version: 66.04
glider: 105
mission: 6
dive: 192
start: 7 25 109 6 8 58
data:
$ID,105
$MISSION,6
$DIVE,192
$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,-1631451.1
$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,27
$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
$GPS1,060237,6214.941,-1148.612,39,1.0,39,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-60.6
$GPS2,060838,6214.926,-1148.713,14,1.3,14,-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,50.8,4998,-18.2,-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,-1.38,-62.1,0.0,0.0,0,67,0.00,0.00,-49.78,0.000,6,0.000,0.000,387,2244,3087
$GC,71,-1.42,-95.7,2.6,-3.8,3,93,11.18,2.60,-2.78,0.000,4,0.132,0.065,2482,3650,3225
$GC,430,-1.42,-95.7,47.8,-10.7,19,435,0.00,2.45,0.00,0.000,6,0.000,0.031,2482,2235,3226
$GC,763,-1.42,-95.7,76.4,-8.6,35,767,0.00,2.60,0.00,0.000,4,0.000,0.054,2481,3648,3227
$GC,1002,-1.42,-95.7,100.6,-10.3,45,1008,0.00,2.40,0.00,0.000,6,0.000,0.031,2481,2251,3227
$GC,1319,-1.42,-95.7,132.2,-10.3,61,1323,0.00,2.55,0.00,0.000,4,0.000,0.054,2481,3657,3227
$GC,1442,-1.42,-95.7,146.0,-11.0,66,1449,0.00,2.42,0.00,0.000,6,0.000,0.031,2482,2245,3227
$GC,1759,-1.42,-95.7,176.9,-9.5,82,1763,0.00,2.60,0.00,0.000,4,0.000,0.055,2482,3653,3227
$GC,1916,-1.42,-95.7,193.0,-10.7,89,1920,0.00,2.40,0.00,0.000,6,0.000,0.031,2482,2252,3226
$GC,2244,-1.42,-95.7,224.2,-9.7,105,2249,0.00,2.55,0.00,0.000,4,0.000,0.054,2481,3655,3227
$GC,2361,-1.42,-95.7,236.6,-10.1,110,2365,0.00,2.42,0.00,0.000,6,0.000,0.032,2482,2237,3226
$GC,2682,-1.42,-95.7,266.7,-9.2,126,2686,0.00,2.58,0.00,0.000,4,0.000,0.055,2482,3654,3226
$GC,2815,-1.42,-95.7,279.8,-9.4,132,2819,0.00,2.40,0.00,0.000,6,0.000,0.032,2481,2253,3226
$GC,3135,-1.42,-95.7,307.9,-8.8,148,3139,0.00,2.55,0.00,0.000,4,0.000,0.054,2482,3661,3226
$GC,3229,-1.42,-95.7,317.3,-9.8,152,3234,0.00,2.42,0.00,0.000,6,0.000,0.031,2482,2249,3227
$GC,3546,-1.42,-95.7,346.4,-9.0,167,3550,0.00,2.53,0.00,0.000,4,0.000,0.054,2482,3651,3226
$GC,3669,-1.42,-95.7,358.6,-9.8,172,3676,0.00,2.40,0.00,0.000,6,0.000,0.032,2482,2252,3226
$GC,3985,-1.42,-95.7,386.3,-8.5,188,3989,0.00,2.53,0.00,0.000,4,0.000,0.052,2482,3654,3226
$GC,4113,-1.42,-95.7,398.8,-9.9,194,4118,0.00,2.40,0.00,0.000,6,0.000,0.033,2481,2250,3226
$GC,4440,-1.42,-95.7,429.7,-9.5,210,4444,0.00,2.53,0.00,0.000,4,0.000,0.052,2482,3661,3225
$GC,4639,-1.42,-95.7,450.4,-10.3,219,4644,0.00,2.42,0.00,0.000,6,0.000,0.033,2482,2249,3225
$GC,4965,-1.42,-95.7,481.6,-9.3,235,4970,0.00,2.53,0.00,0.000,4,0.000,0.052,2482,3660,3225
$GC,5060,-1.42,-95.7,491.3,-10.3,239,5064,0.00,2.42,0.00,0.000,6,0.000,0.032,2481,2247,3225
$GC,5376,-1.42,-95.7,522.6,-10.2,254,5381,0.00,2.53,0.00,0.000,4,0.000,0.053,2482,3653,3225
