version: 66.04
glider: 105
mission: 6
dive: 247
start: 8 8 109 12 5 12
data:
$ID,105
$MISSION,6
$DIVE,247
$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,-1632425.8
$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,25
$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
$GPS1,115925,6201.722,-935.927,41,1.2,41,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-61.4
$GPS2,120450,6201.830,-935.776,12,1.2,12,-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,167.4,83736,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.72,0.000,2,0.000,0.000,391,2249,3349
$GC,82,-0.96,-146.6,4.1,-7.6,3,97,11.75,0.00,-1.40,0.000,6,0.136,0.000,2586,2249,3432
$GC,409,-0.96,-146.6,40.3,-8.9,18,413,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3649,3434
$GC,531,-0.96,-146.6,50.9,-9.0,23,537,0.00,2.42,0.00,0.000,6,0.000,0.029,2586,2226,3434
$GC,848,-0.96,-146.6,79.6,-9.0,39,853,0.00,2.58,0.00,0.000,4,0.000,0.051,2586,3650,3435
$GC,893,-0.96,-146.6,83.8,-8.9,41,897,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2239,3435
$GC,1214,-0.96,-146.6,115.1,-10.8,57,1218,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3646,3435
$GC,1314,-0.96,-146.6,126.6,-11.4,61,1321,0.00,2.38,0.00,0.000,6,0.000,0.030,2586,2253,3436
$GC,1630,-0.96,-146.6,164.1,-12.0,77,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2253,3436
$GC,1939,-0.96,-146.6,198.4,-10.1,92,1944,0.00,2.55,0.00,0.000,4,0.000,0.051,2586,3645,3436
$GC,2039,-0.96,-146.6,208.8,-10.3,96,2043,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2247,3436
$GC,2355,-0.96,-146.6,238.2,-9.3,111,2360,0.00,2.55,0.00,0.000,4,0.000,0.051,2585,3641,3436
$GC,2432,-0.96,-146.6,245.6,-9.2,114,2436,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2247,3436
$GC,2749,-0.96,-146.6,270.7,-7.5,129,2753,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3646,3436
$GC,2792,-0.96,-146.6,274.3,-7.7,131,2797,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2251,3435
$GC,3115,-0.96,-146.6,293.3,-5.2,147,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2251,3436
$GC,3424,-0.96,-146.6,308.7,-4.5,162,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2250,3435
$GC,3733,-0.96,-146.6,319.0,-2.1,177,3737,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3652,3434
$GC,3801,-0.96,-146.6,320.7,-2.6,180,3805,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2235,3434
$GC,4125,-0.96,-146.6,325.7,-1.3,196,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2235,3434
$GC,4432,-0.96,-146.6,324.7,1.7,211,4436,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3647,3434
$GC,4517,-0.96,-146.6,322.6,3.4,215,4521,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3434
$GC,4847,-0.96,-146.6,312.4,3.0,231,4851,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3648,3434
$GC,4947,-0.96,-146.6,310.1,1.4,235,4954,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2248,3434
$GC,5264,-0.96,-146.6,306.8,0.4,251,5269,0.00,2.55,0.00,0.000,4,0.000,0.052,2585,3645,3434
$GC,5332,-0.96,-146.6,307.1,-0.6,254,5336,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2246,3434
