version: 66.04
glider: 105
mission: 6
dive: 242
start: 8 7 109 10 26 39
data:
$ID,105
$MISSION,6
$DIVE,242
$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,-1632335
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,102007,6148.308,-923.945,33,1.6,33,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-60.8
$GPS2,102621,6148.463,-923.938,12,2.4,31,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$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,167.5,56843,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,77,0.00,0.00,-57.62,0.000,6,0.000,0.000,387,2242,3431
$GC,81,-0.96,-146.6,5.5,-10.5,3,102,11.73,2.58,0.00,0.000,4,0.133,0.049,2586,3650,3433
$GC,157,-0.96,-146.6,21.7,-8.1,6,161,0.00,2.42,0.00,0.000,6,0.000,0.028,2586,2228,3433
$GC,473,-0.96,-146.6,47.5,-9.4,21,477,0.00,2.58,0.00,0.000,4,0.000,0.051,2586,3649,3434
$GC,528,-0.96,-146.6,53.8,-11.4,23,535,0.00,2.38,0.00,0.000,6,0.000,0.028,2586,2247,3434
$GC,844,-0.96,-146.6,84.0,-8.8,39,848,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3647,3435
$GC,1066,-0.96,-146.6,104.2,-8.3,49,1071,0.00,2.40,0.00,0.000,6,0.000,0.028,2586,2253,3435
$GC,1394,-0.96,-146.6,128.4,-6.5,65,1398,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3653,3435
$GC,1524,-0.96,-146.6,137.9,-8.1,71,1528,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2242,3435
$GC,1850,-0.96,-146.6,159.3,-7.0,87,1854,0.00,2.55,0.00,0.000,4,0.000,0.052,2586,3650,3435
$GC,1883,-0.96,-146.6,161.9,-8.4,88,1889,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2240,3435
$GC,2199,-0.96,-146.6,181.3,-5.7,104,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2241,3435
$GC,2508,-0.96,-146.6,200.2,-6.2,119,2513,0.00,2.55,0.00,0.000,4,0.000,0.052,2585,3652,3435
$GC,2598,-0.96,-146.6,206.0,-6.8,123,2602,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2246,3435
$GC,2919,-0.96,-146.6,224.2,-5.7,139,2924,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3648,3435
$GC,2982,-0.96,-146.6,228.3,-6.3,142,2987,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2254,3435
$GC,3313,-0.96,-146.6,253.1,-8.0,158,3318,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3654,3435
$GC,3358,-0.96,-146.6,257.1,-9.1,160,3362,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2246,3435
$GC,3680,-0.96,-146.6,287.0,-9.9,176,3684,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3648,3434
$GC,3719,-0.96,-146.6,291.2,-10.8,178,3723,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2241,3434
$GC,4046,-0.96,-146.6,328.2,-11.5,194,4051,0.00,2.55,0.00,0.000,4,0.000,0.053,2586,3654,3434
$GC,4096,-0.96,-146.6,334.4,-12.1,196,4101,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2254,3434
$GC,4417,-0.96,-146.6,368.8,-10.5,212,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2253,3434
$GC,4726,-0.96,-146.6,398.0,-8.6,227,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2251,3433
$GC,5036,-0.96,-146.6,418.5,-5.9,242,5041,0.00,2.50,0.00,0.000,4,0.000,0.051,2586,3648,3433
$GC,5087,-0.96,-146.6,421.8,-5.9,244,5091,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2244,3432
$GC,5405,-0.96,-146.6,439.1,-5.5,259,5409,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3650,3432
$GC,5486,-0.96,-146.6,444.7,-7.2,262,5492,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3432
$GC,5801,-0.96,-146.6,469.6,-8.4,278,5805,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3653,3432
$GC,5890,-0.96,-146.6,477.9,-9.7,282,5894,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3431
$GC,6210,-0.96,-146.6,508.2,-9.3,298,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2248,3431
$GC,6520,-0.96,-146.6,531.0,-6.3,313,6524,0.00,2.53,0.00,0.000,4,0.000,0.053,2587,3648,3431
$GC,6609,-0.96,-146.6,535.8,-5.2,317,6613,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2249,3431
$GC,6930,-0.96,-146.6,548.4,-3.6,333,6935,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3648,3431
$GC,7161,-0.96,-146.6,554.4,-2.9,343,7166,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2253,3431
$GC,7477,-0.96,-146.6,567.7,-6.2,358,7481,0.00,2.53,0.00,0.000,4,0.000,0.056,2586,3647,3431
$GC,7541,-0.96,-146.6,571.5,-7.6,361,7545,0.00,2.40,0.00,0.000,6,0.000,0.033,2586,2249,3430
$GC,7867,-0.96,-146.6,586.0,-5.6,377,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2248,3430
$GC,8176,-0.96,-146.6,606.5,-5.8,392,8178,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2246,3429
$GC,8486,-0.96,-146.6,624.4,-5.5,407,8490,0.00,2.55,0.00,0.000,4,0.000,0.058,2586,3647,3428
$GC,8597,-0.96,-146.6,632.4,-8.7,412,8602,0.00,2.42,0.00,0.000,6,0.000,0.035,2586,2247,3427
