,7.6,665,14090,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1451,2526
$GC,14398,1.76,74.7,641.3,6.8,680,14399,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1451,2527
$GC,14710,1.76,74.7,620.4,6.7,695,14711,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1451,2527
$GC,15017,1.76,74.7,600.0,6.7,710,15018,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1451,2527
$GC,15326,1.76,74.7,579.8,6.5,725,15327,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1451,2528
$GC,15635,1.76,74.7,559.5,6.5,740,15640,0.00,2.47,0.00,0.000,4,0.000,0.044,3181,2859,2528
$GC,15725,1.76,74.7,553.7,6.1,744,15729,0.00,2.45,0.00,0.000,6,0.000,0.038,3181,1454,2528
$GC,16046,1.76,74.7,532.8,6.6,760,16047,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1453,2528
$GC,16355,1.76,74.7,513.1,6.0,775,16356,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1453,2529
$GC,16664,1.76,75.3,495.0,5.9,790,16669,0.00,2.47,0.00,0.000,4,0.000,0.044,3181,2860,2530
$GC,16754,1.77,81.6,489.5,5.4,794,16771,0.00,2.45,8.55,0.956,6,0.000,0.038,3181,1452,2498
$GC,17082,1.77,81.6,469.0,6.3,810,17083,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1452,2498
$GC,17389,1.77,81.6,450.1,6.2,825,17390,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1452,2498
$GC,17698,1.77,81.6,431.4,6.1,840,17699,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1452,2499
$GC,18007,1.77,81.6,411.7,6.6,855,18011,0.00,2.47,0.00,0.000,4,0.000,0.044,3181,2858,2499
$GC,18057,1.77,81.6,408.3,6.7,857,18062,0.00,2.47,0.00,0.000,6,0.000,0.038,3181,1460,2499
$GC,18377,1.77,81.6,386.4,7.0,873,18378,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1460,2499
$GC,18687,1.77,81.6,364.3,7.3,888,18688,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1460,2500
$GC,18996,1.77,81.6,341.8,7.2,903,18997,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1459,2500
$GC,19305,1.77,81.6,319.2,7.3,918,19306,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1460,2500
$GC,19617,1.77,81.6,297.2,7.1,933,19621,0.00,2.47,0.00,0.000,4,0.000,0.042,3181,2863,2500
$GC,19702,1.77,81.6,291.1,7.5,937,19706,0.00,2.45,0.00,0.000,6,0.000,0.038,3181,1451,2500
$GC,20028,1.77,81.6,268.2,6.8,953,20029,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1451,2500
$GC,20340,1.77,81.6,246.8,6.7,968,20341,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1451,2500
$GC,20647,1.77,81.6,226.8,6.4,983,20651,0.00,2.47,0.00,0.000,4,0.000,0.044,3181,2862,2500
$GC,20690,1.77,81.6,223.9,6.5,985,20695,0.00,2.45,0.00,0.000,6,0.000,0.037,3181,1453,2500
$GC,21013,1.77,81.6,204.4,6.1,1001,21015,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1454,2500
$GC,21322,1.77,81.6,185.9,6.1,1016,21326,0.00,2.47,0.00,0.000,4,0.000,0.043,3180,2860,2501
$GC,21401,1.77,81.6,180.9,6.5,1019,21407,0.00,2.45,0.00,0.000,6,0.000,0.038,3181,1451,2501
$GC,21716,1.77,85.9,162.7,5.6,1035,21724,0.00,0.00,5.93,0.711,6,0.000,0.000,3181,1451,2481
$GC,22026,1.77,85.9,144.0,6.2,1050,22027,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1451,2481
$GC,22336,1.77,85.9,124.6,6.2,1065,22337,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1451,2481
$GC,22645,1.77,85.9,103.7,6.9,1080,22649,0.00,2.47,0.00,0.000,4,0.000,0.041,3181,2857,2481
$GC,22672,1.77,85.9,101.9,6.5,1081,22676,0.00,2.45,0.00,0.000,6,0.000,0.037,3181,1451,2481
$GC,22989,1.77,85.9,80.2,7.4,1096,22990,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1451,2481
$GC,23297,1.77,85.9,57.3,6.8,1111,23301,0.00,2.47,0.00,0.000,4,0.000,0.041,3181,2858,2481
$GC,23359,1.78,91.5,53.0,5.4,1114,23374,0.00,2.45,6.38,0.676,6,0.000,0.037,3181,1445,2458
$GC,23690,1.79,96.9,33.6,5.4,1130,23698,0.00,0.00,6.10,0.657,6,0.000,0.000,3181,1445,2436
$GC,24001,1.79,98.7,17.0,5.8,1145,24005,0.00,2.10,0.00,0.000,4,0.000,0.057,3180,268,2436
$GC,24073,1.79,98.7,10.8,8.6,1148,24077,0.00,2.03,0.00,0.000,6,0.000,0.031,3181,1474,2436
$STATE,24191,end climb,SURFACE_DEPTH_REACHED
$STATE,24191,begin surface coast
$FINISH,0.9,1.026965
$STATE,24234,end surface coast,CONTROL_FINISHED_OK
$STATE,24234,begin surface
$SM_CCo,24258,133.55,0.760,0,0,1608,300.00
$SM_GC,0.85,0.00,0.00,133.55,0.000,0.000,0.760,384,2237,1608,-11.11,-0.37,300.00
$IRIDIUM_FIX,6153.50,-1153.08,151098,080809
$TT8_MAMPS,0.026845
$HUMID,1820
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,850.0,86.2
$24V_AH,23.2,43.728
$10V_AH,10.1,25.443
$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,26.450,173.725,145.650,133.550,0.000,58.947,66.064,259.297,7.500,0.000,0.000,34.531,2220.886,18263.488,448.731,2952.881,1105.088,0.000,1862.020,0.000,3129.805,0.000,50.900,0.000
$DEVICE_MAMPS,128.856,64.428,1375.998,760.097,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,912.806,937.943,659.120,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60104,1156
$CAP_FILE_SIZE,177546,0
$CFSIZE,260165632,244899840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,210709,152754,6217.953,-1150.459,50,1.1,67,-11.1