version: 66.04
glider: 105
mission: 6
dive: 54
start: 6 15 109 4 11 23
data:
$ID,105
$MISSION,6
$DIVE,54
$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,440
$T_MISSION,480
$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,270
$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,-1629015.9
$T_RSLEEP,2
$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,2476
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,34
$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
$GPS1,040207,6207.743,-950.841,31,1.1,31,-9.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-63.4
$GPS2,041102,6207.708,-950.743,13,1.1,13,-9.9
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6207.708,-1013.844
$TGT_RADIUS,1852.000
$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,279.9,20000,-13.9,-7.500
$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,-1.17,-146.6,0.0,0.0,0,77,0.00,0.00,-58.70,0.000,6,0.000,0.000,396,2467,3431
$GC,80,-1.17,-146.6,5.2,-10.4,3,101,11.40,2.45,0.00,0.000,4,0.132,0.051,2537,3828,3432
$GC,438,-1.17,-146.6,52.7,-10.3,19,443,0.00,2.35,0.00,0.000,6,0.000,0.026,2537,2442,3433
$GC,770,-1.17,-146.6,84.4,-9.8,35,774,0.00,2.50,0.00,0.000,4,0.000,0.053,2538,3824,3434
$GC,999,-1.17,-146.6,107.9,-10.1,45,1004,0.00,2.28,0.00,0.000,6,0.000,0.026,2537,2485,3434
$GC,1320,-1.17,-146.6,138.0,-9.3,61,1324,0.00,2.42,0.00,0.000,4,0.000,0.038,2538,1088,3434
$GC,1359,-1.17,-146.6,141.7,-9.5,63,1364,0.00,2.42,0.00,0.000,6,0.000,0.035,2538,2465,3434
$GC,1691,-1.17,-146.6,173.3,-9.2,79,1695,0.00,2.40,0.00,0.000,4,0.000,0.038,2538,1086,3433
$GC,1742,-1.17,-146.6,178.0,-8.8,81,1746,0.00,2.42,0.00,0.000,6,0.000,0.035,2537,2478,3433
$GC,2058,-1.17,-146.6,206.0,-8.8,96,2062,0.00,2.42,0.00,0.000,4,0.000,0.038,2538,1087,3434
$GC,2122,-1.17,-146.6,211.7,-9.4,99,2126,0.00,2.42,0.00,0.000,6,0.000,0.036,2537,2475,3434
$GC,2448,-1.17,-146.6,241.0,-8.7,115,2452,0.00,2.42,0.00,0.000,4,0.000,0.038,2537,1082,3433
$GC,2526,-1.17,-146.6,247.5,-8.2,118,2532,0.00,2.45,0.00,0.000,6,0.000,0.038,2537,2481,3433
$GC,2842,-1.17,-146.6,273.9,-8.1,134,2846,0.00,2.42,0.00,0.000,4,0.000,0.039,2538,1088,3433
$GC,2904,-1.17,-146.6,278.9,-7.8,137,2909,0.00,2.45,0.00,0.000,6,0.000,0.038,2538,2470,3433
$GC,3236,-1.17,-146.6,305.9,-8.2,153,3240,0.00,2.42,0.00,0.000,4,0.000,0.039,2537,1081,3433
$GC,3280,-1.17,-146.6,309.5,-8.1,155,3284,0.00,2.45,0.00,0.000,6,0.000,0.038,2538,2482,3433
$GC,3601,-1.17,-146.6,335.5,-8.3,171,3605,0.00,2.45,0.00,0.000,4,0.000,0.040,2538,1079,3433
$GC,3663,-1.17,-146.6,340.9,-8.7,174,3668,0.00,2.47,0.00,0.000,6,0.000,0.038,2538,2477,3433
$GC,3995,-1.17,-146.6,368.7,-8.4,190,3999,0.00,2.42,0.00,0.000,4,0.000,0.040,2538,1088,3433
$GC,4061,-1.17,-146.6,374.5,-8.5,193,4065,0.00,2.42,0.00,0.000,6,0.000,0.037,2537,2476,3433
$GC,4385,-1.17,-146.6,399.1,-7.6,209,4389,0.00,2.42,0.00,0.000,4,0.000,0.040,2538,1085,3433
$GC,4446,-1.17,-146.6,404.2,-7.7,212,4450,0.00,2.42,0.00,0.000,6,0.000,0.038,2538,2477,3433
$GC,4773,-1.17,-146.6,430.2,-8.3,228,4777,0.00,2.42,0.00,0.000,4,0.000,0.040,2537,1089,3432
$GC,4817,-1.17,-146.6,434.0,-8.2,230,4821,0.00,2.42,0.00,0.000,6,0.000,0.038,2538,2480,3433
$GC,5138,-1.17,-146.6,461.8,-8.9,246,5142,0.00,2.42,0.00,0.000,4,0.000,0.040,2538,1088,3432
$GC,5200,-1.17,-146.6,467.4,-8.7,249,5205,0.00,2.42,0.00,0.000,6,0.000,0.038,2537,2478,3432