$GC,5661,-0.96,-146.6,314.0,-3.6,270,5666,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3647,3434
$GC,5751,-0.96,-146.6,319.2,-6.8,274,5755,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2251,3433
$GC,6072,-0.96,-146.6,346.6,-10.2,290,6073,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2251,3434
$GC,6383,-0.96,-146.6,376.0,-9.5,305,6387,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3648,3433
$GC,6554,-0.96,-146.6,392.9,-10.7,312,6560,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2251,3433
$GC,6872,-0.96,-146.6,430.4,-12.0,328,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2251,3433
$GC,7179,-0.96,-146.6,464.6,-10.2,343,7183,0.00,2.47,0.00,0.000,4,0.000,0.044,2586,841,3432
$GC,7228,-0.96,-146.6,469.7,-10.4,345,7232,0.00,2.45,0.00,0.000,6,0.000,0.035,2585,2245,3432
$GC,7544,-0.96,-146.6,504.1,-11.6,360,7548,0.00,2.55,0.00,0.000,4,0.000,0.058,2586,3652,3431
$GC,7576,-0.96,-146.6,508.4,-12.7,361,7582,0.00,2.42,0.00,0.000,6,0.000,0.033,2586,2250,3431
$GC,7892,-0.96,-146.6,542.0,-7.5,377,7896,0.00,2.55,0.00,0.000,4,0.000,0.055,2586,3654,3431
$GC,7954,-0.96,-146.6,545.9,-7.3,380,7958,0.00,2.42,0.00,0.000,6,0.000,0.033,2586,2250,3431
$GC,8281,-0.96,-146.6,559.1,-5.5,396,8285,0.00,2.50,0.00,0.000,4,0.000,0.048,2586,840,3430
$GC,8320,-0.96,-146.6,561.4,-6.3,398,8324,0.00,2.47,0.00,0.000,6,0.000,0.038,2585,2251,3430
$GC,8647,-0.96,-146.6,562.7,0.1,414,8651,0.00,2.55,0.00,0.000,4,0.000,0.059,2586,3655,3428
$GC,8719,-0.96,-146.6,565.0,-4.4,417,8723,0.00,2.45,0.00,0.000,6,0.000,0.035,2586,2238,3429
$GC,9035,-0.96,-146.6,566.5,-0.2,432,9039,0.00,2.58,0.00,0.000,4,0.000,0.058,2585,3651,3427
$GC,9169,-0.96,-146.6,567.5,-0.9,438,9174,0.00,2.42,0.00,0.000,6,0.000,0.035,2585,2253,3426
$GC,9490,-0.96,-146.6,589.6,-8.0,454,9494,0.00,2.55,0.00,0.000,4,0.000,0.059,2586,3649,3425
$GC,9503,-0.96,-146.6,590.6,-8.6,454,9509,0.00,2.42,0.00,0.000,6,0.000,0.037,2585,2251,3426
$GC,9818,-0.96,-146.6,618.4,-6.5,470,9823,0.00,2.55,0.00,0.000,4,0.000,0.058,2586,3654,3424
$STATE,9849,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9849,begin apogee
$GC,9859,-0.36,0.0,623.8,16.4,471,9989,0.60,0.00,126.35,1.231,6,0.072,0.000,2717,1458,2833
$STATE,9990,end apogee,CONTROL_FINISHED_OK
$STATE,9990,begin climb
$GC,9993,0.96,146.6,628.7,0.0,478,10131,1.30,2.58,128.05,1.180,4,0.037,0.047,3014,2861,2232
$GC,10470,1.23,359.4,595.3,0.2,499,10666,0.22,2.50,184.77,1.165,6,0.032,0.040,3093,1451,1366
$GC,10975,1.23,359.4,536.0,13.8,524,10980,0.12,2.55,0.00,0.000,4,0.079,0.048,3067,2859,1355
$GC,11061,1.23,359.4,526.7,10.2,528,11065,0.00,2.50,0.00,0.000,6,0.000,0.041,3067,1454,1354
$GC,11388,1.23,359.4,500.8,6.3,544,11392,0.00,2.20,0.00,0.000,4,0.000,0.064,3066,271,1352
$GC,11410,1.23,359.4,499.0,8.0,545,11414,0.00,2.05,0.00,0.000,6,0.000,0.035,3067,1462,1352
$GC,11743,1.23,359.4,472.4,7.7,561,11744,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1462,1351
$GC,12052,1.23,359.4,442.0,10.3,576,12056,0.00,2.20,0.00,0.000,4,0.000,0.062,3067,266,1350
$GC,12153,1.23,359.4,431.2,11.2,580,12157,0.00,2.05,0.00,0.000,6,0.000,0.035,3067,1457,1350
