version: 66.04
glider: 105
mission: 6
dive: 104
start: 6 28 109 2 22 46
data:
$ID,105
$MISSION,6
$DIVE,104
$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,-1629883.9
$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,23
$R_STBD_OVSHOOT,31
$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
$GPS1,021606,6345.606,-1326.460,36,0.9,37,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-62.9
$GPS2,022226,6345.575,-1326.463,14,1.3,14,-12.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,KE
$TGT_LATLONG,6325.000,-1325.000
$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,190.8,38124,-11.0,-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,-0.96,-146.6,0.0,0.0,0,78,0.00,0.00,-59.45,0.000,6,0.000,0.000,392,2250,3431
$GC,81,-0.96,-146.6,4.8,-9.1,3,102,11.50,2.53,0.00,0.000,4,0.126,0.038,2581,837,3432
$GC,308,-0.96,-146.6,31.2,-7.8,13,313,0.00,2.47,0.00,0.000,6,0.000,0.035,2581,2254,3433
$GC,631,-0.96,-146.6,53.7,-6.5,29,636,0.00,2.55,0.00,0.000,4,0.000,0.059,2581,3653,3433
$GC,793,-0.96,-146.6,65.5,-7.6,36,797,0.00,2.42,0.00,0.000,6,0.000,0.028,2581,2228,3433
$GC,1110,-0.96,-146.6,87.5,-7.0,51,1114,0.00,2.58,0.00,0.000,4,0.000,0.054,2581,3651,3434
$GC,1232,-0.96,-146.6,96.8,-8.1,56,1239,0.00,2.40,0.00,0.000,6,0.000,0.028,2582,2238,3433
$GC,1549,-0.96,-146.6,120.0,-7.5,72,1553,0.00,2.58,0.00,0.000,4,0.000,0.054,2582,3657,3434
$GC,1615,-0.96,-146.6,125.6,-8.3,75,1619,0.00,2.38,0.00,0.000,6,0.000,0.028,2581,2254,3433
$GC,1935,-0.96,-146.6,149.4,-7.2,91,1940,0.00,2.53,0.00,0.000,4,0.000,0.053,2581,3651,3433
$GC,1985,-0.96,-146.6,153.4,-7.5,93,1989,0.00,2.38,0.00,0.000,6,0.000,0.028,2581,2251,3433
$GC,2301,-0.96,-146.6,177.1,-7.8,108,2305,0.00,2.55,0.00,0.000,4,0.000,0.054,2581,3657,3433
$GC,2364,-0.96,-146.6,182.1,-8.1,111,2369,0.00,2.40,0.00,0.000,6,0.000,0.028,2581,2242,3433
$GC,2691,-0.96,-146.6,207.3,-8.0,127,2696,0.00,2.58,0.00,0.000,4,0.000,0.055,2581,3642,3433
$GC,2729,-0.96,-146.6,210.6,-8.1,128,2736,0.00,2.38,0.00,0.000,6,0.000,0.029,2581,2240,3433
$GC,3044,-0.96,-146.6,236.7,-8.5,144,3049,0.00,2.42,0.00,0.000,4,0.000,0.042,2581,852,3433
$GC,3072,-0.96,-146.6,239.2,-8.7,145,3076,0.00,2.42,0.00,0.000,6,0.000,0.035,2581,2251,3433
$GC,3387,-0.96,-146.6,267.1,-9.0,160,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2251,3433
$GC,3697,-0.96,-146.6,294.9,-8.5,175,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2251,3433
$GC,4006,-0.96,-146.6,324.7,-10.1,190,4011,0.00,2.45,0.00,0.000,4,0.000,0.041,2581,852,3433
$GC,4038,-0.96,-146.6,328.2,-10.7,191,4043,0.00,2.42,0.00,0.000,6,0.000,0.035,2581,2258,3433
$GC,4355,-0.96,-146.6,359.0,-9.5,206,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2257,3433