$GC,5527,-1.17,-146.6,495.3,-8.3,265,5531,0.00,2.42,0.00,0.000,4,0.000,0.040,2538,1089,3432
$GC,5593,-1.17,-146.6,501.3,-9.2,268,5597,0.00,2.42,0.00,0.000,6,0.000,0.038,2537,2474,3432
$GC,5915,-1.17,-146.6,528.1,-8.2,284,5920,0.00,2.42,0.00,0.000,4,0.000,0.040,2537,1087,3432
$GC,5982,-1.17,-146.6,533.7,-7.6,287,5986,0.00,2.42,0.00,0.000,6,0.000,0.037,2538,2477,3432
$GC,6303,-1.17,-146.6,561.6,-8.8,303,6307,0.00,2.42,0.00,0.000,4,0.000,0.040,2537,1089,3432
$GC,6353,-1.17,-146.6,565.9,-8.1,305,6357,0.00,2.42,0.00,0.000,6,0.000,0.038,2537,2480,3432
$GC,6671,-1.17,-146.6,591.6,-7.9,320,6675,0.00,2.42,0.00,0.000,4,0.000,0.040,2537,1089,3432
$GC,6720,-1.17,-146.6,596.1,-8.7,322,6725,0.00,2.42,0.00,0.000,6,0.000,0.038,2538,2476,3432
$GC,7038,-1.17,-146.6,624.4,-8.9,337,7043,0.00,2.42,0.00,0.000,4,0.000,0.040,2537,1084,3432
$GC,7077,-1.17,-146.6,628.1,-9.0,338,7083,0.00,2.45,0.00,0.000,6,0.000,0.038,2538,2485,3432
$GC,7393,-1.17,-146.6,653.0,-7.8,354,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2484,3432
$GC,7701,-1.17,-146.6,679.9,-9.1,369,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2485,3432
$GC,8011,-1.17,-146.6,707.9,-8.8,384,8015,0.00,2.45,0.00,0.000,4,0.000,0.042,2538,1091,3431
$GC,8060,-1.17,-146.6,712.2,-8.4,386,8065,0.00,2.45,0.00,0.000,6,0.000,0.040,2538,2470,3431
$STATE,8257,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8257,begin apogee
$GC,8265,-0.36,0.0,727.7,7.9,396,8398,0.85,0.00,128.00,1.212,6,0.068,0.000,2720,1481,2832
$STATE,8399,end apogee,CONTROL_FINISHED_OK
$STATE,8399,begin climb
$GC,8401,1.17,146.6,732.0,0.0,403,8536,1.52,0.00,129.62,1.177,6,0.050,0.000,3057,1481,2234
$GC,8838,1.23,195.4,708.8,5.8,424,8889,0.00,2.53,43.75,1.154,4,0.000,0.049,3056,2860,2033
$GC,8957,1.26,213.6,700.8,6.9,429,8983,0.00,2.50,17.10,1.085,6,0.000,0.040,3056,1456,1961
$GC,9299,1.26,213.6,674.7,8.3,446,9303,0.00,2.53,0.00,0.000,4,0.000,0.048,3057,2864,1956
$GC,9348,1.26,213.6,670.4,8.9,448,9352,0.00,2.47,0.00,0.000,6,0.000,0.039,3056,1452,1955
$GC,9666,1.26,218.0,646.4,7.3,463,9675,0.00,2.53,4.25,0.751,4,0.000,0.044,3057,2863,1942
$GC,9716,1.26,218.0,642.4,7.9,465,9720,0.00,2.50,0.00,0.000,6,0.000,0.037,3056,1446,1942
$GC,10037,1.26,218.0,618.0,7.8,481,10039,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1446,1941
$GC,10346,1.26,218.0,593.1,7.8,496,10351,0.00,2.50,0.00,0.000,4,0.000,0.041,3057,2864,1940
$GC,10396,1.26,218.0,589.1,7.9,498,10401,0.00,2.47,0.00,0.000,6,0.000,0.036,3057,1448,1940
$GC,10714,1.26,218.0,564.2,8.1,513,10718,0.00,2.12,0.00,0.000,4,0.000,0.057,3057,267,1940
$GC,10760,1.26,218.0,560.0,9.1,515,10763,0.00,2.03,0.00,0.000,6,0.000,0.030,3057,1482,1940
$GC,11095,1.26,218.0,532.7,7.9,531,11099,0.00,2.40,0.00,0.000,4,0.000,0.044,3057,2845,1940
$GC,11139,1.26,218.0,529.0,8.3,533,11143,0.00,2.42,0.00,0.000,6,0.000,0.035,3057,1453,1940
$GC,11459,1.26,218.0,503.0,8.4,549,11461,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1454,1940
$GC,11769,1.26,218.0,476.3,8.5,564,11773,0.00,2.47,0.00,0.000,4,0.000,0.039,3057,2845,1940
$GC,11815,1.26,218.0,472.2,8.7,566,11819,0.00,2.42,0.00,0.000,6,0.000,0.035,3056,1448,1940
$GC,12141,1.26,218.0,443.3,8.8,582,12142,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1448,1939