$GC,5516,-1.42,-95.7,537.5,-10.9,260,5520,0.00,2.42,0.00,0.000,6,0.000,0.033,2482,2237,3225
$GC,5831,-1.42,-95.7,569.4,-10.2,275,5836,0.00,2.55,0.00,0.000,4,0.000,0.053,2481,3652,3225
$GC,6001,-1.42,-95.7,587.9,-11.1,282,6007,0.00,2.40,0.00,0.000,6,0.000,0.032,2481,2255,3225
$GC,6317,-1.42,-95.7,619.9,-9.8,298,6321,0.00,2.53,0.00,0.000,4,0.000,0.052,2481,3656,3225
$GC,6425,-1.42,-95.7,631.6,-10.7,303,6429,0.00,2.42,0.00,0.000,6,0.000,0.033,2481,2244,3224
$GC,6751,-1.42,-95.7,663.1,-9.6,319,6755,0.00,2.55,0.00,0.000,4,0.000,0.055,2482,3652,3224
$GC,6935,-1.42,-95.7,681.9,-10.5,327,6939,0.00,2.42,0.00,0.000,6,0.000,0.033,2482,2247,3224
$GC,7251,-1.42,-95.7,709.4,-8.2,342,7256,0.00,2.55,0.00,0.000,4,0.000,0.054,2482,3656,3224
$GC,7340,-1.42,-95.7,717.1,-8.4,346,7344,0.00,2.42,0.00,0.000,6,0.000,0.033,2481,2249,3224
$GC,7661,-1.42,-95.7,742.9,-8.0,362,7666,0.00,2.55,0.00,0.000,4,0.000,0.054,2482,3647,3224
$GC,7745,-1.42,-95.7,750.1,-8.3,365,7752,0.00,2.42,0.00,0.000,6,0.000,0.034,2482,2254,3224
$GC,8061,-1.42,-95.7,773.4,-7.2,381,8065,0.00,2.53,0.00,0.000,4,0.000,0.053,2482,3657,3224
$GC,8150,-1.42,-95.7,780.0,-7.3,385,8154,0.00,2.42,0.00,0.000,6,0.000,0.034,2481,2252,3224
$GC,8473,-1.42,-95.7,800.8,-6.4,401,8477,0.00,2.53,0.00,0.000,4,0.000,0.054,2482,3652,3224
$GC,8603,-1.42,-95.7,809.7,-7.4,407,8607,0.00,2.42,0.00,0.000,6,0.000,0.034,2482,2239,3224
$GC,8930,-1.42,-95.7,832.4,-7.3,423,8931,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2239,3223
$GC,9238,-1.42,-95.7,856.5,-8.2,438,9239,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2238,3223
$GC,9548,-1.42,-95.7,882.8,-8.2,453,9553,0.00,2.60,0.00,0.000,4,0.000,0.058,2482,3647,3223
$GC,9721,-1.42,-95.7,898.0,-9.0,460,9727,0.00,2.42,0.00,0.000,6,0.000,0.035,2482,2249,3222
$GC,10037,-1.42,-95.7,924.4,-8.7,476,10041,0.00,2.50,0.00,0.000,4,0.000,0.050,2481,840,3222
$GC,10149,-1.42,-95.7,934.6,-9.7,481,10154,0.00,2.45,0.00,0.000,6,0.000,0.038,2482,2251,3222
$GC,10470,-1.42,-95.7,961.0,-7.4,497,10474,0.00,2.55,0.00,0.000,4,0.000,0.059,2482,3659,3221
$STATE,10720,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10720,begin apogee
$GC,10730,-0.36,0.0,981.4,8.5,508,10823,1.10,0.00,87.18,1.429,6,0.081,0.000,2714,1463,2832
$STATE,10823,end apogee,CONTROL_FINISHED_OK
$STATE,10823,begin climb
$GC,10826,1.42,95.7,983.9,0.0,513,10923,1.77,2.30,88.60,1.391,4,0.045,0.065,3109,267,2441
$GC,10940,1.42,95.7,978.1,7.1,518,10944,0.00,2.08,0.00,0.000,6,0.000,0.036,3109,1461,2439
$GC,11261,1.42,95.7,957.5,7.0,534,11266,0.00,2.53,0.00,0.000,4,0.000,0.050,3108,2845,2433
$GC,11378,1.42,95.7,950.2,6.1,539,11383,0.00,2.50,0.00,0.000,6,0.000,0.045,3109,1455,2432