$GC,4663,-0.96,-146.6,388.3,-9.3,221,4668,0.00,2.45,0.00,0.000,4,0.000,0.041,2581,856,3432
$GC,4708,-0.96,-146.6,392.5,-9.8,223,4712,0.00,2.42,0.00,0.000,6,0.000,0.036,2581,2251,3432
$GC,5028,-0.96,-146.6,420.6,-8.3,239,5029,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2251,3432
$GC,5337,-0.96,-146.6,444.5,-7.6,254,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2251,3432
$GC,5650,-0.96,-146.6,467.8,-7.8,269,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2250,3432
$GC,5956,-0.96,-146.6,494.6,-9.6,284,5957,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2251,3432
$GC,6268,-0.96,-146.6,527.4,-10.6,299,6272,0.00,2.45,0.00,0.000,4,0.000,0.041,2580,856,3432
$GC,6301,-0.96,-146.6,531.2,-10.8,300,6307,0.00,2.42,0.00,0.000,6,0.000,0.035,2581,2260,3432
$GC,6616,-0.96,-146.6,560.1,-8.5,316,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2260,3432
$GC,6927,-0.96,-146.6,584.8,-7.6,331,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2260,3432
$GC,7235,-0.96,-146.6,608.8,-7.6,346,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2261,3432
$GC,7544,-0.96,-146.6,630.4,-6.9,361,7548,0.00,2.47,0.00,0.000,4,0.000,0.042,2582,852,3432
$GC,7583,-0.96,-146.6,633.2,-7.2,363,7588,0.00,2.42,0.00,0.000,6,0.000,0.037,2581,2246,3432
$GC,7910,-0.96,-146.6,654.2,-6.5,379,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2246,3432
$GC,8219,-0.96,-146.6,674.0,-6.6,394,8224,0.00,2.58,0.00,0.000,4,0.000,0.057,2581,3654,3431
$GC,8286,-0.96,-146.6,678.7,-6.9,397,8291,0.00,2.38,0.00,0.000,6,0.000,0.030,2581,2254,3431
$GC,8613,-0.96,-146.6,698.7,-6.2,413,8614,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2253,3431
$GC,8923,-0.96,-146.6,717.4,-5.8,428,8927,0.00,2.55,0.00,0.000,4,0.000,0.056,2581,3660,3431
$GC,8955,-0.96,-146.6,719.2,-5.4,429,8961,0.00,2.40,0.00,0.000,6,0.000,0.030,2581,2249,3431
$GC,9272,-0.96,-146.6,735.8,-6.0,445,9276,0.00,2.45,0.00,0.000,4,0.000,0.044,2581,848,3431
$GC,9316,-0.96,-146.6,738.9,-6.7,447,9320,0.00,2.45,0.00,0.000,6,0.000,0.037,2581,2257,3431
$GC,9637,-0.96,-146.6,757.6,-5.0,463,9638,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2257,3431
$GC,9946,-0.96,-146.6,765.2,-2.2,478,9950,0.00,2.47,0.00,0.000,4,0.000,0.044,2582,853,3431
$GC,10046,-0.96,-146.6,768.1,-3.7,482,10052,0.00,2.45,0.00,0.000,6,0.000,0.038,2581,2256,3430
$GC,10361,-0.96,-146.6,783.2,-6.6,498,10365,0.00,2.47,0.00,0.000,4,0.000,0.044,2581,853,3430
$GC,10401,-0.96,-146.6,786.2,-7.8,500,10405,0.00,2.42,0.00,0.000,6,0.000,0.038,2581,2246,3430
$GC,10728,-0.96,-146.6,812.8,-7.9,516,10729,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2246,3429
