version: 66.04
glider: 105
mission: 6
dive: 245
start: 8 8 109 1 37 18
data:
$ID,105
$MISSION,6
$DIVE,245
$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,-1632397.6
$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,37
$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
$GPS1,013130,6157.934,-938.684,43,1.2,43,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-63.8
$GPS2,013656,6157.941,-938.771,15,1.5,15,-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,163.6,78256,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-57.58,0.000,6,0.000,0.000,398,2242,3431
$GC,80,-0.96,-146.6,5.3,-9.8,3,98,11.82,0.00,0.00,0.000,6,0.134,0.000,2581,2242,3433
$GC,408,-0.96,-146.6,47.6,-9.8,19,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2242,3434
$GC,716,-0.96,-146.6,78.5,-10.8,34,721,0.00,2.47,0.00,0.000,4,0.000,0.041,2581,836,3435
$GC,767,-0.96,-146.6,84.0,-10.7,36,772,0.00,2.45,0.00,0.000,6,0.000,0.033,2581,2243,3434
$GC,1083,-0.96,-146.6,116.4,-9.7,51,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2243,3435
$GC,1392,-0.96,-146.6,143.5,-7.5,66,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2243,3435
$GC,1704,-0.96,-146.6,162.1,-6.4,81,1708,0.00,2.55,0.00,0.000,4,0.000,0.057,2581,3651,3435
$GC,1828,-0.96,-146.6,170.6,-5.9,86,1834,0.00,2.42,0.00,0.000,6,0.000,0.030,2581,2228,3435
$GC,2143,-0.96,-146.6,186.6,-5.6,102,2148,0.00,2.58,0.00,0.000,4,0.000,0.051,2581,3655,3435
$GC,2251,-0.96,-146.6,194.0,-7.0,107,2256,0.00,2.42,0.00,0.000,6,0.000,0.031,2581,2253,3435
$GC,2583,-0.96,-146.6,220.1,-8.8,123,2587,0.00,2.53,0.00,0.000,4,0.000,0.052,2581,3654,3435
$GC,2728,-0.96,-146.6,234.6,-11.3,129,2735,0.00,2.40,0.00,0.000,6,0.000,0.031,2581,2248,3435
$GC,3044,-0.96,-146.6,267.8,-11.0,145,3048,0.00,2.55,0.00,0.000,4,0.000,0.051,2581,3658,3435
$GC,3138,-0.96,-146.6,278.5,-10.6,149,3143,0.00,2.45,0.00,0.000,6,0.000,0.031,2581,2249,3435
$GC,3459,-0.96,-146.6,311.0,-10.0,165,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2248,3435
$GC,3768,-0.96,-146.6,341.2,-8.8,180,3772,0.00,2.53,0.00,0.000,4,0.000,0.051,2581,3654,3435
$GC,3944,-0.96,-146.6,355.2,-6.6,188,3949,0.00,2.40,0.00,0.000,6,0.000,0.031,2581,2249,3435
$GC,4272,-0.96,-146.6,372.5,-4.8,204,4276,0.00,2.53,0.00,0.000,4,0.000,0.053,2581,3651,3434
$GC,4317,-0.96,-146.6,375.0,-5.1,206,4322,0.00,2.42,0.00,0.000,6,0.000,0.031,2581,2251,3434
$GC,4643,-0.96,-146.6,392.7,-6.1,222,4647,0.00,2.53,0.00,0.000,4,0.000,0.053,2581,3651,3434
$GC,4687,-0.96,-146.6,395.9,-7.3,224,4691,0.00,2.40,0.00,0.000,6,0.000,0.031,2581,2249,3434
$GC,5007,-0.96,-146.6,416.7,-6.8,240,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2248,3433
$GC,5317,-0.96,-146.6,443.4,-9.3,255,5321,0.00,2.55,0.00,0.000,4,0.000,0.053,2581,3661,3432
$GC,5446,-0.96,-146.6,456.3,-10.2,261,5451,0.00,2.42,0.00,0.000,6,0.000,0.031,2581,2247,3432
$GC,5773,-0.96,-146.6,485.5,-9.3,277,5777,0.00,2.55,0.00,0.000,4,0.000,0.054,2581,3655,3432
$GC,5841,-0.96,-146.6,491.6,-8.5,280,5845,0.00,2.42,0.00,0.000,6,0.000,0.032,2581,2245,3432
$GC,6163,-0.96,-146.6,511.2,-4.7,296,6168,0.00,2.45,0.00,0.000,4,0.000,0.046,2582,849,3432
$GC,6214,-0.96,-146.6,513.7,-4.6,298,6218,0.00,2.45,0.00,0.000,6,0.000,0.035,2581,2261,3431
$GC,6532,-0.96,-146.6,526.9,-3.6,313,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2261,3431
$GC,6839,-0.96,-146.6,536.4,-3.1,328,6840,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2261,3431
