version: 66.04
glider: 105
mission: 6
dive: 228
start: 8 4 109 3 57 21
data:
$ID,105
$MISSION,6
$DIVE,228
$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,-1632074
$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,18
$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
$GPS1,034637,6151.503,-929.115,43,1.6,43,-9.6
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-54.1
$GPS2,035701,6151.690,-929.305,10,1.9,15,-9.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$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,144.3,17628,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-77.40,0.000,6,0.000,0.000,382,2246,3430
$GC,101,-0.96,-146.6,5.3,-7.2,4,122,11.77,2.50,0.00,0.000,4,0.134,0.039,2582,830,3431
$GC,169,-0.96,-146.6,20.1,-7.8,7,174,0.00,2.50,0.00,0.000,6,0.000,0.034,2582,2260,3431
$GC,498,-0.96,-146.6,43.6,-6.9,23,502,0.00,2.53,0.00,0.000,4,0.000,0.054,2582,3654,3432
$GC,542,-0.96,-146.6,46.9,-6.9,25,546,0.00,2.45,0.00,0.000,6,0.000,0.030,2582,2221,3432
$GC,863,-0.96,-146.6,64.6,-4.9,41,867,0.00,2.60,0.00,0.000,4,0.000,0.053,2582,3653,3432
$GC,903,-0.96,-146.6,66.8,-5.8,43,908,0.00,2.42,0.00,0.000,6,0.000,0.029,2582,2248,3432
$GC,1236,-0.96,-146.6,80.5,-4.5,59,1241,0.00,2.47,0.00,0.000,4,0.000,0.043,2582,855,3433
$GC,1282,-0.96,-146.6,82.9,-5.8,61,1286,0.00,2.42,0.00,0.000,6,0.000,0.034,2582,2255,3433
$GC,1610,-0.96,-146.6,101.5,-6.0,77,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2255,3433
$GC,1918,-0.96,-146.6,121.9,-7.0,92,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2255,3433
$GC,2227,-0.96,-146.6,146.1,-7.9,107,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2255,3433
$GC,2536,-0.96,-146.6,169.7,-7.5,122,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2255,3432
$GC,2845,-0.96,-146.6,194.0,-7.9,137,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2255,3432
$GC,3154,-0.96,-146.6,218.6,-8.2,152,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2255,3432
$GC,3464,-0.96,-146.6,242.1,-7.6,167,3468,0.00,2.55,0.00,0.000,4,0.000,0.060,2582,3651,3431
$GC,3580,-0.96,-146.6,251.7,-8.2,172,3585,0.00,2.42,0.00,0.000,6,0.000,0.031,2582,2254,3431
$GC,3901,-0.96,-146.6,273.8,-6.3,188,3905,0.00,2.53,0.00,0.000,4,0.000,0.052,2582,3648,3431
$GC,3967,-0.96,-146.6,278.1,-6.7,191,3971,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2250,3431
$GC,4288,-0.96,-146.6,295.9,-5.5,207,4293,0.00,2.53,0.00,0.000,4,0.000,0.052,2582,3651,3431
$GC,4328,-0.96,-146.6,298.2,-6.2,209,4332,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2250,3431
$GC,4654,-0.96,-146.6,318.5,-6.5,225,4658,0.00,2.53,0.00,0.000,4,0.000,0.052,2582,3652,3430
$GC,4749,-0.96,-146.6,325.3,-6.9,229,4754,0.00,2.42,0.00,0.000,6,0.000,0.031,2582,2254,3430
$GC,5070,-0.96,-146.6,348.8,-7.7,245,5074,0.00,2.53,0.00,0.000,4,0.000,0.052,2582,3648,3430
$GC,5136,-0.96,-146.6,354.1,-8.5,248,5140,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2249,3430
$GC,5459,-0.96,-146.6,377.4,-7.3,264,5463,0.00,2.53,0.00,0.000,4,0.000,0.051,2582,3650,3430
$GC,5539,-0.96,-146.6,383.5,-7.9,267,5545,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2247,3430
