version: 66.04
glider: 105
mission: 6
dive: 191
start: 7 24 109 23 25 10
data:
$ID,105
$MISSION,6
$DIVE,191
$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,-1631435.6
$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,26
$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
$GPS1,231531,6216.983,-1146.718,38,1.3,38,-11.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-61.9
$GPS2,232450,6217.009,-1146.567,14,1.3,14,-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,101.7,1350,-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,12,begin dive
$GC,15,-1.99,-28.8,0.0,0.0,0,63,0.00,0.00,-45.62,0.000,6,0.000,0.000,393,2240,2951
$GC,66,-1.99,-34.3,2.2,-5.2,2,82,10.48,2.55,-0.47,0.000,4,0.132,0.063,2357,3653,2972
$GC,421,-1.99,-34.3,49.5,-12.5,17,426,0.00,2.42,0.00,0.000,6,0.000,0.029,2357,2232,2973
$GC,748,-1.99,-34.3,82.3,-9.6,33,753,0.00,2.58,0.00,0.000,4,0.000,0.049,2357,3662,2974
$GC,1089,-1.99,-34.3,116.8,-10.5,48,1094,0.00,2.45,0.00,0.000,6,0.000,0.031,2357,2255,2975
$GC,1410,-1.99,-34.3,147.7,-9.7,64,1414,0.00,2.53,0.00,0.000,4,0.000,0.050,2357,3655,2974
$GC,1751,-1.99,-34.3,185.1,-11.1,79,1756,0.00,2.42,0.00,0.000,6,0.000,0.031,2356,2244,2974
$GC,2066,-1.99,-34.3,217.5,-10.2,94,2071,0.00,2.55,0.00,0.000,4,0.000,0.051,2357,3658,2975
$GC,2375,-1.99,-34.3,251.6,-10.9,108,2379,0.00,2.42,0.00,0.000,6,0.000,0.032,2357,2251,2974
$GC,2702,-1.99,-34.3,285.8,-10.4,124,2706,0.00,2.53,0.00,0.000,4,0.000,0.051,2357,3654,2974
$GC,2898,-1.99,-34.3,307.2,-11.4,133,2903,0.00,2.42,0.00,0.000,6,0.000,0.032,2357,2238,2973
$GC,3225,-1.99,-34.3,339.2,-9.8,149,3229,0.00,2.55,0.00,0.000,4,0.000,0.051,2357,3652,2973
$GC,3319,-1.99,-34.3,349.2,-10.7,153,3324,0.00,2.40,0.00,0.000,6,0.000,0.031,2357,2252,2973
$GC,3635,-1.99,-34.3,380.7,-10.1,168,3639,0.00,2.53,0.00,0.000,4,0.000,0.051,2357,3660,2973
$GC,3804,-1.99,-34.3,398.4,-10.4,175,3811,0.00,2.42,0.00,0.000,6,0.000,0.032,2357,2249,2973
$GC,4123,-1.99,-34.3,430.0,-9.8,191,4127,0.00,2.53,0.00,0.000,4,0.000,0.050,2356,3657,2973
$GC,4364,-1.99,-34.3,455.5,-10.5,202,4369,0.00,2.42,0.00,0.000,6,0.000,0.032,2356,2243,2973
$GC,4691,-1.99,-34.3,487.4,-9.7,218,4695,0.00,2.55,0.00,0.000,4,0.000,0.052,2357,3663,2973
$GC,4880,-1.99,-34.3,507.0,-10.3,226,4887,0.00,2.42,0.00,0.000,6,0.000,0.032,2357,2252,2972
$GC,5196,-1.99,-34.3,538.8,-10.0,242,5200,0.00,2.53,0.00,0.000,4,0.000,0.051,2357,3661,2972
$GC,5538,-1.99,-34.3,578.1,-11.5,257,5542,0.00,2.42,0.00,0.000,6,0.000,0.032,2357,2252,2972
$GC,5854,-1.99,-34.3,613.5,-11.2,272,5858,0.00,2.53,0.00,0.000,4,0.000,0.051,2356,3660,2972
$GC,6017,-1.99,-34.3,632.2,-11.6,279,6021,0.00,2.42,0.00,0.000,6,0.000,0.033,2356,2251,2972
$GC,6332,-1.99,-34.3,663.4,-9.3,294,6337,0.00,2.53,0.00,0.000,4,0.000,0.051,2357,3654,2972
$GC,6612,-1.99,-34.3,688.4,-8.1,306,6618,0.00,2.42,0.00,0.000,6,0.000,0.033,2357,2246,2971
$GC,6928,-1.99,-34.3,712.3,-7.4,322,6933,0.00,2.55,0.00,0.000,4,0.000,0.053,2357,3664,2971
$GC,7169,-1.99,-34.3,733.2,-8.9,333,7174,0.00,2.45,0.00,0.000,6,0.000,0.034,2356,2237,2971
$GC,7497,-1.99,-34.3,765.5,-10.7,349,7501,0.00,2.55,0.00,0.000,4,0.000,0.053,2357,3653,2971
$GC,7673,-1.99,-34.3,785.7,-12.0,357,7677,0.00,2.42,0.00,0.000,6,0.000,0.034,2357,2243,2971
$GC,8000,-1.99,-34.3,817.9,-8.8,373,8004,0.00,2.55,0.00,0.000,4,0.000,0.054,2357,3655,2970
