version: 66.04
glider: 105
mission: 6
dive: 265
start: 8 11 109 19 38 46
data:
$ID,105
$MISSION,6
$DIVE,265
$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,-1632766.1
$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,21
$R_STBD_OVSHOOT,28
$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
$GPS1,192637,6143.682,-949.701,39,1.8,39,-9.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-59.3
$GPS2,193826,6143.682,-949.643,15,1.5,15,-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,144.5,62200,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-77.55,0.000,6,0.000,0.000,391,2239,3430
$GC,101,-0.96,-146.6,5.3,-7.2,4,122,11.68,2.47,0.00,0.000,4,0.132,0.039,2583,830,3432
$GC,228,-0.96,-146.6,25.5,-8.4,9,235,0.00,2.47,0.00,0.000,6,0.000,0.033,2582,2254,3433
$GC,545,-0.96,-146.6,48.8,-8.5,25,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2254,3433
$GC,854,-0.96,-146.6,71.1,-8.0,40,858,0.00,2.50,0.00,0.000,4,0.000,0.040,2582,835,3433
$GC,964,-0.96,-146.6,82.6,-11.4,45,969,0.00,2.47,0.00,0.000,6,0.000,0.033,2582,2258,3433
$GC,1286,-0.96,-146.6,107.2,-7.5,61,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2258,3434
$GC,1596,-0.96,-146.6,130.9,-7.6,76,1600,0.00,2.58,0.00,0.000,4,0.000,0.059,2582,3651,3434
$GC,1673,-0.96,-146.6,138.0,-8.9,79,1677,0.00,2.42,0.00,0.000,6,0.000,0.029,2582,2230,3434
$GC,1989,-0.96,-146.6,167.6,-8.9,94,1993,0.00,2.58,0.00,0.000,4,0.000,0.053,2582,3651,3434
$GC,2096,-0.96,-146.6,176.9,-8.6,99,2100,0.00,2.40,0.00,0.000,6,0.000,0.029,2582,2244,3434
$GC,2422,-0.96,-146.6,204.3,-8.3,115,2427,0.00,2.58,0.00,0.000,4,0.000,0.054,2582,3642,3433
$GC,2514,-0.96,-146.6,212.0,-8.7,119,2519,0.00,2.38,0.00,0.000,6,0.000,0.030,2582,2250,3433
$GC,2841,-0.96,-146.6,236.5,-6.9,135,2846,0.00,2.53,0.00,0.000,4,0.000,0.054,2582,3651,3433
$GC,2936,-0.96,-146.6,244.1,-8.0,139,2941,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2247,3432
$GC,3252,-0.96,-146.6,266.0,-6.9,154,3256,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3650,3432
$GC,3346,-0.96,-146.6,273.0,-7.3,158,3350,0.00,2.40,0.00,0.000,6,0.000,0.030,2582,2246,3432
$GC,3663,-0.96,-146.6,292.3,-5.4,173,3667,0.00,2.55,0.00,0.000,4,0.000,0.054,2582,3651,3432
$GC,3758,-0.96,-146.6,298.0,-6.0,177,3762,0.00,2.40,0.00,0.000,6,0.000,0.030,2582,2248,3432
$GC,4076,-0.96,-146.6,317.0,-6.1,192,4080,0.00,2.55,0.00,0.000,4,0.000,0.054,2582,3656,3431
$GC,4154,-0.96,-146.6,321.4,-5.6,195,4160,0.00,2.40,0.00,0.000,6,0.000,0.030,2582,2248,3431
$GC,4470,-0.96,-146.6,341.0,-5.9,211,4474,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3656,3431
$GC,4538,-0.96,-146.6,345.3,-7.0,214,4542,0.00,2.40,0.00,0.000,6,0.000,0.030,2582,2248,3431
$GC,4859,-0.96,-146.6,366.2,-6.7,230,4863,0.00,2.55,0.00,0.000,4,0.000,0.054,2582,3658,3431
$GC,4925,-0.96,-146.6,371.3,-8.4,233,4929,0.00,2.42,0.00,0.000,6,0.000,0.030,2582,2246,3430
$GC,5249,-0.96,-146.6,391.6,-4.6,249,5253,0.00,2.55,0.00,0.000,4,0.000,0.054,2582,3650,3430
$GC,5312,-0.96,-146.6,395.2,-5.9,252,5316,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2249,3430
$GC,5638,-0.96,-146.6,415.1,-6.0,268,5642,0.00,2.55,0.00,0.000,4,0.000,0.054,2582,3654,3429
$GC,5693,-0.96,-146.6,418.5,-6.0,270,5700,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2248,3429
$GC,6009,-0.96,-146.6,434.8,-4.5,286,6014,0.00,2.58,0.00,0.000,4,0.000,0.054,2582,3650,3429
$GC,6061,-0.96,-146.6,437.1,-4.3,288,6065,0.00,2.40,0.00,0.000,6,0.000,0.030,2582,2248,3429
$GC,6383,-0.96,-146.6,450.2,-3.6,304,6387,0.00,2.55,0.00,0.000,4,0.000,0.054,2582,3653,3428
