version: 66.04
glider: 105
mission: 6
dive: 266
start: 8 12 109 2 51 33
data:
$ID,105
$MISSION,6
$DIVE,266
$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,-1632781.2
$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,35
$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
$GPS1,024331,6147.079,-934.735,42,1.3,42,-9.6
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,2
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-60.2
$GPS2,025113,6147.159,-934.481,9,1.1,14,-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,158.3,58892,-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,-146.6,0.0,0.0,0,83,0.00,0.00,-65.88,0.000,6,0.000,0.000,396,2250,3431
$GC,86,-0.96,-146.6,3.8,-7.0,3,107,11.62,2.53,0.00,0.000,4,0.132,0.036,2583,835,3433
$GC,364,-0.96,-146.6,36.6,-7.5,15,369,0.00,2.45,0.00,0.000,6,0.000,0.033,2583,2241,3434
$GC,683,-0.96,-146.6,60.0,-7.3,30,687,0.00,2.58,0.00,0.000,4,0.000,0.057,2583,3659,3434
$GC,755,-0.96,-146.6,66.3,-8.8,33,759,0.00,2.45,0.00,0.000,6,0.000,0.029,2583,2226,3434
$GC,1071,-0.96,-146.6,93.0,-8.6,48,1076,0.00,2.62,0.00,0.000,4,0.000,0.052,2583,3654,3435
$GC,1187,-0.96,-146.6,102.4,-7.6,53,1191,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2245,3435
$GC,1509,-0.96,-146.6,120.8,-5.8,69,1514,0.00,2.58,0.00,0.000,4,0.000,0.052,2583,3651,3435
$GC,1587,-0.96,-146.6,125.4,-5.9,72,1592,0.00,2.40,0.00,0.000,6,0.000,0.029,2582,2246,3434
$GC,1903,-0.96,-146.6,145.7,-7.2,87,1907,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3652,3435
$GC,1966,-0.96,-146.6,150.5,-7.8,90,1970,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2248,3435
$GC,2292,-0.96,-146.6,171.9,-6.4,106,2297,0.00,2.55,0.00,0.000,4,0.000,0.052,2583,3660,3434
$GC,2437,-0.96,-146.6,181.7,-7.4,112,2443,0.00,2.42,0.00,0.000,6,0.000,0.030,2583,2239,3434
$GC,2754,-0.96,-146.6,203.8,-6.9,128,2758,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3653,3434
$GC,2854,-0.96,-146.6,212.0,-8.5,132,2860,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2250,3434
$GC,3170,-0.96,-146.6,236.8,-7.9,148,3175,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3660,3433
$GC,3250,-0.96,-146.6,243.5,-8.2,151,3256,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2252,3433
$GC,3565,-0.96,-146.6,267.2,-7.5,167,3569,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3652,3433
$GC,3620,-0.96,-146.6,271.8,-8.2,169,3627,0.00,2.38,0.00,0.000,6,0.000,0.030,2583,2249,3433
$GC,3936,-0.96,-146.6,297.8,-8.5,185,3940,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3660,3433
$GC,3997,-0.96,-146.6,303.5,-9.4,188,4002,0.00,2.42,0.00,0.000,6,0.000,0.030,2582,2235,3433
$GC,4325,-0.96,-146.6,330.9,-8.3,204,4329,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3653,3432
$GC,4442,-0.96,-146.6,341.3,-8.7,209,4446,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2248,3432
$GC,4758,-0.96,-146.6,366.5,-7.8,224,4762,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3652,3432
$GC,4824,-0.96,-146.6,372.0,-7.9,227,4829,0.00,2.42,0.00,0.000,6,0.000,0.030,2583,2251,3432
$GC,5150,-0.96,-146.6,397.0,-7.8,243,5152,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2251,3432
$GC,5463,-0.96,-146.6,420.4,-7.1,258,5467,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3652,3432
$GC,5547,-0.96,-146.6,427.0,-7.2,262,5551,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2246,3432
$GC,5874,-0.96,-146.6,448.7,-6.4,278,5879,0.00,2.58,0.00,0.000,4,0.000,0.054,2583,3652,3431
$GC,5942,-0.96,-146.6,453.2,-6.8,281,5946,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3431
$GC,6269,-0.96,-146.6,470.4,-4.5,297,6273,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3653,3431
