version: 66.04
glider: 105
mission: 6
dive: 244
start: 8 7 109 20 45 39
data:
$ID,105
$MISSION,6
$DIVE,244
$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,-1632381.9
$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,26
$R_STBD_OVSHOOT,33
$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
$GPS1,203907,6154.935,-937.993,36,1.3,36,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-61.8
$GPS2,204519,6155.065,-938.062,13,1.3,30,-9.7
$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,162.2,73218,-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,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,85,0.00,0.00,-67.43,0.000,6,0.000,0.000,394,2241,3432
$GC,88,-0.96,-146.6,3.4,-6.0,3,109,11.65,2.58,0.00,0.000,4,0.133,0.050,2584,3647,3433
$GC,164,-0.96,-146.6,18.9,-7.6,6,169,0.00,2.42,0.00,0.000,6,0.000,0.029,2584,2231,3434
$GC,480,-0.96,-146.6,45.8,-10.4,21,484,0.00,2.58,0.00,0.000,4,0.000,0.051,2584,3652,3435
$GC,542,-0.96,-146.6,52.3,-10.7,24,546,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2253,3435
$GC,869,-0.96,-146.6,85.7,-10.8,40,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2253,3435
$GC,1178,-0.96,-146.6,114.5,-8.9,55,1182,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3650,3436
$GC,1240,-0.96,-146.6,120.4,-8.6,58,1244,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2241,3436
$GC,1567,-0.96,-146.6,144.2,-6.3,74,1571,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3650,3436
$GC,1744,-0.96,-146.6,156.4,-7.1,82,1748,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2242,3436
$GC,2067,-0.96,-146.6,181.6,-8.3,98,2072,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3651,3436
$GC,2130,-0.96,-146.6,188.0,-10.1,101,2134,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2246,3436
$GC,2456,-0.96,-146.6,220.8,-9.8,117,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2246,3436
$GC,2766,-0.96,-146.6,250.7,-10.0,132,2771,0.00,2.55,0.00,0.000,4,0.000,0.051,2584,3646,3435
$GC,3018,-0.96,-146.6,277.4,-10.2,143,3022,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2243,3435
$GC,3339,-0.96,-146.6,306.4,-8.3,159,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2242,3435
$GC,3648,-0.96,-146.6,326.4,-5.5,174,3652,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3647,3435
$GC,3749,-0.96,-146.6,331.6,-5.1,178,3755,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2241,3435
$GC,4065,-0.96,-146.6,343.3,-3.7,194,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2241,3434
$GC,4374,-0.96,-146.6,356.7,-4.3,209,4378,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3651,3433
$GC,4560,-0.96,-146.6,366.9,-6.9,217,4565,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2248,3433
$GC,4876,-0.96,-146.6,391.2,-8.9,232,4880,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3651,3433
$GC,4926,-0.96,-146.6,396.3,-10.4,234,4931,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2251,3433
$GC,5242,-0.96,-146.6,428.9,-11.1,249,5246,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3651,3432
$GC,5423,-0.96,-146.6,450.4,-12.7,257,5428,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2248,3432
