version: 66.04
glider: 105
mission: 6
dive: 200
start: 7 27 109 14 41 9
data:
$ID,105
$MISSION,6
$DIVE,200
$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,-1631591
$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,24
$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
$GPS1,143401,6218.195,-1143.076,42,1.3,42,-11.0
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-55.1
$GPS2,144049,6218.204,-1143.089,10,1.6,15,-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,227.4,2771,-27.3,-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,14,begin dive
$GC,17,-1.99,-28.8,0.0,0.0,0,65,0.00,0.00,-46.10,0.000,6,0.000,0.000,386,2243,2950
$GC,68,-1.99,-33.2,2.1,-5.4,2,84,10.43,2.47,-0.38,0.000,4,0.127,0.050,2361,835,2968
$GC,421,-1.99,-33.2,52.4,-12.9,17,426,0.00,2.50,0.00,0.000,6,0.000,0.035,2361,2248,2970
$GC,753,-1.99,-33.2,89.5,-10.8,33,757,0.00,2.53,0.00,0.000,4,0.000,0.051,2361,3654,2970
$GC,841,-1.99,-33.2,99.5,-11.4,37,845,0.00,2.42,0.00,0.000,6,0.000,0.029,2360,2229,2970
$GC,1163,-1.99,-33.2,132.7,-10.0,53,1168,0.00,2.58,0.00,0.000,4,0.000,0.049,2361,3648,2970
$GC,1314,-1.99,-33.2,149.0,-10.7,59,1320,0.00,2.38,0.00,0.000,6,0.000,0.031,2361,2253,2970
$GC,1629,-1.99,-33.2,182.1,-10.7,75,1634,0.00,2.55,0.00,0.000,4,0.000,0.051,2361,3653,2970
$GC,1841,-1.99,-33.2,206.8,-11.5,84,1845,0.00,2.40,0.00,0.000,6,0.000,0.031,2361,2252,2970
$GC,2158,-1.99,-33.2,240.5,-10.7,99,2162,0.00,2.53,0.00,0.000,4,0.000,0.051,2361,3655,2970
$GC,2224,-1.99,-33.2,248.4,-12.0,102,2229,0.00,2.45,0.00,0.000,6,0.000,0.031,2361,2247,2970
$GC,2550,-1.99,-33.2,283.2,-11.1,118,2554,0.00,2.55,0.00,0.000,4,0.000,0.051,2361,3663,2970
$GC,2746,-1.99,-33.2,306.5,-12.2,127,2751,0.00,2.45,0.00,0.000,6,0.000,0.031,2361,2251,2970
$GC,3078,-1.99,-33.2,343.5,-10.9,143,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2250,2970
$GC,3391,-1.99,-33.2,376.0,-10.5,158,3395,0.00,2.53,0.00,0.000,4,0.000,0.051,2361,3661,2969
$GC,3716,-1.99,-33.2,410.8,-10.2,172,3722,0.00,2.42,0.00,0.000,6,0.000,0.032,2361,2243,2969
$GC,4032,-1.99,-33.2,441.9,-10.0,188,4036,0.00,2.55,0.00,0.000,4,0.000,0.053,2361,3660,2969
$GC,4229,-1.99,-33.2,463.5,-10.9,197,4233,0.00,2.42,0.00,0.000,6,0.000,0.032,2361,2245,2969
$GC,4556,-1.99,-33.2,496.6,-10.2,213,4561,0.00,2.55,0.00,0.000,4,0.000,0.051,2361,3651,2968
$GC,4617,-1.99,-33.2,503.3,-11.2,215,4623,0.00,2.40,0.00,0.000,6,0.000,0.031,2361,2245,2968
$GC,4934,-1.99,-33.2,535.0,-9.7,231,4939,0.00,2.53,0.00,0.000,4,0.000,0.051,2361,3654,2968
$GC,4975,-1.99,-33.2,539.3,-11.0,233,4979,0.00,2.40,0.00,0.000,6,0.000,0.031,2361,2248,2968