$GC,6324,-0.96,-146.6,473.1,-5.2,299,6330,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2249,3431
$GC,6641,-0.96,-146.6,487.8,-5.0,315,6645,0.00,2.45,0.00,0.000,4,0.000,0.043,2583,849,3431
$GC,6691,-0.96,-146.6,490.7,-5.8,317,6695,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2257,3431
$GC,7007,-0.96,-146.6,509.0,-5.9,332,7012,0.00,2.50,0.00,0.000,4,0.000,0.056,2583,3645,3430
$GC,7052,-0.96,-146.6,511.9,-6.3,334,7056,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2244,3430
$GC,7373,-0.96,-146.6,531.2,-6.3,350,7378,0.00,2.58,0.00,0.000,4,0.000,0.055,2583,3644,3430
$GC,7485,-0.96,-146.6,538.9,-7.2,355,7490,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2244,3430
$GC,7813,-0.96,-146.6,562.0,-7.5,371,7817,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3651,3430
$GC,7885,-0.96,-146.6,568.1,-8.5,374,7890,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2254,3429
$GC,8206,-0.96,-146.6,591.6,-6.6,390,8210,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3647,3429
$GC,8255,-0.96,-146.6,594.9,-6.4,392,8260,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2252,3429
$GC,8576,-0.96,-146.6,611.0,-4.5,408,8581,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3651,3429
$GC,8649,-0.96,-146.6,614.7,-5.5,411,8654,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3429
$GC,8965,-0.96,-146.6,630.4,-6.1,426,8970,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3642,3429
$GC,9078,-0.96,-146.6,638.7,-7.2,431,9083,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2239,3428
$GC,9406,-0.96,-146.6,661.2,-6.1,447,9410,0.00,2.55,0.00,0.000,4,0.000,0.056,2583,3647,3428
$GC,9483,-0.96,-146.6,665.6,-5.5,450,9490,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2245,3428
$GC,9800,-0.96,-146.6,675.8,-2.5,466,9804,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3653,3428
$GC,9958,-0.96,-146.6,681.5,-3.9,473,9963,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2256,3428
$GC,10285,-0.96,-146.6,692.4,-4.0,489,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2256,3428
$GC,10594,-0.96,-146.6,709.0,-5.6,504,10599,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3645,3428
$GC,10641,-0.96,-146.6,712.0,-6.8,506,10645,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3428
$GC,10968,-0.96,-146.6,732.4,-6.7,522,10972,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3647,3428
$GC,11108,-0.96,-146.6,739.8,-4.4,528,11112,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2252,3427
$GC,11424,-0.96,-146.6,746.0,-2.3,543,11428,0.00,2.53,0.00,0.000,4,0.000,0.055,2583,3647,3427
$GC,11576,-0.96,-146.6,753.8,-7.7,550,11581,0.00,2.42,0.00,0.000,6,0.000,0.033,2583,2235,3427
$GC,11904,-0.96,-146.6,775.9,-5.9,566,11905,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2234,3426
$STATE,12169,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12169,begin apogee
$GC,12177,-0.36,0.0,797.6,10.2,579,12312,0.65,0.00,128.68,1.316,6,0.067,0.000,2722,1459,2831
$STATE,12313,end apogee,CONTROL_FINISHED_OK
$STATE,12313,begin climb
$GC,12315,0.96,146.6,801.9,0.0,586,12455,1.30,2.60,129.75,1.278,4,0.049,0.048,3008,2854,2233
$GC,12794,1.19,330.3,776.3,1.0,607,12968,0.22,2.50,162.57,1.267,6,0.032,0.042,3082,1454,1484
$GC,13277,1.19,330.3,741.1,6.5,631,13282,0.12,2.55,0.00,0.000,4,0.077,0.048,3055,2858,1473
$GC,13362,1.19,330.3,735.3,6.9,635,13367,0.00,2.53,0.00,0.000,6,0.000,0.042,3055,1461,1472
$GC,13694,1.19,330.3,709.6,8.0,651,13699,0.00,2.22,0.00,0.000,4,0.000,0.063,3055,265,1470
$GC,13721,1.19,330.3,707.0,8.8,652,13725,0.00,2.03,0.00,0.000,6,0.000,0.034,3055,1457,1470
$GC,14048,1.19,330.3,680.6,7.6,668,14053,0.00,2.47,0.00,0.000,4,0.000,0.044,3055,2852,1469
