version: 66.04
glider: 105
mission: 6
dive: 251
start: 8 9 109 6 4 24
data:
$ID,105
$MISSION,6
$DIVE,251
$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,-1632513.5
$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,27
$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
$GPS1,055836,6211.474,-924.832,38,0.9,38,-9.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-61.6
$GPS2,060402,6211.510,-924.803,16,1.1,16,-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,176.7,97908,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-67.32,0.000,6,0.000,0.000,395,2235,3431
$GC,87,-0.96,-146.6,3.5,-6.2,3,108,11.65,2.62,0.00,0.000,4,0.133,0.053,2585,3656,3433
$GC,445,-0.96,-146.6,55.4,-11.8,19,450,0.00,2.45,0.00,0.000,6,0.000,0.030,2586,2237,3434
$GC,778,-0.96,-146.6,91.5,-11.7,35,783,0.00,2.60,0.00,0.000,4,0.000,0.051,2586,3651,3434
$GC,1101,-0.96,-146.6,126.7,-9.2,49,1106,0.00,2.38,0.00,0.000,6,0.000,0.028,2586,2253,3435
$GC,1419,-0.96,-146.6,145.3,-4.2,64,1423,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3651,3435
$GC,1446,-0.96,-146.6,146.4,-3.8,65,1451,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2246,3435
$GC,1762,-0.96,-146.6,153.5,-1.4,80,1766,0.00,2.55,0.00,0.000,4,0.000,0.051,2586,3654,3435
$GC,1819,-0.96,-146.6,154.5,-1.7,82,1825,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2249,3435
$GC,2135,-0.96,-146.6,162.3,-3.6,98,2139,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3651,3435
$GC,2235,-0.96,-146.6,167.8,-6.0,102,2241,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2247,3435
$GC,2551,-0.96,-146.6,191.5,-8.7,118,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2247,3435
$GC,2861,-0.96,-146.6,225.0,-12.4,133,2865,0.00,2.45,0.00,0.000,4,0.000,0.044,2586,853,3436
$GC,2901,-0.96,-146.6,230.4,-13.5,135,2905,0.00,2.42,0.00,0.000,6,0.000,0.032,2586,2255,3435
$GC,3227,-0.96,-146.6,273.2,-13.1,151,3231,0.00,2.53,0.00,0.000,4,0.000,0.058,2586,3648,3435
$GC,3335,-0.96,-146.6,287.0,-12.5,156,3340,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2245,3435
$GC,3662,-0.96,-146.6,320.2,-9.0,172,3667,0.00,2.58,0.00,0.000,4,0.000,0.054,2586,3648,3435
$GC,3779,-0.96,-146.6,330.4,-8.2,177,3783,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2250,3434
$GC,4100,-0.96,-146.6,346.9,-4.1,193,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2250,3434
$GC,4409,-0.96,-146.6,357.8,-3.4,208,4413,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3647,3433
$GC,4464,-0.96,-146.6,359.5,-3.1,210,4471,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2247,3433
$GC,4781,-0.96,-146.6,361.8,-0.6,226,4785,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3653,3433
$GC,4865,-0.96,-146.6,363.1,-2.0,230,4869,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2252,3433
$GC,5193,-0.96,-146.6,370.4,-3.0,246,5197,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3647,3432
$GC,5266,-0.96,-146.6,374.0,-5.4,249,5270,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2246,3432
$GC,5582,-0.96,-146.6,392.3,-6.1,264,5586,0.00,2.55,0.00,0.000,4,0.000,0.055,2586,3651,3432
