version: 66.04
glider: 105
mission: 6
dive: 75
start: 6 20 109 10 7 50
data:
$ID,105
$MISSION,6
$DIVE,75
$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,440
$T_MISSION,480
$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,-1629366.5
$T_RSLEEP,2
$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,2350
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,30
$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
$GPS1,100201,6234.626,-1230.419,38,1.3,38,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-63.8
$GPS2,100731,6234.596,-1230.404,11,0.9,16,-11.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HW
$TGT_LATLONG,6235.000,-1245.000
$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,285.0,12469,-13.9,-7.500
$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,-1.17,-146.6,0.0,0.0,0,78,0.00,0.00,-58.78,0.000,6,0.000,0.000,390,2337,3431
$GC,80,-1.17,-146.6,5.1,-9.9,3,97,11.40,2.42,0.00,0.000,4,0.132,0.033,2535,938,3433
$GC,242,-1.17,-146.6,29.8,-8.7,9,247,0.00,2.45,0.00,0.000,6,0.000,0.032,2535,2349,3433
$GC,559,-1.17,-146.6,58.1,-11.0,24,564,0.00,2.55,0.00,0.000,4,0.000,0.058,2535,3758,3434
$GC,604,-1.17,-146.6,63.5,-12.1,26,608,0.00,2.42,0.00,0.000,6,0.000,0.026,2535,2324,3434
$GC,925,-1.17,-146.6,99.4,-10.2,42,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2324,3435
$GC,1234,-1.17,-146.6,129.5,-9.5,57,1238,0.00,2.38,0.00,0.000,4,0.000,0.038,2534,958,3434
$GC,1261,-1.17,-146.6,132.3,-9.7,58,1265,0.00,2.42,0.00,0.000,6,0.000,0.032,2535,2360,3434
$GC,1576,-1.17,-146.6,160.3,-8.7,73,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2360,3435
$GC,1888,-1.17,-146.6,188.9,-9.1,88,1892,0.00,2.45,0.00,0.000,4,0.000,0.038,2534,958,3435
$GC,1928,-1.17,-146.6,192.9,-10.2,90,1932,0.00,2.42,0.00,0.000,6,0.000,0.035,2534,2352,3435
$GC,2256,-1.17,-146.6,224.7,-10.2,106,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2352,3434
$GC,2563,-1.17,-146.6,255.0,-9.4,121,2568,0.00,2.45,0.00,0.000,4,0.000,0.040,2535,955,3434
$GC,2613,-1.17,-146.6,259.9,-9.2,123,2618,0.00,2.45,0.00,0.000,6,0.000,0.035,2535,2355,3435
$GC,2930,-1.17,-146.6,288.7,-9.1,138,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2355,3434
$GC,3238,-1.17,-146.6,312.7,-6.6,153,3243,0.00,2.45,0.00,0.000,4,0.000,0.040,2535,957,3434
$GC,3283,-1.17,-146.6,315.9,-6.9,155,3287,0.00,2.42,0.00,0.000,6,0.000,0.035,2535,2353,3434
$GC,3604,-1.17,-146.6,337.0,-6.6,171,3609,0.00,2.55,0.00,0.000,4,0.000,0.061,2535,3752,3434
$GC,3644,-1.17,-146.6,339.9,-7.1,173,3649,0.00,2.38,0.00,0.000,6,0.000,0.028,2534,2352,3434
$GC,3971,-1.17,-146.6,360.8,-6.2,189,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2351,3434
$GC,4280,-1.17,-146.6,382.1,-7.6,204,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2350,3433
$GC,4590,-1.17,-146.6,406.5,-8.3,219,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2350,3433
$GC,4899,-1.17,-146.6,432.9,-8.9,234,4903,0.00,2.55,0.00,0.000,4,0.000,0.057,2535,3757,3433
$GC,4942,-1.17,-146.6,437.2,-9.3,236,4947,0.00,2.42,0.00,0.000,6,0.000,0.028,2535,2350,3433
$GC,5269,-1.17,-146.6,467.6,-9.1,252,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2349,3433
$GC,5579,-1.17,-146.6,493.2,-8.1,267,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2349,3433
$GC,5887,-1.17,-146.6,520.1,-9.0,282,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2348,3433
$GC,6196,-1.17,-146.6,548.8,-9.3,297,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2347,3433
$GC,6506,-1.17,-146.6,581.5,-11.6,312,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2347,3433
$GC,6815,-1.17,-146.6,613.9,-9.3,327,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2347,3432
$GC,7127,-1.17,-146.6,639.3,-8.5,342,7131,0.00,2.55,0.00,0.000,4,0.000,0.057,2535,3753,3432