$GC,5301,-1.99,-33.2,570.7,-9.4,249,5306,0.00,2.53,0.00,0.000,4,0.000,0.051,2361,3659,2968
$GC,5364,-1.99,-33.2,576.9,-10.3,252,5369,0.00,2.42,0.00,0.000,6,0.000,0.032,2361,2255,2968
$GC,5696,-1.99,-33.2,608.4,-9.5,268,5700,0.00,2.53,0.00,0.000,4,0.000,0.052,2361,3660,2968
$GC,5865,-1.99,-33.2,625.8,-11.1,275,5871,0.00,2.42,0.00,0.000,6,0.000,0.032,2361,2244,2968
$GC,6183,-1.99,-33.2,657.2,-10.1,291,6188,0.00,2.53,0.00,0.000,4,0.000,0.051,2361,3654,2968
$GC,6371,-1.99,-33.2,676.9,-10.7,299,6375,0.00,2.40,0.00,0.000,6,0.000,0.032,2361,2251,2968
$GC,6686,-1.99,-33.2,707.7,-9.5,314,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2251,2968
$GC,6995,-1.99,-33.2,736.7,-9.3,329,7000,0.00,2.53,0.00,0.000,4,0.000,0.051,2361,3657,2967
$GC,7148,-1.99,-33.2,751.7,-9.8,336,7153,0.00,2.42,0.00,0.000,6,0.000,0.034,2361,2258,2967
$GC,7480,-1.99,-33.2,781.4,-8.7,352,7484,0.00,2.47,0.00,0.000,4,0.000,0.044,2361,846,2967
$GC,7519,-1.99,-33.2,784.6,-8.7,354,7524,0.00,2.45,0.00,0.000,6,0.000,0.037,2361,2261,2967
$GC,7846,-1.99,-33.2,809.3,-7.2,370,7850,0.00,2.47,0.00,0.000,4,0.000,0.054,2361,3650,2966
$GC,8189,-1.99,-33.2,834.8,-7.1,385,8193,0.00,2.40,0.00,0.000,6,0.000,0.034,2361,2251,2966
$GC,8505,-1.99,-33.2,857.9,-8.1,400,8506,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2251,2966
$GC,8813,-1.99,-33.2,885.5,-9.2,415,8817,0.00,2.53,0.00,0.000,4,0.000,0.055,2361,3650,2965
$GC,9155,-1.99,-33.2,914.8,-7.9,430,9160,0.00,2.42,0.00,0.000,6,0.000,0.035,2361,2250,2965
$GC,9474,-1.99,-33.2,938.4,-8.0,445,9478,0.00,2.55,0.00,0.000,4,0.000,0.057,2361,3653,2964
$STATE,9488,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9489,begin apogee
$GC,9499,-0.36,0.0,939.9,7.7,446,9534,1.73,0.00,30.80,1.361,6,0.084,0.000,2717,1465,2832
$STATE,9534,end apogee,CONTROL_FINISHED_OK
$STATE,9534,begin climb
$GC,9537,1.99,33.2,941.5,0.0,448,9580,2.35,2.30,31.48,1.337,4,0.047,0.064,3237,262,2696
$GC,9880,2.00,37.7,925.3,5.4,463,9890,0.00,2.08,5.47,1.002,6,0.000,0.038,3237,1456,2678
$GC,10203,2.00,39.8,907.8,5.7,478,10207,0.00,2.53,0.00,0.000,4,0.000,0.049,3236,2860,2677
$GC,10545,2.02,53.6,893.4,4.1,493,10566,0.00,2.50,15.48,1.286,6,0.000,0.042,3237,1452,2613
$GC,10887,2.02,54.5,876.5,5.9,510,10891,0.00,2.53,0.00,0.000,4,0.000,0.050,3236,2857,2611
$GC,11228,2.02,58.5,859.7,5.4,525,11240,0.00,2.50,5.62,1.028,6,0.000,0.042,3237,1453,2593
$GC,11552,2.04,70.1,844.8,4.4,541,11574,0.00,2.62,12.12,1.243,4,0.000,0.048,3236,2856,2546
$GC,11911,2.04,70.1,821.5,6.7,557,11915,0.00,2.50,0.00,0.000,6,0.000,0.042,3236,1451,2544
$GC,12237,2.04,70.1,800.4,6.5,573,12242,0.00,2.50,0.00,0.000,4,0.000,0.046,3237,2856,2544