$GC,12474,1.23,359.4,396.0,12.0,596,12479,0.00,2.50,0.00,0.000,4,0.000,0.048,3066,2856,1349
$GC,12525,1.23,359.4,389.9,11.4,598,12529,0.00,2.47,0.00,0.000,6,0.000,0.040,3067,1455,1349
$GC,12842,1.23,359.4,355.7,11.2,613,12844,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1456,1349
$GC,13149,1.23,359.4,321.0,10.9,628,13150,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1456,1349
$GC,13459,1.23,359.4,291.5,8.6,643,13460,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1456,1349
$GC,13768,1.23,359.4,267.6,8.1,658,13772,0.00,2.15,0.00,0.000,4,0.000,0.058,3067,265,1349
$GC,13837,1.23,359.4,260.8,9.8,661,13841,0.00,2.03,0.00,0.000,6,0.000,0.031,3067,1474,1349
$GC,14172,1.23,359.4,227.9,10.0,677,14176,0.00,2.42,0.00,0.000,4,0.000,0.044,3067,2850,1349
$GC,14189,1.23,359.4,225.9,9.9,678,14193,0.00,2.45,0.00,0.000,6,0.000,0.039,3067,1456,1349
$GC,14515,1.23,359.4,177.1,15.8,694,14518,0.00,2.15,0.00,0.000,4,0.000,0.058,3067,259,1349
$GC,14553,1.23,359.4,170.8,15.6,695,14560,0.00,2.03,0.00,0.000,6,0.000,0.032,3067,1449,1349
$GC,14870,1.23,359.4,124.4,14.0,711,14874,0.00,2.17,0.00,0.000,4,0.000,0.056,3067,262,1350
$GC,14902,1.23,359.4,119.8,14.1,712,14907,0.00,2.05,0.00,0.000,6,0.000,0.032,3067,1451,1350
$GC,15224,1.23,359.4,85.2,7.5,728,15228,0.00,2.45,0.00,0.000,4,0.000,0.044,3067,2845,1350
$GC,15256,1.23,359.4,82.9,6.7,729,15263,0.00,2.45,0.00,0.000,6,0.000,0.038,3067,1444,1350
$GC,15574,1.24,370.7,63.5,5.7,745,15588,0.00,2.17,8.48,0.728,4,0.000,0.055,3067,267,1320
$GC,15611,1.24,370.7,60.8,6.8,746,15617,0.00,2.03,0.00,0.000,6,0.000,0.032,3067,1443,1320
$GC,15929,1.24,370.7,40.0,7.1,762,15932,0.00,2.12,0.00,0.000,4,0.000,0.054,3067,262,1319
$GC,15957,1.24,370.7,37.7,8.2,763,15961,0.00,2.03,0.00,0.000,6,0.000,0.031,3067,1458,1319
$GC,16284,1.24,370.7,9.7,9.1,779,16288,0.00,2.15,0.00,0.000,4,0.000,0.053,3067,258,1319
$GC,16323,1.24,370.7,5.7,9.8,780,16331,0.00,2.05,0.00,0.000,6,0.000,0.031,3067,1451,1319
$STATE,16371,end climb,SURFACE_DEPTH_REACHED
$STATE,16371,begin surface coast
$FINISH,0.3,1.020725
$STATE,16390,end surface coast,CONTROL_FINISHED_OK
$STATE,16390,begin surface
$SM_CCo,16474,0.00,0.000,0,0,1317,371.63
$SM_GC,1.07,11.55,0.00,0.00,0.023,0.000,0.000,387,2244,1317,-10.99,-0.17,371.63
$IRIDIUM_FIX,6130.75,-943.53,021198,070731
$TT8_MAMPS,0.026845
$HUMID,1896
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,18.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,576.7,56.7
$24V_AH,23.2,53.757
$10V_AH,10.1,32.736
$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,25.550,160.500,447.650,0.000,0.000,29.899,26.856,143.577,4.750,0.000,0.000,12.267,1488.175,12205.874,516.953,1857.229,730.167,0.000,1535.997,0.000,1988.334,0.000,33.048,0.000
$DEVICE_MAMPS,135.759,63.661,1231.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,695.676,551.652,490.733,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41117,784
$CAP_FILE_SIZE,126117,0
$CFSIZE,260165632,239820800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,080809,164106,6204.095,-932.184,38,1.1,43,-9.7