$GC,6472,-0.96,-146.6,453.7,-4.1,308,6476,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2249,3428
$GC,6794,-0.96,-146.6,466.0,-4.0,324,6798,0.00,2.55,0.00,0.000,4,0.000,0.054,2582,3656,3428
$GC,6838,-0.96,-146.6,468.6,-5.4,326,6843,0.00,2.42,0.00,0.000,6,0.000,0.030,2582,2235,3428
$GC,7160,-0.96,-146.6,486.3,-5.4,342,7164,0.00,2.58,0.00,0.000,4,0.000,0.054,2582,3655,3428
$GC,7260,-0.96,-146.6,492.1,-5.2,346,7266,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2251,3428
$GC,7578,-0.96,-146.6,507.3,-4.9,362,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2252,3428
$GC,7885,-0.96,-146.6,523.4,-5.7,377,7889,0.00,2.53,0.00,0.000,4,0.000,0.054,2582,3651,3427
$GC,7974,-0.96,-146.6,529.3,-7.1,381,7978,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2250,3427
$GC,8295,-0.96,-146.6,546.3,-5.1,397,8299,0.00,2.53,0.00,0.000,4,0.000,0.053,2582,3651,3427
$GC,8384,-0.96,-146.6,551.5,-6.0,401,8389,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2250,3427
$GC,8708,-0.96,-146.6,569.2,-6.5,417,8713,0.00,2.53,0.00,0.000,4,0.000,0.053,2582,3651,3427
$GC,8797,-0.96,-146.6,575.9,-7.7,421,8801,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2251,3427
$GC,9121,-0.96,-146.6,596.3,-6.1,437,9126,0.00,2.53,0.00,0.000,4,0.000,0.053,2582,3651,3427
$GC,9194,-0.96,-146.6,601.0,-7.3,440,9199,0.00,2.42,0.00,0.000,6,0.000,0.031,2582,2253,3427
$GC,9515,-0.96,-146.6,619.4,-5.6,456,9519,0.00,2.53,0.00,0.000,4,0.000,0.053,2582,3651,3427
$GC,9606,-0.96,-146.6,625.0,-6.5,460,9610,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2252,3427
$GC,9927,-0.96,-146.6,642.4,-5.4,476,9931,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3653,3427
$GC,9989,-0.96,-146.6,646.7,-7.3,479,9994,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2252,3427
$GC,10316,-0.96,-146.6,669.1,-7.3,495,10321,0.00,2.53,0.00,0.000,4,0.000,0.054,2582,3651,3427
$GC,10394,-0.96,-146.6,674.9,-7.9,498,10401,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2250,3427
$GC,10713,-0.96,-146.6,693.0,-5.4,514,10717,0.00,2.53,0.00,0.000,4,0.000,0.053,2582,3651,3427
$GC,10757,-0.96,-146.6,695.8,-5.7,516,10761,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2250,3427
$GC,11078,-0.96,-146.6,713.2,-5.8,532,11082,0.00,2.53,0.00,0.000,4,0.000,0.054,2582,3651,3427
$GC,11145,-0.96,-146.6,717.5,-6.7,535,11149,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2250,3427
$GC,11466,-0.96,-146.6,734.7,-4.9,551,11471,0.00,2.55,0.00,0.000,4,0.000,0.054,2582,3656,3427
$GC,11523,-0.96,-146.6,737.8,-6.0,553,11529,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2250,3427
$GC,11838,-0.96,-146.6,753.7,-4.7,569,11840,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2250,3427
$GC,12148,-0.96,-146.6,771.1,-5.6,584,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2250,3426
$GC,12457,-0.96,-146.6,790.5,-5.8,599,12462,0.00,2.55,0.00,0.000,4,0.000,0.054,2582,3653,3426
$GC,12530,-0.96,-146.6,794.9,-5.7,602,12535,0.00,2.42,0.00,0.000,6,0.000,0.031,2582,2235,3426
$GC,12846,-0.96,-146.6,811.1,-4.5,617,12850,0.00,2.58,0.00,0.000,4,0.000,0.055,2582,3654,3426
$GC,12946,-0.96,-146.6,816.7,-5.4,621,12953,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2253,3426
$GC,13262,-0.96,-146.6,834.5,-6.1,637,13266,0.00,2.53,0.00,0.000,4,0.000,0.054,2582,3651,3426
$GC,13326,-0.96,-146.6,838.9,-7.1,640,13331,0.00,2.40,0.00,0.000,6,0.000,0.032,2582,2252,3426
$GC,13654,-0.96,-146.6,861.6,-6.6,656,13658,0.00,2.58,0.00,0.000,4,0.000,0.055,2583,3651,3426
$GC,13731,-0.96,-146.6,867.5,-8.2,659,13736,0.00,2.42,0.00,0.000,6,0.000,0.032,2582,2238,3425