$GC,12579,2.04,70.1,775.6,7.6,588,12583,0.00,2.47,0.00,0.000,6,0.000,0.041,3237,1455,2543
$GC,12894,2.04,70.1,751.1,7.3,603,12899,0.00,2.50,0.00,0.000,4,0.000,0.044,3236,2851,2543
$GC,13238,2.04,70.1,726.4,7.9,618,13243,0.00,2.47,0.00,0.000,6,0.000,0.040,3236,1449,2542
$GC,13559,2.04,70.1,702.2,7.7,634,13563,0.00,2.15,0.00,0.000,4,0.000,0.060,3236,258,2543
$GC,13901,2.04,70.1,674.2,8.5,649,13905,0.00,2.05,0.00,0.000,6,0.000,0.032,3236,1459,2543
$GC,14227,2.04,70.1,650.7,7.1,665,14232,0.00,2.47,0.00,0.000,4,0.000,0.045,3236,2860,2543
$GC,14289,2.04,70.1,646.3,6.8,668,14294,0.00,2.50,0.00,0.000,6,0.000,0.038,3236,1448,2543
$GC,14621,2.04,70.1,624.4,6.1,684,14625,0.00,2.47,0.00,0.000,4,0.000,0.044,3236,2857,2544
$GC,14755,2.04,73.1,616.4,5.6,690,14764,0.00,2.45,4.15,0.765,6,0.000,0.038,3236,1455,2534
$GC,15082,2.04,73.1,596.8,6.2,706,15083,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1455,2535
$GC,15391,2.04,74.3,579.2,5.8,721,15392,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1455,2535
$GC,15701,2.04,74.3,559.8,6.6,736,15702,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1455,2535
$GC,16009,2.04,74.3,538.2,7.2,751,16011,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1455,2535
$GC,16321,2.04,74.3,514.2,7.8,766,16325,0.00,2.12,0.00,0.000,4,0.000,0.058,3236,267,2536
$GC,16394,2.04,74.3,507.7,8.6,769,16398,0.00,2.00,0.00,0.000,6,0.000,0.032,3237,1458,2536
$GC,16721,2.04,74.3,481.8,7.9,785,16724,0.00,2.15,0.00,0.000,4,0.000,0.055,3236,258,2537
$GC,16804,2.04,74.3,474.7,7.8,788,16810,0.00,2.03,0.00,0.000,6,0.000,0.031,3237,1460,2536
$GC,17120,2.04,74.3,450.5,7.4,804,17121,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1460,2536
$GC,17429,2.04,74.3,428.7,6.7,819,17434,0.00,2.47,0.00,0.000,4,0.000,0.046,3237,2853,2537
$GC,17534,2.04,74.3,421.6,6.2,823,17540,0.00,2.45,0.00,0.000,6,0.000,0.037,3237,1445,2537
$GC,17850,2.04,75.2,402.2,5.9,839,17861,0.00,2.15,4.57,0.724,4,0.000,0.056,3236,270,2525
$GC,17905,2.04,75.2,398.4,6.7,841,17910,0.00,2.03,0.00,0.000,6,0.000,0.032,3236,1454,2525
$GC,18226,2.04,75.2,377.0,6.9,857,18230,0.00,2.12,0.00,0.000,4,0.000,0.055,3236,267,2525
$GC,18344,2.04,75.2,367.8,8.2,862,18348,0.00,2.03,0.00,0.000,6,0.000,0.033,3237,1452,2525
$GC,18670,2.04,75.2,343.9,7.4,878,18671,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1452,2525
$GC,18979,2.04,75.2,321.4,7.1,893,18980,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1452,2526
$GC,19288,2.04,75.2,299.4,6.9,908,19293,0.00,2.50,0.00,0.000,4,0.000,0.050,3237,2839,2526
$GC,19333,2.04,75.2,296.2,7.4,910,19338,0.00,2.42,0.00,0.000,6,0.000,0.038,3236,1464,2526