$GC,7148,-0.96,-146.6,553.9,-6.6,343,7153,0.00,2.50,0.00,0.000,4,0.000,0.055,2581,3650,3431
$GC,7226,-0.96,-146.6,560.0,-8.4,346,7232,0.00,2.40,0.00,0.000,6,0.000,0.032,2581,2253,3431
$GC,7541,-0.96,-146.6,581.5,-6.7,362,7542,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2253,3430
$GC,7852,-0.96,-146.6,598.1,-4.9,377,7856,0.00,2.55,0.00,0.000,4,0.000,0.056,2581,3656,3429
$GC,7918,-0.96,-146.6,601.5,-5.2,380,7923,0.00,2.45,0.00,0.000,6,0.000,0.034,2581,2256,3429
$GC,8245,-0.96,-146.6,613.4,-3.5,396,8250,0.00,2.50,0.00,0.000,4,0.000,0.048,2581,841,3428
$GC,8290,-0.96,-146.6,615.2,-4.6,398,8295,0.00,2.47,0.00,0.000,6,0.000,0.038,2581,2255,3428
$GC,8612,-0.96,-146.6,632.5,-1.5,414,8613,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2255,3427
$GC,8921,-0.96,-146.6,644.7,-5.1,429,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2255,3426
$GC,9233,-0.96,-146.6,659.5,-5.3,444,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2255,3425
$GC,9539,-0.96,-146.6,673.2,-5.1,459,9541,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2255,3423
$GC,9849,-0.96,-146.6,690.8,-5.9,474,9853,0.00,2.55,0.00,0.000,4,0.000,0.063,2581,3652,3422
$GC,9870,-0.96,-146.6,692.3,-6.1,475,9875,0.00,2.45,0.00,0.000,6,0.000,0.039,2581,2254,3422
$GC,10194,-0.96,-146.6,711.9,-6.2,491,10199,0.00,2.53,0.00,0.000,4,0.000,0.052,2581,840,3420
$GC,10239,-0.96,-146.6,715.2,-6.9,493,10243,0.00,2.45,0.00,0.000,6,0.000,0.041,2581,2244,3420
$STATE,10330,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10330,begin apogee
$GC,10339,-0.36,0.0,721.2,6.5,498,10474,0.65,0.00,127.80,1.312,6,0.071,0.000,2718,1456,2831
$STATE,10474,end apogee,CONTROL_FINISHED_OK
$STATE,10474,begin climb
$GC,10477,0.96,146.6,726.2,0.0,505,10617,1.33,2.33,130.00,1.260,4,0.056,0.067,3005,264,2233
$GC,10686,0.96,146.6,718.9,6.5,514,10692,0.00,2.10,0.00,0.000,6,0.000,0.038,3005,1472,2226
$GC,11002,0.98,158.2,700.6,5.7,530,11017,0.00,2.55,9.77,1.108,4,0.000,0.051,3005,2854,2187
$GC,11079,1.00,172.3,696.0,5.6,532,11100,0.00,2.53,14.60,1.168,6,0.000,0.044,3005,1451,2129
$GC,11417,1.00,172.3,673.7,7.7,549,11420,0.00,2.20,0.00,0.000,4,0.000,0.067,3005,262,2124
$GC,11444,1.00,172.3,671.4,8.3,550,11449,0.00,2.08,0.00,0.000,6,0.000,0.038,3005,1450,2123
$GC,11771,1.00,172.3,645.3,9.3,566,11775,0.00,2.53,0.00,0.000,4,0.000,0.051,3005,2852,2122
$GC,11792,1.00,172.3,643.1,9.2,567,11797,0.00,2.50,0.00,0.000,6,0.000,0.045,3005,1449,2121
$GC,12113,1.00,172.3,613.8,9.2,583,12118,0.00,2.55,0.00,0.000,4,0.000,0.050,3005,2846,2120
$GC,12226,1.00,172.3,603.7,8.5,588,12231,0.00,2.50,0.00,0.000,6,0.000,0.044,3005,1448,2120
$GC,12554,1.00,172.3,580.3,6.4,604,12558,0.00,2.17,0.00,0.000,4,0.000,0.066,3005,264,2119
$GC,12645,1.08,241.2,575.4,4.1,608,12713,0.12,2.05,62.15,1.243,6,0.049,0.036,3047,1455,1848
$GC,13035,1.11,268.6,555.5,5.2,627,13062,0.00,0.00,25.40,1.180,6,0.000,0.000,3048,1455,1736
$GC,13368,1.11,268.6,532.3,8.4,643,13372,0.00,2.53,0.00,0.000,4,0.000,0.048,3047,2859,1728
$GC,13412,1.11,268.6,527.7,9.8,645,13417,0.00,2.50,0.00,0.000,6,0.000,0.041,3047,1454,1728
$GC,13736,1.11,268.6,492.7,11.7,661,13740,0.00,2.17,0.00,0.000,4,0.000,0.062,3047,264,1728
$GC,13782,1.11,268.6,486.9,12.2,663,13786,0.00,2.03,0.00,0.000,6,0.000,0.033,3048,1458,1728
$GC,14114,1.11,268.6,452.2,9.5,679,14119,0.00,2.50,0.00,0.000,4,0.000,0.046,3048,2846,1727
