version: 66.04
glider: 105
mission: 6
dive: 243
start: 8 7 109 15 22 58
data:
$ID,105
$MISSION,6
$DIVE,243
$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,-1632349.1
$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,26
$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
$GPS1,151706,6151.479,-931.333,28,1.4,28,-9.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-58.9
$GPS2,152238,6151.516,-931.406,11,1.4,11,-9.6
$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,164.1,64694,-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,-81.25,0.000,6,0.000,0.000,389,2241,3431
$GC,101,-0.96,-146.6,4.8,-6.1,4,123,11.75,2.55,0.00,0.000,4,0.134,0.051,2582,3654,3432
$GC,252,-0.96,-146.6,25.2,-7.0,10,258,0.00,2.42,0.00,0.000,6,0.000,0.030,2583,2228,3433
$GC,567,-0.96,-146.6,45.4,-6.5,26,572,0.00,2.58,0.00,0.000,4,0.000,0.051,2582,3653,3434
$GC,618,-0.96,-146.6,49.7,-8.4,28,622,0.00,2.40,0.00,0.000,6,0.000,0.028,2583,2244,3433
$GC,934,-0.96,-146.6,71.5,-5.9,43,938,0.00,2.55,0.00,0.000,4,0.000,0.052,2583,3653,3434
$GC,1019,-0.96,-146.6,76.2,-6.1,47,1024,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2243,3434
$GC,1347,-0.96,-146.6,96.7,-7.0,63,1352,0.00,2.58,0.00,0.000,4,0.000,0.051,2583,3652,3435
$GC,1396,-0.96,-146.6,101.0,-8.6,65,1400,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2246,3434
$GC,1719,-0.96,-146.6,125.7,-7.4,81,1723,0.00,2.45,0.00,0.000,4,0.000,0.043,2583,847,3435
$GC,1752,-0.96,-146.6,128.5,-8.1,82,1758,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2257,3434
$GC,2067,-0.96,-146.6,155.3,-8.6,98,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2257,3435
$GC,2376,-0.96,-146.6,183.5,-10.0,113,2381,0.00,2.55,0.00,0.000,4,0.000,0.057,2583,3647,3434
$GC,2499,-0.96,-146.6,196.1,-10.0,118,2503,0.00,2.38,0.00,0.000,6,0.000,0.029,2583,2251,3434
$GC,2815,-0.96,-146.6,223.4,-8.2,133,2819,0.00,2.53,0.00,0.000,4,0.000,0.052,2582,3650,3434
$GC,2864,-0.96,-146.6,227.4,-7.4,135,2868,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2242,3434
$GC,3182,-0.96,-146.6,242.6,-3.5,150,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2242,3434
$GC,3489,-0.96,-146.6,251.6,-3.3,165,3493,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3647,3433
$GC,3561,-0.96,-146.6,255.4,-5.4,168,3565,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2242,3433
$GC,3877,-0.96,-146.6,276.8,-8.2,183,3882,0.00,2.55,0.00,0.000,4,0.000,0.052,2583,3640,3432
$GC,3945,-0.96,-146.6,283.0,-9.3,186,3949,0.00,2.38,0.00,0.000,6,0.000,0.031,2583,2252,3432
$GC,4271,-0.96,-146.6,310.9,-7.7,202,4276,0.00,2.53,0.00,0.000,4,0.000,0.052,2582,3653,3432
$GC,4333,-0.96,-146.6,315.0,-6.8,205,4338,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3432
$GC,4661,-0.96,-146.6,333.5,-5.9,221,4665,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3651,3432
$GC,4817,-0.96,-146.6,344.6,-7.7,228,4822,0.00,2.42,0.00,0.000,6,0.000,0.031,2582,2251,3431
$GC,5143,-0.96,-146.6,370.7,-8.6,244,5147,0.00,2.50,0.00,0.000,4,0.000,0.051,2583,3647,3431
$GC,5221,-0.96,-146.6,378.0,-9.5,247,5227,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2242,3431
$GC,5537,-0.96,-146.6,405.1,-8.1,263,5541,0.00,2.55,0.00,0.000,4,0.000,0.054,2582,3649,3431
$GC,5644,-0.96,-146.6,414.2,-8.0,268,5649,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3431