$GC,5654,-0.96,-146.6,397.8,-7.4,267,5659,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2252,3432
$GC,5975,-0.96,-146.6,425.9,-9.3,283,5979,0.00,2.45,0.00,0.000,4,0.000,0.044,2586,851,3431
$GC,6007,-0.96,-146.6,429.1,-9.5,284,6014,0.00,2.42,0.00,0.000,6,0.000,0.033,2586,2252,3432
$GC,6324,-0.96,-146.6,457.6,-9.2,300,6325,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2253,3431
$GC,6632,-0.96,-146.6,485.4,-9.4,315,6637,0.00,2.53,0.00,0.000,4,0.000,0.057,2586,3648,3431
$GC,6710,-0.96,-146.6,493.1,-10.0,318,6717,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2252,3431
$GC,7026,-0.96,-146.6,526.4,-10.9,334,7030,0.00,2.47,0.00,0.000,4,0.000,0.046,2586,847,3431
$GC,7070,-0.96,-146.6,531.2,-10.9,336,7075,0.00,2.45,0.00,0.000,6,0.000,0.035,2586,2254,3431
$GC,7392,-0.96,-146.6,558.2,-7.0,352,7396,0.00,2.50,0.00,0.000,4,0.000,0.047,2586,849,3430
$GC,7427,-0.96,-146.6,560.6,-7.1,353,7433,0.00,2.45,0.00,0.000,6,0.000,0.037,2586,2248,3430
$GC,7743,-0.96,-146.6,578.7,-5.1,369,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2248,3429
$GC,8051,-0.96,-146.6,595.5,-6.1,384,8053,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2248,3428
$STATE,8152,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8152,begin apogee
$GC,8161,-0.36,0.0,602.8,7.2,389,8295,0.62,0.00,126.28,1.203,6,0.067,0.000,2719,1464,2832
$STATE,8295,end apogee,CONTROL_FINISHED_OK
$STATE,8296,begin climb
$GC,8298,0.96,146.6,608.8,0.0,396,8433,1.30,2.28,127.32,1.159,4,0.050,0.067,3007,267,2234
$GC,8506,0.97,154.8,602.4,5.8,405,8521,0.00,2.08,8.27,0.951,6,0.000,0.035,3006,1474,2200
$GC,8843,0.97,154.8,580.4,6.2,422,8847,0.00,2.45,0.00,0.000,4,0.000,0.048,3007,2848,2193
$GC,8977,0.98,162.0,572.8,5.8,428,8993,0.00,2.47,6.80,0.934,6,0.000,0.041,3006,1449,2170
$GC,9305,1.04,207.4,555.6,4.8,444,9352,0.00,2.58,41.65,1.159,4,0.000,0.048,3007,2848,1985
$GC,9442,1.06,222.8,548.5,5.6,450,9462,0.10,2.47,14.52,1.075,6,0.049,0.042,3054,1455,1923
$GC,9792,1.08,236.8,527.2,5.6,467,9814,0.00,2.58,13.48,1.078,4,0.000,0.048,3055,2840,1864
$GC,9842,1.13,284.9,524.4,4.7,469,9893,0.00,2.50,44.80,1.144,6,0.000,0.041,3054,1447,1669
$GC,10214,1.14,290.7,505.0,5.8,487,10224,0.00,2.55,5.53,0.868,4,0.000,0.047,3054,2847,1645
$GC,10253,1.14,290.7,502.1,7.0,489,10257,0.00,2.47,0.00,0.000,6,0.000,0.042,3054,1455,1644
$GC,10580,1.14,290.7,476.1,8.7,505,10584,0.00,2.17,0.00,0.000,4,0.000,0.064,3054,265,1642
$GC,10613,1.14,290.7,472.7,9.7,506,10616,0.00,2.03,0.00,0.000,6,0.000,0.035,3054,1455,1642
$GC,10934,1.14,290.7,438.4,11.4,522,10935,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1455,1640
$GC,11246,1.14,290.7,402.0,12.7,537,11247,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1455,1640
$GC,11552,1.14,290.7,365.9,11.9,552,11556,0.00,2.17,0.00,0.000,4,0.000,0.059,3054,260,1639
$GC,11608,1.14,290.7,358.5,13.5,554,11612,0.00,2.05,0.00,0.000,6,0.000,0.032,3054,1457,1639
$GC,11931,1.14,290.7,327.6,8.0,570,11936,0.00,2.47,0.00,0.000,4,0.000,0.045,3054,2857,1639