$GC,11037,-0.96,-146.6,834.7,-7.3,531,11041,0.00,2.47,0.00,0.000,4,0.000,0.044,2581,846,3429
$GC,11104,-0.96,-146.6,840.3,-9.6,534,11109,0.00,2.45,0.00,0.000,6,0.000,0.040,2581,2252,3429
$GC,11425,-0.96,-146.6,863.7,-8.1,550,11429,0.00,2.55,0.00,0.000,4,0.000,0.062,2581,3653,3428
$GC,11520,-0.96,-146.6,871.0,-6.9,554,11525,0.00,2.42,0.00,0.000,6,0.000,0.035,2581,2247,3428
$GC,11837,-0.96,-146.6,891.0,-5.4,569,11841,0.00,2.47,0.00,0.000,4,0.000,0.048,2581,848,3427
$GC,11877,-0.96,-146.6,893.5,-6.2,571,11881,0.00,2.47,0.00,0.000,6,0.000,0.040,2581,2259,3427
$GC,12203,-0.96,-146.6,914.1,-6.3,587,12207,0.00,2.55,0.00,0.000,4,0.000,0.064,2581,3654,3426
$GC,12264,-0.96,-146.6,918.6,-8.1,590,12269,0.00,2.42,0.00,0.000,6,0.000,0.035,2581,2253,3425
$GC,12592,-0.96,-146.6,945.3,-6.8,606,12596,0.00,2.58,0.00,0.000,4,0.000,0.062,2581,3654,3425
$GC,12663,-0.96,-146.6,950.9,-7.0,609,12668,0.00,2.45,0.00,0.000,6,0.000,0.035,2581,2240,3424
$GC,12979,-0.96,-146.6,971.6,-7.2,624,12980,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2240,3424
$STATE,13183,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13183,begin apogee
$GC,13191,-0.36,0.0,985.0,5.8,634,13327,0.65,0.00,131.73,1.426,6,0.063,0.000,2722,1464,2832
$STATE,13327,end apogee,CONTROL_FINISHED_OK
$STATE,13328,begin climb
$GC,13330,0.96,146.6,988.6,0.0,641,13471,1.30,2.28,133.40,1.384,4,0.050,0.064,3009,262,2233
$GC,13519,1.00,177.7,983.3,5.1,649,13555,0.00,2.10,29.02,1.322,6,0.000,0.038,3009,1472,2106
$GC,13872,1.00,177.7,962.2,6.9,666,13876,0.00,2.50,0.00,0.000,4,0.000,0.052,3009,2851,2098
$GC,13939,1.01,183.5,958.2,5.8,669,13948,0.00,2.53,4.78,0.926,6,0.000,0.044,3009,1453,2085
$GC,14261,1.01,183.5,939.3,6.0,684,14266,0.00,2.53,0.00,0.000,4,0.000,0.051,3009,2849,2082
$GC,14334,1.01,183.5,934.0,6.9,687,14339,0.00,2.50,0.00,0.000,6,0.000,0.043,3009,1458,2082
$GC,14655,1.01,183.5,911.9,7.0,703,14656,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1458,2080
$GC,14964,1.01,183.5,886.0,8.4,718,14968,0.00,2.50,0.00,0.000,4,0.000,0.051,3009,2849,2079
$GC,15003,1.01,183.5,882.6,8.7,720,15007,0.00,2.50,0.00,0.000,6,0.000,0.042,3009,1447,2079
$GC,15329,1.01,183.5,857.6,7.5,736,15331,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1446,2078
$GC,15638,1.01,183.5,834.0,7.4,751,15643,0.00,2.55,0.00,0.000,4,0.000,0.050,3009,2856,2078
$GC,15678,1.01,183.5,830.7,7.9,753,15683,0.00,2.50,0.00,0.000,6,0.000,0.041,3009,1445,2078
$GC,16004,1.01,183.5,804.9,8.0,769,16009,0.00,2.55,0.00,0.000,4,0.000,0.051,3009,2856,2078
$GC,16037,1.03,203.8,803.0,5.4,770,16065,0.00,2.47,19.65,1.281,6,0.000,0.041,3009,1450,2000
$GC,16377,1.03,203.8,782.0,6.6,787,16381,0.00,2.53,0.00,0.000,4,0.000,0.049,3009,2849,1997