$GC,14081,1.19,330.3,678.1,6.9,669,14088,0.00,2.47,0.00,0.000,6,0.000,0.039,3055,1452,1468
$GC,14398,1.23,364.2,660.1,5.1,685,14429,0.00,0.00,29.85,1.210,6,0.000,0.000,3055,1452,1346
$GC,14729,1.23,364.2,636.5,8.5,701,14730,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1452,1341
$GC,15037,1.23,364.2,604.8,10.5,716,15038,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1452,1341
$GC,15346,1.23,364.2,572.9,10.3,731,15349,0.00,2.15,0.00,0.000,4,0.000,0.059,3055,265,1340
$GC,15379,1.23,364.2,569.0,10.6,732,15383,0.00,2.03,0.00,0.000,6,0.000,0.031,3055,1471,1340
$GC,15700,1.23,364.2,536.8,10.1,748,15701,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1472,1340
$GC,16012,1.23,364.2,506.4,9.8,763,16015,0.00,2.20,0.00,0.000,4,0.000,0.058,3055,263,1340
$GC,16039,1.23,364.2,503.2,10.8,764,16044,0.00,2.05,0.00,0.000,6,0.000,0.032,3055,1453,1340
$GC,16366,1.23,364.2,471.5,9.7,780,16367,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1453,1340
$GC,16675,1.23,364.2,440.3,10.1,795,16676,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1454,1340
$GC,16984,1.23,364.2,407.6,11.0,810,16985,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1454,1340
$GC,17296,1.23,364.2,374.5,10.3,825,17297,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1454,1340
$GC,17603,1.23,364.2,340.2,11.8,840,17606,0.00,2.15,0.00,0.000,4,0.000,0.057,3055,262,1340
$GC,17641,1.23,364.2,335.2,13.9,841,17647,0.00,2.03,0.00,0.000,6,0.000,0.031,3055,1459,1341
$GC,17957,1.23,364.2,297.9,11.7,857,17958,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1459,1340
$GC,18268,1.23,364.2,262.4,11.4,872,18272,0.00,2.15,0.00,0.000,4,0.000,0.057,3055,265,1341
$GC,18302,1.23,364.2,258.0,12.3,873,18307,0.00,2.03,0.00,0.000,6,0.000,0.032,3055,1452,1341
$GC,18622,1.23,364.2,225.1,9.7,889,18626,0.00,2.15,0.00,0.000,4,0.000,0.057,3055,262,1341
$GC,18651,1.23,364.2,222.2,10.1,890,18655,0.00,2.00,0.00,0.000,6,0.000,0.031,3055,1455,1341
$GC,18978,1.23,364.2,191.1,9.6,906,18979,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1455,1341
$GC,19290,1.23,364.2,157.0,11.7,921,19291,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1454,1341
$GC,19596,1.23,364.2,122.3,10.9,936,19600,0.00,2.15,0.00,0.000,4,0.000,0.055,3055,259,1341
$GC,19629,1.23,364.2,118.4,11.7,937,19633,0.00,2.03,0.00,0.000,6,0.000,0.031,3056,1456,1341
$GC,19951,1.23,364.2,83.5,11.0,953,19953,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1456,1341
$GC,20260,1.23,364.2,53.5,9.1,968,20261,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1456,1341
$GC,20571,1.23,364.2,24.8,9.6,983,20572,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1456,1341
$STATE,20835,end climb,SURFACE_DEPTH_REACHED
$STATE,20835,begin surface coast
$FINISH,0.3,1.026648
$STATE,20858,end surface coast,CONTROL_FINISHED_OK
$STATE,20858,begin surface
$SM_CCo,20943,0.00,0.000,0,0,1338,366.23
$SM_GC,0.97,11.52,0.00,0.00,0.025,0.000,0.000,387,2240,1338,-11.00,-0.25,366.23
$IRIDIUM_FIX,6117.23,-948.64,051198,191920
$TT8_MAMPS,0.026845
$HUMID,1944
$INTERNAL_PRESSURE,8.10902
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.6,81.7
$24V_AH,23.1,56.776
$10V_AH,10.1,34.308
$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,25.450,180.950,450.850,0.000,0.000,31.275,30.663,255.524,6.250,0.000,0.000,14.549,1867.350,15674.992,543.129,2359.042,947.867,0.000,1789.456,0.000,2518.395,0.000,42.814,0.000
$DEVICE_MAMPS,131.924,62.894,1316.172,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,791.246,790.547,574.922,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50437,997
$CAP_FILE_SIZE,153994,0
$CFSIZE,260165632,238637056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,120809,084155,6148.835,-930.833,42,1.9,42,-9.6