$GC,8342,-1.99,-34.3,852.2,-10.6,388,8347,0.00,2.42,0.00,0.000,6,0.000,0.035,2357,2252,2970
$GC,8658,-1.99,-35.3,876.4,-5.9,403,8663,0.00,2.53,0.00,0.000,4,0.000,0.054,2357,3657,2970
$GC,9000,-1.99,-35.3,898.5,-7.9,418,9004,0.00,2.45,0.00,0.000,6,0.000,0.036,2356,2241,2969
$GC,9318,-1.99,-35.3,922.4,-7.2,433,9322,0.00,2.58,0.00,0.000,4,0.000,0.057,2357,3655,2969
$GC,9660,-1.99,-35.3,948.3,-8.2,448,9665,0.00,2.45,0.00,0.000,6,0.000,0.038,2356,2253,2969
$STATE,9850,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9850,begin apogee
$GC,9858,-0.36,0.0,963.2,7.9,457,9894,1.77,0.00,31.58,1.384,6,0.088,0.000,2719,1458,2832
$STATE,9894,end apogee,CONTROL_FINISHED_OK
$STATE,9894,begin climb
$GC,9897,1.99,35.3,964.8,0.0,459,9941,2.35,2.25,33.70,1.364,4,0.048,0.065,3235,264,2687
$GC,10281,2.00,38.5,947.0,5.5,476,10290,0.00,2.10,4.35,0.896,6,0.000,0.041,3235,1451,2674
$GC,10613,2.00,42.3,927.4,5.5,492,10622,0.00,2.20,4.82,0.966,4,0.000,0.063,3235,263,2659
$GC,10960,2.03,64.4,914.7,2.9,507,10986,0.00,2.08,21.42,1.351,6,0.000,0.041,3235,1454,2569
$GC,11299,2.03,64.4,892.2,7.8,523,11303,0.00,2.20,0.00,0.000,4,0.000,0.063,3235,260,2567
$GC,11384,2.03,64.4,884.9,8.5,526,11390,0.00,2.08,0.00,0.000,6,0.000,0.040,3236,1455,2567
$GC,11699,2.03,64.4,860.6,7.5,542,11704,0.00,2.53,0.00,0.000,4,0.000,0.054,3235,2854,2565
$GC,11942,2.03,68.4,844.0,5.4,553,11952,0.00,2.50,4.50,0.930,6,0.000,0.044,3235,1452,2553
$GC,12273,2.04,72.9,825.0,5.4,569,12281,0.00,0.00,5.90,1.057,6,0.000,0.000,3236,1452,2535
$GC,12586,2.05,77.4,807.5,5.4,584,12597,0.00,2.58,6.20,1.068,4,0.000,0.048,3235,2860,2515
$GC,12787,2.05,78.5,795.1,5.9,593,12792,0.00,2.53,0.00,0.000,6,0.000,0.042,3235,1456,2514
$GC,13114,2.05,78.5,771.7,7.6,609,13115,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1456,2514
$GC,13422,2.05,78.5,748.4,7.5,624,13426,0.00,2.15,0.00,0.000,4,0.000,0.061,3235,264,2514
$GC,13528,2.05,78.5,739.9,7.6,628,13535,0.00,2.05,0.00,0.000,6,0.000,0.035,3235,1456,2514
$GC,13844,2.05,78.5,718.6,6.4,644,13848,0.00,2.15,0.00,0.000,4,0.000,0.057,3235,262,2514
$GC,14021,2.05,78.5,705.7,7.6,651,14027,0.00,2.05,0.00,0.000,6,0.000,0.035,3235,1456,2515
$GC,14337,2.05,78.5,684.0,7.1,667,14341,0.00,2.50,0.00,0.000,4,0.000,0.048,3235,2860,2515
$GC,14392,2.05,78.5,679.8,7.9,669,14399,0.00,2.47,0.00,0.000,6,0.000,0.040,3235,1446,2515
$GC,14708,2.05,78.5,658.3,7.1,685,14709,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1446,2515
$GC,15017,2.05,78.5,634.7,7.8,700,15018,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1446,2516
$GC,15326,2.05,78.5,610.7,7.7,715,15330,0.00,2.12,0.00,0.000,4,0.000,0.059,3235,262,2516
$GC,15421,2.05,78.5,602.9,8.4,719,15425,0.00,2.03,0.00,0.000,6,0.000,0.036,3235,1455,2517
$GC,15748,2.05,78.5,576.1,8.1,735,15749,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1455,2517
$GC,16057,2.05,78.5,550.6,8.3,750,16058,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1455,2518
$GC,16366,2.05,78.5,524.6,8.6,765,16367,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1455,2518
$GC,16675,2.05,78.5,497.6,8.6,780,16677,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1454,2518
$GC,16987,2.05,78.5,471.5,8.5,795,16988,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1455,2518