$GC,5745,-0.96,-146.6,485.3,-9.3,273,5749,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3647,3432
$GC,5800,-0.96,-146.6,490.4,-8.3,275,5807,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2248,3431
$GC,6118,-0.96,-146.6,514.7,-6.0,291,6122,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3647,3432
$GC,6184,-0.96,-146.6,518.7,-6.0,294,6188,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2251,3432
$GC,6505,-0.96,-146.6,527.6,-1.9,310,6509,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3652,3431
$GC,6675,-0.96,-146.6,531.5,-2.5,317,6681,0.00,2.42,0.00,0.000,6,0.000,0.033,2584,2247,3431
$GC,6990,-0.96,-146.6,542.5,-4.7,333,6995,0.00,2.58,0.00,0.000,4,0.000,0.056,2584,3645,3430
$GC,7131,-0.96,-146.6,554.5,-10.9,339,7136,0.00,2.40,0.00,0.000,6,0.000,0.034,2584,2253,3430
$GC,7452,-0.96,-146.6,587.7,-10.6,355,7457,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3647,3429
$GC,7531,-0.96,-146.6,595.9,-10.5,358,7537,0.00,2.42,0.00,0.000,6,0.000,0.034,2584,2243,3429
$GC,7846,-0.96,-146.6,620.0,-5.9,374,7851,0.00,2.47,0.00,0.000,4,0.000,0.051,2584,851,3428
$GC,7874,-0.96,-146.6,621.5,-5.5,375,7879,0.00,2.45,0.00,0.000,6,0.000,0.040,2584,2252,3428
$GC,8190,-0.96,-146.6,638.9,-6.0,390,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2252,3426
$GC,8499,-0.96,-146.6,657.7,-5.2,405,8500,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2252,3425
$GC,8808,-0.96,-146.6,681.0,-8.4,420,8812,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,844,3424
$GC,8841,-0.96,-146.6,683.7,-7.7,421,8847,0.00,2.47,0.00,0.000,6,0.000,0.039,2584,2249,3423
$STATE,8968,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8968,begin apogee
$GC,8976,-0.36,0.0,700.1,13.1,428,9111,0.62,0.00,127.28,1.279,6,0.064,0.000,2719,1465,2832
$STATE,9112,end apogee,CONTROL_FINISHED_OK
$STATE,9112,begin climb
$GC,9115,0.96,146.6,704.5,0.0,435,9252,1.33,2.30,129.30,1.232,4,0.057,0.065,3006,270,2233
$GC,9288,0.96,146.6,696.7,12.2,443,9291,0.00,2.08,0.00,0.000,6,0.000,0.037,3007,1459,2229
$GC,9615,1.05,212.9,667.4,4.2,459,9680,0.00,2.58,58.42,1.208,4,0.000,0.048,3007,2858,1961
$GC,9860,1.05,212.9,651.5,9.4,470,9864,0.00,2.50,0.00,0.000,6,0.000,0.041,3007,1454,1955
$GC,10186,1.05,212.9,626.8,9.4,486,10190,0.00,2.20,0.00,0.000,4,0.000,0.064,3007,261,1952
$GC,10255,1.05,212.9,620.8,8.1,489,10260,0.00,2.10,0.00,0.000,6,0.000,0.036,3007,1461,1952
$GC,10587,1.05,212.9,581.7,13.0,505,10591,0.00,2.50,0.00,0.000,4,0.000,0.049,3007,2860,1951
$GC,10676,1.05,212.9,571.5,10.5,509,10680,0.00,2.50,0.00,0.000,6,0.000,0.041,3006,1451,1950
$GC,10998,1.06,226.8,544.7,5.6,525,11012,0.10,0.00,11.65,1.095,6,0.054,0.000,3047,1451,1907
$GC,11329,1.06,226.8,521.9,7.2,541,11334,0.00,2.50,0.00,0.000,4,0.000,0.047,3047,2854,1903
$GC,11415,1.06,226.8,516.3,7.1,545,11419,0.00,2.47,0.00,0.000,6,0.000,0.042,3047,1456,1902
$GC,11744,1.06,226.8,494.9,6.8,561,11748,0.00,2.47,0.00,0.000,4,0.000,0.046,3047,2855,1902
$GC,11770,1.06,226.8,492.6,7.3,562,11775,0.00,2.50,0.00,0.000,6,0.000,0.041,3047,1463,1902
$GC,12091,1.06,226.8,463.9,9.9,578,12096,0.00,2.47,0.00,0.000,4,0.000,0.044,3048,2859,1901