$GC,5972,-0.96,-146.6,431.8,-3.9,284,5976,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3650,3431
$GC,6056,-0.96,-146.6,435.8,-4.8,288,6060,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3431
$GC,6383,-0.96,-146.6,452.4,-6.1,304,6387,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3647,3430
$GC,6472,-0.96,-146.6,458.5,-6.8,308,6477,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2250,3430
$GC,6796,-0.96,-146.6,481.1,-7.5,324,6800,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3650,3430
$GC,6896,-0.96,-146.6,489.4,-8.1,328,6902,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3430
$GC,7215,-0.96,-146.6,505.9,-4.2,344,7219,0.00,2.47,0.00,0.000,4,0.000,0.045,2583,841,3429
$GC,7255,-0.96,-146.6,507.7,-4.5,346,7260,0.00,2.45,0.00,0.000,6,0.000,0.035,2583,2252,3429
$GC,7586,-0.96,-146.6,525.0,-6.6,362,7590,0.00,2.53,0.00,0.000,4,0.000,0.056,2582,3651,3429
$GC,7761,-0.96,-146.6,539.0,-7.8,370,7766,0.00,2.45,0.00,0.000,6,0.000,0.033,2583,2251,3429
$GC,8096,-0.96,-146.6,565.1,-7.2,386,8100,0.00,2.53,0.00,0.000,4,0.000,0.055,2583,3650,3428
$GC,8191,-0.96,-146.6,570.8,-4.7,390,8195,0.00,2.42,0.00,0.000,6,0.000,0.032,2582,2237,3428
$GC,8507,-0.96,-146.6,575.6,-0.2,405,8511,0.00,2.58,0.00,0.000,4,0.000,0.057,2583,3649,3427
$GC,8637,-0.96,-146.6,577.1,-2.1,411,8641,0.00,2.40,0.00,0.000,6,0.000,0.033,2583,2254,3427
$GC,8964,-0.96,-146.6,588.4,-3.2,427,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2254,3426
$GC,9272,-0.96,-146.6,607.0,-7.7,442,9276,0.00,2.50,0.00,0.000,4,0.000,0.048,2583,844,3425
$GC,9300,-0.96,-146.6,609.6,-9.8,443,9304,0.00,2.47,0.00,0.000,6,0.000,0.038,2583,2255,3426
$GC,9618,-0.96,-146.6,634.6,-7.0,458,9622,0.00,2.53,0.00,0.000,4,0.000,0.060,2583,3648,3425
$GC,9673,-0.96,-146.6,639.4,-9.0,460,9679,0.00,2.42,0.00,0.000,6,0.000,0.035,2583,2252,3425
$GC,9990,-0.96,-146.6,670.5,-12.3,476,9991,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2246,3423
$GC,10298,-0.96,-146.6,704.6,-8.6,491,10303,0.00,2.53,0.00,0.000,4,0.000,0.051,2582,851,3422
$STATE,10329,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10329,begin apogee
$GC,10336,-0.36,0.0,708.2,9.4,492,10469,0.60,0.00,127.30,1.276,6,0.064,0.000,2715,1462,2832
$STATE,10470,end apogee,CONTROL_FINISHED_OK
$STATE,10470,begin climb
$GC,10473,0.96,146.6,713.0,0.0,499,10611,1.33,2.60,129.73,1.235,4,0.047,0.051,3011,2850,2232
$GC,10950,0.96,146.6,689.7,11.8,520,10956,0.00,2.47,0.00,0.000,6,0.000,0.045,3011,1457,2222
$GC,11266,1.00,176.2,670.9,5.2,536,11297,0.00,2.60,25.90,1.204,4,0.000,0.048,3011,2860,2112
$GC,11500,1.04,209.0,661.2,5.1,546,11536,0.00,2.53,30.25,1.214,6,0.000,0.043,3011,1448,1980
$GC,11860,1.11,267.0,647.4,4.4,564,11919,0.12,0.00,53.75,1.234,6,0.044,0.000,3062,1448,1743
$GC,12230,1.11,267.0,604.6,14.5,582,12232,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1448,1734
$GC,12537,1.11,267.0,557.0,15.0,597,12541,0.00,2.53,0.00,0.000,4,0.000,0.048,3062,2858,1732
$GC,12614,1.11,267.0,544.7,16.1,600,12621,0.00,2.50,0.00,0.000,6,0.000,0.042,3062,1454,1731
$GC,12930,1.11,267.0,495.0,13.7,616,12935,0.00,2.50,0.00,0.000,4,0.000,0.045,3062,2860,1731
$GC,12963,1.11,267.0,490.3,13.6,617,12970,0.00,2.50,0.00,0.000,6,0.000,0.041,3062,1451,1730
$GC,13281,1.11,267.0,454.3,10.5,633,13283,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1451,1729