$GC,17294,2.05,78.5,446.4,7.9,810,17295,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1455,2519
$GC,17603,2.05,78.5,422.3,7.7,825,17605,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1455,2519
$GC,17912,2.05,78.5,398.5,7.9,840,17914,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1455,2519
$GC,18222,2.05,78.5,375.4,7.4,855,18225,0.00,2.15,0.00,0.000,4,0.000,0.056,3235,258,2519
$GC,18312,2.05,78.5,368.3,7.5,859,18316,0.00,2.03,0.00,0.000,6,0.000,0.035,3235,1456,2519
$GC,18644,2.05,78.5,342.7,7.5,875,18646,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1456,2520
$GC,18954,2.05,78.5,319.8,7.3,890,18955,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1456,2520
$GC,19263,2.05,78.5,297.1,7.3,905,19264,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1456,2520
$GC,19572,2.05,78.5,274.5,7.3,920,19573,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1456,2520
$GC,19884,2.05,78.5,252.5,6.8,935,19888,0.00,2.47,0.00,0.000,4,0.000,0.048,3235,2859,2520
$GC,19991,2.05,78.5,245.2,6.8,940,19995,0.00,2.45,0.00,0.000,6,0.000,0.038,3235,1452,2520
$GC,20318,2.05,78.5,222.9,6.8,956,20319,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1452,2521
$GC,20627,2.05,78.5,201.3,7.0,971,20632,0.00,0.00,4.07,0.606,6,0.000,0.000,3235,1452,2511
$GC,20939,2.05,78.5,179.8,6.8,986,20940,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1452,2511
$GC,21245,2.05,78.5,159.5,6.6,1001,21247,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1452,2511
$GC,21554,2.05,78.5,138.8,6.8,1016,21556,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1452,2510
$GC,21864,2.05,78.5,116.6,7.5,1031,21865,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1453,2511
$GC,22174,2.05,78.5,92.7,7.6,1046,22178,0.00,2.47,0.00,0.000,4,0.000,0.044,3235,2853,2511
$GC,22241,2.05,78.5,87.3,7.6,1049,22245,0.00,2.45,0.00,0.000,6,0.000,0.038,3235,1446,2511
$GC,22562,2.05,78.5,63.6,7.2,1065,22563,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1446,2511
$GC,22873,2.05,78.5,41.8,7.3,1080,22877,0.00,2.50,0.00,0.000,4,0.000,0.044,3235,2861,2511
$GC,22936,2.05,78.5,37.6,6.4,1083,22941,0.00,2.45,0.00,0.000,6,0.000,0.038,3235,1450,2511
$GC,23264,2.08,107.2,23.9,2.0,1099,23294,0.00,2.17,25.05,0.789,4,0.000,0.056,3235,264,2395
$STATE,23588,end climb,SURFACE_DEPTH_REACHED
$STATE,23589,begin surface coast
$FINISH,1.2,1.026962
$STATE,23611,end surface coast,CONTROL_FINISHED_OK
$STATE,23612,begin surface
$SM_CCo,23638,129.30,0.769,0,0,1608,300.00
$SM_GC,0.97,0.00,0.00,129.30,0.000,0.000,0.769,387,2244,1608,-11.10,-0.17,300.00
$IRIDIUM_FIX,6153.50,-1147.61,181098,232330
$TT8_MAMPS,0.026845
$HUMID,1834
$INTERNAL_PRESSURE,8.10902
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,925.4,46.8
$24V_AH,23.1,45.148
$10V_AH,10.1,26.897
$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,26.975,151.125,141.600,129.300,0.000,61.382,57.362,232.843,8.500,0.000,0.000,14.771,2211.409,17420.379,408.363,3200.833,1079.677,0.000,1899.473,0.000,3339.864,0.000,58.580,0.000
$DEVICE_MAMPS,131.924,65.195,1384.435,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,837.625,898.390,626.855,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56875,1114
$CAP_FILE_SIZE,175213,0
$CFSIZE,260165632,243904512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,250709,060237,6214.941,-1148.612,39,1.0,39,-11.0