version: 66.04
glider: 105
mission: 6
dive: 235
start: 8 5 109 14 50 46
data:
$ID,105
$MISSION,6
$DIVE,235
$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,-1632177.9
$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,24
$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
$GPS1,144424,6141.297,-922.935,51,0.9,51,-9.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-55.6
$GPS2,145026,6141.269,-923.013,12,1.4,12,-9.5
$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,55.0,9854,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-58.33,0.000,6,0.000,0.000,388,2244,3431
$GC,81,-0.96,-146.6,5.4,-11.5,3,102,11.68,2.58,0.00,0.000,4,0.132,0.049,2584,3648,3433
$GC,439,-0.96,-146.6,46.3,-9.4,19,444,0.00,2.45,0.00,0.000,6,0.000,0.029,2584,2231,3434
$GC,771,-0.96,-146.6,76.6,-10.0,35,776,0.00,2.42,0.00,0.000,4,0.000,0.041,2584,865,3435
$GC,804,-0.96,-146.6,80.3,-10.5,36,809,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2243,3435
$GC,1125,-0.96,-146.6,116.5,-11.5,52,1129,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3650,3435
$GC,1180,-0.96,-146.6,123.3,-12.0,54,1187,0.00,2.38,0.00,0.000,6,0.000,0.029,2584,2254,3435
$GC,1495,-0.96,-146.6,157.2,-10.4,70,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2254,3435
$GC,1807,-0.96,-146.6,185.3,-8.1,85,1811,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3650,3435
$GC,1919,-0.96,-146.6,194.3,-7.6,90,1923,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2242,3435
$GC,2240,-0.96,-146.6,212.7,-5.0,106,2245,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3650,3435
$GC,2296,-0.96,-146.6,216.0,-5.9,108,2303,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3435
$GC,2612,-0.96,-146.6,233.9,-5.9,124,2616,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3650,3435
$GC,2674,-0.96,-146.6,237.9,-6.5,127,2678,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2247,3435
$GC,3003,-0.96,-146.6,261.2,-7.5,143,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2246,3435
$GC,3309,-0.96,-146.6,285.0,-8.1,158,3314,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3657,3435
$GC,3404,-0.96,-146.6,293.4,-9.0,162,3408,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2242,3434
$GC,3719,-0.96,-146.6,319.1,-8.1,177,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2241,3434
$GC,4028,-0.96,-146.6,345.1,-8.2,192,4033,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3652,3434
$GC,4124,-0.96,-146.6,353.6,-9.1,196,4129,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2251,3434
$GC,4445,-0.96,-146.6,380.6,-8.7,212,4449,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3651,3434
$GC,4522,-0.96,-146.6,387.8,-9.2,215,4529,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3434
$GC,4841,-0.96,-146.6,413.1,-7.9,231,4845,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3656,3434
$GC,4907,-0.96,-146.6,418.9,-8.7,234,4911,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2250,3433
$GC,5227,-0.96,-146.6,444.3,-7.9,250,5232,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3650,3434
$GC,5311,-0.96,-146.6,451.5,-8.8,254,5316,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2240,3433
$GC,5639,-0.96,-146.6,478.5,-8.4,270,5643,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3652,3433
$GC,5705,-0.96,-146.6,484.6,-9.5,273,5710,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2253,3433
$GC,6031,-0.96,-146.6,514.7,-9.5,289,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2252,3433
$GC,6343,-0.96,-146.6,544.5,-9.5,304,6347,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3650,3433