$GC,13589,1.11,267.0,418.0,11.2,648,13593,0.00,2.50,0.00,0.000,4,0.000,0.042,3062,2862,1729
$GC,13638,1.11,267.0,412.6,10.9,650,13642,0.00,2.47,0.00,0.000,6,0.000,0.038,3062,1454,1729
$GC,13956,1.11,267.0,386.8,6.5,665,13957,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1454,1729
$GC,14263,1.14,289.0,368.8,5.4,680,14285,0.00,0.00,18.90,1.014,6,0.000,0.000,3062,1454,1653
$GC,14595,1.14,289.0,346.5,7.8,696,14599,0.00,2.50,0.00,0.000,4,0.000,0.041,3062,2862,1650
$GC,14644,1.14,289.0,342.3,7.8,698,14648,0.00,2.47,0.00,0.000,6,0.000,0.037,3062,1454,1649
$GC,14960,1.14,289.0,316.1,8.8,713,14961,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1454,1649
$GC,15269,1.14,289.0,286.8,9.8,728,15274,0.00,2.17,0.00,0.000,4,0.000,0.059,3062,266,1650
$GC,15296,1.14,289.0,283.9,10.0,729,15300,0.00,2.00,0.00,0.000,6,0.000,0.030,3062,1467,1650
$GC,15623,1.14,289.0,257.1,6.9,745,15627,0.00,2.42,0.00,0.000,4,0.000,0.044,3062,2843,1650
$GC,15650,1.14,289.0,255.2,7.0,746,15654,0.00,2.42,0.00,0.000,6,0.000,0.037,3062,1454,1650
$GC,15966,1.15,301.0,236.0,5.7,761,15987,0.00,2.53,12.05,0.873,4,0.000,0.040,3062,2842,1603
$GC,16037,1.15,301.0,231.6,6.1,764,16042,0.00,2.47,0.00,0.000,6,0.000,0.037,3062,1456,1603
$GC,16364,1.23,359.5,214.4,4.4,780,16424,0.00,0.00,53.15,0.919,6,0.000,0.000,3062,1456,1365
$GC,16736,1.23,362.2,197.1,5.9,798,16740,0.00,2.45,0.00,0.000,4,0.000,0.041,3062,2845,1359
$GC,16769,1.23,362.2,194.7,6.1,799,16775,0.00,2.45,0.00,0.000,6,0.000,0.037,3062,1451,1359
$GC,17084,1.23,362.2,163.7,12.8,815,17088,0.00,2.15,0.00,0.000,4,0.000,0.058,3062,259,1357
$GC,17168,1.23,362.2,151.4,14.6,818,17174,0.00,2.00,0.00,0.000,6,0.000,0.028,3062,1463,1356
$GC,17484,1.23,362.2,113.9,9.6,834,17485,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1463,1356
$GC,17794,1.24,368.2,92.6,5.8,849,17804,0.00,0.00,7.85,0.720,6,0.000,0.000,3062,1463,1330
$GC,18103,1.24,368.2,70.5,7.6,864,18107,0.00,2.17,0.00,0.000,4,0.000,0.054,3062,258,1328
$GC,18173,1.24,368.2,63.4,11.1,867,18177,0.00,2.03,0.00,0.000,6,0.000,0.031,3062,1455,1328
$GC,18507,1.24,368.2,29.1,9.7,883,18512,0.00,2.45,0.00,0.000,4,0.000,0.041,3062,2847,1328
$GC,18532,1.24,368.2,26.6,9.2,884,18536,0.00,2.42,0.00,0.000,6,0.000,0.035,3062,1451,1327
$STATE,18788,end climb,SURFACE_DEPTH_REACHED
$STATE,18788,begin surface coast
$FINISH,0.3,1.026708
$STATE,18811,end surface coast,CONTROL_FINISHED_OK
$STATE,18811,begin surface
$SM_CCo,18896,0.00,0.000,0,0,1325,369.67
$SM_GC,1.10,11.52,0.00,0.00,0.024,0.000,0.000,394,2240,1325,-10.98,-0.28,369.67
$IRIDIUM_FIX,6126.23,-922.50,011198,101002
$TT8_MAMPS,0.026845
$HUMID,1882
$INTERNAL_PRESSURE,8.13832
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.2,41.9
$24V_AH,23.2,53.146
$10V_AH,10.1,32.391
$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,25.325,175.975,458.875,0.000,0.000,24.201,27.512,155.206,5.750,0.000,0.000,13.523,1709.051,13979.045,590.811,2146.915,800.342,0.000,1723.837,0.000,2295.094,0.000,39.476,0.000
$DEVICE_MAMPS,134.225,59.826,1275.521,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,798.072,622.179,555.587,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47380,898
$CAP_FILE_SIZE,141360,0
$CFSIZE,260165632,240062464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,070809,203907,6154.935,-937.993,36,1.3,36,-9.7