$GC,16403,1.03,203.8,779.7,7.7,788,16408,0.00,2.47,0.00,0.000,6,0.000,0.040,3009,1459,1997
$GC,16724,1.05,213.4,758.1,5.7,804,16736,0.00,0.00,9.88,1.158,6,0.000,0.000,3009,1459,1962
$GC,17036,1.08,241.0,744.4,5.2,819,17071,0.12,2.62,27.27,1.259,4,0.040,0.050,3071,2853,1848
$GC,17105,1.08,241.0,738.2,9.4,822,17110,0.15,2.50,0.00,0.000,6,0.065,0.041,3035,1463,1846
$GC,17432,1.08,241.0,709.3,8.2,838,17435,0.00,2.20,0.00,0.000,4,0.000,0.060,3035,258,1844
$GC,17487,1.08,241.0,704.5,9.3,840,17491,0.00,2.05,0.00,0.000,6,0.000,0.035,3035,1456,1844
$GC,17809,1.08,241.0,679.6,7.4,856,17813,0.00,2.50,0.00,0.000,4,0.000,0.049,3035,2850,1843
$GC,17842,1.08,244.2,677.5,5.9,857,17848,0.00,2.45,0.00,0.000,6,0.000,0.039,3036,1451,1843
$GC,18157,1.08,244.2,657.7,6.6,873,18161,0.00,2.15,0.00,0.000,4,0.000,0.058,3035,261,1843
$GC,18179,1.08,244.2,655.9,7.8,874,18183,0.00,2.05,0.00,0.000,6,0.000,0.035,3035,1461,1843
$GC,18514,1.08,244.2,625.9,9.8,890,18518,0.00,2.47,0.00,0.000,4,0.000,0.049,3035,2850,1843
$GC,18547,1.08,244.2,622.4,9.6,891,18553,0.00,2.45,0.00,0.000,6,0.000,0.038,3035,1445,1842
$GC,18862,1.08,244.2,598.2,7.0,907,18866,0.00,2.53,0.00,0.000,4,0.000,0.046,3035,2856,1842
$GC,18894,1.08,244.2,595.7,6.9,908,18900,0.00,2.45,0.00,0.000,6,0.000,0.037,3035,1452,1842
$GC,19213,1.08,244.2,569.8,8.8,924,19217,0.00,2.50,0.00,0.000,4,0.000,0.045,3035,2853,1843
$GC,19246,1.08,244.2,566.4,9.5,925,19252,0.00,2.45,0.00,0.000,6,0.000,0.037,3035,1448,1843
$GC,19561,1.08,244.2,540.7,8.0,941,19566,0.00,2.50,0.00,0.000,4,0.000,0.044,3035,2852,1843
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$STATE,26593,end climb,SURFACE_DEPTH_REACHED
$STATE,26594,begin surface coast
$FINISH,0.2,1.015513
$STATE,26636,end surface coast,CONTROL_FINISHED_OK
$STATE,26636,begin surface
$SM_CCo,26660,32.45,0.759,0,0,1609,300.00
$SM_GC,1.21,0.00,0.00,32.45,0.000,0.000,0.759,389,2243,1609,-11.09,-0.20,300.00
$IRIDIUM_FIX,6322.64,-1325.58,210998,181846
$TT8_MAMPS,0.027612
$HUMID,1823
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,926.8,67.5
$24V_AH,23.1,33.312
$10V_AH,10.1,16.347
$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
$DEVICE_SECS,25.125,277.125,365.000,32.450,0.000,23.286,30.120,188.684,8.250,0.000,0.000,14.499,2375.642,20355.863,573.004,2737.799,1019.709,0.000,2039.606,0.000,2948.491,0.000,55.718,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1098.901,928.045,713.216,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66200,1281
$CAP_FILE_SIZE,197334,0
$CFSIZE,260165632,251195392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,280609,094901,6341.763,-1332.276,41,1.0,42,-12.6