$GC,6549,-0.96,-146.6,565.6,-10.3,313,6554,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2247,3432
$GC,6866,-0.96,-146.6,593.4,-8.7,328,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2247,3432
$GC,7174,-0.96,-146.6,621.6,-9.2,343,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3433
$GC,7484,-0.96,-146.6,645.9,-7.4,358,7489,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3650,3432
$GC,7529,-0.96,-146.6,649.3,-7.5,360,7534,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2251,3432
$GC,7861,-0.96,-146.6,670.3,-6.7,376,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3431
$GC,8172,-0.96,-146.6,697.9,-9.5,391,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2250,3431
$GC,8479,-0.96,-146.6,727.1,-9.1,406,8484,0.00,2.47,0.00,0.000,4,0.000,0.045,2584,843,3430
$GC,8574,-0.96,-146.6,734.7,-7.2,410,8578,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2249,3431
$GC,8891,-0.96,-146.6,753.1,-5.5,425,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2249,3430
$GC,9200,-0.96,-146.6,775.3,-8.2,440,9204,0.00,2.50,0.00,0.000,4,0.000,0.048,2584,850,3429
$GC,9257,-0.96,-146.6,779.8,-7.8,442,9263,0.00,2.42,0.00,0.000,6,0.000,0.038,2584,2246,3429
$GC,9573,-0.96,-146.6,798.8,-3.8,458,9574,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2246,3429
$GC,9883,-0.96,-146.6,813.0,-2.9,473,9884,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2249,3428
$GC,10191,-0.96,-146.6,834.4,-8.7,488,10192,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2249,3426
$GC,10501,-0.96,-146.6,861.3,-6.9,503,10506,0.00,2.58,0.00,0.000,4,0.000,0.064,2584,3652,3425
$GC,10609,-0.96,-146.6,864.8,-2.5,508,10613,0.00,2.42,0.00,0.000,6,0.000,0.036,2584,2254,3424
$GC,10935,-0.96,-146.6,880.1,-6.3,524,10936,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2254,3423
$STATE,11242,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11242,begin apogee
$GC,11250,-0.36,0.0,896.5,6.1,539,11385,0.65,0.00,130.35,1.427,6,0.069,0.000,2722,1458,2832
$STATE,11386,end apogee,CONTROL_FINISHED_OK
$STATE,11386,begin climb
$GC,11389,0.96,146.6,898.9,0.0,546,11530,1.33,2.60,132.60,1.375,4,0.058,0.051,3008,2861,2233
$GC,11723,1.05,218.5,885.2,4.0,560,11798,0.08,2.55,64.80,1.355,6,0.058,0.045,3049,1450,1940
$GC,12107,1.05,218.5,846.1,10.0,579,12109,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1450,1931
$GC,12416,1.05,218.5,821.4,7.1,594,12420,0.00,2.58,0.00,0.000,4,0.000,0.051,3049,2866,1928
$GC,12484,1.05,218.5,815.5,7.7,597,12488,0.00,2.53,0.00,0.000,6,0.000,0.045,3048,1455,1928
$GC,12804,1.05,218.5,788.3,9.2,613,12805,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1455,1927
$GC,13114,1.13,281.7,764.1,4.3,628,13177,0.00,2.67,57.70,1.353,4,0.000,0.053,3049,2862,1683
$GC,13228,1.13,281.7,757.0,8.3,633,13233,0.00,2.58,0.00,0.000,6,0.000,0.046,3049,1453,1678
$GC,13554,1.13,281.7,733.6,7.1,649,13558,0.00,2.22,0.00,0.000,4,0.000,0.070,3048,259,1673
$GC,13593,1.13,281.7,730.8,8.1,650,13599,0.00,2.08,0.00,0.000,6,0.000,0.036,3049,1462,1673
$GC,13912,1.13,281.7,710.6,6.7,666,13915,0.00,2.22,0.00,0.000,4,0.000,0.065,3048,264,1672
$GC,14029,1.13,281.7,700.4,8.1,671,14033,0.00,2.05,0.00,0.000,6,0.000,0.035,3049,1456,1671
$GC,14357,1.13,281.7,674.8,8.1,687,14360,0.00,2.20,0.00,0.000,4,0.000,0.062,3048,263,1670
$GC,14395,1.13,281.7,671.2,8.5,688,14401,0.00,2.05,0.00,0.000,6,0.000,0.035,3048,1462,1670
$GC,14711,1.13,281.7,640.9,9.8,704,14714,0.00,2.20,0.00,0.000,4,0.000,0.060,3048,262,1670
$GC,14757,1.13,281.7,635.9,10.4,706,14762,0.00,2.08,0.00,0.000,6,0.000,0.034,3049,1457,1670