$GC,14141,1.11,268.6,449.6,8.7,680,14146,0.00,2.47,0.00,0.000,6,0.000,0.039,3048,1445,1726
$GC,14464,1.11,268.6,423.3,8.2,696,14465,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1445,1727
$GC,14772,1.11,268.6,396.5,8.8,711,14777,0.00,2.47,0.00,0.000,4,0.000,0.042,3048,2854,1726
$GC,14822,1.11,268.6,391.9,9.1,713,14827,0.00,2.47,0.00,0.000,6,0.000,0.038,3048,1447,1726
$GC,15141,1.11,268.6,361.9,9.9,728,15145,0.00,2.45,0.00,0.000,4,0.000,0.041,3048,2850,1726
$GC,15180,1.11,268.6,357.7,9.3,730,15185,0.00,2.45,0.00,0.000,6,0.000,0.038,3048,1454,1726
$GC,15510,1.11,268.6,324.6,9.8,746,15514,0.00,2.15,0.00,0.000,4,0.000,0.058,3048,262,1727
$GC,15578,1.11,268.6,317.6,9.8,749,15582,0.00,2.03,0.00,0.000,6,0.000,0.031,3048,1459,1727
$GC,15910,1.11,268.6,287.9,8.5,765,15915,0.00,2.47,0.00,0.000,4,0.000,0.044,3048,2860,1727
$GC,15960,1.11,268.6,283.6,8.4,767,15964,0.00,2.45,0.00,0.000,6,0.000,0.037,3047,1453,1726
$GC,16278,1.11,268.6,261.0,7.1,782,16282,0.00,2.45,0.00,0.000,4,0.000,0.042,3048,2852,1727
$GC,16306,1.11,268.6,258.7,8.0,783,16311,0.00,2.47,0.00,0.000,6,0.000,0.038,3048,1461,1727
$GC,16627,1.13,277.9,239.9,5.7,799,16642,0.00,2.22,8.18,0.825,4,0.000,0.058,3048,264,1699
$GC,16659,1.13,277.9,237.9,7.1,800,16663,0.00,2.03,0.00,0.000,6,0.000,0.031,3048,1458,1698
$GC,16982,1.13,277.9,215.1,7.6,816,16987,0.00,2.47,0.00,0.000,4,0.000,0.046,3048,2849,1698
$GC,17015,1.13,277.9,211.8,9.4,817,17022,0.00,2.45,0.00,0.000,6,0.000,0.037,3048,1450,1698
$GC,17331,1.13,277.9,180.9,10.3,833,17333,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1449,1698
$GC,17641,1.13,277.9,145.5,10.7,848,17642,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1450,1699
$GC,17951,1.13,277.9,119.0,8.1,863,17952,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1450,1699
$GC,18260,1.13,277.9,94.2,7.7,878,18264,0.00,2.47,0.00,0.000,4,0.000,0.041,3048,2850,1699
$GC,18281,1.13,277.9,92.4,6.9,879,18285,0.00,2.45,0.00,0.000,6,0.000,0.036,3048,1446,1698
$GC,18603,1.13,278.4,71.9,6.0,895,18605,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1447,1699
$GC,18912,1.13,278.4,53.0,6.7,910,18913,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1446,1699
$GC,19220,1.13,278.4,30.6,8.0,925,19225,0.00,2.12,0.00,0.000,4,0.000,0.054,3048,269,1700
$GC,19281,1.13,278.4,25.3,8.1,927,19288,0.00,2.00,0.00,0.000,6,0.000,0.031,3048,1451,1700
$STATE,19553,end climb,SURFACE_DEPTH_REACHED
$STATE,19553,begin surface coast
$FINISH,0.2,1.015202
$STATE,19575,end surface coast,CONTROL_FINISHED_OK
$STATE,19575,begin surface
$SM_CCo,19600,15.65,0.734,0,0,1609,300.00
$SM_GC,1.14,0.00,0.00,15.65,0.000,0.000,0.734,389,2247,1609,-11.09,-0.08,300.00
$IRIDIUM_FIX,6130.75,-933.75,011198,202004
$TT8_MAMPS,0.027612
$HUMID,1890
$INTERNAL_PRESSURE,8.15785
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.8,105.4
$24V_AH,23.1,53.434
$10V_AH,10.1,32.567
$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,25.350,166.525,377.900,15.650,0.000,24.877,26.228,145.305,5.250,0.000,0.000,15.158,1752.070,14843.564,495.889,2055.660,796.238,0.000,1590.511,0.000,2216.625,0.000,36.413,0.000
$DEVICE_MAMPS,134.225,67.496,1312.337,734.019,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,850.139,654.406,563.083,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47452,942
$CAP_FILE_SIZE,141129,0
$CFSIZE,260165632,239927296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,080809,070537,6158.143,-940.339,43,0.9,43,-9.7