$GC,5855,-0.96,-146.6,406.0,-7.0,283,5859,0.00,2.53,0.00,0.000,4,0.000,0.052,2582,3646,3429
$GC,5939,-0.96,-146.6,412.3,-7.8,287,5943,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2245,3429
$GC,6265,-0.96,-146.6,435.1,-6.8,303,6270,0.00,2.55,0.00,0.000,4,0.000,0.053,2582,3653,3429
$GC,6380,-0.96,-146.6,442.9,-6.6,308,6384,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2250,3428
$GC,6701,-0.96,-146.6,459.8,-4.4,324,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2250,3428
$GC,7013,-0.96,-146.6,467.9,-2.1,339,7017,0.00,2.53,0.00,0.000,4,0.000,0.052,2582,3649,3428
$GC,7120,-0.96,-146.6,470.2,-2.4,344,7124,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2250,3428
$GC,7447,-0.96,-146.6,481.1,-4.1,360,7451,0.00,2.53,0.00,0.000,4,0.000,0.053,2582,3649,3427
$GC,7606,-0.96,-146.6,488.5,-5.0,367,7611,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2251,3427
$GC,7928,-0.96,-146.6,499.5,-3.1,383,7933,0.00,2.55,0.00,0.000,4,0.000,0.053,2582,3647,3427
$GC,8014,-0.96,-146.6,502.0,-2.4,386,8020,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2250,3427
$GC,8330,-0.96,-146.6,514.9,-6.0,402,8334,0.00,2.53,0.00,0.000,4,0.000,0.054,2582,3646,3427
$GC,8402,-0.96,-146.6,521.0,-9.2,405,8406,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2251,3427
$GC,8718,-0.96,-146.6,548.8,-9.1,420,8722,0.00,2.53,0.00,0.000,4,0.000,0.054,2582,3648,3427
$GC,8953,-0.96,-146.6,571.7,-8.9,430,8960,0.00,2.42,0.00,0.000,6,0.000,0.032,2582,2256,3427
$GC,9270,-0.96,-146.6,588.6,-3.5,446,9274,0.00,2.50,0.00,0.000,4,0.000,0.047,2582,840,3426
$GC,9314,-0.96,-146.6,590.4,-4.2,448,9318,0.00,2.47,0.00,0.000,6,0.000,0.038,2582,2255,3426
$GC,9636,-0.96,-146.6,601.6,-3.2,464,9640,0.00,2.55,0.00,0.000,4,0.000,0.061,2582,3654,3426
$GC,9710,-0.96,-146.6,605.7,-5.1,467,9715,0.00,2.42,0.00,0.000,6,0.000,0.035,2582,2253,3426
$GC,10026,-0.96,-146.6,620.1,-5.6,482,10030,0.00,2.55,0.00,0.000,4,0.000,0.058,2582,3650,3425
$GC,10054,-0.96,-146.6,621.7,-5.9,483,10058,0.00,2.45,0.00,0.000,6,0.000,0.036,2582,2239,3424
$GC,10369,-0.96,-146.6,624.3,0.6,498,10374,0.00,2.53,0.00,0.000,4,0.000,0.057,2582,856,3423
$GC,10664,-0.96,-146.6,622.7,-2.6,511,10668,0.00,2.42,0.00,0.000,6,0.000,0.039,2582,2244,3422
$GC,10990,-0.96,-146.6,622.7,0.1,527,10995,0.00,2.55,0.00,0.000,4,0.000,0.054,2582,851,3420
$STATE,10998,end dive,NO_VERTICAL_VELOCITY
$STATE,10998,begin apogee
$GC,11006,-0.36,0.0,622.6,0.0,527,11138,0.60,0.00,125.55,1.247,6,0.051,0.000,2722,1466,2831
$STATE,11138,end apogee,CONTROL_FINISHED_OK
$STATE,11138,begin climb
$GC,11141,0.96,146.6,623.3,0.0,534,11279,1.27,2.62,128.45,1.189,4,0.038,0.051,3014,2859,2232
$GC,11618,0.96,146.6,600.4,6.7,555,11625,0.00,2.50,0.00,0.000,6,0.000,0.044,3014,1460,2222
$GC,11935,1.17,310.7,588.1,1.5,571,12087,0.17,2.60,143.55,1.194,4,0.035,0.049,3083,2856,1564
$GC,12221,1.17,310.7,557.9,8.6,584,12226,0.15,2.53,0.00,0.000,6,0.076,0.044,3052,1453,1554
$GC,12540,1.17,310.7,528.3,11.3,599,12541,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1453,1550
$GC,12846,1.17,310.7,491.0,10.8,614,12850,0.00,2.50,0.00,0.000,4,0.000,0.044,3052,2858,1547
$GC,12886,1.17,310.7,486.9,11.1,616,12890,0.00,2.50,0.00,0.000,6,0.000,0.041,3052,1450,1547