$GC,11976,1.14,290.7,324.2,7.3,572,11981,0.00,2.47,0.00,0.000,6,0.000,0.038,3054,1448,1638
$GC,12299,1.18,322.4,306.3,5.1,588,12330,0.00,0.00,28.88,1.006,6,0.000,0.000,3054,1449,1516
$GC,12628,1.23,366.1,289.3,4.8,604,12675,0.00,2.58,40.12,0.985,4,0.000,0.043,3054,2846,1339
$GC,12703,1.30,421.6,285.7,4.5,607,12760,0.12,2.47,50.72,0.960,6,0.041,0.038,3106,1457,1113
$GC,13082,1.30,421.6,253.0,9.8,626,13087,0.12,2.17,0.00,0.000,4,0.077,0.058,3080,262,1103
$GC,13146,1.30,421.6,246.6,11.2,629,13150,0.00,2.03,0.00,0.000,6,0.000,0.031,3080,1457,1102
$GC,13478,1.30,421.6,217.2,8.8,645,13482,0.00,2.17,0.00,0.000,4,0.000,0.057,3080,262,1101
$GC,13536,1.30,421.6,212.2,8.8,647,13539,0.00,2.03,0.00,0.000,6,0.000,0.030,3080,1466,1100
$GC,13856,1.30,421.6,188.0,7.1,663,13860,0.00,2.20,0.00,0.000,4,0.000,0.057,3080,258,1100
$GC,13895,1.30,421.6,185.0,7.4,664,13901,0.00,2.03,0.00,0.000,6,0.000,0.030,3080,1455,1099
$GC,14211,1.31,428.9,165.8,5.8,680,14222,0.00,2.15,5.70,0.697,4,0.000,0.055,3080,263,1083
$GC,14283,1.31,428.9,160.8,7.1,683,14287,0.00,2.00,0.00,0.000,6,0.000,0.031,3080,1456,1081
$GC,14610,1.31,428.9,138.1,7.9,699,14614,0.00,2.15,0.00,0.000,4,0.000,0.055,3080,262,1081
$GC,14701,1.31,428.9,129.9,8.4,703,14705,0.00,2.03,0.00,0.000,6,0.000,0.031,3080,1456,1081
$GC,15035,1.31,428.9,99.6,9.1,719,15039,0.00,2.15,0.00,0.000,4,0.000,0.055,3080,262,1081
$GC,15085,1.31,428.9,94.2,10.2,721,15088,0.00,2.03,0.00,0.000,6,0.000,0.031,3080,1458,1080
$GC,15412,1.31,428.9,67.2,6.8,737,15416,0.00,2.15,0.00,0.000,4,0.000,0.054,3080,263,1080
$GC,15507,1.36,471.7,62.1,4.8,741,15552,0.00,2.00,38.65,0.808,6,0.000,0.031,3080,1455,907
$GC,15877,1.36,471.7,44.6,6.7,759,15880,0.00,2.15,0.00,0.000,4,0.000,0.054,3080,262,902
$GC,15937,1.36,471.7,39.2,8.8,761,15944,0.00,2.05,0.00,0.000,6,0.000,0.030,3080,1456,902
$GC,16254,1.36,471.7,9.7,10.5,777,16258,0.00,2.15,0.00,0.000,4,0.000,0.054,3080,261,901
$GC,16283,1.36,471.7,6.4,11.0,778,16287,0.00,2.03,0.00,0.000,6,0.000,0.029,3080,1459,901
$STATE,16320,end climb,SURFACE_DEPTH_REACHED
$STATE,16320,begin surface coast
$FINISH,0.2,1.026741
$STATE,16341,end surface coast,CONTROL_FINISHED_OK
$STATE,16341,begin surface
$SM_CCo,16425,0.00,0.000,0,0,899,474.16
$SM_GC,0.87,11.60,0.00,0.00,0.022,0.000,0.000,385,2232,899,-11.00,-0.51,474.16
$IRIDIUM_FIX,6144.36,-928.50,031198,010121
$TT8_MAMPS,0.026845
$HUMID,1895
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,502.0,110.3
$24V_AH,23.2,54.436
$10V_AH,10.1,33.062
$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,25.525,162.350,552.725,0.000,0.000,29.001,29.058,146.182,4.000,0.000,0.000,16.467,1494.186,11942.713,601.702,1974.911,739.453,0.000,1680.005,0.000,2104.365,0.000,28.342,0.000
$DEVICE_MAMPS,132.691,66.729,1202.656,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,670.539,536.833,495.240,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41199,781
$CAP_FILE_SIZE,129761,0
$CFSIZE,260165632,239579136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,090809,103924,6213.818,-923.336,38,1.6,38,-9.7