$GC,15088,1.13,281.7,601.3,10.3,722,15090,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1457,1670
$GC,15398,1.13,281.7,568.4,10.9,737,15399,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1457,1670
$GC,15707,1.13,281.7,535.8,10.2,752,15712,0.00,2.20,0.00,0.000,4,0.000,0.058,3049,262,1671
$GC,15768,1.13,281.7,529.3,10.3,754,15774,0.00,2.03,0.00,0.000,6,0.000,0.031,3049,1458,1671
$GC,16083,1.13,281.7,498.4,9.9,770,16084,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1458,1671
$GC,16393,1.13,281.7,468.1,9.8,785,16394,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1458,1671
$GC,16704,1.13,281.7,438.3,8.9,800,16708,0.00,2.17,0.00,0.000,4,0.000,0.058,3049,259,1671
$GC,16750,1.13,281.7,433.8,10.1,802,16753,0.00,2.03,0.00,0.000,6,0.000,0.031,3049,1456,1672
$GC,17084,1.13,281.7,404.2,9.0,818,17085,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1456,1672
$GC,17391,1.13,281.7,376.2,9.2,833,17393,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1456,1672
$GC,17700,1.13,281.7,347.0,9.4,848,17701,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1457,1673
$GC,18010,1.13,281.7,319.1,8.9,863,18011,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1457,1673
$GC,18319,1.13,281.7,289.3,10.0,878,18320,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1457,1673
$GC,18631,1.13,281.7,256.8,10.9,893,18632,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1457,1673
$GC,18937,1.13,281.7,225.2,9.7,908,18939,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1456,1674
$GC,19247,1.13,281.7,197.6,8.5,923,19248,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1457,1674
$GC,19556,1.13,281.7,174.9,7.1,938,19557,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1457,1674
$GC,19865,1.13,281.7,154.7,6.7,953,19866,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1457,1674
$GC,20175,1.13,281.7,129.2,9.2,968,20176,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1456,1674
$GC,20484,1.13,281.7,96.9,10.2,983,20485,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1457,1674
$GC,20795,1.13,281.7,71.5,6.2,998,20796,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1457,1675
$GC,21103,1.13,281.7,50.7,9.4,1013,21107,0.00,2.45,0.00,0.000,4,0.000,0.043,3049,2849,1675
$GC,21191,1.13,281.7,40.7,13.0,1017,21195,0.00,2.42,0.00,0.000,6,0.000,0.035,3049,1449,1674
$GC,21512,1.13,281.7,12.5,8.0,1033,21513,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1449,1674
$STATE,21654,end climb,SURFACE_DEPTH_REACHED
$STATE,21654,begin surface coast
$FINISH,0.2,1.026857
$STATE,21697,end surface coast,CONTROL_FINISHED_OK
$STATE,21698,begin surface
$SM_CCo,21722,9.88,0.708,0,0,1609,300.00
$SM_GC,1.06,0.00,0.00,9.88,0.000,0.000,0.708,392,2245,1609,-11.08,-0.14,300.00
$IRIDIUM_FIX,6121.73,-925.50,301098,090911
$TT8_MAMPS,0.027612
$HUMID,1918
$INTERNAL_PRESSURE,8.13832
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,850.9,55.1
$24V_AH,23.1,51.722
$10V_AH,10.1,31.583
$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,25.250,132.825,385.450,9.875,0.000,28.387,26.946,172.654,7.750,0.000,0.000,12.873,1885.924,16653.074,477.801,2240.828,833.503,0.000,1637.514,0.000,2407.060,0.000,53.778,0.000
$DEVICE_MAMPS,131.924,69.797,1427.387,707.941,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,896.294,756.875,577.193,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53668,1042
$CAP_FILE_SIZE,141643,0
$CFSIZE,260165632,240623616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,050809,205427,6141.271,-925.394,29,2.6,48,-9.5