$GC,13212,1.17,310.7,454.7,9.0,632,13216,0.00,2.17,0.00,0.000,4,0.000,0.061,3052,257,1547
$GC,13237,1.17,310.7,452.4,10.2,633,13241,0.00,2.05,0.00,0.000,6,0.000,0.031,3052,1475,1546
$GC,13569,1.17,310.7,420.9,9.9,649,13571,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1475,1546
$GC,13879,1.17,310.7,391.5,8.9,664,13884,0.00,2.25,0.00,0.000,4,0.000,0.058,3052,261,1546
$GC,13906,1.17,310.7,388.8,9.7,665,13910,0.00,2.03,0.00,0.000,6,0.000,0.031,3052,1456,1546
$GC,14233,1.17,310.7,359.4,9.4,681,14234,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1456,1546
$GC,14543,1.17,310.7,329.5,10.0,696,14544,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1457,1546
$GC,14852,1.17,310.7,298.2,10.0,711,14857,0.00,2.20,0.00,0.000,4,0.000,0.058,3052,262,1547
$GC,14903,1.17,310.7,292.7,10.9,713,14906,0.00,2.00,0.00,0.000,6,0.000,0.031,3052,1455,1547
$GC,15230,1.17,310.7,258.0,10.8,729,15231,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1455,1547
$GC,15539,1.17,310.7,223.6,11.5,744,15543,0.00,2.20,0.00,0.000,4,0.000,0.058,3052,261,1547
$GC,15561,1.17,310.7,220.9,11.9,745,15565,0.00,2.00,0.00,0.000,6,0.000,0.031,3052,1455,1547
$GC,15894,1.17,310.7,183.1,10.9,761,15895,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1455,1547
$GC,16203,1.17,310.7,151.5,9.8,776,16207,0.00,2.17,0.00,0.000,4,0.000,0.057,3052,257,1548
$GC,16241,1.17,310.7,147.3,10.5,777,16248,0.00,2.05,0.00,0.000,6,0.000,0.031,3052,1446,1548
$GC,16559,1.17,310.7,120.2,7.6,793,16560,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1449,1548
$GC,16867,1.17,310.7,95.1,8.3,808,16868,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1449,1548
$GC,17176,1.17,310.7,70.1,7.5,823,17180,0.00,2.47,0.00,0.000,4,0.000,0.044,3052,2844,1548
$GC,17197,1.17,310.7,68.3,8.3,824,17202,0.00,2.42,0.00,0.000,6,0.000,0.038,3052,1446,1548
$GC,17520,1.17,310.7,44.5,7.8,840,17522,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1446,1548
$GC,17828,1.17,310.7,17.7,8.0,855,17829,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1446,1548
$STATE,18011,end climb,SURFACE_DEPTH_REACHED
$STATE,18011,begin surface coast
$FINISH,0.6,1.026813
$STATE,18034,end surface coast,CONTROL_FINISHED_OK
$STATE,18034,begin surface
$SM_CCo,18119,0.00,0.000,0,0,1545,315.70
$SM_GC,1.04,11.50,0.00,0.00,0.025,0.000,0.000,394,2242,1545,-10.99,-0.23,315.70
$IRIDIUM_FIX,6126.23,-923.24,291098,030330
$TT8_MAMPS,0.026845
$HUMID,1941
$INTERNAL_PRESSURE,8.13832
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.5,96.3
$24V_AH,23.2,50.707
$10V_AH,10.1,30.974
$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,25.475,150.275,397.550,0.000,0.000,57.509,60.019,296.985,4.500,0.000,0.000,15.204,1626.291,13572.273,487.094,2051.387,1000.388,0.000,1566.771,0.000,2200.180,0.000,31.537,0.000
$DEVICE_MAMPS,134.225,61.360,1247.142,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,714.988,644.020,581.992,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44435,865
$CAP_FILE_SIZE,136243,0
$CFSIZE,260165632,241061888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,040809,090037,6155.439,-926.369,40,0.9,40,-9.6