$GC,12450,1.26,218.0,415.8,8.7,597,12452,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1448,1940
$GC,12762,1.26,218.0,389.3,8.8,612,12766,0.00,2.45,0.00,0.000,4,0.000,0.039,3057,2845,1940
$GC,12824,1.26,218.0,384.0,8.3,615,12828,0.00,2.42,0.00,0.000,6,0.000,0.035,3057,1448,1940
$GC,13150,1.26,218.0,356.1,8.8,631,13152,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1448,1940
$GC,13459,1.26,218.0,329.6,8.5,646,13464,0.00,2.45,0.00,0.000,4,0.000,0.039,3057,2846,1940
$GC,13499,1.26,218.0,326.3,8.0,648,13503,0.00,2.42,0.00,0.000,6,0.000,0.035,3057,1448,1940
$GC,13826,1.26,218.0,299.0,8.4,664,13830,0.00,2.45,0.00,0.000,4,0.000,0.038,3057,2848,1940
$GC,13861,1.26,218.0,296.3,7.9,665,13867,0.00,2.42,0.00,0.000,6,0.000,0.034,3057,1449,1940
$GC,14176,1.26,218.0,270.6,8.1,681,14178,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1449,1941
$GC,14486,1.26,218.0,243.7,9.0,696,14487,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1448,1940
$GC,14797,1.26,218.0,216.5,8.5,711,14801,0.00,2.45,0.00,0.000,4,0.000,0.039,3057,2848,1941
$GC,14842,1.26,218.0,212.2,8.3,713,14846,0.00,2.42,0.00,0.000,6,0.000,0.034,3057,1446,1940
$GC,15163,1.26,218.0,185.7,7.8,729,15167,0.00,2.45,0.00,0.000,4,0.000,0.040,3056,2844,1941
$GC,15190,1.26,218.0,183.5,8.0,730,15194,0.00,2.40,0.00,0.000,6,0.000,0.034,3056,1454,1941
$GC,15505,1.26,218.0,159.3,7.8,745,15507,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1454,1941
$GC,15815,1.26,218.0,134.3,8.2,760,15819,0.00,2.42,0.00,0.000,4,0.000,0.038,3057,2843,1941
$GC,15861,1.26,218.0,130.6,8.2,762,15865,0.00,2.40,0.00,0.000,6,0.000,0.034,3057,1453,1941
$GC,16182,1.26,218.0,103.6,8.6,778,16186,0.00,2.42,0.00,0.000,4,0.000,0.038,3057,2847,1941
$GC,16209,1.26,218.0,101.0,8.9,779,16213,0.00,2.42,0.00,0.000,6,0.000,0.033,3057,1445,1941
$GC,16526,1.26,218.0,73.5,8.6,794,16530,0.00,2.10,0.00,0.000,4,0.000,0.055,3057,264,1942
$GC,16572,1.26,218.0,69.1,9.3,796,16576,0.00,1.98,0.00,0.000,6,0.000,0.028,3057,1467,1941
$GC,16904,1.26,218.0,39.8,8.9,812,16909,0.00,2.38,0.00,0.000,4,0.000,0.038,3057,2842,1941
$GC,16967,1.26,218.0,34.4,8.4,815,16971,0.00,2.40,0.00,0.000,6,0.000,0.033,3057,1448,1941
$GC,17294,1.26,218.0,9.3,7.8,831,17295,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1448,1941
$STATE,17374,end climb,SURFACE_DEPTH_REACHED
$STATE,17375,begin surface coast
$FINISH,1.3,1.027133
$STATE,17395,end surface coast,CONTROL_FINISHED_OK
$STATE,17395,begin surface
$SM_CCo,17419,54.45,0.749,0,0,1608,300.00
$SM_GC,0.68,0.00,0.00,54.45,0.000,0.000,0.749,396,2463,1608,-11.06,-0.40,300.00
$IRIDIUM_FIX,6139.81,-951.16,090998,040446
$TT8_MAMPS,0.027612
$HUMID,1828
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,651.4,84.9
$24V_AH,23.3,25.716
$10V_AH,10.1,11.247
$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,25.350,172.550,322.725,54.450,0.000,57.581,53.565,241.507,5.500,0.000,0.000,13.729,1585.589,13154.306,488.988,1908.092,874.962,0.000,1504.425,0.000,2040.931,0.000,37.979,0.000
$DEVICE_MAMPS,131.924,56.758,1211.860,749.359,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,697.908,611.592,507.811,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41175,836
$CAP_FILE_SIZE,134735,0
$CFSIZE,260165632,254894080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,150609,090355,6205.768,-953.717,38,2.0,38,-9.9