$GC,11702,1.42,95.7,928.3,7.2,555,11706,0.00,2.50,0.00,0.000,4,0.000,0.050,3108,2856,2430
$GC,11774,1.42,95.7,922.4,8.0,558,11779,0.00,2.53,0.00,0.000,6,0.000,0.045,3109,1455,2430
$GC,12094,1.42,95.7,898.7,7.5,574,12098,0.00,2.20,0.00,0.000,4,0.000,0.066,3108,257,2428
$GC,12217,1.42,95.7,888.1,8.3,579,12221,0.00,2.08,0.00,0.000,6,0.000,0.037,3109,1469,2428
$GC,12539,1.42,95.7,864.1,7.2,595,12543,0.00,2.47,0.00,0.000,4,0.000,0.050,3109,2850,2427
$GC,12616,1.42,95.7,857.9,7.6,598,12622,0.00,2.47,0.00,0.000,6,0.000,0.043,3109,1447,2426
$GC,12934,1.42,95.7,834.7,7.1,614,12935,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1447,2426
$GC,13241,1.42,95.7,811.5,7.1,629,13245,0.00,2.15,0.00,0.000,4,0.000,0.063,3108,261,2425
$GC,13336,1.42,95.7,804.1,8.4,633,13340,0.00,2.03,0.00,0.000,6,0.000,0.035,3109,1455,2425
$GC,13665,1.42,95.7,780.9,6.9,649,13669,0.00,2.17,0.00,0.000,4,0.000,0.059,3109,261,2425
$GC,13705,1.42,95.7,777.9,7.0,650,13712,0.00,2.03,0.00,0.000,6,0.000,0.035,3109,1455,2425
$GC,14021,1.43,101.9,759.6,5.6,666,14027,0.00,0.00,4.05,0.826,6,0.000,0.000,3109,1455,2416
$GC,14333,1.43,101.9,741.4,6.1,681,14336,0.00,2.17,0.00,0.000,4,0.000,0.058,3108,255,2416
$GC,14411,1.43,101.9,736.0,6.6,684,14415,0.00,2.05,0.00,0.000,6,0.000,0.035,3109,1460,2416
$GC,14732,1.43,101.9,714.4,6.9,700,14736,0.00,2.47,0.00,0.000,4,0.000,0.048,3108,2858,2416
$GC,14782,1.43,101.9,710.6,7.7,702,14786,0.00,2.47,0.00,0.000,6,0.000,0.039,3108,1449,2416
$GC,15100,1.43,101.9,688.1,6.8,717,15101,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1449,2416
$GC,15407,1.43,101.9,665.1,7.6,732,15411,0.00,2.50,0.00,0.000,4,0.000,0.046,3109,2860,2416
$GC,15479,1.43,101.9,659.5,8.0,735,15484,0.00,2.50,0.00,0.000,6,0.000,0.039,3109,1455,2416
$GC,15800,1.43,101.9,633.7,8.0,751,15801,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1455,2417
$GC,16109,1.43,101.9,610.0,7.5,766,16110,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1455,2417
$GC,16421,1.43,101.9,587.3,7.2,781,16422,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1455,2417
$GC,16729,1.43,101.9,566.5,6.4,796,16733,0.00,2.47,0.00,0.000,4,0.000,0.046,3109,2855,2418
$GC,16773,1.43,101.9,563.5,6.4,798,16777,0.00,2.45,0.00,0.000,6,0.000,0.038,3109,1455,2418
$GC,17094,1.43,101.9,543.2,6.2,814,17095,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1456,2418
$GC,17406,1.43,102.4,524.3,6.0,829,17410,0.00,2.47,0.00,0.000,4,0.000,0.045,3109,2859,2418
$GC,17478,1.43,102.4,519.6,6.5,832,17483,0.00,2.50,0.00,0.000,6,0.000,0.038,3109,1450,2418
$GC,17799,1.43,105.1,500.6,5.8,848,17809,0.00,2.15,5.38,0.828,4,0.000,0.059,3109,264,2403
$GC,17864,1.43,105.1,496.5,6.9,851,17868,0.00,2.03,0.00,0.000,6,0.000,0.035,3108,1456,2403