$GC,19666,2.04,75.2,272.7,7.1,926,19667,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1464,2526
$GC,19977,2.04,75.2,251.1,7.0,941,19981,0.00,2.15,0.00,0.000,4,0.000,0.055,3237,257,2526
$GC,20084,2.04,75.2,242.6,7.2,945,20090,0.00,2.03,0.00,0.000,6,0.000,0.033,3237,1443,2526
$GC,20400,2.04,75.2,219.6,7.1,961,20401,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1444,2526
$GC,20711,2.04,75.2,197.4,7.2,976,20712,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1444,2526
$GC,21019,2.04,75.2,176.5,6.5,991,21020,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1444,2526
$GC,21328,2.04,75.2,156.6,6.3,1006,21332,0.00,2.12,0.00,0.000,4,0.000,0.054,3237,257,2526
$GC,21389,2.04,75.2,152.4,7.7,1008,21395,0.00,2.03,0.00,0.000,6,0.000,0.033,3237,1452,2526
$GC,21705,2.04,75.7,133.0,5.9,1024,21706,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1452,2526
$GC,22016,2.04,75.7,113.7,6.1,1039,22019,0.00,2.12,0.00,0.000,4,0.000,0.054,3237,261,2527
$GC,22185,2.05,79.0,103.0,5.5,1046,22197,0.00,2.03,5.38,0.660,6,0.000,0.033,3236,1453,2509
$GC,22508,2.05,79.0,83.3,6.4,1062,22511,0.00,2.12,0.00,0.000,4,0.000,0.053,3237,261,2509
$GC,22659,2.05,79.0,73.8,6.9,1068,22665,0.00,2.08,0.00,0.000,6,0.000,0.033,3237,1454,2509
$GC,22975,2.05,80.4,54.7,5.8,1084,22980,0.00,2.50,0.00,0.000,4,0.000,0.049,3237,2854,2509
$GC,23002,2.06,87.2,53.3,5.1,1085,23019,0.00,2.45,8.32,0.723,6,0.000,0.036,3236,1461,2476
$GC,23330,2.06,87.5,35.1,6.0,1101,23333,0.00,2.12,0.00,0.000,4,0.000,0.054,3237,262,2476
$GC,23671,2.06,87.5,12.9,6.9,1116,23674,0.00,2.03,0.00,0.000,6,0.000,0.032,3236,1462,2475
$STATE,23851,end climb,SURFACE_DEPTH_REACHED
$STATE,23851,begin surface coast
$FINISH,0.2,1.026959
$STATE,23893,end surface coast,CONTROL_FINISHED_OK
$STATE,23894,begin surface
$SM_CCo,23918,143.35,0.762,0,0,1609,300.00
$SM_GC,0.88,0.00,0.00,143.35,0.000,0.000,0.762,387,2251,1609,-11.10,0.03,300.00
$IRIDIUM_FIX,6153.50,-1143.08,211098,070722
$TT8_MAMPS,0.027612
$HUMID,1831
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,876.0,73.7
$24V_AH,23.2,46.029
$10V_AH,10.1,27.962
$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,26.925,187.850,123.400,143.350,0.000,28.401,27.421,212.606,7.750,0.000,0.000,15.448,2256.899,17496.922,428.764,3270.600,1009.764,0.000,1991.353,0.000,3423.340,0.000,54.396,0.000
$DEVICE_MAMPS,127.322,63.661,1361.425,762.398,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,863.870,883.807,644.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56800,1127
$CAP_FILE_SIZE,182312,0
$CFSIZE,260165632,243163136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,270709,212330,6217.420,-1147.715,38,1.6,38,-11.0