$GC,14050,-0.96,-146.6,890.0,-7.4,674,14054,0.00,2.58,0.00,0.000,4,0.000,0.057,2582,3650,3425
$GC,14233,-0.96,-146.6,904.1,-7.2,682,14238,0.00,2.40,0.00,0.000,6,0.000,0.032,2583,2253,3425
$STATE,14423,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14423,begin apogee
$GC,14432,-0.36,0.0,916.9,6.8,691,14566,0.62,0.00,129.88,1.375,6,0.054,0.000,2721,1445,2832
$STATE,14567,end apogee,CONTROL_FINISHED_OK
$STATE,14567,begin climb
$GC,14570,0.96,146.6,916.1,0.0,698,14709,1.30,2.60,130.95,1.337,4,0.046,0.048,3011,2865,2233
$GC,14718,1.07,235.0,913.6,3.6,704,14805,0.10,2.53,79.25,1.315,6,0.048,0.040,3057,1451,1872
$GC,15126,1.07,235.0,878.5,10.4,724,15131,0.12,2.55,0.00,0.000,4,0.081,0.047,3031,2861,1862
$GC,15323,1.07,235.0,861.3,9.6,733,15328,0.00,2.53,0.00,0.000,6,0.000,0.040,3031,1453,1860
$GC,15655,1.07,235.0,833.4,7.6,749,15659,0.00,2.50,0.00,0.000,4,0.000,0.045,3031,2858,1859
$GC,15721,1.07,235.0,828.4,7.9,752,15726,0.00,2.47,0.00,0.000,6,0.000,0.038,3031,1453,1858
$GC,16042,1.07,235.0,803.5,8.0,768,16047,0.00,2.53,0.00,0.000,4,0.000,0.045,3031,2858,1858
$GC,16093,1.07,235.0,799.3,8.7,770,16098,0.00,2.47,0.00,0.000,6,0.000,0.038,3031,1451,1857
$GC,16416,1.07,235.0,768.4,10.5,786,16421,0.00,2.53,0.00,0.000,4,0.000,0.044,3031,2857,1857
$GC,16483,1.07,235.0,760.5,11.8,789,16487,0.00,2.47,0.00,0.000,6,0.000,0.038,3031,1446,1856
$GC,16812,1.07,235.0,719.6,13.5,805,16816,0.00,2.12,0.00,0.000,4,0.000,0.058,3031,267,1856
$GC,16846,1.07,235.0,714.7,13.7,806,16850,0.00,2.03,0.00,0.000,6,0.000,0.031,3031,1474,1857
$GC,17167,1.07,235.0,674.6,11.9,822,17171,0.00,2.42,0.00,0.000,4,0.000,0.044,3031,2850,1856
$GC,17222,1.07,235.0,668.2,11.6,824,17228,0.00,2.40,0.00,0.000,6,0.000,0.037,3031,1453,1856
$GC,17538,1.07,235.0,636.2,9.2,840,17542,0.00,2.45,0.00,0.000,4,0.000,0.043,3031,2842,1856
$GC,17577,1.07,235.0,632.7,9.9,842,17581,0.00,2.42,0.00,0.000,6,0.000,0.037,3031,1452,1856
$GC,17903,1.07,235.0,604.9,8.4,858,17908,0.00,2.45,0.00,0.000,4,0.000,0.042,3031,2842,1856
$GC,17959,1.07,235.0,599.8,8.3,860,17966,0.00,2.42,0.00,0.000,6,0.000,0.037,3031,1453,1856
$GC,18278,1.07,235.0,571.6,9.1,876,18282,0.00,2.45,0.00,0.000,4,0.000,0.041,3031,2842,1856
$GC,18310,1.07,235.0,568.2,9.5,877,18317,0.00,2.42,0.00,0.000,6,0.000,0.037,3031,1446,1856
$GC,18626,1.07,235.0,538.9,9.2,893,18630,0.00,2.45,0.00,0.000,4,0.000,0.041,3031,2842,1856
$GC,18681,1.07,235.0,534.1,9.0,895,18687,0.00,2.42,0.00,0.000,6,0.000,0.036,3031,1451,1856
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$STATE,25298,end climb,SURFACE_DEPTH_REACHED
$STATE,25298,begin surface coast
$FINISH,1.1,1.026635
$STATE,25321,end surface coast,CONTROL_FINISHED_OK
$STATE,25321,begin surface
$SM_CCo,25406,0.00,0.000,0,0,1379,356.42
$SM_GC,1.08,11.62,0.00,0.00,0.027,0.000,0.000,396,2249,1379,-10.98,-0.03,356.42
$IRIDIUM_FIX,6121.73,-953.90,051198,191937
$TT8_MAMPS,0.026845
$HUMID,1909
$INTERNAL_PRESSURE,8.13832
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,825.7,100.9
$24V_AH,23.1,56.594
$10V_AH,10.1,34.207
$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,25.750,288.175,438.525,0.000,0.000,86.812,121.268,239.232,7.250,0.000,0.000,17.077,2317.562,19058.539,619.163,2863.423,1247.671,0.000,2152.137,0.000,3061.750,0.000,49.347,0.000
$DEVICE_MAMPS,131.924,59.059,1375.231,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,965.819,977.991,667.583,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63118,1215
$CAP_FILE_SIZE,202324,0
$CFSIZE,260165632,238657536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,120809,024331,6147.079,-934.735,42,1.3,42,-9.6