$GC,8921,-0.96,-146.6,651.8,-7.0,428,8926,0.00,2.50,0.00,0.000,4,0.000,0.051,2586,840,3426
$GC,8938,-0.96,-146.6,653.5,-7.8,429,8943,0.00,2.45,0.00,0.000,6,0.000,0.038,2586,2248,3426
$GC,9265,-0.96,-146.6,676.5,-4.7,445,9267,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2248,3425
$STATE,9448,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9448,begin apogee
$GC,9457,-0.36,0.0,691.3,9.4,454,9592,0.62,0.00,127.15,1.263,6,0.067,0.000,2719,1463,2832
$STATE,9592,end apogee,CONTROL_FINISHED_OK
$STATE,9593,begin climb
$GC,9595,0.96,146.6,700.1,0.0,461,9732,1.30,2.33,129.15,1.219,4,0.046,0.065,3011,264,2232
$GC,9976,0.96,146.6,674.1,13.3,478,9980,0.00,2.08,0.00,0.000,6,0.000,0.034,3010,1476,2223
$GC,10297,0.96,146.6,644.8,10.3,494,10302,0.00,2.45,0.00,0.000,4,0.000,0.047,3011,2850,2221
$GC,10421,1.02,189.0,636.4,4.8,499,10464,0.00,2.50,36.97,1.192,6,0.000,0.042,3011,1446,2060
$GC,10781,1.02,189.0,618.0,6.4,517,10782,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1446,2054
$GC,11090,1.02,189.0,590.4,11.7,532,11095,0.00,2.53,0.00,0.000,4,0.000,0.048,3011,2854,2052
$GC,11249,1.22,353.0,573.6,1.5,539,11407,0.22,2.47,146.88,1.180,6,0.033,0.041,3084,1453,1391
$GC,11724,1.22,353.0,530.3,7.4,562,11728,0.00,2.50,0.00,0.000,4,0.000,0.046,3083,2849,1379
$GC,11773,1.22,353.0,526.1,7.8,564,11777,0.00,2.47,0.00,0.000,6,0.000,0.041,3084,1448,1378
$GC,12089,1.22,353.0,500.9,9.0,579,12090,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1448,1376
$GC,12400,1.22,353.0,471.3,9.9,594,12405,0.00,2.50,0.00,0.000,4,0.000,0.042,3084,2857,1375
$GC,12441,1.22,353.0,467.1,10.0,596,12445,0.00,2.47,0.00,0.000,6,0.000,0.039,3084,1451,1374
$GC,12770,1.22,353.0,432.1,11.0,612,12771,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1451,1373
$GC,13076,1.22,353.0,396.7,12.3,627,13077,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1451,1373
$GC,13385,1.22,353.0,365.9,8.9,642,13386,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1451,1374
$GC,13695,1.22,353.0,336.8,9.5,657,13696,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1451,1373
$GC,14004,1.22,353.0,306.0,10.0,672,14005,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1451,1374
$GC,14316,1.22,353.0,269.2,14.2,687,14317,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1451,1374
$GC,14622,1.22,353.0,224.7,14.0,702,14624,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1451,1374
$GC,14932,1.22,353.0,184.1,12.8,717,14933,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1451,1374
$GC,15241,1.22,353.0,148.8,8.7,732,15245,0.00,2.12,0.00,0.000,4,0.000,0.057,3084,265,1374
$GC,15264,1.22,353.0,146.8,8.8,733,15268,0.00,2.00,0.00,0.000,6,0.000,0.029,3083,1468,1374
$GC,15597,1.23,359.5,123.7,5.8,749,15601,0.00,2.40,0.00,0.000,4,0.000,0.042,3084,2844,1374
$GC,15663,1.23,359.5,119.8,6.1,752,15667,0.00,2.42,0.00,0.000,6,0.000,0.036,3084,1453,1374
$GC,15985,1.36,466.3,106.8,3.1,768,16085,0.00,0.00,96.18,0.838,6,0.000,0.000,3084,1453,930
$GC,16395,1.36,466.3,82.8,6.3,788,16399,0.00,2.45,0.00,0.000,4,0.000,0.040,3084,2844,921
$GC,16434,1.36,466.3,80.2,6.3,790,16439,0.00,2.45,0.00,0.000,6,0.000,0.036,3084,1444,921
$GC,16762,1.36,466.3,56.9,8.8,806,16766,0.00,2.45,0.00,0.000,4,0.000,0.038,3084,2846,920
$GC,16783,1.36,466.3,54.8,9.2,807,16787,0.00,2.45,0.00,0.000,6,0.000,0.036,3084,1446,920
$GC,17105,1.36,466.3,19.1,12.1,823,17109,0.00,2.12,0.00,0.000,4,0.000,0.054,3084,262,919
$GC,17131,1.36,466.3,15.9,14.0,824,17135,0.00,2.03,0.00,0.000,6,0.000,0.030,3084,1462,919
$STATE,17255,end climb,SURFACE_DEPTH_REACHED
$STATE,17255,begin surface coast
$FINISH,0.3,1.003258
$STATE,17278,end surface coast,CONTROL_FINISHED_OK
$STATE,17278,begin surface
$SM_CCo,17362,0.00,0.000,0,0,918,469.50
$SM_GC,1.01,11.60,0.00,0.00,0.021,0.000,0.000,388,2241,918,-10.98,-0.25,469.50
$IRIDIUM_FIX,6121.73,-925.50,011198,030333
$TT8_MAMPS,0.026845
$HUMID,1895
$INTERNAL_PRESSURE,8.10902
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.2,75.3
$24V_AH,23.2,52.981
$10V_AH,10.1,32.298
$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,25.475,138.900,536.325,0.000,0.000,26.370,26.128,164.470,5.250,0.000,0.000,31.912,1539.574,12904.109,580.733,1937.029,763.221,0.000,1608.604,0.000,2076.554,0.000,36.330,0.000
$DEVICE_MAMPS,133.458,65.195,1263.249,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,739.951,586.251,545.026,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44200,831
$CAP_FILE_SIZE,125217,0
$CFSIZE,260165632,240148480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,070809,151706,6151.479,-931.333,28,1.4,28,-9.6