$GC,7213,-1.17,-146.6,647.1,-9.3,346,7217,0.00,2.40,0.00,0.000,6,0.000,0.029,2535,2346,3432
$GC,7542,-1.17,-146.6,676.1,-9.5,362,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2346,3432
$GC,7848,-1.17,-146.6,703.8,-8.2,377,7852,0.00,2.55,0.00,0.000,4,0.000,0.057,2534,3753,3432
$GC,7887,-1.17,-146.6,707.1,-8.7,379,7891,0.00,2.40,0.00,0.000,6,0.000,0.030,2535,2344,3432
$GC,8214,-1.17,-146.6,732.9,-7.4,395,8218,0.00,2.55,0.00,0.000,4,0.000,0.056,2535,3753,3432
$GC,8258,-1.17,-146.6,736.2,-7.1,397,8262,0.00,2.40,0.00,0.000,6,0.000,0.030,2534,2346,3431
$GC,8579,-1.17,-146.6,759.2,-7.4,413,8583,0.00,2.55,0.00,0.000,4,0.000,0.057,2534,3753,3431
$GC,8634,-1.17,-146.6,764.1,-9.3,415,8641,0.00,2.42,0.00,0.000,6,0.000,0.031,2535,2350,3431
$GC,8950,-1.17,-146.6,790.4,-7.9,431,8954,0.00,2.55,0.00,0.000,4,0.000,0.058,2534,3753,3431
$GC,9028,-1.17,-146.6,796.5,-7.3,434,9034,0.00,2.40,0.00,0.000,6,0.000,0.031,2534,2350,3431
$GC,9343,-1.17,-146.6,818.8,-8.0,450,9347,0.00,2.55,0.00,0.000,4,0.000,0.058,2535,3753,3431
$GC,9387,-1.17,-146.6,822.6,-9.4,452,9392,0.00,2.42,0.00,0.000,6,0.000,0.031,2535,2353,3431
$GC,9713,-1.17,-146.6,847.3,-6.9,468,9717,0.00,2.45,0.00,0.000,4,0.000,0.044,2535,954,3431
$GC,9757,-1.17,-146.6,850.6,-7.6,470,9762,0.00,2.45,0.00,0.000,6,0.000,0.038,2534,2350,3431
$GC,10084,-1.17,-146.6,873.5,-7.0,486,10088,0.00,2.55,0.00,0.000,4,0.000,0.061,2535,3751,3430
$GC,10193,-1.17,-146.6,881.6,-7.5,491,10197,0.00,2.40,0.00,0.000,6,0.000,0.033,2535,2353,3430
$GC,10520,-1.17,-146.6,904.4,-7.3,507,10524,0.00,2.47,0.00,0.000,4,0.000,0.046,2535,944,3429
$GC,10541,-1.17,-146.6,906.0,-6.9,508,10546,0.00,2.50,0.00,0.000,6,0.000,0.041,2535,2348,3429
$GC,10868,-1.17,-146.6,930.5,-7.7,524,10872,0.00,2.47,0.00,0.000,4,0.000,0.047,2535,952,3428
$GC,10985,-1.17,-146.6,940.6,-9.5,529,10989,0.00,2.47,0.00,0.000,6,0.000,0.041,2534,2357,3428
$STATE,11277,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11277,begin apogee
$GC,11285,-0.36,0.0,960.3,6.7,543,11421,0.88,0.00,131.65,1.388,6,0.066,0.000,2722,1466,2832
$STATE,11422,end apogee,CONTROL_FINISHED_OK
$STATE,11422,begin climb
$GC,11425,1.17,146.6,965.7,0.0,550,11571,1.50,2.65,132.90,1.351,4,0.049,0.052,3055,2864,2232
$GC,11594,1.17,146.6,958.3,9.0,558,11599,0.00,2.55,0.00,0.000,6,0.000,0.045,3055,1452,2229
$GC,11921,1.17,146.6,930.4,9.0,574,11925,0.00,2.20,0.00,0.000,4,0.000,0.066,3055,261,2223
$GC,12011,1.17,146.6,922.3,8.0,578,12015,0.00,2.08,0.00,0.000,6,0.000,0.038,3055,1462,2223
$GC,12346,1.17,146.6,893.6,8.6,594,12347,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1462,2221
$GC,12653,1.20,167.8,870.8,6.8,609,12677,0.00,2.62,18.48,1.276,4,0.000,0.052,3055,2852,2146
$GC,12750,1.21,178.6,863.9,7.1,613,12767,0.00,2.50,11.07,1.192,6,0.000,0.042,3055,1448,2104
$GC,13078,1.21,178.6,836.8,9.0,629,13082,0.00,2.15,0.00,0.000,4,0.000,0.061,3055,264,2100
$GC,13118,1.21,178.6,832.5,9.6,630,13124,0.00,2.05,0.00,0.000,6,0.000,0.036,3055,1457,2100
$GC,13434,1.23,192.2,807.9,7.0,646,13455,0.00,2.60,13.57,1.217,4,0.000,0.049,3055,2848,2048
$GC,13524,1.23,192.2,800.9,8.2,650,13528,0.00,2.47,0.00,0.000,6,0.000,0.039,3055,1446,2046
$GC,13852,1.23,192.2,774.7,7.8,666,13857,0.00,2.53,0.00,0.000,4,0.000,0.046,3055,2852,2045
$GC,13919,1.23,192.2,769.2,7.5,669,13923,0.00,2.45,0.00,0.000,6,0.000,0.038,3055,1454,2044
$GC,14241,1.23,192.2,745.1,8.0,685,14245,0.00,2.15,0.00,0.000,4,0.000,0.058,3055,262,2044
$GC,14309,1.23,192.2,738.2,10.7,688,14313,0.00,2.03,0.00,0.000,6,0.000,0.033,3055,1458,2044
$GC,14641,1.23,192.2,708.6,9.2,704,14645,0.00,2.47,0.00,0.000,4,0.000,0.046,3055,2850,2044
$GC,14707,1.23,192.2,702.1,9.9,707,14712,0.00,2.45,0.00,0.000,6,0.000,0.037,3055,1460,2043