$GC,12154,1.06,226.8,457.5,10.1,581,12159,0.00,2.50,0.00,0.000,6,0.000,0.039,3048,1457,1902
$GC,12486,1.06,226.8,420.7,11.6,597,12490,0.00,2.47,0.00,0.000,4,0.000,0.043,3048,2861,1902
$GC,12526,1.06,226.8,416.0,13.3,599,12530,0.00,2.47,0.00,0.000,6,0.000,0.038,3048,1453,1901
$GC,12853,1.06,226.8,373.9,12.6,615,12854,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1453,1901
$GC,13161,1.06,226.8,334.3,11.2,630,13165,0.00,2.15,0.00,0.000,4,0.000,0.059,3047,261,1902
$GC,13223,1.06,226.8,327.8,9.9,632,13229,0.00,2.03,0.00,0.000,6,0.000,0.030,3048,1474,1902
$GC,13541,1.08,242.5,306.0,5.6,648,13563,0.00,2.47,14.68,0.957,4,0.000,0.044,3048,2843,1843
$GC,13614,1.08,242.5,300.7,6.6,651,13618,0.00,2.45,0.00,0.000,6,0.000,0.038,3048,1454,1841
$GC,13936,1.08,242.5,273.8,9.9,667,13940,0.00,2.45,0.00,0.000,4,0.000,0.041,3048,2842,1841
$GC,13969,1.08,242.5,270.3,9.8,668,13975,0.00,2.45,0.00,0.000,6,0.000,0.038,3048,1446,1841
$GC,14287,1.08,242.5,241.8,9.7,684,14288,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1446,1841
$GC,14594,1.08,242.5,213.1,8.5,699,14595,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1446,1841
$GC,14903,1.08,242.5,190.3,7.0,714,14904,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1446,1841
$GC,15212,1.08,242.5,166.9,7.6,729,15216,0.00,2.47,0.00,0.000,4,0.000,0.040,3048,2846,1842
$GC,15256,1.08,242.5,163.6,7.4,731,15261,0.00,2.45,0.00,0.000,6,0.000,0.037,3048,1461,1842
$GC,15582,1.08,242.5,134.5,9.3,747,15584,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1462,1842
$GC,15892,1.08,242.5,102.6,11.1,762,15893,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1462,1842
$GC,16203,1.08,242.5,69.0,10.9,777,16207,0.00,2.42,0.00,0.000,4,0.000,0.040,3048,2843,1843
$GC,16242,1.08,242.5,64.4,11.0,779,16247,0.00,2.42,0.00,0.000,6,0.000,0.035,3048,1445,1843
$GC,16569,1.08,242.5,32.8,9.1,795,16570,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1445,1843
$GC,16879,1.08,242.5,8.0,7.4,810,16884,0.00,2.47,0.00,0.000,4,0.000,0.038,3048,2840,1844
$GC,16912,1.08,242.5,5.6,6.3,811,16917,0.00,2.42,0.00,0.000,6,0.000,0.035,3048,1459,1844
$STATE,16962,end climb,SURFACE_DEPTH_REACHED
$STATE,16962,begin surface coast
$FINISH,0.2,1.026722
$STATE,17007,end surface coast,CONTROL_FINISHED_OK
$STATE,17007,begin surface
$SM_CCo,17031,35.75,0.762,0,0,1609,300.00
$SM_GC,1.17,0.00,0.00,35.75,0.000,0.000,0.762,397,2242,1609,-11.05,-0.23,300.00
$IRIDIUM_FIX,6126.23,-932.23,011198,151546
$TT8_MAMPS,0.026845
$HUMID,1896
$INTERNAL_PRESSURE,8.15785
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.1,84.5
$24V_AH,23.2,53.285
$10V_AH,10.1,32.475
$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,25.250,154.175,341.325,35.750,0.000,31.424,33.724,162.641,5.500,0.000,0.000,32.104,1548.229,12671.013,504.112,1943.786,771.330,0.000,1507.408,0.000,2063.130,0.000,39.313,0.000
$DEVICE_MAMPS,132.691,65.195,1278.589,762.398,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,739.853,573.724,502.203,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41256,816
$CAP_FILE_SIZE,127772,0
$CFSIZE,260165632,240017408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,080809,013130,6157.934,-938.684,43,1.2,43,-9.7