$GC,18190,1.44,110.8,477.9,5.6,867,18199,0.00,0.00,6.78,0.888,6,0.000,0.000,3109,1456,2380
$GC,18503,1.44,113.0,459.5,5.9,882,18507,0.00,2.47,0.00,0.000,4,0.000,0.046,3109,2855,2379
$GC,18570,1.46,126.2,455.3,5.1,885,18590,0.00,2.45,15.12,1.009,6,0.000,0.038,3109,1453,2317
$GC,18918,1.46,126.2,432.7,6.6,902,18919,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1453,2316
$GC,19227,1.46,126.2,412.5,6.7,917,19229,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1453,2316
$GC,19536,1.46,126.2,391.4,6.8,932,19541,0.00,2.50,0.00,0.000,4,0.000,0.046,3109,2860,2316
$GC,19604,1.46,126.2,386.6,8.1,935,19609,0.00,2.47,0.00,0.000,6,0.000,0.038,3109,1450,2316
$GC,19926,1.46,126.2,364.0,7.2,951,19927,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1450,2316
$GC,20238,1.46,126.2,341.1,7.4,966,20239,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1450,2316
$GC,20546,1.46,126.2,318.1,7.5,981,20550,0.00,2.50,0.00,0.000,4,0.000,0.046,3109,2851,2316
$GC,20612,1.46,126.2,312.6,7.4,984,20616,0.00,2.42,0.00,0.000,6,0.000,0.039,3109,1455,2316
$GC,20933,1.46,126.2,288.9,7.2,1000,20934,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1456,2316
$GC,21242,1.46,126.2,266.6,7.3,1015,21243,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1456,2316
$GC,21551,1.46,126.2,243.3,7.6,1030,21552,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1456,2316
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$GC,23958,1.46,126.2,63.0,6.4,1147,23962,0.00,2.47,0.00,0.000,4,0.000,0.043,3109,2853,2317
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$GC,24651,1.47,140.1,22.2,6.8,1179,24652,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1448,2259
$STATE,24956,end climb,SURFACE_DEPTH_REACHED
$STATE,24956,begin surface coast
$FINISH,0.2,1.004376
$STATE,25000,end surface coast,CONTROL_FINISHED_OK
$STATE,25000,begin surface
$SM_CCo,25024,103.32,0.769,0,0,1609,300.00
$SM_GC,1.04,0.00,0.00,103.32,0.000,0.000,0.769,393,2249,1609,-11.07,-0.03,300.00
$IRIDIUM_FIX,6153.50,-1144.02,181098,232314
$TT8_MAMPS,0.027612
$HUMID,1835
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,900.1,90.9
$24V_AH,23.1,45.266
$10V_AH,10.1,27.014
$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,25.850,207.100,220.475,103.325,0.000,25.126,27.871,168.118,8.000,0.000,0.000,14.917,2269.172,18861.391,477.825,2928.212,945.728,0.000,1932.138,0.000,3105.117,0.000,54.153,0.000
$DEVICE_MAMPS,131.924,65.962,1428.921,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,933.098,955.417,662.433,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59981,1196
$CAP_FILE_SIZE,178936,0
$CFSIZE,260165632,243814400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,250709,130907,6217.183,-1146.771,41,1.0,41,-11.0