$GC,15034,1.23,192.2,673.0,7.8,723,15037,0.00,2.15,0.00,0.000,4,0.000,0.056,3055,261,2043
$GC,15083,1.23,192.2,668.8,9.1,725,15087,0.00,2.00,0.00,0.000,6,0.000,0.032,3055,1458,2044
$GC,15411,1.27,221.9,646.8,6.5,741,15446,0.00,2.55,27.83,1.164,4,0.000,0.044,3055,2842,1927
$GC,15492,1.28,228.8,640.9,7.3,744,15505,0.05,2.47,7.90,0.982,6,0.039,0.035,3098,1453,1899
$GC,15829,1.28,228.8,608.3,10.3,761,15833,0.00,2.12,0.00,0.000,4,0.000,0.054,3098,267,1896
$GC,15897,1.28,228.8,600.5,11.0,764,15901,0.00,2.00,0.00,0.000,6,0.000,0.030,3098,1458,1896
$GC,16230,1.28,228.8,566.6,9.8,780,16231,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1458,1896
$GC,16541,1.28,228.8,533.1,11.3,795,16542,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1458,1896
$GC,16848,1.28,228.8,499.2,10.9,810,16849,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1458,1896
$GC,17157,1.28,228.8,465.2,10.9,825,17159,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1458,1895
$GC,17467,1.28,228.8,432.8,10.4,840,17468,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1458,1896
$GC,17776,1.28,228.8,400.9,10.5,855,17777,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1458,1896
$GC,18088,1.28,228.8,368.5,10.7,870,18091,0.00,2.15,0.00,0.000,4,0.000,0.054,3098,261,1896
$GC,18121,1.28,228.8,364.4,11.9,871,18125,0.00,2.00,0.00,0.000,6,0.000,0.031,3098,1456,1896
$GC,18442,1.28,228.8,331.8,9.9,887,18446,0.00,2.45,0.00,0.000,4,0.000,0.043,3098,2845,1896
$GC,18469,1.28,228.8,329.0,10.0,888,18473,0.00,2.40,0.00,0.000,6,0.000,0.035,3098,1450,1895
$GC,18784,1.28,228.8,296.8,10.7,903,18785,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1450,1896
$GC,19096,1.28,228.8,262.5,10.8,918,19097,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1450,1896
$GC,19403,1.28,228.8,227.6,11.3,933,19404,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1449,1896
$GC,19712,1.28,228.8,195.4,10.0,948,19716,0.00,2.47,0.00,0.000,4,0.000,0.042,3098,2851,1896
$GC,19744,1.28,228.8,192.0,8.8,949,19751,0.00,2.42,0.00,0.000,6,0.000,0.035,3098,1453,1896
$GC,20060,1.28,228.8,161.5,9.9,965,20061,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1453,1896
$GC,20370,1.28,228.8,133.4,8.3,980,20371,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1453,1896
$GC,20679,1.28,228.8,105.9,9.7,995,20680,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1453,1896
$GC,20989,1.28,228.8,65.3,12.9,1010,20991,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1453,1897
$GC,21298,1.28,228.8,35.5,8.6,1025,21302,0.00,2.45,0.00,0.000,4,0.000,0.040,3098,2851,1897
$GC,21353,1.28,233.5,30.7,7.3,1027,21363,0.00,2.40,5.35,0.613,6,0.000,0.034,3098,1453,1880
$STATE,21670,end climb,SURFACE_DEPTH_REACHED
$STATE,21670,begin surface coast
$FINISH,0.2,1.020782
$STATE,21693,end surface coast,CONTROL_FINISHED_OK
$STATE,21693,begin surface
$SM_CCo,21717,42.78,0.755,0,0,1608,300.00
$SM_GC,1.02,0.00,0.00,42.78,0.000,0.000,0.755,394,2343,1608,-11.07,-0.20,300.00
$IRIDIUM_FIX,6207.28,-1222.62,140998,040403
$TT8_MAMPS,0.027612
$HUMID,1833
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,901.3,67.6
$24V_AH,23.2,28.962
$10V_AH,10.1,13.332
$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,25.475,161.875,348.750,42.775,0.000,28.834,24.516,150.679,8.000,0.000,0.000,16.747,1894.448,16720.689,508.587,2148.979,814.237,0.000,1629.044,0.000,2333.764,0.000,54.087,0.000
$DEVICE_MAMPS,131.924,65.962,1388.270,755.495,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,880.294,786.621,562.387,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53798,1044
$CAP_FILE_SIZE,148677,0
$CFSIZE,260165632,253366272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,200609,161136,6233.084,-1242.292,26,1.7,26,-11.7